CN113705458A - Traffic sign recognition method, system and storage medium - Google Patents
Traffic sign recognition method, system and storage medium Download PDFInfo
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- CN113705458A CN113705458A CN202111003021.5A CN202111003021A CN113705458A CN 113705458 A CN113705458 A CN 113705458A CN 202111003021 A CN202111003021 A CN 202111003021A CN 113705458 A CN113705458 A CN 113705458A
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Abstract
The invention discloses a traffic sign recognition method, a system and a storage medium, wherein the method is applied to a traffic sign recognition system, the traffic sign recognition system comprises a camera and a navigation system, the camera and the navigation system are used for recognizing traffic signs, and the method comprises the following steps: detecting whether a traffic sign recognition function mode has a fault, wherein the traffic sign recognition function mode comprises a video mode for recognizing a traffic sign by adopting a camera, a navigation mode for recognizing the traffic sign by adopting a navigation system and a fusion mode for recognizing the traffic sign by adopting the camera and the navigation system; automatically switching a traffic sign recognition function mode according to the detection result or recognizing the traffic sign according to the traffic sign recognition function mode selected by the user; and carrying out speed limit prompt according to the automatically switched traffic sign recognition function mode or the traffic sign recognition function mode selected by the user and the traffic sign recognition result. Compared with the prior art, the invention improves the flexibility and stability of the traffic sign identification.
Description
Technical Field
The present invention relates to the field of traffic sign recognition technologies, and in particular, to a traffic sign recognition method, a system, and a storage medium.
Background
With the rapid development of artificial intelligence, more and more artificial intelligence recognition devices are being applied to the automotive industry. At present, artificial intelligence is widely used for identifying traffic signs and sending corresponding prompts.
The existing traffic sign recognition function generally adopts a prompting method that a forward camera recognizes a speed limit sign and a navigation system outputs a speed limit value to be fused, or adopts a method that only the forward camera recognizes the speed limit sign to prompt. Although these technologies have achieved traffic sign recognition, the following problems still exist:
1. when the navigation information of a part of road sections is inaccurate by adopting the fusion method, wrong speed limit prompt is carried out on the user;
2. when the forward camera is shielded or has a fault (not a system fault), the traffic sign identification function cannot be used;
3. the traffic sign recognition function operates with poor flexibility.
Disclosure of Invention
The invention mainly aims to provide a traffic sign identification method, a traffic sign identification system and a storage medium, and aims to improve the flexibility and stability of the traffic sign identification system.
In order to achieve the above object, the present invention provides a traffic sign recognition method, which is applied to a traffic sign recognition system including a camera for recognizing a traffic sign and a navigation system, the method including the steps of:
detecting whether a traffic sign recognition function mode has a fault, wherein the traffic sign recognition function mode comprises a video mode for recognizing a traffic sign by adopting a camera, a navigation mode for recognizing the traffic sign by adopting a navigation system and a fusion mode for recognizing the traffic sign by adopting the camera and the navigation system;
automatically switching a traffic sign recognition function mode according to the detection result or recognizing the traffic sign according to the traffic sign recognition function mode selected by the user;
and carrying out speed limit prompt according to the automatically switched traffic sign recognition function mode or the traffic sign recognition function mode selected by the user and the traffic sign recognition result.
The invention further adopts the technical scheme that the step of identifying the traffic sign by switching the automatic traffic sign identification function mode according to the detection result comprises the following steps:
and if the detection result indicates that the video mode and the navigation mode are not failed, identifying the traffic sign according to the traffic sign identification function mode selected by the user.
The invention further adopts the technical scheme that the step of carrying out speed limit prompt according to the traffic sign recognition function mode and the traffic sign recognition result selected by the user comprises the following steps:
and if the traffic sign recognition function mode selected by the user is the fusion mode, performing speed limit prompt by adopting the fusion mode and the traffic sign recognition result.
The invention further adopts the technical scheme that the step of carrying out speed limit prompt by adopting the fusion mode and the traffic sign recognition result comprises the following steps:
if the camera detects a new traffic sign and the navigation system detects the new traffic sign, performing speed limit prompt according to the new traffic sign detected by the camera;
if the camera detects a new traffic sign and the navigation system does not detect the new traffic sign, performing speed limit prompt according to the new traffic sign detected by the camera and keeping a first preset distance;
if the camera does not detect a new traffic sign and the navigation system detects the new traffic sign, speed limit prompt is carried out according to the traffic sign detected by the camera last time within the first preset distance, and speed limit prompt is carried out according to the new traffic sign detected by the navigation system outside the first preset distance.
