CN110070742A - The recognition methods of high speed ring road speed limit, system and vehicle - Google Patents

Abstract

The invention provides a method, a system and a vehicle for identifying the speed limit of a high-speed ramp, and relates to the technical field of vehicles. The speed limit identification method for a high-speed ramp includes: obtaining the visible speed limit sign on the road where the vehicle is located; identifying whether there is a ramp speed limit sign in the speed limit sign; if so, judging the driver's driving intention; When the driving intention of the ramp corresponding to the speed sign is displayed, the speed limit information on the ramp speed limit sign is displayed. In the above identification method and system, the driving intention of the driver is introduced. By judging the driving intention, it is determined whether the driver has the intention to enter the ramp. If so, the ramp speed limit information is displayed according to the identified ramp speed limit sign. If not, it will not be displayed, which can effectively improve the display accuracy of speed limit information.

Description

Speed limit identification method, system and vehicle for expressway ramp

technical field

The present invention relates to the technical field of vehicles, and in particular, to a method, system and vehicle for identifying a speed limit on a high-speed ramp.

Background technique

Ramp, usually refers to a section of the connecting road that provides vehicles entering and exiting the main line and adjacent auxiliary roads or other main lines, such as high-speed entry and exit ramps, elevated entry and exit ramps. Due to the particularity of the ramp, in order to ensure driving safety, speed limit signs are usually arranged at the entrance and exit of the ramp and inside the ramp.

In the prior art, the ramp speed limit sign recognition system mainly detects the ramp speed limit information through the navigation system. In the actual test process, after the vehicle has entered the ramp, the ramp speed limit sign recognition system does not prompt the speed limit information, or the vehicle is still Driving on the main road, and the ramp speed limit sign recognition system displays the ramp speed limit information, the above two situations are misreported information, which seriously affects the customer experience.

SUMMARY OF THE INVENTION

An object of the present invention is to provide a method for identifying the speed limit of a high-speed ramp, so as to solve the problem of erroneous reporting in the method for identifying the speed limit of a high-speed ramp.

A further object of the present invention is to increase the horizontal and vertical distance signals in the speed limit identification method of the high-speed ramp, so as to improve the accuracy of displaying the speed limit information.

Another object of the present invention is to provide a high-speed ramp speed limit identification system to solve the problem of false alarms in the high-speed ramp speed limit identification method.

Yet another object of the present invention is to provide a vehicle including a high-speed ramp speed limit recognition system.

In one aspect, the present invention provides a method for identifying a speed limit on a high-speed ramp, comprising:

Obtain visible speed limit signs on the road where the vehicle is located;

identifying whether there is a ramp speed limit sign in the speed limit sign;

If so, determine the driver's driving intention;

When it is determined that the driver has a driving intention to enter the ramp corresponding to the ramp speed limit sign, the speed limit information on the ramp speed limit sign is displayed.

Optionally, when identifying the speed limit sign, if any one of the following conditions is met, the speed limit sign is considered to be a ramp speed limit sign;

The speed limit sign carries auxiliary information indicating that the speed limit sign is a ramp speed limit sign;

The distance between the position of the vehicle and the entrance of the ramp when the speed limit sign is acquired is less than a first preset distance.

Optionally, in the process of judging the driving intention of the driver, when the navigation system sends out prompt information for entering the ramp, it is determined that the driver has the driving intention to enter the ramp.

Optionally, in the process of judging the driver's driving intention, when at least three of the following four conditions are satisfied, it is determined that the driver has the driving intention to enter the ramp:

the distance between the vehicle and the right edge of the current road is less than the second preset distance;

the vehicle is decelerating;

The right turn signal of the vehicle occurs;

A ramp line appears on the left side of the vehicle.

Optionally, when the ramp includes multiple ramp speed limit signs, the speed limit information on the multiple ramp speed limit signs is displayed in sequence.

