CN113283335A - Construction area identification method and device, vehicle, electronic device and storage medium - Google Patents
Construction area identification method and device, vehicle, electronic device and storage medium Download PDFInfo
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- CN113283335A CN113283335A CN202110559349.9A CN202110559349A CN113283335A CN 113283335 A CN113283335 A CN 113283335A CN 202110559349 A CN202110559349 A CN 202110559349A CN 113283335 A CN113283335 A CN 113283335A
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- 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
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
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- 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
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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- 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
Abstract
The embodiment of the invention discloses a construction area identification method and device, a vehicle, electronic equipment and a storage medium. The identification method of the construction area comprises the following steps: when the vehicle is in an automatic driving mode, judging whether a construction mark is recognized or not; if the construction identification is identified, obtaining a target speed and a standard construction road width, and obtaining a tapered traffic sign gradual change area according to the target speed and the standard construction road width; judging whether a plurality of conical traffic signs meeting the preset layout requirements are arranged in the conical traffic sign gradual change area; if so, determining that the front is the construction area. According to the embodiment of the invention, whether the construction area exists in the front or not can be accurately identified, so that the safety of the automatic driving vehicle passing through the construction area can be improved.
Description
Technical Field
The present invention relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for identifying a construction area, a vehicle, an electronic device, and a storage medium.
Background
At present, in the automatic driving process of a vehicle in an automatic driving mode, a front obstacle can be automatically identified and avoided. For the construction area ahead, also usually as an obstacle carry on subsequent operation, however, the construction area is relatively as the obstacle, because the characteristic of construction itself, leads to the road conditions more complicated, therefore, dodges as the obstacle, and the security is relatively poor when passing through the construction area. In addition, in some ways that can identify the construction area, the construction area is determined only by the signboard arranged beside the road, and sometimes the construction area is completed and the signboard is not removed in time, and the like, and there may be no construction area in front of the construction area, so the construction area identification accuracy is poor.
Disclosure of Invention
To solve the problems in the prior art, embodiments of the present invention provide a method and an apparatus for identifying a construction area, a vehicle, an electronic device, and a storage medium.
Specifically, the embodiment of the invention provides the following technical scheme:
in a first aspect, an embodiment of the present invention provides a method for identifying a construction area, including:
when the vehicle is in an automatic driving mode, judging whether a construction mark is recognized or not;
if the construction identification is identified, obtaining a target speed and a standard construction road width, and obtaining a tapered traffic sign gradual change area according to the target speed and the standard construction road width;
judging whether a plurality of conical traffic signs meeting the preset layout requirements are arranged in the conical traffic sign gradual change area;
if so, determining that the front is the construction area.
In some examples, the determining whether the construction identification is identified includes:
judging whether a first construction signboard is identified or not;
if the first construction signboard is recognized, further judging whether a second construction signboard is recognized in front of the first construction signboard, wherein the first construction signboard is different from the second construction signboard;
and if so, determining that the construction identifier is identified.
In some examples, if the construction identifier is identified, obtaining a target vehicle speed and a standard construction road width, and obtaining a tapered traffic sign gradual change area according to the target vehicle speed and the standard construction road width, includes:
obtaining the target speed based on the current speed or the road speed limit, and obtaining the standard construction road width based on the standard construction layout specification of the construction area;
and obtaining the length of the tapered traffic sign gradual change area according to the target speed and the standard construction road width.
In some examples, the obtaining the target vehicle speed based on the current vehicle speed or the road speed limit includes:
if the road is provided with the road speed limit, taking the road speed limit as the target speed;
and if the road is not provided with the road speed limit, converting the current vehicle speed according to a preset conversion rate to obtain the target vehicle speed.
