FR3082167A1 - DRIVING ASSISTANCE SYSTEM - Google Patents

Abstract

The invention relates to a driving assistance system for a vehicle. The driver assistance system includes: an imaging device (2); an object recognizer (64) adapted to recognize a traffic sign candidate in the image; and an output processor (65) adapted to process the recognized traffic sign candidate. The driving assistance system includes a geographic information manager (5) for storing static geographic information; and, in the case of recognizing a no-entry traffic sign candidate in the image and receiving one-way traffic information associated with another link following a current link in a driving route, the output processing device (65) transmits the recognized no-entry traffic sign candidate to an alert device. Abstract Figure: Fig. 1

Description

Description

Title of invention: DRIVING ASSISTANCE SYSTEM

Technical Field [0001] The present invention relates to a driving assistance system.

Prior Art [0002] It is proposed, in document JP 2017-102665 A (also published under the reference JP 6468 173 B2 or US 10,147,006 B2), a driving assistance system in which a display / display device Alert cannot provide a report on the presence of prohibited direction signs, when prohibited direction signs are located on only one side of a road.

Technical problem [0003] However, the known driving assistance system uses an image recognition process on each of the candidates for prohibited direction signs, identified in a stream of images taken by a front camera. Sometimes traffic sign candidates are difficult to identify in each image and false recognition is difficult to eliminate, making it difficult to eliminate false reports to alert the driver of the vehicle of the appearance of a traffic sign prohibiting entry.

An object of the present invention is to provide a driving assistance system capable of providing a report in a suitable manner despite a false recognition of a candidate for a prohibited direction sign.

Technical solution According to the present implementation, a driving assistance system for a vehicle is proposed, comprising: an imaging device suitable for taking an image of an external field of vision in front of the vehicle; an object recognition device adapted to recognize a candidate for a traffic sign in the image; and an output processing device adapted to process the recognized candidate from a traffic sign, the driving assistance system comprising a geographic information manager adapted to store static geographic information containing location information associated with each of the links of a route, each link constituting a section connecting nodes which are interchanges or crossings of the route with different routes; and, in the case of the recognition of a direction sign candidate prohibited in the image by the object recognition device and the reception of one-way traffic information associated with another forward link of a (following a) current link in a driving route from the stored static geographic information, the exit processing device is adapted to transmit the recognized candidate from a prohibited direction sign to an alert device.

Advantages provided [0006] As described, the present implementation allows the driving assistance system to provide an appropriate report despite a false recognition of a candidate for a prohibited direction sign.

In various embodiments of the driving assistance system according to the invention, one can optionally have recourse to one and / or the other of the following provisions:

- the alert device is adapted to provide a report on the recognized candidate of a direction sign prohibited if the other link is adjacent to the current link;

- The alert device is adapted to provide a first report on the recognized candidate of a prohibited direction sign, which is provided when the candidate of a prohibited direction sign is recognized by the recognition device. object, and a second report, which is different from the first report and provided when it is determined that the recognized candidate of the prohibited direction sign has been passed by the vehicle after receiving one-way traffic information associated with the minus a link following the current link in the driving route from the stored static geographic information.

The present invention further provides a driving assistance system for a vehicle, comprising:

- an imaging device adapted to take an image of an external field of vision in front of the vehicle;

- an object recognition device adapted to recognize a candidate for a traffic sign in the image; and

- a device for determining traffic restrictions and dangers suitable for determining traffic restrictions and dangers associated with a driving route, in which:

the driving assistance system comprises a geographic information manager suitable for storing static geographic information containing location information associated with each of the links of a route, each link being a section connecting nodes which are interchanges or road crossings with different roads, and in the case of recognition of a direction sign candidate prohibited by the object recognition device, of reception of one-way traffic information associated with another road link following a current link in

Γ driving route based on stored static geographic information and the determination that the recognized candidate of a prohibited direction sign has passed the vehicle, the device for determining traffic restrictions and dangers is suitable for determining that the link current in which the vehicle is traveling is a prohibited section.