The technical scheme of the invention is that if the camera detects a new traffic sign and the navigation system does not detect the new traffic sign, the method for prompting speed limit according to the new traffic sign detected by the camera and keeping the set distance further comprises the following steps:
judging whether the road where the traffic sign is located is an urban road or not;
if yes, speed limit prompting is carried out according to navigation information after the first preset distance is exceeded;
and if not, no speed limit prompt is carried out after the first preset distance is exceeded.
According to a further technical scheme, in the video mode, if a camera detects a new traffic sign, speed limit prompting is carried out when a vehicle passes through a plane where the traffic sign is located, and the first preset distance is kept.
The invention further adopts the technical scheme that in the navigation mode, if the navigation system detects a new traffic sign, the speed limit is prompted outside the first preset distance in front of the plane of the traffic sign according to the new traffic sign detected by the navigation system, and the second preset distance is kept behind the plane of the traffic sign.
The invention further adopts the technical scheme that the step of identifying the traffic sign by switching the automatic traffic sign identification function mode according to the detection result comprises the following steps:
if the detection result is that the navigation mode has a fault, automatically switching to a video mode;
if the detection result is that the navigation mode is not in fault, further detecting whether the video mode is in fault;
and if the video mode has a fault, automatically switching to the navigation mode.
In order to achieve the above object, the present invention further provides a traffic sign recognition system, which includes a camera for recognizing a traffic sign, a navigation system, a memory, and a processor, wherein the processor stores a traffic sign recognition program, and the traffic sign recognition program executes the steps of the method when being called by the processor.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a traffic sign recognition program, which when invoked by the processor performs the steps of the method as described above.
The traffic sign identification method has the beneficial effects that:
1. and a function operation mode setting item is added to meet different requirements of users.
2. When a navigation system or a camera has a fault (non-system fault), the traffic sign recognition function mode can be automatically switched, and the function operation flexibility is improved.
3. If the user finds that the navigation information is not updated and does not accord with the actual speed limit information, the user only uses the video mode to avoid error prompt and false alarm in the driving process;
4. and a redundancy strategy is added to the functions, so that the functional stability of the system 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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a flow chart illustrating a preferred embodiment of a traffic sign recognition method according to the present invention;
FIG. 2 is a system block diagram of a traffic sign recognition system;
FIG. 3 is a schematic diagram of speed limit prompt in video mode;
FIG. 4 is a schematic diagram of a speed limit prompt in the navigation mode;
FIG. 5 is a flow chart illustrating a speed limit prompt in the fusion mode;
fig. 6 is a schematic diagram of a traffic sign recognition function mode switching strategy.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Considering the current traffic sign recognition function, when the navigation information of a part of road sections is inaccurate by adopting a fusion method, wrong speed limit prompt is carried out on a user, when a forward camera is shielded or has a fault (non-system fault), the traffic sign recognition function cannot be used, and the traffic sign recognition function has poor operation flexibility.
Specifically, the present invention provides a traffic sign recognition method, as shown in fig. 1, a preferred embodiment of the traffic sign recognition method of the present invention includes the following steps:
and step S10, detecting whether the traffic sign recognition function mode has a fault, wherein the traffic sign recognition function mode comprises a video mode for recognizing the traffic sign by adopting a camera, a navigation mode for recognizing the traffic sign by adopting a navigation system and a fusion mode for recognizing the traffic sign by adopting the camera and the navigation system.
In this embodiment, the method is applied to a traffic sign recognition system, the traffic sign recognition system includes a camera and a navigation system for recognizing a traffic sign, the traffic sign is, for example, a speed limit sign, and a speed limit value of the speed limit sign can be prompted through a vehicle meter. The traffic sign recognition function in this embodiment can operate in different modes, and the user can set an expected operation mode according to the own needs. The video mode only prompts the speed limit information detected by the front camera, the navigation mode only prompts the speed limit information detected by the navigation system, and the fusion mode can comprehensively prompt the speed limit information detected by the camera and the speed limit information detected by the navigation system.
