CN111524351A - Ramp speed limit identification method - Google Patents
Ramp speed limit identification method Download PDFInfo
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- CN111524351A CN111524351A CN202010323824.8A CN202010323824A CN111524351A CN 111524351 A CN111524351 A CN 111524351A CN 202010323824 A CN202010323824 A CN 202010323824A CN 111524351 A CN111524351 A CN 111524351A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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Abstract
The invention relates to the technical field of automobile control, in particular to a ramp speed limit identification method. Judging whether the vehicle runs at a high speed or is elevated; if so, judging the position of a lane where the vehicle runs; and if the vehicle runs on the rightmost lane, judging whether the currently identified speed limit sign is a ramp speed limit sign or not according to the change condition of the lane line on the right side of the vehicle, the running condition of the vehicle and the comparison condition of the currently identified speed limit sign and the previously identified speed limit sign. The ramp speed limit identification method is simple, has small logical operand, does not cause burden to a control system, can accurately and quickly identify the ramp speed limit, has high accuracy and has great popularization value.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a ramp speed limit identification method.
Background
In the current stage, intelligent driving can achieve intelligent speed limit control, namely after a camera catches a speed limit sign, the speed limit is transmitted to a control system, and automatic speed limit control is carried out. However, in a special scene, such as a high-speed and overhead ramp scene, the system can erroneously identify the speed limit of the ramp, which causes an erroneous deceleration of the system, and gives a poor driving experience to the driver, and meanwhile, potential safety hazards exist. The existing ramp speed-limiting identification method is complicated, the logical operation amount is large, for example, the invention patent of China with the patent number of CN201910404290.9 named as 'a ramp speed-limiting identification method and device', the ramp speed-limiting identification method introduced at any place is to obtain the speed-limiting sign information identified from the collected road image, wherein the speed-limiting sign information comprises: speed limit values and auxiliary information; judging whether the speed limit information is ramp speed limit information or not according to the speed limit information; if so, acquiring lane information of the vehicle, path planning information of the vehicle, signal lamp information of the vehicle and environment information of the vehicle, wherein the environment information is used for judging whether the vehicle passes through a right lane line; judging whether the vehicle enters a ready state of a driving ramp according to the lane information, the path planning information, the signal lamp information and the environment information; and if the vehicle is determined to enter the ready state of the driving ramp, determining and prompting the speed limit value of the vehicle according to the ramp speed limit information. As can be seen from the above description, the scheme needs more information to be acquired and more processed data parameters, which results in a more complicated and computationally intensive whole identification method, and such an equipment method may cause a severe burden on the controller, and is not conducive to popularization and use.
Disclosure of Invention
The invention aims to solve the technical problems mentioned in the background technology and provide a ramp speed limit identification method.
The technical scheme of the invention is as follows: a ramp speed limit identification method is characterized in that: judging whether the vehicle runs at a high speed or is elevated; if so, judging the position of a lane where the vehicle runs; and if the vehicle runs on the rightmost lane, judging whether the currently identified speed limit sign is a ramp speed limit sign or not according to the change condition of the lane line on the right side of the vehicle, the running condition of the vehicle and the comparison condition of the currently identified speed limit sign and the previously identified speed limit sign.
The method for further judging whether the vehicle runs at a high speed or is elevated comprises the following steps: the image information of the speed limit board of the road in front of the vehicle is collected, and if the speed limit value of the speed limit board in the collected image information is greater than 60km/h, the vehicle is considered to be running at high speed or on an overhead.
The method for further judging the lane position of the vehicle comprises the following steps: the method comprises the steps of collecting lane line image information of a road in front of a vehicle, identifying the number of lane lines on the left side and the right side of the vehicle, and judging the lane position of the vehicle according to the number of the lane lines on the left side and the right side of the vehicle.
And further recognizing lane lines in front of the vehicle and on the left and right sides of the vehicle, when the number of the lane lines in front of the vehicle is recognized to be constant within at least 5s, considering that the current running road of the vehicle is stable, and if one lane line on the right side of the vehicle and at least one lane line on the left side of the vehicle, considering that the vehicle runs on the rightmost lane of the current road.
