CN115376331A - Method and device for determining speed limit information and electronic equipment - Google Patents
Method and device for determining speed limit information and electronic equipment Download PDFInfo
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- CN115376331A CN115376331A CN202210911009.2A CN202210911009A CN115376331A CN 115376331 A CN115376331 A CN 115376331A CN 202210911009 A CN202210911009 A CN 202210911009A CN 115376331 A CN115376331 A CN 115376331A
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The application discloses a method and a device for determining speed limit information and electronic equipment. Wherein, the method comprises the following steps: acquiring speed limit sign information detected in the running process of a target vehicle and running information of the target vehicle, and determining the time when the speed limit sign information appears; screening out target speed limit signs in the driving direction of a target vehicle from the plurality of speed limit signs, and determining target speed limit sign information corresponding to the target speed limit signs from the detected speed limit sign information; determining a speed limit scene where the target vehicle is located according to the driving information, the target speed limit sign information and the time when the target speed limit sign appears; and determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle. The technical problem that when the existing speed limit auxiliary system detects a plurality of speed limit signs, correct speed limit information cannot be directly acquired only according to the detection result of the camera is solved.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a method and a device for determining speed limit information and electronic equipment.
Background
With the continuous development of the domestic automobile industry, the popularization degree of automobiles is higher and higher, the increase of the automobile holding amount brings various convenience to people and also causes a large number of traffic accidents, and in the statistics of the traffic accidents, overspeed driving is one of the important reasons for the occurrence of the traffic accidents. When infrastructure such as roads and the like are built, the driving Speed of a vehicle is controlled by setting a Speed Limit sign and using various means such as electronic eye snapshot, interval Speed Limit and the like, driving behaviors are standardized to a certain extent, and the occurrence of overspeed driving behaviors is reduced.
The conventional speed limit auxiliary function for acquiring speed limit information based on a visual perception module strongly depends on the detection result of the visual perception module on a speed limit sign, but a plurality of speed limit signs appear simultaneously in an actual road scene, and when a plurality of speed limit signs are detected simultaneously, the conventional speed limit auxiliary system cannot directly acquire correct speed limit information only according to the detection result of a camera.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a method and a device for determining speed limit information and electronic equipment, and aims to at least solve the technical problem that when a plurality of speed limit signs are detected simultaneously by the conventional speed limit auxiliary system, correct speed limit information cannot be directly acquired only according to the detection result of a camera.
According to an aspect of an embodiment of the present application, there is provided a method for determining speed limit information, including: acquiring speed limit sign information detected in the driving process of a target vehicle and driving information of the target vehicle, and determining the time when the speed limit sign information appears, wherein the speed limit sign information comprises at least one of the following information: the number of the speed limit signs, the speed limit value corresponding to the speed limit signs and the position information of the speed limit signs; screening out target speed limit signs in the driving direction of a target vehicle from the plurality of speed limit signs, and determining target speed limit sign information corresponding to the target speed limit signs from the detected speed limit sign information; determining a speed limit scene where the target vehicle is located according to the running information, the target speed limit sign information and the time when the target speed limit sign appears; and determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
Optionally, determining the speed limit scene where the target vehicle is located includes: under the condition that the number of the speed limit signs is larger than a first threshold value, acquiring transverse coordinates and longitudinal coordinates of a plurality of speed limit signs in a coordinate system, wherein the coordinate system is established by taking a central point of a target vehicle at the moment 0 as a coordinate origin, taking the running direction of the target vehicle as a transverse coordinate axis and taking the direction vertical to the transverse coordinate axis as a longitudinal coordinate axis; respectively sequencing the transverse coordinates and the longitudinal coordinates corresponding to the speed limit signs and the time of the speed limit signs according to a preset sequence to obtain a plurality of sequences; determining the difference value of corresponding parameters between two adjacent speed limit signs in a plurality of sequences, wherein the parameters comprise transverse coordinates, longitudinal coordinates and the occurrence time of the speed limit signs; and determining the speed limit scene of the target vehicle according to the difference value of the parameters.
Optionally, determining the speed limit scene where the target vehicle is located includes: under the condition that the difference values of the parameters are all larger than the corresponding threshold values, determining that the speed-limiting scene is a single-road multi-speed-limiting sign scene, wherein the single-road multi-speed-limiting sign scene comprises different lane speed-limiting scenes and different vehicle type speed-limiting scenes; and under the condition that the difference value of at least one parameter in the parameters does not meet the corresponding threshold value, determining the speed limit scene as a multi-road multi-speed limit sign scene.
Optionally, determining that the speed limit scene is a single-road multi-speed limit sign scene includes: acquiring a horizontal coordinate sequence consisting of horizontal coordinates corresponding to a plurality of speed limit signs; determining the difference value of the abscissa between two adjacent speed limit signs in the abscissa sequence to obtain a first difference value; determining that the speed-limiting scene is a speed-limiting scene of different lanes under the condition that the first difference value is larger than or equal to a second threshold value, wherein the second threshold value represents a judgment threshold value of the speed-limiting scene of different lanes; and under the condition that the first difference is smaller than or equal to a third threshold, determining that the speed-limiting scene is a speed-limiting scene of different vehicle types, wherein the third threshold represents a judgment threshold of the speed-limiting scene of different vehicle types.