A system block diagram of the traffic sign recognition system is shown in fig. 2.
In FIG. 2, T-ICE (entertainment host with Internet connectivity) is used to:
1. setting a traffic sign recognition function switch (on/off);
2. setting a function operation mode selection item (a video mode/a navigation mode/a fusion mode) for a user to set a desired operation mode;
3. providing navigation system running state information, speed limit value information and road information;
IC (meter) for:
1. the instrument displays the current speed limit value and prompts a user when the speed is overspeed;
2. providing a vehicle speed value for judging whether overspeed occurs;
CSM (forward looking camera unit) is used to:
1. identifying speed-limiting traffic signs arranged on roads, and processing a video speed-limiting and navigation speed-limiting fusion strategy;
2. and sending out an overspeed alarm signal of the vehicle.
And step S20, automatically switching the traffic sign recognition function mode according to the detection result or recognizing the traffic sign according to the traffic sign recognition function mode selected by the user.
And after detecting whether the traffic sign recognition function mode has a fault, automatically switching the traffic sign recognition function mode according to the detection result or recognizing the traffic sign according to the traffic sign recognition function mode selected by the user.
Specifically, if the detection result shows that the video mode and the navigation mode are not failed, the traffic sign is identified according to the traffic sign identification function mode selected by the user. If the detection result is that the navigation mode has a fault, automatically switching to a video mode; and if the detection result is that the navigation mode has no fault, further detecting whether the video mode has a fault, and if the video mode has a fault, automatically switching to the navigation mode.
And step S30, speed limit prompt is carried out according to the automatically switched traffic sign recognition function mode or the traffic sign recognition function mode selected by the user and the traffic sign recognition result.
According to the embodiment, after whether the traffic sign recognition function mode is in fault or not is detected, the traffic sign recognition function mode is automatically switched according to the detection result or the traffic sign is recognized according to the traffic sign recognition function mode selected by the user, and then speed limit prompt is carried out according to the automatically switched traffic sign recognition function mode or the traffic sign recognition function mode selected by the user and the traffic sign recognition result, so that the problems that when a fusion method is adopted and navigation information of partial road sections is inaccurate, wrong speed limit prompt can be carried out on the user, the traffic sign recognition function cannot be used when a forward camera is shielded or in fault, and the operation flexibility of the traffic sign recognition function is poor can be solved, and the flexibility and the stability of a traffic sign recognition system are improved.
Further, in this embodiment, the step of switching the automatic traffic sign recognition function mode to recognize the traffic sign according to the detection result includes:
and if the detection result indicates that the video mode and the navigation mode are not failed, identifying the traffic sign according to the traffic sign identification function mode selected by the user.
Specifically, the step of performing speed limit prompting according to the traffic sign recognition function mode and the traffic sign recognition result selected by the user includes:
and if the traffic sign recognition function mode selected by the user is the fusion mode, performing speed limit prompt by adopting the fusion mode and the traffic sign recognition result.
The step of carrying out speed limit prompt by adopting the fusion mode and the traffic sign recognition result comprises the following steps:
if the camera detects a new traffic sign and the navigation system detects the new traffic sign, performing speed limit prompt according to the new traffic sign detected by the camera;
if the camera detects a new traffic sign and the navigation system does not detect the new traffic sign, performing speed limit prompt according to the new traffic sign detected by the camera and keeping a first preset distance;
if the camera does not detect a new traffic sign and the navigation system detects the new traffic sign, speed limit prompt is carried out according to the traffic sign detected by the camera last time within the first preset distance, and speed limit prompt is carried out according to the new traffic sign detected by the navigation system outside the first preset distance.
As an embodiment, if the camera detects a new traffic sign and the navigation system does not detect the new traffic sign, the step of performing speed limit prompt according to the new traffic sign detected by the camera and keeping the set distance further includes:
judging whether the road where the traffic sign is located is an urban road or not;
if yes, speed limit prompting is carried out according to navigation information after the first preset distance is exceeded;
and if not, no speed limit prompt is carried out after the first preset distance is exceeded.