BRIEF DESCRIPTION OF THE DRAWINGS Other characteristics, details and advantages of the invention will appear on reading the detailed description below, and on analysis of the appended drawings, in which: Fig.l [0012] [ fig.l] is a block diagram explaining a driving assistance system according to the invention;

Fig. 2 [fig.2] is a schematic diagram illustrating an example of display;

Fig. 3 [fig.3] illustrates a set of specified traffic signs;

Fig. 4 [fig.4] is a flow diagram of a procedure for reporting to the driver of a vehicle, which is part of an alert method to be used in the system described in FIG. 1;

Fig. 5 [fig.5] is a flow diagram of another driver reporting procedure, which is part of the alert process;

Fig. [0017] [fig.6] is a schematic representation of the image of an external field of vision comprising an object, which can be interpreted as a prohibited direction sign, and a speed limit sign other than the specified signs of the assembly illustrated in FIG. 3;

Fig. 7 [fig-7] is a schematic representation of three parallel routes illustrating an example of the application of the discrimination method implemented in the driving assistance system;

Fig. 8 [fig.8] is a schematic representation of two parallel routes illustrating another example of the application of the discrimination method.

Description of the embodiments [0020] A driving assistance system for a vehicle is proposed, comprising: an imaging device intended to take an image of an external field of vision in front of the vehicle; object recognition processing for recognizing a candidate traffic sign in the image; and an output processing for processing the recognized candidate from a traffic sign, the driving assistance system comprising a geographic information manager intended to store static geographic information containing location information associated with each of the a road, each link constituting a section connecting nodes which are interchanges or crossings of the road with different roads; and, in the case of recognition of a direction sign candidate prohibited in the image by the object recognition processing and the reception of one-way traffic information associated with another forward link of a current link in a driving route from static geographic information stored, the exit processing transmits the recognized candidate of a direction sign prohibited to an alert process.

As described, the driver assistance system can appropriately provide a report regardless of a false recognition of a prohibited traffic sign candidate.

Referring to the accompanying drawings, various embodiments of a driving assistance system are described according to the present invention. As illustrated in FIG. 1, a road vehicle, comprising an embodiment of the driving assistance system according to the present invention, is designated by the reference numeral 1. Fe vehicle 1 comprises an imaging device 2, one (s) device (s) ) display / alert 3, a communication device (s) 4, a geographic information manager 5, and a control device 6.

Fe imaging device 2, which can be, for example, a camera, is generally oriented towards the front and so as to represent the traffic signs approaching at an appropriate interval. A stream of images taken by the imaging device 2 is supplied to the control device 6.

Fe display / alert device 3, which may include, for example, a monitor, a speaker, a lamp, a counter and a buzzer, provides various information to a driver visually and / or audibly or a passenger in the vehicle 1.

Fe communication device 4 communicates with external servers and with road communication devices to exchange information with them.

Fe geographic information manager 5 is a computer unit which comprises a central processing unit (UC), a random access memory (RAM), a read only memory (ROM), a flash memory, a hard disk (DD), input ports, and output ports.

Fa ROM of the geographic information manager 5 stores programs configured to allow the computer unit to perform the functions required as a geographic information manager 5 as well as various types of parameters and various types Cards. In other words, the computer unit functions as a geographic information manager 5 by allowing the CPU to execute stored programs to perform the required functions.

A Global Navigation Satellite System (GNSS) receiver 53 and various sensors including an acceleration sensor, not illustrated, are connected to the input ports of the geographic information manager 5.

The GNSS receiver 53 can receive radio waves from the GNSS satellites through a GNSS antenna (not shown) to determine the location (longitude, latitude, and altitude / elevation). The acceleration sensor is arranged for detecting the acceleration of vehicle 1.

The geographic information manager 5 and the control device 6 communicate with each other to exchange signals, including control signals, via the local network (in English Local Area Network or LAN).

The geographic information manager 5 serves as a static information storage unit 51. The static information storage unit 51 can manage static geographic information, which is stored, for example, in a hard disk and contains information on traffic signs, information on traffic lights, lane information and the like, with respect to each of the links on each of the roads.

Each link in a road is a section connecting nodes constituting exchangers or crossings of the road with different roads.

The geographic information manager 5 serves as a dynamic information acquisition unit 52. The dynamic information acquisition unit 52 can acquire dynamic information from servers and / or communication devices communication via the communication device 4. The dynamic information acquired includes information on road traffic, information on traffic regulations, information on road construction, information on traffic congestion, information on traffic accidents, information from intelligent transport systems (ITS), weather information, etc.