Optionally, determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and using the speed limit value in the target speed limit sign as the speed limit information of the target vehicle, including: in different lane speed-limiting scenes, under the condition that the minimum value of the absolute values of the abscissas of the speed-limiting signs is smaller than or equal to a fourth threshold value, taking the speed-limiting sign corresponding to the minimum value of the absolute values of the abscissas as a target speed-limiting sign, wherein the fourth threshold value represents a judgment threshold value of the abscissas in the different lane speed-limiting scenes; and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
Optionally, determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene includes: acquiring vehicle type information of a target vehicle in speed limit scenes of different vehicle types; and determining a target speed limit sign corresponding to the vehicle type information from the plurality of speed limit signs according to the vehicle type information.
Optionally, determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and using the speed limit value in the target speed limit sign as the speed limit information of the target vehicle, including: acquiring coordinate information of a plurality of speed limit signs in a preset time period and acquiring running information of a target vehicle; determining a historical movement track of the target vehicle according to the coordinate information and the running information; predicting a running route of the target vehicle according to the historical motion track; determining a speed limit sign with the shortest distance to a driving route in the plurality of speed limit signs as a target speed limit sign; and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
Optionally, determining the historical motion trajectory of the target vehicle includes: establishing a motion model of the target vehicle, wherein the state variables in the motion model comprise at least one of the following: the driving speed of the target vehicle, the course angle of the target vehicle and the yaw rate of the target vehicle; determining a state variable of the target vehicle at the current moment according to the motion model; determining the motion quantity of the target vehicle between two adjacent moments according to the state variable of the target vehicle at the current moment, wherein the motion quantity comprises a transverse motion quantity and a longitudinal motion quantity; and determining a motion point track set of the target vehicle according to the motion amount, wherein the motion point track set is used for representing the historical motion track of the target vehicle.
According to another aspect of the embodiments of the present application, there is also provided a device for determining speed limit information, including: the acquisition module is used for acquiring the speed limit sign information detected in the running process of the target vehicle and the running information of the target vehicle and determining the time when the speed limit sign information appears, wherein the speed limit sign information comprises at least one of the following information: the number of the speed limit signs, the speed limit value corresponding to the speed limit signs and the position information of the speed limit signs; the first determining module is used for screening out target speed limit signs in the driving direction of a target vehicle from the speed limit signs and determining target speed limit sign information corresponding to the target speed limit signs from the detected speed limit sign information; the second determining module is used for determining the speed limit scene of the target vehicle according to the running information, the target speed limit sign information and the time of the target speed limit sign; and the third determining module is used for determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
According to another aspect of the embodiments of the present application, there is also provided an electronic device, including: a memory for storing program instructions; a processor coupled to the memory for executing program instructions that implement the functions of: acquiring speed limit sign information detected in the running process of a target vehicle and running information of the target vehicle, and determining the time when the speed limit sign information appears, wherein the speed limit sign information comprises at least one of the following information: the number of the speed limit signs, the speed limit value corresponding to the speed limit signs and the position information of the speed limit signs; screening out target speed limit signs in the driving direction of a target vehicle from the plurality of speed limit signs, and determining target speed limit sign information corresponding to the target speed limit signs from the detected speed limit sign information; determining a speed limit scene where the target vehicle is located according to the running information, the target speed limit sign information and the time when the target speed limit sign appears; and determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
According to still another aspect of the embodiments of the present application, there is provided a non-volatile storage medium, where the non-volatile storage medium includes a stored program, and when the program runs, the apparatus where the non-volatile storage medium is located is controlled to execute the method for determining the speed limit information.
According to still another aspect of the embodiments of the present application, there is also provided a vehicle, a controller of which is configured to execute the determination method of the speed limit information.
In the embodiment of the application, the speed limit sign information detected in the running process of the target vehicle and the running information of the target vehicle are obtained, and the time when the speed limit sign information appears is determined; screening out target speed limit signs in the driving direction of a target vehicle from the plurality of speed limit signs, and determining target speed limit sign information corresponding to the target speed limit signs from the detected speed limit sign information; determining a speed limit scene where the target vehicle is located according to the running information, the target speed limit sign information and the time when the target speed limit sign appears; the method comprises the steps of determining a target speed limit sign corresponding to a target vehicle according to a speed limit scene, and using a speed limit value in the target speed limit sign as speed limit information of the target vehicle, so that the aim of identifying the target speed limit sign in a scene with multiple speed limit signs is fulfilled, the technical effect of improving the working accuracy of a speed limit auxiliary system is achieved, and the technical problem that correct speed limit information cannot be directly obtained only according to the detection result of a camera when the existing speed limit auxiliary system detects multiple speed limit signs at the same time is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a hardware structure of a computer terminal (or an electronic device) for implementing a method for determining speed limit information according to an embodiment of the present application;
fig. 2 is a flowchart of a method for determining speed limit information according to an embodiment of the present application;
FIG. 3a is a flow chart of determining a speed limit scenario in which a target vehicle is located according to an embodiment of the present application;
FIG. 3b is a flowchart of a method for determining different types of speed limit sign scenarios according to an embodiment of the present application;
FIG. 3c is a flowchart of determining a speed limit scenario to be a single-lane multi-speed limit sign scenario according to an embodiment of the present application;
FIG. 3d is a schematic diagram of a speed limiting scenario for different lanes according to an embodiment of the present application;
FIG. 3e is a schematic diagram of a speed limit scenario for different vehicle models according to an embodiment of the present application;
FIG. 3f is a flowchart of determining speed limit information of a target vehicle in a multi-lane multi-speed limit sign scene according to an embodiment of the present application;
fig. 3g is an exemplary diagram of a multi-lane multi-speed limit sign scene according to an embodiment of the present application;
FIG. 3h is a schematic view of a target vehicle motion trajectory projection according to an embodiment of the present application;
fig. 4 is a flowchart of a method for determining speed limit information in a multi-speed limit sign scenario according to an embodiment of the present application;
fig. 5 is a block diagram of a speed limit information determination apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Most of the existing speed-limiting auxiliary systems recognize speed-limiting sign information of roads based on a visual perception module and perform overspeed alarm or speed-limiting control on a self-vehicle, when the visual perception module detects a plurality of speed-limiting signs simultaneously, at most one speed-limiting sign is effective on the self-vehicle, correct speed-limiting information cannot be directly acquired only according to a detection result of a camera, and normal work of the speed-limiting auxiliary system is influenced.
