CN112233415A - Traffic signal lamp recognition device for unmanned driving - Google Patents

Traffic signal lamp recognition device for unmanned driving Download PDF

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Publication number
CN112233415A
CN112233415A CN202010918660.3A CN202010918660A CN112233415A CN 112233415 A CN112233415 A CN 112233415A CN 202010918660 A CN202010918660 A CN 202010918660A CN 112233415 A CN112233415 A CN 112233415A
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module
vehicle
camera
signal
decoder
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CN202010918660.3A
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Chinese (zh)
Inventor
孙梦蝶
吴一全
朱梦雅
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Priority to CN202010918660.3A priority Critical patent/CN112233415A/en
Publication of CN112233415A publication Critical patent/CN112233415A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/30—Noise filtering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Analytical Chemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a traffic signal lamp recognition device for unmanned driving, which comprises an unmanned vehicle, an MCU (micro control unit), a first camera and a decoder, wherein the MCU is used for controlling the unmanned vehicle to run; the first camera is positioned at the top end of a front windshield of the unmanned vehicle; the decoder further comprises a converter; the first camera is provided with a photoreceptor which is installed in a matched mode, and shot image information and an optical signal of the photoreceptor are transmitted to the decoder through the converter; the MCU master controller, the decoder and a driving computer of the unmanned vehicle are integrally arranged; the MCU master controller comprises an initialization module, a detection selection module, an operation module and a data storage module; the operation module also comprises a detection operation module, a data interaction module and a recombination and allocation module; the decoder comprises a signal lamp identification module and a signal time identification module.

Description

Traffic signal lamp recognition device for unmanned driving
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a traffic signal lamp recognition device for unmanned driving.
Background
The current automatic driving technology has basically automatic operation and driving capability, for example, advanced instruments such as a camera, a radar sensor and a laser detector are installed on an automobile, speed limit signs and roadside traffic signs of a road and the moving conditions of surrounding vehicles are sensed through the advanced instruments, and people only need to navigate by means of a map when going out. The unmanned system mainly senses the surrounding environment of the vehicle by using a vehicle-mounted sensor, and controls the steering and the speed of the vehicle according to the road, the vehicle position and the obstacle information obtained by sensing, so that the vehicle can safely and reliably run on the road.
At present, an unmanned automobile is an intelligent automobile, and mainly depends on an intelligent driving instrument which is mainly a computer system in the automobile to realize unmanned driving. However, the difficulty of the unmanned technology lies in the ability to distinguish the traffic signal light and the surrounding environment, which may cause the problem that the data collected by the unmanned system is inaccurate.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above-mentioned problems in the background art, the present invention provides a traffic signal light recognition apparatus for unmanned driving.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the technical scheme that:
a traffic signal lamp recognition device for unmanned driving comprises an unmanned vehicle, an MCU master controller, a first camera and a decoder; the first camera is positioned at the top end of a front windshield of the unmanned vehicle; the decoder further comprises a converter; the first camera is provided with a photoreceptor which is installed in a matched mode, and shot image information and an optical signal of the photoreceptor are transmitted to the decoder through the converter; the MCU master controller, the decoder and a driving computer of the unmanned vehicle are integrally arranged;
the MCU master controller comprises an initialization module, a detection selection module, an operation module and a data storage module; the operation module also comprises a detection operation module, a data interaction module and a recombination and allocation module; the initialization module, the detection selection module, the operation module and the data storage module form a finished closed loop;
the decoder comprises a signal lamp identification module and a signal time identification module; the signal lamp identification module comprises a signal lamp color identification module, a signal lamp image denoising module, a signal lamp image amplification module and a signal image prejudgment module which are sequentially arranged; the signal time identification module comprises a signal time capturing module, a signal time counting-down pre-judging module, a signal time yellow light early warning module and a signal light ending starting module which are sequentially arranged.