On the other hand, the present invention also provides a high-speed ramp speed limit identification system, comprising:

an acquisition unit, used to acquire the visible speed limit signs of the road where the vehicle is located;

an identification unit for identifying whether there is a ramp speed limit sign in the speed limit sign;

a control unit, configured to judge the driver's driving intention when the recognition unit recognizes that the ramp speed limit sign exists in the speed limit sign;

The display unit is configured to display the speed limit information on the ramp speed limit sign when it is determined that the driver has a driving intention to enter the ramp.

Optionally, the identifying unit is further configured to: when identifying the speed limit sign, if any one of the following conditions is met, consider the speed limit sign to be a ramp speed limit sign;

The speed limit sign carries auxiliary information indicating that the speed limit sign is a ramp speed limit sign;

The distance between the position of the vehicle and the entrance of the ramp when the speed limit sign is acquired is less than a first preset distance.

Optionally, the control unit is further configured to: in the process of judging the driving intention of the driver, when the navigation system sends out prompt information for entering the ramp, determine that the driver has the driving intention to enter the ramp.

Optionally, the control unit is further configured to: in the process of judging the driver's driving intention, when at least three of the following four conditions are satisfied, determine that the driver has the driving intention to enter the ramp:

the distance between the vehicle and the right edge of the current road is less than the second preset distance;

the vehicle is decelerating;

The right turn signal of the vehicle occurs;

A ramp line appears on the left side of the vehicle.

In yet another aspect, the present invention also provides a vehicle comprising the above-mentioned expressway ramp speed limit recognition system.

The method and system for recognizing a speed limit on a high-speed ramp of the present invention include: obtaining a visible speed limit sign on the road where the vehicle is located; identifying whether there is a ramp speed limit sign in the speed limit sign; if so, judging the driver's driving intention; When the driver has the driving intention to enter the ramp corresponding to the ramp speed limit sign, the speed limit information on the ramp speed limit sign will be displayed. In the above identification method and system, the driving intention of the driver is introduced. By judging the driving intention, it is determined whether the driver has the intention to enter the ramp. If so, the ramp speed limit information is displayed according to the identified ramp speed limit sign. If not, it will not be displayed, which can effectively improve the display accuracy of speed limit information.

Further, in the high-speed ramp speed limit identification method and system of the present invention, the longitudinal distance is introduced on the basis of the navigation system. The longitudinal distance is the distance between the position of the vehicle and the entrance of the ramp when the speed limit sign is obtained, and the longitudinal distance is used to identify whether the speed limit sign is a ramp speed limit sign. The addition of the longitudinal distance can avoid that when the speed limit sign has no auxiliary information indicating that the sign is a ramp speed limit sign, the default sign is the ramp speed limit sign, which can effectively avoid the occurrence of missed reports.

Further, in the high-speed ramp speed limit identification method and system of the present invention, a lateral distance is also introduced. The lateral distance is the distance between the vehicle and the right edge of the road where it is located, and the lateral distance is an important condition for judging the driver's driving intention. The lateral distance, the vehicle is in a decelerating state, the signal of the right turn signal of the vehicle and the ramp line on the left side of the vehicle are integrated. When three of the four conditions are satisfied, it is determined that the driver has the intention to enter the ramp. It greatly improves the accuracy of judging driving intention, solves the false alarm of speed limit on high-speed road ramps, and obtains a better driving experience.

The above and other objects, advantages and features of the present invention will be more apparent to those skilled in the art from the following detailed description of the specific embodiments of the present invention in conjunction with the accompanying drawings.