The geographic information manager 5 can determine the current location of the vehicle 1 on the basis of the outputs of the aforementioned GNSS receiver 53 and the acceleration sensor.

The geographic information manager 5 determines a link in a route in which the current location is based on the current location. Using the determined link, the geographic information manager 5 retrieves the stored static geographic information to acquire geographic information associated with the determined link, such as information on traffic signs, information on traffic lights, information on road classification, information on road attributes, etc.

The geographic information manager 5 acquires traffic information around the current location, such as traffic jam information, accident information and weather information around the current location from there. dynamic information acquisition unit 52.

The geographic information manager 5 can transmit the acquired geographic information, traffic information, meteorological information and the like to the control device 6. When the vehicle 1 enters a new link, the geographic information manager 5 again acquires geographic information associated with the new link. After acquiring new information from the servers and / or the road communication devices, the geographic information manager 5 again acquires the latest information around the current location and the latest weather information around the current location. The newly acquired geographic, traffic and meteorological information is transmitted to the control device 6.

The control device 6 consists of a computer unit comprising a CPU, a RAM memory, a ROM memory, a flash memory, input ports and output ports.

The ROM of the control device 6 stores programs configured to allow the computer unit to perform the functions required as a control device 6 as well as various types of parameters and various types of cards. In other words, the computer unit functions as a control device 6 by allowing LUC to execute the stored programs to perform the required functions.

Different sensors and the like, including the imaging devices 2, are connected to the input ports of the control device 6. Different systems or devices to be monitored, including the display / alert device 3, are connected to the outputs of the control device 6.

The control device 6 ensures the reception of the image stream 61 and can read the image data taken by the imaging device 2. The control device is used for the preprocessing of the images 62 by preprocessing the images for facilitate the identification of candidates for objects of interest.

The control device 6 ensures the definition of object of interest 63 and defines objects of interest for the control of a predetermined recognition process on each of the candidates identified in the pretreated image data.

The control device 6 provides object recognition 64 and can control the predetermined recognition process on each of the candidates for different objects identified in the pretreated image data. In this example, the various objects can be chosen from road signs, characters, display panels, human beings, road vehicles, traffic lights for vehicles, traffic lights for pedestrians, toll booths, lanes on a road, etc.

The control device 6 provides the output processing 65 and can perform an alert process to lead the display / alert device 3 to provide a report on the recognized candidate for an approaching traffic sign, requiring , for example, immediate attention and compliance with the vehicle operator's rules.

The control device 6 ensures the determination of the restrictions and dangers of traffic 66 which can determine, for example, the road restriction (s) on the current link.

The control device 6 can cause the display / alert device 3 to provide a report on the road restriction in a link ahead of the current link.

The display / alert device (s) 3 provide a report on the recognized candidate of a traffic sign and may include a display, as illustrated in FIG. 2, from the image of the road sign.

Referring to FIG. 2, the display comprises two sections A and B. Section A comprises a display of the image of a traffic sign and section B comprises a display of the image of another traffic sign. For example, Section A includes the display of an image selected from the images of three traffic signs, i.e. a stop sign, a speed limit sign and an end of restriction sign, located near the tail of the arrow shown with its head pointing to section A. Section B includes the display of an image selected from the images of three traffic signs, i.e. a prohibited direction sign, an overtaking prohibition sign and an end of restriction sign, located near the end of the arrow shown with its head pointing to section B.

In the case where the display / alert device 3 provides a report on the presence of a traffic sign, the control device 6 stops the report when a predetermined end-of-report condition is met.

The predetermined end-of-report condition is met when the vehicle 1 changes route or enters a new driving link.

In the event that a candidate for a prohibited direction traffic sign is recognized in an image and that one-way traffic information associated with another road link in advance of a current link in a road is received from the static geographic information stored in the geographic information manager 5, the control device 6 transmits the recognized candidate of a direction sign prohibited to an alert process, which can bring the display / alert device 3 to provide a report on the recognized candidate of a prohibited direction sign, for example by displaying the image of a prohibited direction sign. In the case where vehicle 1 is heading towards a crossroads, there are three different links starting from the crossroads as a node. If the stored static geographic information contains one-way traffic information associated with at least one of the three aforementioned links, the control device 6 likewise transmits a candidate for a prohibited direction sign, if recognized, to the alert procedure as mentioned above.