Further, the unmanned vehicle is also provided with a second camera and a third camera, and the second camera is arranged in the middle of the tail of the unmanned vehicle; the third camera comprises 2 sub-cameras which are respectively arranged at the front end of a rearview mirror of the unmanned vehicle; and the second camera and the third camera are both provided with photoreceptors which are installed in a matching way and are electrically connected with the decoder through a converter.
Furthermore, the MCU master controller also comprises a solid state storage hard disk and an external socket which are arranged inside; the external socket is electrically connected with the decoder and the vehicle periphery monitoring radar through a data line; the solid-state storage hard disk is composed of a control unit and a storage unit, and one end of the solid-state storage hard disk is connected with a mobile hard disk.
Furthermore, the unmanned vehicle also comprises an anti-collision early warning system, a brake lamp, a steering lamp, a voice alarm, a vehicle distance data analysis controller, a vehicle brake control system, a steering wheel system controller and an in-vehicle safety protection system controller; the MCU master controller is respectively and electrically connected with the anti-collision early warning system, the brake lamp, the steering lamp, the voice alarm, the vehicle distance data analysis controller, the vehicle brake control system, the steering wheel system controller and the in-vehicle safety protection system controller.
Has the advantages that:
(1) the decoder comprises a signal lamp identification system and a signal time identification system, the signal lamp identification system comprises a signal lamp color identification module, a signal lamp image denoising module, a signal lamp image amplification module and a signal image prejudgment module, the signal time identification system comprises a signal time capturing module, a signal time counting prejudgment module, a signal time yellow early warning module and a signal lamp ending starting module, and information such as signal lamp color, signal time and the like can be comprehensively identified and recognized through the signal lamp identification system, the signal time identification system and the auxiliary devices thereof in actual use, so that the accuracy and the driving safety are improved.
(2) The MCU master controller comprises an initialization module, a detection selection module, an operation module and a data storage module, wherein the operation module further comprises a detection operation module, a data interaction module and a recombination allocation module, the initialization module, the detection selection module, the operation module and the data storage module form a completed closed loop, and the MCU master controller is comprehensively regulated and controlled in actual use and is mutually integrated with an automobile driving computer, so that the stability of a system is further realized, and the convenience of operation is improved.
(3) The MCU master controller is respectively and electrically connected with the anti-collision early warning system, the brake lamp, the steering lamp, the voice alarm, the vehicle distance data analysis controller, the vehicle brake control system, the steering wheel system controller and the in-vehicle safety protection system controller in a control mode, the decoder comprises the converter, and in actual use, all safety and use systems of a running vehicle can be integrally allocated and scheduled through the MCU master controller, so that the integral use smoothness is improved.
Drawings
FIG. 1 is a schematic structural diagram of a traffic signal light recognition device for unmanned driving according to the present invention;
FIG. 2 is a schematic view of the internal structure of the traffic signal light recognition device for unmanned driving according to the present invention;
FIG. 3 is a schematic view of a peripheral connection structure of the traffic signal light recognition device for unmanned aerial vehicle according to the present invention;
fig. 4 is a schematic diagram of an MCU master controller and an internal module of a decoder of the traffic signal light recognition device for unmanned driving according to the present invention.