In order to solve the above problems, in the embodiments of the present application, a method for screening speed limit information is designed by analyzing a multi-speed limit sign scene and integrating speed limit information and a vehicle motion parameter, so as to complete acquisition of effective speed limit information of a vehicle, which is described in detail below.
The embodiment of the method for determining the speed limit information provided by the embodiment of the application can be executed in a mobile terminal, a computer terminal or a similar arithmetic device. Fig. 1 shows a hardware configuration block diagram of a computer terminal (or electronic device) for implementing a determination method of speed limit information. As shown in fig. 1, the computer terminal 10 (or electronic device 10) may include one or more processors (shown in the figures as 102a, 102b, … …,102 n) (which may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission module 106 for communication functions. Besides, the method can also comprise the following steps: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power source, and/or a camera. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration and is not intended to limit the structure of the electronic device. For example, the computer terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
It should be noted that the one or more processors and/or other data processing circuitry described above may be referred to generally herein as "data processing circuitry". The data processing circuitry may be embodied in whole or in part in software, hardware, firmware, or any combination thereof. Further, the data processing circuit may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the computer terminal 10 (or electronic device). As referred to in the embodiments of the application, the data processing circuit acts as a processor control (e.g. selection of a variable resistance termination path connected to the interface).
The memory 104 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the speed limit information determining method in the embodiment of the present application, and the processor executes various functional applications and data processing by operating the software programs and modules stored in the memory 104, that is, implementing the speed limit information determining method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor, which may be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission module 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 can be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the computer terminal 10 (or electronic device).
It should be noted that, in some alternative embodiments, the computer device (or electronic device) shown in fig. 1 may include hardware elements (including circuitry), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. It should be noted that fig. 1 is only one example of a particular specific example and is intended to illustrate the types of components that may be present in the computer device (or electronic device) described above.
In the operating environment described above, the embodiments of the present application provide an embodiment of a method for determining speed limit information, and it should be noted that the steps shown in the flowchart of the attached drawings may be executed in a computer system, such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown or described.
Fig. 2 is a flowchart of a method for determining speed limit information according to an embodiment of the present application, and as shown in fig. 2, the method includes the following steps:
step S202, acquiring the speed limit sign information detected in the running process of the target vehicle and the running information of the target vehicle, and determining the time when the speed limit sign information appears, wherein the speed limit sign information comprises at least one of the following information: the number of the speed limit signs, the speed limit value corresponding to the speed limit signs and the position information of the speed limit signs.
In the step S202, speed limit sign information on the road is obtained, where the speed limit sign information includes the number of speed limit signs, the speed limit value corresponding to each speed limit sign, the position of the speed limit sign, and other information, then existence judgment is performed on each speed limit sign, only the speed limit sign information meeting the existence requirement is retained, and the time corresponding to the occurrence and the loss of each speed limit sign information is recorded, so as to form the existence time sequence of the speed limit sign.
The traveling information of the target vehicle may include, for example, a yaw rate, a vehicle speed, a steering wheel angle, and the like of the target vehicle, and the target vehicle may be subjected to smoothing filtering.
And step S204, screening out target speed limit signs in the driving direction of the target vehicle from the plurality of speed limit signs, and determining target speed limit sign information corresponding to the target speed limit signs from the detected speed limit sign information.
And step S206, determining the speed limit scene of the target vehicle according to the driving information, the target speed limit sign information and the time of the target speed limit sign.