The alerting process may include a report on the recognized candidate of a prohibited direction sign if the other link, to which the one-way traffic information identified in the stored static geographic information is associated, is adjacent to the current link by causing the display / alert device 3 to provide, for example, a display of the image of a direction sign prohibited.

The alert process can include a first report when recognizing a candidate for a prohibited direction sign by causing the display / alert device 3 to provide, for example, a display of the image of a direction sign prohibited.

The alert method includes a second report, which is different from the first report, when it is determined that the current road section traveled by the vehicle 1 is a prohibited section in the case where it is determined that the candidate recognized prohibited traffic sign was passed vehicle 1 after having received one-way traffic information associated with at least one of the links located in front of (following the) current link on the road from static geographic information stored in the geographic information manager 5.

It should be noted that the first report is in the form of lighting a lamp and the second report is in the form of flashing of the lamp. The first and second reports may be in the form of a display of relevant alerts as well as audible alerts associated with the recognized traffic sign. The first report is a report indicating that a prohibited direction sign is present and the second report indicates that vehicle 1 is traveling in the wrong direction on a one-way road.

While a report on the recognized candidate of a prohibited direction sign or a one-way sign is continued, the control device 6 interrupts the report on the recognized candidate of a sign prohibited direction sign or one-way sign when recognizing a candidate for a sign other than a specified set of signs. The specified signs of the assembly, illustrated in the LIG. 3, prohibit the passage of the vehicle 1. The set of specified traffic signs may include a one-way traffic sign and a pedestrian traffic sign.

While a report on the recognized candidate of a prohibited direction sign or a one-way sign is continued, the control device 6 can modify the report on the recognized candidate by prohibited direction sign or one-way sign when recognizing a candidate sign other than the set of specified signs (see LIG. 3). Changing the report involves, for example, turning on a lamp instead of flashing it, making the color of a display pale and reducing its size.

The report on a prohibited direction sign includes a display of the image of the prohibited direction sign, the aforementioned first report and the aforementioned second report.

While a report on the recognized candidate of a traffic sign prohibited direction is continued, the control device 6 interrupts reports on all recognized candidates of the plurality of traffic signs, including those of direction prohibited when recognizing a candidate for a traffic sign other than the set of specified traffic signs (see LIG. 3) and meeting the aforementioned predetermined report termination condition.

While a report on the recognized candidate of a prohibited direction sign is continued, the control device 6 interrupts or modifies only the report on the recognized candidate of a prohibited direction sign during recognition of a candidate for a traffic sign other than the set of specified traffic signs (see LIG. 3).

With reference to the LIG. 4, the procedure for reporting to the driver of a vehicle because of the candidate for a prohibited direction sign recognized in an image of a field of vision located at the front of the vehicle is also described. The execution of the procedure is initiated at the start of operation of the control device 6 and is repeated at predefined intervals.

In step SI, it is determined whether a candidate for a prohibited direction sign is recognized in the current image. If a candidate for a prohibited direction sign is recognized in the image, the decision step SI is followed by step S2.

If a candidate for a prohibited direction sign is not recognized in the image, the procedure returns to the decision step SI until a candidate for a prohibited direction sign is recognized in the image.

The recognized candidate of a prohibited direction sign is transmitted to a first step of an alert process (step S2). During the procedural step S2, the display / alert device 3 provides a first report to alert the driver of the vehicle 1 with a first representation, for example, a display of the image of a control panel. direction signaling prohibited.

The first report being continued, the geographic information stored in the static information storage unit 51 (of the geographic information manager 5) is being extracted to determine whether one-way traffic information is associated or not with one or more approaching road links. If the one-way traffic information associated with an approaching road link is not identified, the decision step S3 connects to an end point of the program. If the one-way traffic information associated with an approaching road link is identified, the decision step S3 is connected to step S4.