In some examples, the determining whether a plurality of cone-shaped traffic signs meeting predetermined layout requirements are arranged in the cone-shaped traffic sign gradual change area includes:
judging whether a plurality of conical traffic signs are arranged in the conical traffic sign gradual change area;
if so, further judging whether the distance between any two adjacent conical traffic signs in the plurality of conical traffic signs is smaller than a preset distance;
if yes, determining that a plurality of cone-shaped traffic signs meeting the preset layout requirements are arranged in the cone-shaped traffic sign gradual change area.
In some examples, after determining that the front is the construction area, further comprising:
sending a takeover request, and switching the automatic driving mode of the vehicle into a personnel takeover mode after receiving takeover confirmation; alternatively, the vehicle is speed limited to within a predetermined speed.
In a second aspect, an embodiment of the present invention provides an apparatus for identifying a construction area, including:
the identification recognition module is used for judging whether the construction identification is recognized or not when the vehicle is in an automatic driving mode;
the area acquisition module is used for acquiring a target speed and a standard construction road width when the judgment module identifies the construction identifier, and acquiring a tapered traffic sign gradual change area according to the target speed and the standard construction road width;
the layout requirement determining module is used for judging whether a plurality of conical traffic signs meeting the preset layout requirement are arranged in the conical traffic sign gradual change area;
and the determining module is used for determining that the front is a construction area when the layout requirement determining module judges that a plurality of conical traffic signs meeting the preset layout requirements are arranged in the conical traffic sign gradual change area.
In a third aspect, an embodiment of the present invention provides a vehicle, including: the identification device for a construction area according to the second aspect embodiment described above.
In a fourth aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the method for identifying a construction area according to the first aspect when executing the program.
In a fifth aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for identifying a construction area according to the first aspect.
According to the technical scheme, the construction identification is firstly identified, the tapered traffic sign gradual change area is obtained according to the target speed and the standard construction road width after the construction identification is identified, then whether a plurality of tapered traffic signs are arranged in the tapered traffic sign gradual change area or not is judged, whether the arrangement distance of the adjacent tapered traffic signs meets the requirement or not is judged, and the construction area in front is determined under the condition that the arrangement distance of the adjacent tapered traffic signs meets the requirement or not. When the construction area is identified, the construction area is identified by the aid of identification results of the identification (namely the identification plate) and speed information, road width information, the number and the intervals of the conical traffic signs, whether the construction area exists in front can be accurately identified, and safety of the automatic driving vehicle passing through the construction area is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for identifying a construction area according to an embodiment of the present invention;
fig. 2 is a block diagram illustrating a construction area identification apparatus according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A method, an apparatus, a vehicle, an electronic device, and a storage medium for identifying a construction area according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 shows a flowchart of a method for identifying a construction area according to an embodiment of the present invention. As shown in fig. 1, the method for identifying a construction area according to an embodiment of the present invention includes the following steps:
s101: and when the vehicle is in an automatic driving mode, judging whether the construction identification is recognized.
The vehicle is, for example, a commercial vehicle, and the vehicle has an automatic driving mode, and when the vehicle is driven on a highway such as an expressway, for example, the vehicle can be switched to the automatic driving mode to drive the vehicle on the expressway, and during the driving, identification such as an obstacle, another vehicle, a road sign, and the like is performed.
In a specific application, the identification may be performed by radar or the like, and of course, the identification may also be performed by an image, for example: the vehicle-mounted camera is used for collecting images of the surrounding environment, so that obstacles, guideboards and the like can be identified through image identification and other technologies.
In one embodiment of the present invention, determining whether a construction identifier is identified includes: judging whether a first construction signboard is identified or not; if the first construction signboard is recognized, further judging whether a second construction signboard is recognized in front of the first construction signboard, wherein the first construction signboard is different from the second construction signboard; and if so, determining that the construction identifier is identified.
In the above example, the first construction signboard example may be a signboard indicating "construction ahead 1 km" provided on one side of a road, and the second construction signboard example may be a signboard indicating "construction ahead 300 m" provided on one side of a road.