Description of drawings

Hereinafter, some specific embodiments of the present invention will be described in detail by way of example and not limitation with reference to the accompanying drawings. The same reference numbers in the figures designate the same or similar parts or parts. It will be understood by those skilled in the art that the drawings are not necessarily to scale. In the attached picture:

1 is a schematic flowchart of a method for identifying a speed limit on a high-speed ramp according to an embodiment of the present invention;

Fig. 2 is a schematic flow chart of identifying whether the speed limit sign is a ramp speed limit sign in the high-speed ramp speed limit identification method;

Fig. 3 is the schematic flow chart of determining the driver's driving intention in the high-speed ramp speed limit identification method;

4 is a schematic traffic diagram of a ramp intersection including multiple ramp speed limit signs;

FIG. 5 is a schematic system diagram of a speed limit identification system for a high-speed ramp according to an embodiment of the present invention.

Detailed ways

FIG. 1 is a schematic flowchart of a method for identifying a speed limit on a high-speed ramp according to an embodiment of the present invention. FIG. 2 is a schematic flow chart of identifying whether the speed limit sign is a ramp speed limit sign in a method for recognizing a speed limit on a high-speed ramp. FIG. 3 is a schematic flow chart of determining a driver's driving intention in a method for recognizing a speed limit on a high-speed ramp. 4 is a schematic traffic diagram of a ramp intersection including multiple ramp speed limit signs. FIG. 5 is a schematic system diagram of a speed limit identification system for a high-speed ramp according to an embodiment of the present invention. The following describes the method and system for identifying the speed limit of a high-speed ramp according to an embodiment of the present invention with reference to FIG. 1 to FIG. 5 .

Referring to FIG. 1, the method for identifying the speed limit of a high-speed ramp in this embodiment includes:

S101, obtaining a visible speed limit sign on the road where the vehicle is located, where the visible speed limit sign generally refers to a speed limit sign that can be captured by a camera;

S102, identifying whether the speed limit sign is a ramp speed limit sign;

S103, if the speed limit sign is a ramp speed limit sign, determine the driver's driving intention;

S104, when it is determined that the driver has a driving intention to enter the ramp, display the speed limit information on the speed limit sign.

In the above identification method and system, the driving intention of the driver is introduced. By judging the driving intention, it is determined whether the driver has the intention to enter the ramp. If so, the ramp speed limit information is displayed according to the identified ramp speed limit sign. If not, it will not be displayed, which can effectively improve the display accuracy of speed limit information.

Referring to FIG. 2 , in a further embodiment, whether the speed limit sign is a ramp speed limit sign is identified by the following method: when the speed limit sign is identified and any one of the following conditions is met, the speed limit sign is considered to be a ramp speed limit sign. One condition is: the speed limit sign has auxiliary information indicating that the speed limit sign is a ramp speed limit sign, and the auxiliary information here can be information with "ramp", "turn" or some other icons, which will not be described in detail here. . Another condition is that the distance between the position of the vehicle and the entrance of the ramp when the speed limit sign is acquired is less than the first preset distance. The first preset distance here may be any value from 400 to 600, and specifically, may be 400, 500 or 600. Taking 500m as an example, on a highway, generally, before a certain distance into the ramp intersection, there will be a continuous sign indicating that there is a ramp ahead, and within this distance, there may be no sign. Therefore, The speed limit sign within this distance can be regarded as the ramp speed limit sign by default, and beyond this distance, it is considered to be the speed limit sign on the main highway.

Referring to FIG. 3 , in another further embodiment, the driving intention of the driver is determined by the following method. One method is: in the process of judging the driver's driving intention, when the navigation system sends out a prompt message for entering the ramp, it is determined that the driver has the driving intention to enter the ramp. When the navigation system issues a prompt message, the route has been confirmed and the driver intends to enter the ramp. Another method is: in the process of judging the driver's driving intention, when at least three of the following four conditions are satisfied, it is determined that the driver has the driving intention to enter the ramp:

The distance between the vehicle and the right edge of the current road is less than the second preset distance; the second preset distance may be any value within the range of 1m-2m, specifically, may be 1m, 1.5m and 2m.

the vehicle is decelerating;

The right turn signal of the vehicle occurs;

A ramp line appears on the left side of the vehicle, and the ramp line is generally a short and thick line to distinguish it from the general traffic dotted line.