The recognized candidate of a prohibited direction sign is monitored in a stream of images to determine if the recognized candidate of a prohibited direction sign has been passed by the vehicle 1 (step S4). If the recognized candidate for a prohibited direction sign has passed, decision step S4 is followed by step S5. If the recognized candidate of a prohibited direction sign has not yet passed, the procedure returns to decision step S4 until the recognized candidate of a prohibited direction sign passes . In decision step S4, it is determined whether the recognized candidate for a prohibited direction sign has been passed through the vehicle 1.

The alert process enters a second step (step S5). In procedure step S5, the display / alert device 3 provides a second report, which is different from the first report, to alert the driver of the vehicle with a second representation, for example, an alert indicating that the vehicle 1 is traveling in the wrong direction on a one-way road.

If the one-way traffic information associated with an approaching road link is not identified, the decision step S3 can be connected to a processing step (not illustrated) to interrupt the first report before moving on to an end point of the program.

Referring to FIG. 5, the procedure for reporting to the driver of a vehicle because of the candidates of different types of traffic signs, including a prohibited direction sign recognized in an image of a field of vision at the front of the vehicle 1 is also described. To eliminate or reduce inappropriate reports to the driver of the vehicle, caused by a false recognition of a prohibited direction sign, the execution of the procedure of FIG. 5 is initiated at the start of operation of the control device 6 and is repeated at predefined intervals.

Candidates from different types of traffic signs are recognized in the image of the field of vision at the front of the vehicle 1. This recognition result is supplied to the display device (s). alert 3. Next, the display / alert device 3 provides various reports on the recognized candidates of different traffic signs in the image. If a report on the recognized candidate of a prohibited direction sign continues to alert the driver that a prohibited direction sign is present, decision step SI 1 is followed by step S12. If the report on the recognized candidate of a prohibited direction sign does not continue, the procedure returns to loop at decision step S12 until the report on the recognized candidate of a direction sign prohibited direction appears and continues.

In decision step S12, it is determined whether a traffic sign candidate other than a set of specified traffic signs (see FIG. 3) is recognized. If candidates for traffic signs other than the set of candidates for specified traffic signs are recognized, decision step S12 branches to step S13. At the procedural step S13, only the report on the recognized candidate of a traffic sign of a prohibited direction is interrupted before the end of the procedure.

If a candidate for a traffic sign other than the set of specified traffic signs is recognized, the decision step S12 is followed by S14. If a predetermined end-of-report condition is met, after decision step S14 it returns to step S12.

If the predetermined reporting condition is met, the decision step S14 is followed by step S15. At procedural step S15, all reports on candidates recognized by traffic signs of a prohibited direction are interrupted before the end of the procedure.

The following functionalities are implemented, with reference to FIG. 6 for illustration. An object C is located on the left (in the case of left-hand traffic; the opposite is true for right-hand traffic) and a speed limit sign D is further away than object C. The procedure recognition system can interpret a candidate for object C as a candidate for a prohibited direction sign. This recognized candidate of a prohibited direction sign is communicated to the driver in accordance with the aforementioned rule, as well as to the FIG diagrams. 4 and 5. According to FIG. 4, the decision step S3 is followed by the end point so that only the first report is provided to the driver since no one-way traffic information associated with an approaching road link is received from the geographic information stored in the static information storage unit 51. In other words, in the event of false recognition, no second report is provided, preventing the driver from being alerted that the vehicle 1 is traveling in the wrong direction on a one-way road.

Subsequently after the false recognition, the image recognition procedure recognizes the speed limit traffic sign D. According to FIG. 5, decision step S12 is followed by step S13 because the speed limit signaling panel D is not part of the set of specified signaling panels illustrated in FIG. 3. In procedural step S13, the report (the first report) on the recognized candidate of a prohibited direction sign is interrupted.

As described, the different discrimination methods are used and operate on each of the candidates. The driver assistance system can use the following discrimination method to determine whether all of the candidates for a prohibited direction sign in a current image taken by the imaging device 2 should be recognized or ignored. According to this discrimination method, a lateral distance from each of the prohibited direction sign candidates is calculated to establish an average. An average exceeding a given threshold results in the elimination of all associated candidates. An average equal to or below the given threshold leads to the recognition of all associated candidates. These recognized candidates are supplied to the alert process, which causes the display / alert device 3 to provide the first report which alerts the driver to comply with the traffic rule indicated by the direction of the prohibited direction sign.