In this embodiment, in the video mode, if the camera detects a new traffic sign, speed limit prompting is performed when the vehicle passes through the plane where the traffic sign is located, and the first preset distance is maintained.
In the navigation mode, if the navigation system detects a new traffic sign, speed limit prompt is carried out outside the first preset distance in front of the plane where the traffic sign is located according to the fact that the navigation system detects the new traffic sign, and a second preset distance is kept behind the plane where the traffic sign is located.
The traffic sign recognition method of the present invention is further described in detail below with reference to fig. 3 to 6.
As shown in fig. 3 and 4, the embodiment of the present invention needs to update the speed limit prompt when any one of the following conditions is satisfied:
1. the camera detects a new speed limit sign (video speed limit), speed limit prompt is carried out when the vehicle passes through the plane where the speed limit sign is located, and a distance is kept, wherein the distance is related to the speed and can be adjusted according to actual requirements.
As shown in fig. 3, when the vehicle detects a new speed limit sign at position 1 through the camera, when the vehicle arrives at position 2 (the plane where the speed limit sign is located), the meter performs speed limit prompting, and the prompting is maintained for a period of time from position 2 to position 3, and the time can be calibrated correspondingly.
2. And the navigation system detects new speed limit information, carries out navigation speed limit prompt when the speed limit information is in the plane of 700m (high speed)/300 m (city) and exceeds the video speed limit keeping distance, and prolongs the display to 100m behind the plane of the speed limit information.
As shown in fig. 4, the vehicle acquires a new speed limit sign in front of the vehicle at position 1 through the navigation system, the speed limit sign is 700m (high speed)/300 m (city) in front of the vehicle, and the time or distance of the speed limit prompt video mode prompt is exceeded, then the vehicle needs to perform speed limit prompt according to the information acquired by the navigation system, and the prompt is kept for a period of time, the distance is the distance from position 2 to position 3, and the distance is 100 m.
Specifically, the fusion mode lower speed limit prompting flow is shown in fig. 5.
The speed limit prompt switching process under the fusion mode comprises the following steps:
1. a user drives a vehicle to run, and a traffic sign recognition function is turned on and activated;
2. if the camera detects a new speed limit sign and the navigation system also detects new speed limit information, the instrument prompts according to the speed limit information detected by the camera;
3. if the camera detects a new speed limit sign and the navigation system does not detect new speed limit information, the instrument prompts according to the speed limit information detected by the camera and keeps a set distance. On the basis, if the current road is an urban road, the instrument prompts according to the navigation information after the holding distance of the prompt is exceeded; if the current driving road section is not the urban road, the instrument does not carry out speed limit prompting after the keeping distance of the prompting is exceeded.
4. If the camera does not detect a new speed limit sign and the navigation system detects new speed limit information, displaying the video speed limit in the video speed limit keeping distance and displaying the speed limit information of the navigation system outside the video speed limit keeping distance;
5. if the camera does not detect a new speed limit sign and the navigation system does not detect new speed limit information, the instrument displays the current speed limit value without switching.
In the traffic sign recognition method, when the navigation system has a fault or the camera is shielded/has a fault, the traffic sign recognition function automatically switches the operation mode, and a specific mode switching strategy is shown in fig. 6.
As shown in fig. 6, the specific mode switching strategy is as follows:
1. when the navigation system breaks down, the function is automatically switched to a video mode to prompt speed limit information detected by the camera;
2. when the camera is shielded or has a fault (not a system fault), the function is automatically switched to a navigation mode to prompt speed limit information detected by a navigation system;
3. after the functional modes are automatically switched, if the fault is removed, the user can reselect the expected operation mode through mode setting.
The traffic sign identification method has the beneficial effects that:
1. and a function operation mode setting item is added to meet different requirements of users.
2. When a navigation system or a camera has a fault (non-system fault), the traffic sign recognition function mode can be automatically switched, and the function operation flexibility is improved.
3. If the user finds that the navigation information is not updated and does not accord with the actual speed limit information, the user only uses the video mode to avoid error prompt and false alarm in the driving process;
4. and a redundancy strategy is added to the functions, so that the functional stability of the system is improved.