Description of reference numerals:
1-MCU master controller; 2-a first camera; 3-a second camera; 4-a third camera; 5-a decoder; 6-unmanned vehicle; 7-four-week monitoring radar; 8-an anti-collision early warning system; 9-brake light; 10-a turn light; 11-voice alarm; 12-a vehicle distance data analysis controller; 13-a vehicle brake control system; 14-a steering wheel system controller; 15-a safety protection system controller in the vehicle; 16-a converter; 17-solid state storage hard disk; 18-external socket; 19-an initialization module; 20-a detection selection module; 21-operating the module; 22-a data storage module; 23-detecting an operation module; 24-a data interaction module; 25-a recombination and allocation module; 26-signal light identification system; 27-a signal time identification system; 28-signal lamp color identification module; 29-signal lamp image denoising module; 30-signal lamp image amplification module; 31-signal image prejudging module; 32-a signal time grabbing module; 33-a signal time countdown prejudgment module; 34-a signal time yellow light early warning module; 35-signal lamp ending starting module.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The traffic signal lamp recognition device for unmanned driving shown in fig. 1-4 comprises an unmanned vehicle 6, an MCU master controller 1, a first camera 2 and a decoder 5. Wherein the first camera 2 is located at the top end of the front windscreen of the unmanned vehicle 6. The decoder 5 is also provided with a converter 16. The first camera 2 is provided with a photoreceptor mounted in cooperation, and captured image information and an optical signal of the photoreceptor are transmitted to the decoder 5 through the converter 16. The MCU master controller 1, the decoder 5 and a driving computer of the unmanned vehicle 6 are integrally arranged.
The MCU master controller 1 comprises an initialization module 19, a detection selection module 20, an operation module 21 and a data storage module 22. The operation module 21 further includes a detection operation module 23, a data interaction module 24, and a reorganization and deployment module 25. The initialization module 19, the detection selection module 20, the operation module 21 and the data storage module 22 form a completed closed loop.
The decoder 5 includes a signal light recognition module 26 and a signal time recognition module 27. The signal light recognition module 26 includes a signal light color recognition module 28, a signal light image denoising module 29, a signal light image amplifying module 30, and a signal image prejudging module 31, which are sequentially arranged. The signal time recognition module 27 includes a signal time capture module 32, a signal time countdown prejudgment module 33, a signal time yellow warning module 34, and a signal light end start module 35, which are sequentially arranged.
As shown in fig. 1, the unmanned vehicle 6 is further provided with a second camera 3 and a third camera 4. The second camera 3 is arranged in the middle of the tail of the unmanned vehicle 6. The third camera 4 includes 2 sub-cameras, which are respectively disposed at the front end of the rearview mirror of the unmanned vehicle 6. The second camera 3 and the third camera 4 are provided with photoreceptors which are installed in a matching mode and are electrically connected with the decoder 5 through a converter 16.
As shown in fig. 2, the MCU master controller 1 further includes an internal solid state storage hard disk 17 and an external socket 18. The external socket 18 is electrically connected with the decoder 5 and the vehicle periphery monitoring radar 7 through data lines. The solid state storage hard disk 17 is composed of a control unit and a storage unit, and one end of the solid state storage hard disk 17 is connected with a mobile hard disk.
As shown in fig. 3, the unmanned vehicle 6 is further provided with an anti-collision early warning system 8, a brake lamp 9, a turn lamp 10, a voice alarm 11, a vehicle distance data analysis controller 12, a vehicle brake control system 13, a steering wheel system controller 14 and an in-vehicle safety protection system controller 15. The MCU master controller 1 is respectively and electrically connected with an anti-collision early warning system 8, a brake lamp 9, a steering lamp 10, a voice alarm 11, a vehicle distance data analysis controller 12, a vehicle brake control system 13, a steering wheel system controller 14 and an in-vehicle safety protection system controller 15.