Further, when the vehicle travels in the rightmost lane of the current road, a lane line on the right side of the vehicle is recognized, and when the recognized lane line changes from a solid line to a dotted line, it is considered that a ramp is present on the right side of the vehicle.
And further, when the vehicle runs on the rightmost lane of the current road, recognizing the number of lane lines in front of the vehicle, and if the lane lines in front of the vehicle are reduced or increased, determining that a ramp exists in front.
And further, when a ramp appears on the right side of the vehicle, collecting the running conditions of the steering lamp and the wheels of the vehicle, and if the right steering lamp of the vehicle is turned on and the wheels on the right side of the vehicle cross a lane line on the right side of the vehicle, judging that the vehicle is about to enter the ramp.
And further, when the vehicle is judged to enter the right ramp, acquiring a speed limit sign in front of the vehicle, comparing the speed limit sign with the previously acquired speed limit sign, and if the difference value between the speed limit sign and the previously acquired speed limit sign exceeds 15km/h, determining that the currently acquired speed limit sign is the ramp speed limit sign.
The invention has the advantages that: 1. the ramp speed-limiting method has the advantages that the acquired information is less, the lane position of the vehicle, the condition of the front ramp and whether the vehicle enters the ramp are mainly judged through the image acquisition information, and then whether the speed-limiting sign acquired in front is the ramp speed-limiting is judged, the judgment logic operation is simple, the identification mode is simple, no great burden is caused to a control system, the judgment mode is more accurate, and the method is suitable for large-scale popularization and use;
2. the invention judges the running road condition of the vehicle by directly identifying the speed limit board in front of the vehicle, because the judgment of the ramp speed limit is needed only when the vehicle runs on an overhead or high speed, the high speed or overhead running is a precondition for judging the ramp running, the invention judges by the speed limit board, and the method is extremely simple;
3. according to the method, the position of the vehicle on the road is judged through the lane lines on the two sides of the vehicle, when the judgment premise of the ramp speed limit is met, the vehicle needs to enter or is about to enter the ramp, and when the vehicle enters or is about to enter the ramp, the vehicle needs to drive to the rightmost lane of the road, so that most useless information can be filtered out by the judgment mode, and the burden on a control system is avoided;
4. the method has the advantages that whether the vehicle is positioned on the rightmost lane of the road or not is very simple, when the state of the road on which the vehicle runs is stable, the lane position of the vehicle can be judged through the lane lines on the two sides of the vehicle, namely, one lane line on the right side of the vehicle indicates that the vehicle reaches the rightmost position of the road, and at least one lane line on the left side of the vehicle is positioned on the rightmost lane of the road;
5. when the vehicle is positioned on the rightmost lane of the road, the lane line change on the right side of the vehicle is identified, namely when the solid line changes into the dotted line, the ramp on the right side of the vehicle can be shown to appear, the identification method is simple, the judgment is completely carried out according to the actual condition of road traffic in China, and the mode is simple and accurate;
6. the invention also judges whether the front of the vehicle has the bifurcation road by identifying the lane line in front of the vehicle, when the lane line in front of the vehicle has the change, the bifurcation road in front of the vehicle is shown, namely, the lane exists, the judging mode is complementary with the judging mode of the virtual and real change of the lane line, and the identifying efficiency and the accuracy are greatly improved;
7. according to the method, whether the vehicle enters the ramp or not is recognized through vehicle running information, namely the deflection conditions of the right turn light and the right wheels of the vehicle, if the vehicle enters the ramp, the ramp speed-limiting sign is naturally required to be recognized, and if the vehicle does not enter the ramp, the ramp speed-limiting sign is naturally not required to be recognized, so that useless information in the front can be filtered through the judging mode, and the burden of a control system is reduced;
8. according to the invention, after a vehicle enters a ramp, the current speed limit sign is identified and compared with the previous speed limit sign, and when the difference value of the two speed limit signs changes by 15km/h in heavy rain, the currently identified speed limit sign is considered as the ramp speed limit sign.
The ramp speed limit identification method is simple, has small logical operand, does not cause burden to a control system, can accurately and quickly identify the ramp speed limit, has high accuracy and has great popularization value.