Multiple judgment conditions are used to judge the driving intention, and according to the actual situation, the multiple conditions are fused to make a multi-condition fuzzy judgment of the driving intention, so as to determine whether the driver has the intention to enter the ramp and improve the accuracy.

Referring to FIG. 4 , in another further embodiment, when the ramp includes multiple ramp speed limit signs, the speed limit information on the multiple ramp speed limit signs is displayed in sequence. Specifically, in Figure 4 there are three ramp speed limit signs, which are 80/60/40 respectively. According to the actual road condition test feedback, there will be a speed limit sign greater than 60km/h at the intersection of the ramp, which will decrease in turn until the entrance of the ramp. In this case, the ramp speed limit sign greater than 60km/h will be mistaken for the ordinary speed limit sign. After the vehicle actually enters the ramp, all speed limit signs below 60 will be ignored, resulting in false negatives. However, using the identification method in this embodiment, when the ramp includes multiple ramp speed limit signs, the speed limit information on the multiple ramp speed limit signs is displayed in sequence, that is, 80 is displayed first, then 60 is displayed, and finally 40 is displayed, which ensures that Accuracy of speed limit information.

The invention also provides a speed limit identification system for a high-speed ramp. Referring to FIG. 5 , the high-speed ramp speed limit identification system in this embodiment includes an acquisition unit 1 , an identification unit 2 , a control unit 3 and a display unit 4 . The obtaining unit 1 is used to obtain the speed limit sign of the current road. In this embodiment, the acquisition unit may be a camera disposed on the vehicle, and may also be other image acquisition devices. The identification unit 2 is used to identify whether the speed limit sign is a ramp speed limit sign. The control unit 3 is configured to judge the driving intention of the driver when the identification unit identifies the speed limit sign as a ramp speed limit sign. The identification unit and the control unit can be integrated into advanced driver assistance systems (ADAS controllers). The advanced driver assistance system (ADAS controller) can receive the environmental information data detected by the camera detection system and the navigation system through the CAN bus. The display unit 4 is used to display the speed limit information on the speed limit sign when it is determined that the driver has a driving intention to enter the ramp. The display unit may be a vehicle-mounted mobile terminal.

When the camera recognizes the speed limit sign, the ADAS controller determines whether the speed limit sign is a ramp speed limit sign after receiving the information. If ADAS determines that there is a ramp speed limit sign in the speed limit sign read by the camera, it will judge the driver's driving. Intention, if the driver intends to enter the ramp, the ramp speed limit sign information will be displayed. If there is no intention, the ramp speed limit information will be ignored and will not be displayed.

Referring to FIG. 2 , the identification unit is further configured to: when identifying the speed limit sign, if any one of the following conditions is met, the speed limit sign is considered to be a ramp speed limit sign.

1. The speed limit sign has auxiliary information indicating that the speed limit sign is a ramp speed limit sign; that is, when the speed limit sign has text information such as "ramp", "turn", etc., the speed limit sign is considered to be a ramp speed limit sign;

2. When the speed limit sign is obtained, the distance between the position of the vehicle and the entrance of the ramp is less than the first preset distance. When the speed limit sign detected by the camera does not have any other auxiliary signs, the high-speed ramp speed limit recognition system obtains the position of the vehicle on the road at this time from the information provided by the navigation system, and obtains the distance to the next ramp intersection at the same time. When the information distance is less than 500 meters from the vehicle, the default is that all speed limit signs are regarded as ramp speed limit signs. In this way, by defaulting the speed limit sign as the ramp speed limit sign, it can effectively avoid the occurrence of omissions when the speed limit sign does not have auxiliary information indicating that the sign is the ramp speed limit sign.

Referring to FIG. 3 , the control unit is further configured to: in the process of judging the driving intention of the driver, when the navigation system sends out the prompt information for entering the ramp, it is determined that the driver has the driving intention to enter the ramp. In this embodiment, when the navigation enters the route planning mode, before the vehicle enters the ramp, the navigation will send the ramp entry information, and it can be determined that the driver has the intention to enter the ramp.