If one-way traffic information associated with an approaching road link is received, the alert procedure causes the display / alert device 3 to provide the second report which alerts the driver that the vehicle 1 is traveling in the wrong direction on a one-way road immediately after determining that the candidate closest to the approaching prohibited traffic sign has been passed by vehicle 1.

Referring to FIG. 7 for illustration, three routes LI, L2 and L3 are parallel. Two prohibited direction signs E and F are located on the L2 road. All direction signs E and F are prohibited on the right side in the case of left-hand traffic on the road Ll. The G value of the mean associated with E and F prohibited direction signs exceeds the given threshold, so that candidates of E and F prohibited signs are rejected and not recognized in a current image of the field of vision. at the front of the vehicle 1.

The prohibited direction sign E is located on the left and the prohibited direction sign F is located on the right in the case of left-hand traffic on the L2 road. The value of the average associated with direction signs prohibited E and F is less than or equal to the given threshold, so that the candidates of direction signs prohibited E and F are recognized in a current image of the field of vision.

All the prohibited direction signs E and F are located on the left side in the case of left-hand traffic on the L3 road. The value of the average associated with direction signs prohibited E and F exceeds the given threshold, so that the candidates of direction signs prohibited E and F are rejected and not recognized in a current image of the field of vision at front of vehicle 1.

Referring to FIG. 7 for illustration, two routes L4 and L5 are parallel. Two prohibited direction signs H and I are located, H for the L4.1 road for the L5 road. The prohibited direction signs H and I are located on the right side in the case of left-hand traffic on the L4 road. A value J of the mean, which is associated with the two prohibited direction signs H and I, is less than or equal to the given threshold, so that the candidates for prohibited direction signs H and I are identified and recognized in the current image.

The two prohibited direction signs H and I are located on the left side in the case of left-hand traffic on the L5 road. The value J of the mean, which is associated with the two prohibited direction signs H and I, is less than or equal to the given threshold, so that the candidates for prohibited direction signs H and I are identified and recognized in the current image.

According to the discrimination method, the candidates of prohibited direction signs, which are located on another road or on adjacent roads, can be rejected and not be recognized in the current image taken by the device d imagery 2 of vehicle 1 in the event of traffic on a current road.

In the driving assistance system, provided that a candidate for a prohibited direction sign is recognized in an image of an external field of vision at the front of the vehicle 1 by the device imagery 2 and that one-way traffic information associated with another link at the front of a (following) current link in a driving route is received from the stored static geographic information, the panel recognized candidate prohibited direction signaling is transmitted to an alert process so that the display / alert device 3 appropriately provides a report on the presence of a prohibited direction sign. This ensures that the display / alert device 3 can appropriately provide a report regarding the presence of a prohibited direction sign, without error, even in the event of false recognition in the image of the field of view. external vision.

In addition, in the case of the recognition of a candidate for a prohibited direction sign in an image of an external field of vision taken by the imaging device 2, the reception of traffic information at one way associated with another link at the front of a (following a) current link in the road from the stored static geographic information and by determining that the recognized candidate of prohibited direction traffic sign has been passed by the vehicle 1, it is determined that the current link in which the vehicle 1 is traveling is a section in the prohibited direction. This ensures that the display / alert device 3 can appropriately provide a report concerning the presence of a direction sign prohibited, without error, even in the event of false recognition in the image of the field of vision. external.

In addition, the alert method provides a first report when a candidate for a prohibited direction sign is recognized, then provides a second report when it is determined that the candidate recognized for a direction sign prohibited was passed by vehicle 1 after having received traffic information associated with the next link adjacent to the front of the (following) current link. Thus, the alert method appropriately provides a report concerning the prohibited direction sign by increasing the reliability of the second report in order to attract more attention in the case where the recognized candidate of prohibited direction sign was passed by vehicle 1 while continuing the first report on the presence of the recognized candidate of a prohibited direction sign.

While a report on the recognized candidate of a prohibited direction sign or on driving in the wrong direction is pursued, the report is interrupted or modified during the recognition of a sign candidate other than a set of specified traffic signs (see FIG. 3). Since the report is interrupted or changed during the recognition of a traffic sign candidate other than a specified set of traffic signs, an inaccurate report derived from a false recognition disappears or becomes harmless by not reporting the presence of a direction sign prohibited or driving in the wrong direction.