And step S208, determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
In step S204 of the method for determining speed limit information, a speed limit scene where the target vehicle is located is determined, and as shown in the flowchart of fig. 3a, the method specifically includes the following steps:
step S302, under the condition that the number of the speed limit signs is larger than a first threshold value, acquiring the transverse coordinates and the longitudinal coordinates of a plurality of speed limit signs in a coordinate system, wherein the coordinate system is established by taking the central point of a target vehicle at the moment 0 as a coordinate origin, taking the running direction of the target vehicle as a transverse coordinate axis and taking the direction vertical to the transverse coordinate axis as a longitudinal coordinate axis;
step S304, respectively sequencing the transverse coordinates and the longitudinal coordinates corresponding to the plurality of speed limit signs and the occurrence time of the plurality of speed limit signs according to a preset sequence to obtain a plurality of sequences;
step S306, determining the difference value of corresponding parameters between two adjacent speed limit signs in a plurality of sequences, wherein the parameters comprise transverse coordinates, longitudinal coordinates and the time of the speed limit signs;
and step S308, determining the speed limit scene of the target vehicle according to the difference value of the parameters.
In the above steps S302 to S308, if the number of speed limit signs appearing in the current driving direction of the target vehicle is greater than the first threshold, it is determined that the current driving scene of the target vehicle is a multi-speed limit scene. And determining the specific classification of the multi-speed-limit scene according to the speed-limit sign information and the running information of the target vehicle.
And sequencing the speed limit signs according to the occurrence time, the horizontal coordinate and the vertical coordinate respectively according to an increasing sequence to obtain a plurality of sequences, respectively calculating the difference value of corresponding parameters between two adjacent speed limit signs in each sequence, and classifying the scenes according to the result.
In step S308 of the method for determining speed limit information, a speed limit scene where the target vehicle is located is determined, and as shown in the flowchart of fig. 3b, the method specifically includes the following steps:
step S312, under the condition that the difference values of the parameters are all larger than the corresponding threshold values, determining that the speed-limiting scene is a single-road multi-speed-limiting sign scene, wherein the single-road multi-speed-limiting sign scene comprises different lane speed-limiting scenes and different vehicle type speed-limiting scenes;
and step S314, determining the speed-limiting scene as a multi-road multi-speed-limiting sign scene under the condition that the difference value of at least one parameter in the parameters does not meet the corresponding threshold value.
In the above steps S312 to S314, two cases of the multi-speed limit scene are corresponded, in the first case, if the time difference, the horizontal coordinate difference value and the vertical coordinate difference value of the time appearing between the speed limit signs all meet the corresponding threshold requirement, the current scene is determined to be the single-channel multi-speed limit sign scene; in the second case, if parameters which do not meet the threshold requirement exist in the time difference, the horizontal coordinate difference value and the vertical coordinate difference value of the time among the speed limit signs, the current multi-channel multi-speed limit sign scene is judged.
In step S312 of the method for determining speed limit information, the speed limit scene is determined to be a single-road multi-speed limit sign scene, as shown in the flowchart in fig. 3c, which specifically includes the following steps:
step S322, acquiring a horizontal coordinate sequence consisting of horizontal coordinates corresponding to a plurality of speed limit signs;
step S324, determining the difference value of the abscissa between two adjacent speed limit signs in the abscissa sequence to obtain a first difference value;
step S326, determining that the speed-limiting scene is a speed-limiting scene of different lanes under the condition that the first difference value is greater than or equal to a second threshold value, wherein the second threshold value represents a judgment threshold value of the speed-limiting scene of different lanes;
and step S328, determining that the speed-limiting scene is the speed-limiting scene of different vehicle types under the condition that the first difference value is less than or equal to a third threshold value, wherein the third threshold value represents a judgment threshold value of the speed-limiting scene of different vehicle types.
In the above steps S322 to S328, the single-road multi-speed-limit sign scenes can be further divided into two categories, i.e., speed limit for different lanes and speed limit for different vehicle types, wherein the schematic diagram of the speed limit scene for different lanes is shown in fig. 3d, and the schematic diagram of the speed limit scene for different vehicle types is shown in fig. 3 e.
In a typical speed-limiting scene aiming at different lanes, the central axis of each speed-limiting sign respectively faces the central line of the corresponding lane, the transverse distance between the central axes of the adjacent speed-limiting signs is the width of one lane, namely the longitudinal coordinate values of all the speed-limiting signs are close, the transverse coordinates are distributed in a close arithmetic series, compared with the speed-limiting scene aiming at different lanes, each speed-limiting sign is generally arranged on the same speed-limiting sign aiming at different vehicle models, the longitudinal coordinates are basically the same, but the transverse distance is close to 0 and is far smaller than the transverse distance between the speed-limiting signs aiming at different lane speed-limiting scenes.
Further processing the difference value of the abscissa sequence of the speed limit sign, and when the difference value of the abscissa satisfies the following formula, aiming at different lane speed limit scenes:
wherein, Δ x i Represents the difference in abscissa between the ith and (i-1) th speed limit signs in the abscissa sequence, num represents the number of speed limit signs,
indicating threshold determination for different lane speed limit scenarios.
When the difference value of the transverse coordinates meets the following formula, the speed limiting scene is determined according to different vehicle types:
wherein, the first and the second end of the pipe are connected with each other,
and the judgment threshold value is shown for speed limiting scenes of different vehicle types.