Drawings
FIG. 1: the invention relates to a flow chart of a ramp speed limit identification method;
FIG. 2: the first ramp structure of the invention is shown schematically;
FIG. 3: the second ramp structure of the invention is a schematic diagram.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The flow of the ramp identification method of this embodiment is shown in fig. 1, because the premise of identifying the ramp speed limit is that a vehicle is required to enter a ramp or is about to enter the ramp, otherwise, the identified speed limit sign is useless information, the embodiment first judges whether the vehicle enters the ramp or is about to enter the ramp, and the premise of entering or about to enter the ramp is that the vehicle is located in the rightmost lane of the road, therefore, when judging whether the vehicle is or about to enter the ramp, the vehicle is required to appear in the rightmost lane of the road, and the identification of the ramp speed limit is usually a speed limit sign on a high speed or an overhead, therefore, the ramp speed limit method of this embodiment needs to ensure that the vehicle runs on a high speed or an overhead, so the first step needs to judge whether the vehicle runs on the high speed or the overhead, if so, the subsequent steps can be performed, if not, the ramp speed limit identification is naturally not required, the method comprises the following specific steps:
step S101: firstly, whether the vehicle is on an overhead or expressway is confirmed, the speed limit value on the overhead or high speed is generally more than 60km/h, a vehicle camera firstly extracts a vehicle peripheral image at a speed of more than 30 frames per second, and then a circle feature is searched in the image. And if the circle feature is found, comparing the speed limit numerical value feature stored in the camera with the content feature in the circle. And if the speed limit value is matched with the speed limit value, displaying the speed limit value stored in the identified camera. If the displayed speed limit value of the speed limit board is more than 60km/h, the vehicle can be judged to be at high speed or on an overhead.
Step S102: when the road reaches a stable state at high speed or on an overhead road, the vehicle identifies the number or type of the lane lines of the road through the front-facing camera. And the lane position of the vehicle is judged by calculating the number of lane lines on the left side and the right side of the vehicle. The method for the road to enter the stable state can detect the number of the front lane lines through the camera, and if the number of the front lane lines is kept at a constant number for more than 5 seconds, the road state can be determined to be stable. The camera can determine the lane position of the road where the vehicle is located by detecting the number of the lane lines in front and simultaneously detecting the number of the lane lines on the left side and the right side of the vehicle. For example, if there are three lane lines in front, two on the left side of the vehicle, and one on the right side of the vehicle, it can be determined that there are two lanes on the current road, and the vehicle is on the rightmost lane.
Step S103: and judging whether a ramp exists in front or not, wherein the ramp has two ways, one is that the number of lanes shown in figure 2 is unchanged, the right-most lane has a ramp entrance, the other is that the number of lanes shown in figure 3 is changed, the right-most lane has a bifurcation, and the bifurcation entrance is the ramp. Therefore, the method for detecting whether there is a ramp in front is divided into two methods, the first method is as shown in fig. 2, the lane line on the rightmost side of the high speed or overhead is a solid line, and if the camera detects that the lane line changes from the solid line to a broken line, the broken line in front is the ramp entrance. Secondly, as shown in fig. 3, the camera detects the number of the lane lines in front, and if the number of the lane lines in front is decreased or increased, a bifurcation exists in front, so that it can be determined that there is a ramp in front.
Step S104: and detecting whether the vehicle passes through a ramp or not, if the vehicle enters the ramp, the vehicle needs to be driven to the right away from the rightmost lane of the current road, so that a right turn light needs to be turned on, then the vehicle deflects to the right, when the vehicle is driven on the rightmost lane of the road, the ramp in front of the vehicle is identified according to the step S103, and when the right turn light of the vehicle is turned on and the right wheel of the vehicle crosses the lane line on the right side of the vehicle, the driver can be considered to be about to drive the vehicle to enter the ramp.