In order to achieve the above object, the present invention further provides a traffic sign identification system, where the system includes a camera for identifying a traffic sign, a navigation system, a memory, and a processor, where a traffic sign identification program is stored on the processor, and the steps of the method according to the above embodiment are executed when the traffic sign identification program is called by the processor, and are not described herein again.
In order to achieve the above object, the present invention further provides a computer-readable storage medium, where a traffic sign recognition program is stored on the computer-readable storage medium, and the steps of the method according to the above embodiment are executed when the traffic sign recognition program is called by the processor, which is not described herein again.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A traffic sign recognition method applied to a traffic sign recognition system including a camera for recognizing a traffic sign and a navigation system, the method comprising the steps of:
detecting whether a traffic sign recognition function mode has a fault, wherein the traffic sign recognition function mode comprises a video mode for recognizing a traffic sign by adopting a camera, a navigation mode for recognizing the traffic sign by adopting a navigation system and a fusion mode for recognizing the traffic sign by adopting the camera and the navigation system;
automatically switching a traffic sign recognition function mode according to the detection result or recognizing the traffic sign according to the traffic sign recognition function mode selected by the user;
and carrying out speed limit prompt according to the automatically switched traffic sign recognition function mode or the traffic sign recognition function mode selected by the user and the traffic sign recognition result.
2. The traffic sign recognition method according to claim 1, wherein the step of switching the automatic traffic sign recognition function mode recognition traffic sign according to the detection result comprises:
and if the detection result indicates that the video mode and the navigation mode are not failed, identifying the traffic sign according to the traffic sign identification function mode selected by the user.
3. The traffic sign recognition method according to claim 2, wherein the step of performing speed limit prompt according to the traffic sign recognition function mode and the traffic sign recognition result selected by the user comprises:
and if the traffic sign recognition function mode selected by the user is the fusion mode, performing speed limit prompt by adopting the fusion mode and the traffic sign recognition result.
4. The traffic sign recognition method according to any one of claims 1 to 3, wherein the step of performing speed limit prompting by using the fusion mode and the traffic sign recognition result comprises:
if the camera detects a new traffic sign and the navigation system detects the new traffic sign, performing speed limit prompt according to the new traffic sign detected by the camera;
if the camera detects a new traffic sign and the navigation system does not detect the new traffic sign, performing speed limit prompt according to the new traffic sign detected by the camera and keeping a first preset distance;
if the camera does not detect a new traffic sign and the navigation system detects the new traffic sign, speed limit prompt is carried out according to the traffic sign detected by the camera last time within the first preset distance, and speed limit prompt is carried out according to the new traffic sign detected by the navigation system outside the first preset distance.
5. The method according to claim 4, wherein if the camera detects a new traffic sign and the navigation system does not detect the new traffic sign, the step of performing speed limit prompt according to the new traffic sign detected by the camera and keeping the set distance further comprises:
judging whether the road where the traffic sign is located is an urban road or not;
if yes, speed limit prompting is carried out according to navigation information after the first preset distance is exceeded;
and if not, no speed limit prompt is carried out after the first preset distance is exceeded.
6. The traffic sign recognition method according to claim 4, wherein in the video mode, if a new traffic sign is detected by the camera, a speed limit prompt is performed when the vehicle passes through the plane where the traffic sign is located, and the first preset distance is maintained.
7. The traffic sign recognition method according to claim 4, wherein in the navigation mode, if a navigation system detects a new traffic sign, a speed limit prompt is performed according to the fact that the navigation system detects the new traffic sign outside the first preset distance in front of the plane where the traffic sign is located, and a second preset distance is kept behind the plane where the traffic sign is located.
8. The traffic sign recognition method according to claim 1, wherein the step of switching the automatic traffic sign recognition function mode recognition traffic sign according to the detection result comprises:
if the detection result is that the navigation mode has a fault, automatically switching to a video mode;
if the detection result is that the navigation mode is not in fault, further detecting whether the video mode is in fault;
and if the video mode has a fault, automatically switching to the navigation mode.
9. A traffic sign recognition system comprising a camera for recognizing a traffic sign, a navigation system, a memory and a processor, the processor having stored thereon a traffic sign recognition program which when invoked by the processor performs the steps of the method of any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a traffic sign recognition program is stored on the computer-readable storage medium, which when invoked by the processor performs the steps of the method according to any one of claims 1 to 8.
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