In step 206 of the method for determining speed limit information, a target speed limit sign corresponding to a target vehicle is determined according to a speed limit scene, and a speed limit value in the target speed limit sign is used as the speed limit information of the target vehicle, which specifically includes the following steps: in different lane speed-limiting scenes, under the condition that the minimum value of the absolute values of the abscissas of the speed-limiting signs is smaller than or equal to a fourth threshold value, taking the speed-limiting sign corresponding to the minimum value of the absolute values of the abscissas as a target speed-limiting sign, wherein the fourth threshold value represents a judgment threshold value of the abscissas in the different lane speed-limiting scenes; and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
In the embodiment of the application, in the speed-limiting scenes of different lanes, if a certain speed-limiting sign meets the following formula, the corresponding speed-limiting value is output as the speed-limiting value suitable for the target vehicle:
wherein x is i The abscissa indicating the ith speed limit sign,
the judgment threshold value of the abscissa of the speed-limiting scene of different lanes is shown, and num represents the number of speed-limiting signs.
In step S206 of the method for determining speed limit information, a target speed limit sign corresponding to a target vehicle is determined according to a speed limit scene, and the method specifically includes the following steps: acquiring vehicle type information of a target vehicle in different vehicle type speed limit scenes; and determining a target speed limit sign corresponding to the vehicle type information from the plurality of speed limit signs according to the vehicle type information.
In the embodiment of the application, in the speed-limiting scenes of different vehicle types, the speed-limiting signs are generally divided into three categories: speed limit for cars
Speed limit for passenger cars
And speed limit for trucks
The speed limit of the three types of vehicle types meets the following requirements:
and screening the speed limit signs suitable for the target vehicle from the plurality of speed limit signs by combining the vehicle type information of the target vehicle, and outputting.
In step S206 of the method for determining speed limit information, a target speed limit sign corresponding to a target vehicle is determined according to a speed limit scene, and a speed limit value in the target speed limit sign is used as the speed limit information of the target vehicle, as shown in a flowchart in fig. 3f, the method specifically includes the following steps:
step S332, acquiring coordinate information of a plurality of speed limit signs in a preset time period and acquiring running information of a target vehicle;
step S334, determining the historical motion track of the target vehicle according to the coordinate information and the running information;
step S336, predicting the running route of the target vehicle according to the historical motion trail;
step S338, determining the speed limit sign with the shortest distance to the driving route in the plurality of speed limit signs as a target speed limit sign;
and step S340, taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
The steps S332 to S340 are processes of determining a target speed limit sign in a multi-lane multi-speed limit sign scene, fig. 3g is a typical schematic diagram of the multi-lane multi-speed limit sign scene according to the embodiment of the present application, and in the step S334, a historical movement track of the target vehicle is determined according to information such as a coordinate change, a vehicle speed, a yaw rate, and the like of the speed limit sign within a continuous period of time, which specifically includes the following steps:
step S342, establishing a motion model of the target vehicle, specifically, establishing a CTRV (Constant Turn Rate and Velocity) motion model of the target vehicle, where a corresponding state variable X of the target vehicle is:
wherein p is x Denotes the abscissa, p y Representing the ordinate, v the speed, theta the heading angle and omega the yaw rate.
In step S344, the state variable of the target vehicle at the current time is determined according to the motion model.
Specifically, from the state variables described above, we obtain:
where k +1 represents the current time, k represents the previous time, X k+1 And X k Are respectively represented at X k+1 And X k+1 And T represents the time difference between the k +1 moment and the k moment.
Step S346, determining the motion amount of the target vehicle between two adjacent time instants according to the state variable of the target vehicle at the current time instant, wherein the motion amount includes a lateral motion amount and a longitudinal motion amount.
Specifically, the running speed and yaw rate information of the target vehicle are acquired, smooth filtering processing is performed to remove sudden changes, and the conditions of sudden speed changes or sudden yaw rate changes of the target vehicle caused by factors such as uneven ground are eliminated, so that the motion amount of the target vehicle at two adjacent moments is as follows:
wherein, Δ p x Represents the amount of lateral movement, Δ p, of the target vehicle from time k to time k +1 y Representing the amount of longitudinal motion of the target vehicle from time k to time k +1 as shown in fig. 3 h.
In step S348, a motion point trajectory set of the target vehicle is determined according to the motion amount, where the motion point trajectory set is used to represent a historical motion trajectory of the target vehicle.
Specifically, the motion trajectories of the target vehicle starting from time 0 may all be projected to the coordinate system of the target vehicle at current time k, so as to obtain a motion trajectory set of the target vehicle:
acquiring a motion track point set from k-t moment to k moment of a target vehicle
Based on trace point set
The third order trajectory equation for fitting the motion of the target vehicle at the time k is as follows:
y k ＝A 0 +A 1 x+A 2 x 2 +A 3 x 3
wherein, y k X respectively represent the transverse coordinate and the longitudinal coordinate of the vehicle motion track under the current target vehicle coordinate system, A 0 、A 1 、A 2 And A 3 Constant term, first term, second term and third term coefficients of the vehicle motion trail equation are respectively expressed. Extending the fitted historical track curve of the target vehicle to the advancing direction of the target vehicle to be used as a predicted travelling route, projecting each speed limit sign to the predicted travelling route curve of the own vehicle along the direction vertical to the advancing direction of the target vehicle, and taking the distance from the position of the speed limit sign to the projection point as the shortest distance d between each speed limit sign and the predicted travelling route i Calculating the time t of the target vehicle moving to the shortest distance point i ，
Wherein d is th 、t th Respectively, a shortest distance threshold and a motion time threshold. When there is only one speed limit sign satisfying the aboveAnd when the formula is adopted, the speed limit is determined as a target speed limit sign, and the speed limit value in the target speed limit sign is output as the speed limit information suitable for the target vehicle.