Specifically, according to the requirement of national standard GB5768-1999(ICS03.220.20) Road traffic signs and marking lines (Road traffic signs and marking) on the construction area of the expressway, if the Road is constructed, the first construction signboard needs to be arranged in the vicinity of about 1km (namely: 1 kilometer) of the construction area, and the second construction signboard needs to be arranged in the vicinity of about 300m (namely: 300 meters) of the construction area. Therefore, in the vehicle driving process, gather the image of surrounding environment, through image recognition, if can discern first construction signboard and second construction signboard, the expression has discerned the construction sign, promptly: the front may be under construction.
S102: and if the construction identification is identified, obtaining a target speed and a standard construction road width, and obtaining a tapered traffic sign gradual change area according to the target speed and the standard construction road width.
According to the marking requirements of national standard GB5768-1999(ICS03.220.20) Road traffic signs and marking lines (Road traffic signs and marking) on construction areas on the expressway, a lane is constructed, and the standard construction Road width W can be determined in advance, namely: the reduced road width W is labeled and can therefore be determined from the identification requirement.
In one embodiment of the present invention, if the construction identifier is identified, obtaining a target vehicle speed and a standard construction road width, and obtaining a tapered traffic sign gradual change area according to the target vehicle speed and the standard construction road width, includes: obtaining the target speed based on the current speed or the road speed limit, and obtaining the standard construction road width based on the standard construction layout specification of the construction area; and obtaining the length of the tapered traffic sign gradual change area according to the target speed and the standard construction road width.
In this example, obtaining the target vehicle speed based on the current vehicle speed or the road speed limit includes: if the road is provided with the road speed limit, taking the road speed limit as the target speed; and if the road is not provided with the road speed limit, converting the current vehicle speed according to a preset conversion rate to obtain the target vehicle speed.
Specifically, the target vehicle speed is determined by the current vehicle speed and the road speed limit, wherein if the road is provided with the road speed limit, the target vehicle speed is first set according to the road speed limit, that is: the target vehicle speed is a road speed limit, for example: the road speed limit is 60km/h (i.e., 60 km/h), the road speed limit is 120km/h, and so on. If the road has no road speed limit, the current speed can be converted according to a preset conversion rate to obtain the target speed, for example: the conversion rate is 85%, and the target vehicle speed is 85km/h assuming that the current vehicle speed is 100 km/h.
When the target speed is more than 60km/h and less than or equal to 60km/h, the mode of obtaining the tapered area of the conical traffic sign is different according to the target speed and the standard construction road width. For example: and when the target vehicle speed is more than 60km/h, the length L of the tapered traffic sign gradual change area is 0.625VW, wherein W is the reduced road width, and V is the target vehicle speed. And if the target vehicle speed is less than or equal to 60km/h, the length L of the cone traffic sign gradual change area is V W/155. Thus, the length of the tapered traffic sign transition area can be obtained, for example: the length L of the tapered traffic sign transition area is 130 meters.
S103: and judging whether a plurality of conical traffic signs meeting the preset layout requirements are arranged in the conical traffic sign gradual change area.
In one embodiment of the present invention, the determining whether a plurality of cone-shaped traffic signs meeting the predetermined layout requirement are arranged in the cone-shaped traffic sign gradual change area includes: judging whether a plurality of conical traffic signs are arranged in the conical traffic sign gradual change area; if so, further judging whether the distance between any two adjacent conical traffic signs in the plurality of conical traffic signs is smaller than a preset distance; if yes, determining that a plurality of cone-shaped traffic signs meeting the preset layout requirements are arranged in the cone-shaped traffic sign gradual change area.