Continuing to refer to Figure 3, the control unit is further configured to:

In the process of judging the driver's driving intention, when at least three of the following four conditions are satisfied, it is determined that the driver has the driving intention to enter the ramp:

The distance between the vehicle and the right edge of the current road is less than the second preset distance; the vehicle is in a deceleration state; the right turn signal of the vehicle occurs; the ramp line appears on the left side of the vehicle.

In a specific embodiment, when the navigation works in the cruise mode, the trigger condition is that when the distance given by the navigation is less than 500 meters from the next ramp crossing, the ADAS will enter the driving intention judgment mode, and at this time, data fusion of multiple conditions needs to be done. policies, these conditions include:

A. Use the camera and radar to determine whether the distance between the vehicle and the right edge of the lane is less than 1.5 meters;

B. Obtain the acceleration signal of the vehicle to determine whether the vehicle has the intention to decelerate;

C. Obtain the signal of the turn signal of the own vehicle, and judge whether the vehicle has the intention to turn;

D. Use the camera to determine whether the short thick line unique to the ramp entrance appears on the left side of the vehicle.

Under these conditions, make fuzzy judgment and introduce the concept of weight, that is, within 500 meters from the ramp entrance, set the weight of each sensor signal received. The larger the weight, the more obvious the intention to enter the ramp. That is, when at least three of the four conditions appear), the driver is considered to have the intention to enter the ramp. At this time, combined with the ramp speed limit sign information, it is displayed. When encountering multiple ramp speed limit signs at the ramp intersection, it can be displayed in sequence.

The details are shown in the following table:

When three of the four determination conditions are triggered, select the minimum probability of 0.72, that is, when the weighted probability is greater than or equal to 0.72, any three conditions are triggered, and it is determined that the driver has the intention to enter the ramp.

In one embodiment, the speed limit sign on the ramp is judged on the condition that the distance between the position of the vehicle and the entrance of the ramp when the speed limit sign is obtained is less than the first preset distance, and then the driver's intention is judged through a data fusion scheme. The advantage is that no matter whether the vehicle enters the ramp or not, the ramp speed limit sign can be recognized and displayed, so as to avoid missed reports. Further, on this basis, a new driver judgment strategy can be adopted, which can greatly improve the judgment accuracy of the driver's intention to enter the ramp. In this embodiment, on the basis of the electronic information provided by the navigation system, vertical and horizontal distance signals are added, which are respectively the distance information X used to determine the distance between the vehicle and the next roundabout, and the distance information between the vehicle and the edge of the road. Y. Using the distance information X, when the distance is less than the first preset distance, it is considered that all speed limit signs are identified as ramp speed limit signs in this scenario, so that for a value greater than a certain value (it can be 60km/h, it can also be 50- Multiple ramp speed limit signs with any value in the range of 70) can be displayed correctly without false negatives. The distance information Y can be used as an auxiliary judgment of driving intention. For the conditional judgment of driving intention, through the fusion of multiple conditions, according to the actual situation, the concept of weight is introduced to different conditions, and the multi-condition fuzzy judgment of driving intention is made. When the total weight of driving intention exceeds 0.72, it is determined that the driver has entered the ramp. intention.

Based on the fusion of cameras and navigation data, the present invention proposes a new strategy to solve the previous problem that multiple speed limit signs at ramp intersections cannot be displayed correctly. The accuracy of the ramp solves the false alarm of the speed limit on the high-speed road ramp, and obtains a better driving experience.

Continuing to refer to FIG. 4 , the display unit is further configured to display speed limit information on the plurality of ramp speed limit signs in sequence when the ramp includes a plurality of ramp speed limit signs.

The present invention also provides a vehicle, which includes the high-speed ramp speed limit identification system in the above embodiment, which will not be described in detail here.