The method for determining the speed limit information can filter the speed limit information ineffective for the vehicle in a multi-speed limit sign scene, improve the working accuracy of the speed limit auxiliary system, and reduce the interference of false alarms and other conditions to the driver while ensuring the driver to drive safely according to the speed limit requirement as much as possible.
Fig. 4 is a flowchart of a method for determining speed limit information in a multi-speed limit sign scene according to an embodiment of the present application, and as shown in fig. 4, the method includes: the method comprises the steps of obtaining speed limit sign information of a plurality of speed limit signs, judging the existence of the plurality of speed limit signs, judging scenes where target vehicles are located according to the running information and the sign information by obtaining the running information of the target vehicles, wherein the scenes comprise a single-road multi-speed limit sign scene and a multi-road multi-speed limit sign scene, in the single-road multi-speed limit sign scene, the speed limit obtaining rules aiming at different lane speed limit scenes and the speed limit obtaining rules aiming at different vehicle type speed limit scenes are specifically divided, in the multi-road multi-speed limit sign scene, the speed limit obtaining rules of the multi-road multi-speed limit sign scene are mainly divided, and effective speed limit information is obtained and output according to the speed limit obtaining rules under the different speed limit scenes.
Fig. 5 is a block diagram of a speed limit information determining apparatus according to an embodiment of the present application, and as shown in fig. 5, the apparatus includes:
the acquiring module 502 is configured to acquire speed limit sign information detected in a driving process of a target vehicle and driving information of the target vehicle, and determine a time when the speed limit sign information appears, where the speed limit sign information includes at least one of: the number of the speed limit signs, the speed limit value corresponding to the speed limit signs and the position information of the speed limit signs;
a first determining module 504, configured to screen a target speed limit sign in the traveling direction of the target vehicle from the multiple speed limit signs, and determine target speed limit sign information corresponding to the target speed limit sign from the detected speed limit sign information;
a second determining module 506, configured to determine a speed-limiting scene where the target vehicle is located according to the driving information, the target speed-limiting sign information, and the time when the target speed-limiting sign appears;
and a third determining module 508, configured to determine a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and use a speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
In a second determining module of the device for determining speed limit information, the method for determining the speed limit scene of the target vehicle specifically comprises the following processes: under the condition that the number of the speed limit signs is larger than a first threshold value, acquiring transverse coordinates and longitudinal coordinates of a plurality of speed limit signs in a coordinate system, wherein the coordinate system is established by taking a central point of a target vehicle at the moment 0 as a coordinate origin, taking the running direction of the target vehicle as a transverse coordinate axis and taking the direction vertical to the transverse coordinate axis as a longitudinal coordinate axis; respectively sequencing the transverse coordinates and the longitudinal coordinates corresponding to the speed limit signs and the time of the speed limit signs according to a preset sequence to obtain a plurality of sequences; respectively sequencing the transverse coordinates and the longitudinal coordinates corresponding to the speed limit signs and the time of the speed limit signs according to a preset sequence to obtain a plurality of sequences; and determining the speed limit scene of the target vehicle according to the difference value of the parameters.
In a second determining module of the device for determining speed limit information, determining a speed limit scene where the target vehicle is located specifically includes the following processes: under the condition that the difference values of the parameters are all larger than the corresponding threshold values, determining that the speed-limiting scene is a single-road multi-speed-limiting sign scene, wherein the single-road multi-speed-limiting sign scene comprises different lane speed-limiting scenes and different vehicle type speed-limiting scenes; and under the condition that the difference value of at least one parameter in the parameters does not meet the corresponding threshold value, determining the speed limit scene as a multi-road multi-speed limit sign scene.
In the device for determining the speed limit information, the determination of the speed limit scene as a single-road multi-speed limit sign scene specifically comprises the following processes: acquiring a horizontal coordinate sequence consisting of horizontal coordinates corresponding to a plurality of speed limit signs; determining the difference value of the abscissa between two adjacent speed limit signs in the abscissa sequence to obtain a first difference value; determining that the speed-limiting scene is a speed-limiting scene of different lanes under the condition that the first difference value is larger than or equal to a second threshold value, wherein the second threshold value represents a judgment threshold value of the speed-limiting scene of different lanes; and under the condition that the first difference is smaller than or equal to a third threshold, determining that the speed-limiting scene is a speed-limiting scene of different vehicle types, wherein the third threshold represents a judgment threshold of the speed-limiting scene of different vehicle types.