According to the marking requirements of national standard GB5768-1999(ICS03.220.20) Road traffic signs and marking lines (Road traffic signs and marking) on construction areas on expressways, the distance between adjacent conical traffic signs has a standard and cannot be too large, for example: the interval of adjacent toper traffic sign that the toper traffic sign gradual change set up in the region can not be greater than 5 meters, consequently, can be through gathering the image of toper traffic sign gradual change region, and then, set up a plurality of toper traffic signs through image identification toper traffic sign gradual change region, for example discernment 3 or more than 3 toper traffic signs, at this moment, further calculate adjacent toper traffic sign's interval, if the interval all is within 5 meters, whether it is equipped with a plurality of toper traffic signs that satisfy the predetermined requirement of laying to show in the toper traffic sign gradual change region. Namely: the Road traffic sign and marking requirements of national standard GB5768-1999(ICS03.220.20) Road traffic signs and marking lines (Road traffic signs and marking) on construction areas on the expressway are met.
S104: if so, determining that the front is the construction area. Namely: if the vehicle is in the automatic driving mode, the construction mark is determined to be recognized, a plurality of cone-shaped traffic signs are arranged in the cone-shaped traffic sign gradual change area, and the distance between the adjacent cone-shaped traffic signs is smaller than or equal to 5 m, the construction area ahead can be accurately determined.
According to the construction area identification method, the construction identification is firstly identified, after the construction identification is identified, the tapered traffic sign gradual change area is obtained according to the target speed and the standard construction road width, then whether a plurality of tapered traffic signs are arranged in the tapered traffic sign gradual change area and whether the arrangement space of the adjacent tapered traffic signs meets the requirement or not is judged, and the construction area in front is determined under the condition that the requirement is met. When the construction area is identified, the construction area is identified by the aid of identification results of the identification (namely the identification plate) and speed information, road width information, the number and the intervals of the conical traffic signs, whether the construction area exists in front can be accurately identified, and safety of the automatic driving vehicle passing through the construction area is improved.
In one embodiment of the present invention, after determining that the front is the construction area, the method further includes: sending a takeover request, and switching the automatic driving mode of the vehicle into a personnel takeover mode after receiving takeover confirmation; alternatively, the vehicle is speed limited to within a predetermined speed. Namely: after recognizing that there is a construction area ahead, a corresponding execution coping mechanism may be performed, for example: prompting people in the vehicle to construct ahead, and requesting the driver to take over the road conditions are possibly complex. Alternatively, the speed-limited vehicle may be directly driven slowly, for example: the vehicle speed is limited to be not more than 20km/h, so that the vehicle can safely pass through a construction area in the automatic driving process of the vehicle.
Fig. 2 is a block diagram of a construction area recognition apparatus according to an embodiment of the present invention. As shown in fig. 2, the identification apparatus of a construction area according to one embodiment of the present invention includes: an identification recognition module 210, a region acquisition module 220, a layout requirement determination module 230, and a determination module 240, wherein:
the identifier recognition module 210 is configured to determine whether a construction identifier is recognized when the vehicle is in an automatic driving mode;
the area obtaining module 220 is configured to obtain a target vehicle speed and a standard construction road width when the judging module 210 identifies the construction identifier, and obtain a tapered traffic sign gradual-change area according to the target vehicle speed and the standard construction road width;
the layout requirement determining module 230 is configured to determine whether a plurality of conical traffic signs meeting predetermined layout requirements are arranged in the conical traffic sign gradual change region;
a determining module 240, configured to determine that the front is a construction area when the layout requirement determining module 230 determines that a plurality of tapered traffic signs meeting predetermined layout requirements are arranged in the tapered traffic sign gradient area.
According to the identification device of the construction area, the construction identification is firstly identified, after the construction identification is identified, the tapered traffic sign gradual change area is obtained according to the target speed and the standard construction road width, then whether a plurality of tapered traffic signs are arranged in the tapered traffic sign gradual change area and whether the arrangement distance of adjacent tapered traffic signs meets the requirement or not is judged, and the construction area in front is determined under the condition that the requirement is met. When the construction area is identified, the construction area is identified by the aid of identification results of the identification (namely the identification plate) and speed information, road width information, the number and the intervals of the conical traffic signs, whether the construction area exists in front can be accurately identified, and safety of the automatic driving vehicle passing through the construction area is improved.