In the event of a false report on driving in the wrong direction, the recognition of a traffic sign candidate other than the specified traffic signs allows the system to interrupt or modify the false report in order to prevent the driving the wrong way.

The driving assistance system, which interrupts reports on all recognized candidates from a plurality of traffic signs, including a traffic sign prohibited, when a predetermined end of report condition is only completes, interrupts or modifies the report on the recognized candidate of a direction sign prohibited when recognizing a candidate of a direction sign other than the specified direction signs, in order to determine that the vehicle 1) n is not driven the wrong way on a one-way road. This system can provide true information to the driver of the vehicle by applying the appropriate process to reports involving a false report.

If the predetermined end-of-gear condition is met when the vehicle changes route, the driving assistance system can differentiate the signaling panel reports to cease when the predetermined end-of-gear condition is met from of the traffic sign report to cease when recognizing a traffic sign candidate other than the specified traffic signs. This system can provide true information to the driver of the vehicle by applying the appropriate process to reports involving a false report.

Although the above invention emphasizes an example of the present implementation in which the control device 6 performs several determinations and calculations on the basis of information from different sensors, the present implementation is not limited to this example. For example, the vehicle 1 may include a communication device capable of sending detection results from various sensors to an external unit, such as a server, which performs various determinations, and of receiving the results of the determinations and calculations carried out. by the external unit. On the basis of the results of the determinations and calculations received by the communication device, the present implementation can carry out different types of command.

Although the invention is linked to, but not limited to, this implementation, those skilled in the art will understand that modifications can be made without departing from the scope of the present invention. All of these modifications and their equivalents are intended to be covered by the present invention.

Claims (1)

claims [Claim 1] A vehicle driving assistance system, comprising: - an imaging device (2) adapted to take an image of an external field of vision in front of the vehicle (1); - an object recognition device (64) adapted to recognize a candidate for a traffic sign in the image; and - an exit processing device (65) adapted to process the recognized candidate of a traffic sign, characterized in that the driving assistance system comprises a geographic information manager (5) adapted to store static geographic information containing location information associated with each of the links of a route, each link being a section connecting nodes which are interchanges or road crossings with different roads, and in the case of recognition of a candidate for a direction sign prohibited in the image by the object recognition device (64) and of reception of one-way traffic information associated with another following link a current link in a driving route from the stored static geographic information, the exit processing device (65) is adapted to transmit the recognized candidate from a prohibited direction sign to an alert device. [Claim 2] The driver assistance system of claim 1, wherein the alert device is adapted to provide a report on the recognized candidate of a prohibited direction sign if the other link is adjacent to the current link. [Claim 3] The driving assistance system according to claim 1 or 2, in which the warning device comprises is adapted to provide: - a first report on the recognized candidate of a prohibited direction sign, which is provided when the candidate of a prohibited direction sign is recognized by the object recognition device (64), and - a second report, which is different from the first report and supplied when it is determined that the recognized candidate of a prohibited direction sign has been passed by the vehicle (1) after having received one-way traffic information associated with at least one [Claim 4] link following the current link in the driving route from the stored static geographic information. A vehicle driving assistance system, comprising: - an imaging device (2) adapted to take an image of an external field of vision in front of the vehicle (1); - an object recognition device (64) adapted to recognize a candidate for a traffic sign in the image; and - a device for determining traffic restrictions and dangers (66) adapted to determine traffic restrictions and dangers associated with a driving route, in which: the driving assistance system comprises a geographic information manager (5) adapted to store static geographic information containing location information associated with each of the links of a route, each link being a section connecting nodes which are interchanges or crossings of the road with different roads, and in the case of the recognition of a candidate of direction sign prohibited by the object recognition device (64), of the reception of information from one-way traffic associated with another road link following a current link in the driving route from the stored static geographic information and the determination that the recognized candidate of a prohibited direction traffic sign has passed the vehicle (1), the device for determining traffic restrictions and dangers (66) is adapted to determine that the link has ctuel in which the vehicle (1) is traveling is a prohibited section.