In a third determining module of the device for determining speed limit information, a target speed limit sign corresponding to the target vehicle is determined according to the speed limit scene, and the speed limit value in the target speed limit sign is used as the speed limit information of the target vehicle, which specifically comprises the following processes: in different lane speed-limiting scenes, under the condition that the minimum value of the absolute values of the abscissas of the speed-limiting signs is smaller than or equal to a fourth threshold value, taking the speed-limiting sign corresponding to the minimum value of the absolute values of the abscissas as a target speed-limiting sign, wherein the fourth threshold value represents a judgment threshold value of the abscissas in the different lane speed-limiting scenes; and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
In a third determining module of the device for determining speed limit information, a target speed limit sign corresponding to a target vehicle is determined according to a speed limit scene, and the method specifically includes the following steps: acquiring vehicle type information of a target vehicle in different vehicle type speed limit scenes; and determining a target speed limit sign corresponding to the vehicle type information from the plurality of speed limit signs according to the vehicle type information.
In a third determining module of the device for determining speed limit information, a target speed limit sign corresponding to the target vehicle is determined according to the speed limit scene, and the speed limit value in the target speed limit sign is used as the speed limit information of the target vehicle, which specifically comprises the following processes: acquiring coordinate information of a plurality of speed limit signs in a preset time period and acquiring running information of a target vehicle; determining the historical motion track of the target vehicle according to the coordinate information and the driving information; predicting the running route of the target vehicle according to the historical motion track; determining a speed limit sign with the shortest distance to a driving route in the plurality of speed limit signs as a target speed limit sign; and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
In a third determining module of the speed limit information determining device, determining a historical movement track of the target vehicle specifically includes the following steps: establishing a motion model of the target vehicle, wherein the state variables in the motion model comprise at least one of the following: the running speed of the target vehicle, the course angle of the target vehicle and the yaw rate of the target vehicle; determining a state variable of the target vehicle at the current moment according to the motion model; determining the motion quantity of the target vehicle between two adjacent moments according to the state variable of the target vehicle at the current moment, wherein the motion quantity comprises a transverse motion quantity and a longitudinal motion quantity; and determining a motion point track set of the target vehicle according to the motion amount, wherein the motion point track set is used for representing the historical motion track of the target vehicle.
It should be noted that the device for determining speed limit information shown in fig. 5 is used to execute the method for determining speed limit information shown in fig. 2, and therefore, the explanation of the method for determining speed limit information is also applicable to the device for determining speed limit information, and is not described herein again.
The embodiment of the application further provides a nonvolatile storage medium, which includes a stored program, wherein when the program runs, the device where the nonvolatile storage medium is located is controlled to execute the following method for determining the speed limit information: acquiring speed limit sign information detected in the running process of a target vehicle and running information of the target vehicle, and determining the time when the speed limit sign information appears, wherein the speed limit sign information comprises at least one of the following information: the number of the speed limit signs, the speed limit value corresponding to the speed limit signs and the position information of the speed limit signs; screening out target speed limit signs in the driving direction of a target vehicle from the plurality of speed limit signs, and determining target speed limit sign information corresponding to the target speed limit signs from the detected speed limit sign information; determining a speed limit scene where the target vehicle is located according to the running information, the target speed limit sign information and the time when the target speed limit sign appears; and determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
The embodiment of the present application further provides a vehicle, where a controller of the vehicle is configured to execute the method for determining the speed limit information shown in fig. 2, and therefore, relevant explanations in the method for determining the speed limit information are also applicable to the controller of the vehicle, and are not described herein again.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
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 position, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in 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 application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (12)
1. A method for determining speed limit information is characterized by comprising the following steps:
acquiring speed limit sign information detected in the driving process of a target vehicle and driving information of the target vehicle, and determining the time when the speed limit sign information appears, wherein the speed limit sign information comprises at least one of the following information: the number of the speed limit signs, the speed limit value corresponding to the speed limit signs and the position information of the speed limit signs;
screening out a target speed limit sign in the driving direction of the target vehicle from the plurality of speed limit signs, and determining target speed limit sign information corresponding to the target speed limit sign from the detected speed limit sign information;
determining a speed limit scene where the target vehicle is located according to the running information, the target speed limit sign information and the time when the target speed limit sign appears;
and determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
2. The method of claim 1, wherein determining the speed limit scenario in which the target vehicle is located comprises:
under the condition that the number of the speed limit signs is larger than a first threshold value, acquiring the transverse coordinates and the longitudinal coordinates of a plurality of speed limit signs in a coordinate system, wherein the coordinate system is established by taking the central point of the target vehicle at the moment 0 as a coordinate origin, taking the running direction of the target vehicle as a transverse coordinate axis and taking the direction vertical to the transverse coordinate axis as a longitudinal coordinate axis;
respectively sequencing the transverse coordinates and the longitudinal coordinates corresponding to the plurality of speed limit signs and the occurrence time of the plurality of speed limit signs according to a preset sequence to obtain a plurality of sequences;
determining the difference value of corresponding parameters between two adjacent speed limit signs in the plurality of sequences, wherein the parameters comprise the transverse coordinate, the longitudinal coordinate and the time of occurrence of the speed limit signs;
and determining the speed limit scene of the target vehicle according to the difference value of the parameters.
3. The method of claim 2, wherein determining the speed limit scenario in which the target vehicle is located comprises:
under the condition that the difference values of the parameters are all larger than corresponding threshold values, determining that the speed-limiting scene is a single-road multi-speed-limiting sign scene, wherein the single-road multi-speed-limiting sign scene comprises different lane speed-limiting scenes and different vehicle type speed-limiting scenes;
and under the condition that the difference value of at least one parameter in the parameters does not meet the corresponding threshold value, determining the speed limit scene as a multi-channel multi-speed limit sign scene.