In the invention, the used systems or modules are common in the market and do not need to be customized specially. When the system is used, firstly, the system is correctly and perfectly installed and debugged, the unmanned vehicle 6 is manually started, and then a power supply system of the unmanned vehicle 6 powers on the MCU master controller 1, the first camera 2, the second camera 3, the third camera 4, the decoder 5, the surrounding monitoring radar 7, the anti-collision early warning system 8, the brake lamp 9, the steering lamp 10, the voice alarm 11, the vehicle distance data analysis controller 12, the vehicle brake control system 13, the steering wheel system controller 14, the in-vehicle safety protection system controller 15 and the converter 16. At this time, the vehicle is started after the rearview mirror is observed to turn on the steering lamp, and at this time, the first camera 2 arranged at the top end of the windshield of the unmanned vehicle 6, the third camera 4 arranged on the rearview mirror of the unmanned vehicle 6 and the second camera 3 arranged at the tail of the unmanned vehicle 5 collectively monitor the surrounding environment of the unmanned vehicle 6 in real time. When meeting an intersection, the first camera 2 recognizes the color of the signal lamp on site through the signal lamp color recognition module 28, firstly denoises the image through the signal lamp image denoising module 29, then amplifies the image through the signal lamp image amplification module 30 to complete the preprocessing of the signal lamp image, and finally completes the recognition and prejudgment of the signal lamp through the signal image prejudgment module 31. Meanwhile, the first camera 2 also recognizes the time of the signal lamp on site through the signal time recognition module 27, firstly obtains the display time of the signal lamp through the signal time capture module 32, then completes the pre-judgment of the signal lamp countdown through the signal time countdown pre-judgment module 33 and the signal time yellow light early warning module 34, judges whether to send out a yellow light early warning signal according to the length of the countdown time, and finally stops starting the signal lamp module through the signal lamp ending start module 35. The signal of signal lamp color identification and signal lamp time prejudgment is transmitted to the decoder 5, an electric signal is formed after the decoding of the decoder 5 and is transmitted to the MCU master controller 1, whether the vehicle runs or stops is confirmed through the MCU master controller 1, meanwhile, the MCU master controller 1 can convert the signal into a command signal and further transmits the command signal to the vehicle brake control system 13 and the steering wheel system controller 14, and further controls the start and stop of the unmanned vehicle 6,
when pedestrians are around the unmanned vehicle 6, the surrounding monitoring radars 7 transmit the signals to the MCU master controller 1 through the decoder 5, the MCU master controller 1 controls the driving track route of the unmanned vehicle 6, and the purpose of automatically recognizing traffic signs of the unmanned vehicle is achieved.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims (4)

1. A traffic signal lamp recognition device for unmanned driving is characterized by comprising an unmanned vehicle (6), an MCU master controller (1), a first camera (2) and a decoder (5); the first camera (2) is positioned at the top end of a front windshield of the unmanned vehicle (6); the decoder (5) further comprises a converter (16); the first camera (2) is provided with a photoreceptor which is installed in a matching way, and shot image information and an optical signal of the photoreceptor are transmitted to the decoder (5) through a converter (16); the MCU master controller (1), the decoder (5) and a driving computer of the unmanned vehicle (6) are integrally arranged;
the MCU master controller (1) comprises an initialization module (19), a detection selection module (20), an operation module (21) and a data storage module (22); the operation module (21) further comprises a detection operation module (23), a data interaction module (24) and a recombination and allocation module (25); the initialization module (19), the detection selection module (20), the operation module (21) and the data storage module (22) form a finished closed loop;
the decoder (5) comprises a signal light identification module (26) and a signal time identification module (27); the signal lamp identification module (26) comprises a signal lamp color identification module (28), a signal lamp image denoising module (29), a signal lamp image amplification module (30) and a signal image prejudgment module (31) which are sequentially arranged; the signal time identification module (27) comprises a signal time capturing module (32), a signal time counting-down pre-judging module (33), a signal time yellow light early warning module (34) and a signal light ending starting module (35) which are sequentially arranged.
2. The traffic signal light recognition device for unmanned aerial vehicle of claim 1, wherein the unmanned vehicle (6) is further provided with a second camera (3) and a third camera (4), the second camera (3) is arranged at the middle of the tail of the unmanned vehicle (6); the third camera (4) comprises 2 sub cameras which are respectively arranged at the front end of a rearview mirror of the unmanned vehicle (6); and the second camera (3) and the third camera (4) are provided with photoreceptors which are installed in a matching way and are electrically connected with the decoder (5) through a converter (16).