By now, those skilled in the art will recognize that, although various exemplary embodiments of the present invention have been illustrated and described in detail herein, the present invention may still be implemented in accordance with the present disclosure without departing from the spirit and scope of the present invention. The content directly determines or derives many other variations or modifications consistent with the principles of the invention. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims (10)

1. a kind of high speed ring road speed limit recognition methods characterized by comprising

The visible speed(-)limit sign of road where obtaining vehicle；

It identifies in the speed(-)limit sign with the presence or absence of ring road speed(-)limit sign；

If so, judging the driving intention of driver；

When determining that the driver has the driving intention for entering ring road corresponding with the ring road speed(-)limit sign, the circle is shown Speed-limiting messages on road speed(-)limit sign.

2. high speed ring road speed limit recognition methods according to claim 1, which is characterized in that

When identifying the speed(-)limit sign, meet any one following condition, then it is assumed that the speed(-)limit sign is ring road speed limit mark Will；

The auxiliary information for prompting the speed(-)limit sign to be ring road speed(-)limit sign is had on the speed(-)limit sign；

The distance between entrance of vehicle position and the ring road is less than the first pre-determined distance when obtaining the speed(-)limit sign.

3. high speed ring road speed limit recognition methods according to claim 1, which is characterized in that

During judging the driving intention of driver, then determine when navigation system issues the prompt information for entering the ring road The driver has the driving intention into the ring road.

4. high speed ring road speed limit recognition methods according to claim 1, which is characterized in that

During judging the driving intention of driver, when at least meeting there are three condition in following four condition, then determine The driver has the driving intention into the ring road:

The distance between right side edge of vehicle and present road is less than the second pre-determined distance；

Vehicle is in deceleration regime；

Vehicle right turn modulating signal occurs；

There is ring road line in vehicle left side.

5. high speed ring road speed limit recognition methods according to claim 1, which is characterized in that

When the ring road includes multiple ring road speed(-)limit signs, the speed limit letter on multiple ring road speed(-)limit signs is successively shown Breath.

6. a kind of high speed ring road speed limit identifying system characterized by comprising

Acquiring unit, the visible speed(-)limit sign for road where obtaining vehicle；

Recognition unit whether there is ring road speed(-)limit sign for identification in the speed(-)limit sign；

Control unit, for identifying that there are judgements when the ring road speed(-)limit sign to drive in the speed(-)limit sign in the recognition unit The driving intention for the person of sailing；

Display unit, for showing the ring road speed(-)limit sign when determining that the driver has into the driving intention of ring road Speed-limiting messages.

7. high speed ring road speed limit identifying system according to claim 6, which is characterized in that

The recognition unit is further configured to meet any one following condition when identifying the speed(-)limit sign, then it is assumed that The speed(-)limit sign is ring road speed(-)limit sign；

The auxiliary information for prompting the speed(-)limit sign to be ring road speed(-)limit sign is had on the speed(-)limit sign；

The distance between entrance of vehicle position and the ring road is less than the first pre-determined distance when obtaining the speed(-)limit sign.

8. high speed ring road speed limit identifying system according to claim 6, which is characterized in that

Described control unit is further configured to during judging the driving intention of driver, is entered when navigation system issues Then determine that the driver has the driving intention into the ring road when prompt information of the ring road.

9. high speed ring road speed limit identifying system according to claim 6, which is characterized in that

Described control unit is further configured to during judging the driving intention of driver, when in following four condition extremely When condition meets there are three few, then determine that the driver has the driving intention into the ring road:

The distance between right side edge of vehicle and present road is less than the second pre-determined distance；

Vehicle is in deceleration regime；

Vehicle right turn modulating signal occurs；

There is ring road line in vehicle left side.

10. a kind of vehicle, which is characterized in that the vehicle includes the high speed ring road limit as described in any one of claim 6-9 Fast identifying system.