4. The method of claim 3, wherein determining that the speed limit scene is a single-lane multiple speed limit sign scene comprises:
acquiring a horizontal coordinate sequence consisting of horizontal coordinates corresponding to a plurality of speed limit signs;
determining the difference value of the abscissa between two adjacent speed limit signs in the abscissa sequence to obtain a first difference value;
determining the speed-limiting scene as the speed-limiting scene of the different lanes under the condition that the first difference value is greater than or equal to a second threshold value, wherein the second threshold value represents a judgment threshold value of the speed-limiting scene of the different lanes;
and under the condition that the first difference value is smaller than or equal to a third threshold value, determining that the speed-limiting scene is the speed-limiting scene of different vehicle types, wherein the third threshold value represents a judgment threshold value of the speed-limiting scene of different vehicle types.
5. The method according to claim 4, wherein a target speed limit sign corresponding to the target vehicle is determined according to the speed limit scene, and the step of using the speed limit value in the target speed limit sign as the speed limit information of the target vehicle comprises the steps of:
in the different lane speed-limiting scenes, under the condition that the minimum value of the absolute values of the abscissas of the plurality of speed-limiting signs is less than or equal to a fourth threshold value, taking the speed-limiting sign corresponding to the minimum value of the absolute values of the abscissas as a target speed-limiting sign, wherein the fourth threshold value represents a judgment threshold value of the abscissas in the different lane speed-limiting scenes;
and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
6. The method of claim 4, wherein determining a target speed limit sign corresponding to the target vehicle according to the speed limit scenario comprises:
acquiring vehicle type information of the target vehicle in the speed limit scenes of different vehicle types;
and determining a target speed limit sign corresponding to the vehicle type information from the plurality of speed limit signs according to the vehicle type information.
7. The method according to claim 3, wherein a target speed limit sign corresponding to the target vehicle is determined according to the speed limit scene, and the step of using the speed limit value in the target speed limit sign as the speed limit information of the target vehicle comprises the steps of:
acquiring coordinate information of the plurality of speed limit signs in a preset time period, and acquiring running information of the target vehicle;
determining the historical motion track of the target vehicle according to the coordinate information and the running information;
predicting a running route of the target vehicle according to the historical motion trail;
determining the speed limit sign with the shortest distance to the driving route in the plurality of speed limit signs as a target speed limit sign;
and taking the speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
8. The method of claim 7, wherein determining the historical motion profile of the target vehicle comprises:
establishing a motion model of the target vehicle, wherein state variables in the motion model include at least one of: a travel speed of the target vehicle, a heading angle of the target vehicle, and a yaw rate of the target vehicle;
determining a state variable of the target vehicle at the current moment according to the motion model;
determining the motion quantity of the target vehicle between two adjacent moments according to the state variable of the target vehicle at the current moment, wherein the motion quantity comprises a transverse motion quantity and a longitudinal motion quantity;
and determining a motion point track set of the target vehicle according to the motion quantity, wherein the motion point track set is used for representing the historical motion track of the target vehicle.
9. A device for determining speed limit information, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring speed limit sign information detected in the running process of a target vehicle and running information of the target vehicle and determining the occurrence time of the speed limit sign information, and the speed limit sign information comprises at least one of the following: the number of the speed limit signs, the speed limit value corresponding to the speed limit signs and the position information of the speed limit signs;
the first determining module is used for screening out a target speed limit sign in the driving direction of the target vehicle from the plurality of speed limit signs and determining target speed limit sign information corresponding to the target speed limit sign from the detected speed limit sign information;
the second determination module is used for determining a speed limit scene where the target vehicle is located according to the running information, the target speed limit sign information and the time when the target speed limit sign appears;
and the third determining module is used for determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and taking a speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
10. An electronic device, comprising:
a memory for storing program instructions;
a processor, coupled to the memory, for executing program instructions that implement the following functions: acquiring speed limit sign information detected in the running process of a target vehicle and running information of the target vehicle, and determining the time when the speed limit sign information appears, wherein the speed limit sign information comprises at least one of the following information: the number of the speed limit signs, the speed limit value corresponding to the speed limit signs and the position information of the speed limit signs; screening out a target speed limit sign in the driving direction of the target vehicle from the plurality of speed limit signs, and determining target speed limit sign information corresponding to the target speed limit sign from the detected speed limit sign information; determining a speed limit scene where the target vehicle is located according to the running information, the target speed limit sign information and the time when the target speed limit sign appears; and determining a target speed limit sign corresponding to the target vehicle according to the speed limit scene, and taking a speed limit value in the target speed limit sign as the speed limit information of the target vehicle.
11. A non-volatile storage medium, characterized in that the non-volatile storage medium includes a stored program, wherein, when the program runs, a device in which the non-volatile storage medium is located is controlled to execute the method for determining speed limit information according to any one of claims 1 to 8.
12. A vehicle characterized in that a controller of the vehicle is configured to execute the determination method of the speed limit information according to any one of claims 1 to 8.
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