3. The traffic signal light recognition device for unmanned aerial vehicle of claim 1, wherein the MCU master controller (1) further comprises an internally arranged solid state storage hard disk (17) and an external socket (18); the external socket (18) is electrically connected with the decoder (5) and the vehicle periphery monitoring radar (7) through a data line; the solid state storage hard disk (17) is composed of a control unit and a storage unit, and one end of the solid state storage hard disk (17) is connected with a mobile hard disk.
4. The traffic signal light recognition device for unmanned aerial vehicle of claim 1, wherein the unmanned vehicle (6) further comprises an anti-collision early warning system (8), a brake light (9), a steering light (10), a voice alarm (11), a vehicle distance data analysis controller (12), a vehicle brake control system (13), a steering wheel system controller (14) and an in-vehicle safety protection system controller (15); the MCU master controller (1) is respectively and electrically connected with the anti-collision early warning system (8), the brake lamp (9), the steering lamp (10), the voice alarm (11), the vehicle distance data analysis controller (12), the vehicle brake control system (13), the steering wheel system controller (14) and the in-vehicle safety protection system controller (15).
CN202010918660.3A 2020-09-04 2020-09-04 Traffic signal lamp recognition device for unmanned driving Pending CN112233415A (en)

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KR20130085235A (en) * 2012-01-19 2013-07-29 김동용 System for driving manless of car
CN105825696A (en) * 2016-04-18 2016-08-03 吉林大学 Driving assistance system based on signal lamp information prompts
CN107978165A (en) * 2017-12-12 2018-05-01 南京理工大学 Intersection identifier marking and signal lamp Intellisense method based on computer vision
CN109532670A (en) * 2018-11-28 2019-03-29 广州市网拓信息技术有限公司 A kind of on-vehicle safety Distance Judgment device extremely software uses principle
CN110473415A (en) * 2019-08-26 2019-11-19 安徽因特维可信息科技股份有限公司 Signal lamp early warning system based on V2I
CN110706494A (en) * 2019-10-30 2020-01-17 北京百度网讯科技有限公司 Control method, device, equipment and storage medium for automatic driving vehicle
CN111030374A (en) * 2019-10-30 2020-04-17 华电电力科学研究院有限公司 Community power generation device and operation process thereof
CN111582216A (en) * 2020-05-15 2020-08-25 安徽师范大学 Unmanned vehicle-mounted traffic signal lamp identification system and method
CN111696356A (en) * 2020-06-29 2020-09-22 江苏理工学院 Unmanned vehicle and running detection device thereof
CN212379974U (en) * 2020-06-29 2021-01-19 江苏理工学院 Unmanned vehicle and running detection device thereof

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20130085235A (en) * 2012-01-19 2013-07-29 김동용 System for driving manless of car
CN105825696A (en) * 2016-04-18 2016-08-03 吉林大学 Driving assistance system based on signal lamp information prompts
CN107978165A (en) * 2017-12-12 2018-05-01 南京理工大学 Intersection identifier marking and signal lamp Intellisense method based on computer vision
CN109532670A (en) * 2018-11-28 2019-03-29 广州市网拓信息技术有限公司 A kind of on-vehicle safety Distance Judgment device extremely software uses principle
CN110473415A (en) * 2019-08-26 2019-11-19 安徽因特维可信息科技股份有限公司 Signal lamp early warning system based on V2I
CN110706494A (en) * 2019-10-30 2020-01-17 北京百度网讯科技有限公司 Control method, device, equipment and storage medium for automatic driving vehicle
CN111030374A (en) * 2019-10-30 2020-04-17 华电电力科学研究院有限公司 Community power generation device and operation process thereof
CN111582216A (en) * 2020-05-15 2020-08-25 安徽师范大学 Unmanned vehicle-mounted traffic signal lamp identification system and method
CN111696356A (en) * 2020-06-29 2020-09-22 江苏理工学院 Unmanned vehicle and running detection device thereof
CN212379974U (en) * 2020-06-29 2021-01-19 江苏理工学院 Unmanned vehicle and running detection device thereof

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