It should be noted that a specific implementation manner of the identification device of the construction area in the embodiment of the present invention is similar to a specific implementation manner of the identification method of the construction area in the embodiment of the present invention, and please refer to the description of the method part specifically, which is not described herein again.
Further, an embodiment of the present invention discloses a vehicle, including: the identification device of the construction area according to the above embodiment. The vehicle is, for example, a commercial vehicle. The vehicle is in the automatic driving mode driving process, can accurately determine whether the front has a construction area, namely: the construction method comprises the steps of firstly identifying a construction identification, obtaining a tapered traffic sign gradual change area according to a target speed and a standard construction road width after identifying the construction identification, then judging whether a plurality of tapered traffic signs are arranged in the tapered traffic sign gradual change area and whether the arrangement distance of adjacent tapered traffic signs meets the requirement, and determining that the front is the construction area under the condition that the requirement is met. When the construction area is identified, the construction area is identified by combining speed information, road width information, the number and the spacing of the conical traffic signs and the like, and whether the construction area exists in front can be accurately determined, so that the safety of the automatic driving vehicle passing through the construction area is improved.
In addition, other configurations and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail in order to reduce redundancy.
Based on the same inventive concept, another embodiment of the present invention provides an electronic device, which specifically includes the following components, with reference to fig. 3: a processor 301, a memory 302, a communication interface 303, and a communication bus 304;
the processor 301, the memory 302 and the communication interface 303 complete mutual communication through the communication bus 304;
the processor 301 is configured to call a computer program in the memory 302, and the processor implements all the steps of the above-mentioned identification method of the construction area when executing the computer program, for example, the processor implements the following processes when executing the computer program: when the vehicle is in an automatic driving mode, judging whether a construction mark is recognized or not; if the construction identification is identified, obtaining a target speed and a standard construction road width, and obtaining a tapered traffic sign gradual change area according to the target speed and the standard construction road width; judging whether a plurality of conical traffic signs meeting the preset layout requirements are arranged in the conical traffic sign gradual change area; if so, determining that the front is the construction area.
It will be appreciated that the detailed functions and extended functions that the computer program may perform may be as described with reference to the above embodiments.
Based on the same inventive concept, yet another embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements all the steps of the above-mentioned construction area identification method, for example, the processor implements the following processes when executing the computer program: when the vehicle is in an automatic driving mode, judging whether a construction mark is recognized or not; if the construction identification is identified, obtaining a target speed and a standard construction road width, and obtaining a tapered traffic sign gradual change area according to the target speed and the standard construction road width; judging whether a plurality of conical traffic signs meeting the preset layout requirements are arranged in the conical traffic sign gradual change area; if so, determining that the front is the construction area.
It will be appreciated that the detailed functions and extended functions that the computer program may perform may be as described with reference to the above embodiments.
Based on the same inventive concept, another embodiment of the present invention provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements all the steps of the above-mentioned identification method for a construction area, for example, when the processor executes the computer program, the following processes are implemented: when the vehicle is in an automatic driving mode, judging whether a construction mark is recognized or not; if the construction identification is identified, obtaining a target speed and a standard construction road width, and obtaining a tapered traffic sign gradual change area according to the target speed and the standard construction road width; judging whether a plurality of conical traffic signs meeting the preset layout requirements are arranged in the conical traffic sign gradual change area; if so, determining that the front is the construction area.
It will be appreciated that the detailed functions and extended functions that the computer program may perform may be as described with reference to the above embodiments.
In addition, the logic instructions in the memory may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions may be essentially or partially implemented in the form of software products, which may be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and include instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the traffic auditing method according to various embodiments or some parts of embodiments.