Step S105: and determining whether the speed limit sign is the ramp speed limit, acquiring the speed limit sign in front of the vehicle by a front camera of the vehicle after judging that the driver is about to drive the vehicle to enter the ramp, comparing the acquired speed limit sign with the last acquired speed limit sign, and if the difference between the acquired speed limit sign and the last acquired speed limit sign is more than 15km/h, determining that the currently acquired speed limit sign is the ramp speed limit sign. This is because the difference between the ramp speed limit and the main road speed limit is generally greater than 15km/h at high speed or on an overhead, and if it is detected that the difference between the identified previous speed limit and the current speed limit sign value is greater than 15 km/h. It is determined that the current speed limit sign is the ramp sign. Such as 110 km/h, 80km/h and 60km/h in figures 2 and 3. The system displays the ramp speed limit, displays each speed limit till then, and does not display the speed limit until the identified speed limit is larger than the adjacent previous speed limit and the identified speed limit is larger than 60 km/h.
Step S106: through the steps, whether the speed limit sign on the vehicle driving road is the ramp speed limit sign or not is judged, and whether the speed limit sign is displayed or not is determined, and the specific flow is shown in fig. 1.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A ramp speed limit identification method is characterized in that: judging whether the vehicle runs at a high speed or is elevated; if so, judging the position of a lane where the vehicle runs; and if the vehicle runs on the rightmost lane, judging whether the currently identified speed limit sign is a ramp speed limit sign or not according to the change condition of the lane line on the right side of the vehicle, the running condition of the vehicle and the comparison condition of the currently identified speed limit sign and the previously identified speed limit sign.
2. The ramp speed limit identification method according to claim 1, characterized in that: the method for judging whether the vehicle runs at a high speed or is elevated comprises the following steps: the image information of the speed limit board of the road in front of the vehicle is collected, and if the speed limit value of the speed limit board in the collected image information is greater than 60km/h, the vehicle is considered to be running at high speed or on an overhead.
3. The ramp speed limit identification method according to claim 1, characterized in that: the method for judging the lane position of the vehicle comprises the following steps: the method comprises the steps of collecting lane line image information of a road in front of a vehicle, identifying the number of lane lines on the left side and the right side of the vehicle, and judging the lane position of the vehicle according to the number of the lane lines on the left side and the right side of the vehicle.
4. The ramp speed limit identification method according to claim 1 or 3, characterized in that: and recognizing lane lines in front of the vehicle and on the left and right sides of the vehicle, considering that the current running road state of the vehicle is stable when the number of the lane lines in front of the vehicle is recognized to be constant within at least 5s, and considering that the vehicle runs on the rightmost lane of the current road if the lane line on the right side of the vehicle is one and the lane line on the left side of the vehicle is at least one.
5. The ramp speed limit identification method according to claim 1, characterized in that: when the vehicle travels in the rightmost lane of the current road, a lane line on the right side of the vehicle is identified, and when the identified lane line changes from a solid line to a dotted line, it is considered that a ramp is present on the right side of the vehicle.
6. The ramp speed limit identification method according to claim 1 or 5, characterized in that: when the vehicle runs on the rightmost lane of the current road, the number of lane lines in front of the vehicle is identified, and if the lane lines in front of the vehicle are reduced or increased, the front is considered to have a ramp.
7. The ramp speed limit identification method according to claim 5, characterized in that: when a ramp appears on the right side of the vehicle, the running conditions of the turn lights and the wheels of the vehicle are collected, and if the turn lights on the right side of the vehicle and the wheels on the right side of the vehicle cross a lane line on the right side of the vehicle, the fact that the vehicle is about to enter the ramp is judged.
8. The ramp speed limit identification method according to claim 7, characterized in that: and when the vehicle is judged to enter the right ramp, acquiring a speed limit sign in front of the vehicle, comparing the speed limit sign with the previously acquired speed limit sign, and if the difference value between the speed limit sign and the previously acquired speed limit sign exceeds 15km/h, determining that the currently acquired speed limit sign is the ramp speed limit sign.
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| CN202010323824.8A CN111524351A (en) | 2020-04-22 | 2020-04-22 | Ramp speed limit identification method |
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| CN113487901A (en) * | 2021-07-30 | 2021-10-08 | 重庆长安汽车股份有限公司 | Lane width checking method and system based on camera perception |
| CN113516039A (en) * | 2021-05-10 | 2021-10-19 | 东风汽车集团股份有限公司 | Speed limit identification and control method |
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Application publication date: 20200811 |