Moreover, in the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Furthermore, in the present disclosure, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for identifying a construction area, comprising:
when the vehicle is in an automatic driving mode, judging whether a construction mark is recognized or not;
if the construction identification is identified, obtaining a target speed and a standard construction road width, and obtaining a tapered traffic sign gradual change area according to the target speed and the standard construction road width;
judging whether a plurality of conical traffic signs meeting the preset layout requirements are arranged in the conical traffic sign gradual change area;
if so, determining that the front is the construction area.
2. The method for identifying a construction area according to claim 1, wherein the judging whether the construction mark is identified comprises:
judging whether a first construction signboard is identified or not;
if the first construction signboard is recognized, further judging whether a second construction signboard is recognized in front of the first construction signboard, wherein the first construction signboard is different from the second construction signboard;
and if so, determining that the construction identifier is identified.
3. The method for identifying the construction area according to claim 2, wherein if the construction mark is identified, obtaining a target vehicle speed and a standard construction road width, and obtaining a tapered traffic mark gradual change area according to the target vehicle speed and the standard construction road width comprises:
obtaining the target speed based on the current speed or the road speed limit, and obtaining the standard construction road width based on the standard construction layout specification of the construction area;
and obtaining the length of the tapered traffic sign gradual change area according to the target speed and the standard construction road width.
4. The method for identifying a construction area according to claim 3, wherein the obtaining the target vehicle speed based on a current vehicle speed or a road speed limit comprises:
if the road is provided with the road speed limit, taking the road speed limit as the target speed;
and if the road is not provided with the road speed limit, converting the current vehicle speed according to a preset conversion rate to obtain the target vehicle speed.
5. The method for identifying a construction area according to claim 1, wherein the step of judging whether a plurality of conical traffic signs meeting predetermined layout requirements are arranged in the conical traffic sign gradual-change area comprises the following steps:
judging whether a plurality of conical traffic signs are arranged in the conical traffic sign gradual change area;
if so, further judging whether the distance between any two adjacent conical traffic signs in the plurality of conical traffic signs is smaller than a preset distance;
if yes, determining that a plurality of cone-shaped traffic signs meeting the preset layout requirements are arranged in the cone-shaped traffic sign gradual change area.
6. The method of identifying a construction area according to any one of claims 1 to 5, further comprising, after determining that the front is a construction area:
sending a takeover request, and switching the automatic driving mode of the vehicle into a personnel takeover mode after receiving takeover confirmation; alternatively, the vehicle is speed limited to within a predetermined speed.
7. An identification device for a construction area, comprising:
the identification recognition module is used for judging whether the construction identification is recognized or not when the vehicle is in an automatic driving mode;
the area acquisition module is used for acquiring a target speed and a standard construction road width when the judgment module identifies the construction identifier, and acquiring a tapered traffic sign gradual change area according to the target speed and the standard construction road width;
the layout requirement determining module is used for judging whether a plurality of conical traffic signs meeting the preset layout requirement are arranged in the conical traffic sign gradual change area;
and the determining module is used for determining that the front is a construction area when the layout requirement determining module judges that a plurality of conical traffic signs meeting the preset layout requirements are arranged in the conical traffic sign gradual change area.
8. A vehicle, characterized by comprising: the identification device of a construction area according to claim 7.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method for identifying a construction area according to any one of claims 1 to 6 when executing the program.
10. A non-transitory computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method for identifying a construction area according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110559349.9A CN113283335B (en) | 2021-05-21 | 2021-05-21 | Construction area recognition method, construction area recognition device, vehicle, electronic device, and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110559349.9A CN113283335B (en) | 2021-05-21 | 2021-05-21 | Construction area recognition method, construction area recognition device, vehicle, electronic device, and storage medium |
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| Publication Number | Publication Date |
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| CN113283335A true CN113283335A (en) | 2021-08-20 |
| CN113283335B CN113283335B (en) | 2022-08-19 |
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| CN202110559349.9A Active CN113283335B (en) | 2021-05-21 | 2021-05-21 | Construction area recognition method, construction area recognition device, vehicle, electronic device, and storage medium |
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