Ground traffic sign real-time detection method based on intelligent driving
A traffic sign, real-time detection technology, applied in traffic flow detection, instrument, character and pattern recognition, etc., can solve the problems of high energy consumption, high cost, low detection rate, etc.
Active Publication Date: 2014-02-12
BEIJING UNION UNIVERSITY
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[0004] The purpose of the present invention is to operate in the unmanned driving system in real time, accurately identify the ground traffic sign information, judge its meaning, and give correct guidance information; overcome the existing methods that have weak anti-interference, low detection rate, slow detection speed, Due to the disadvantages of high cost and high energy consumption, a real-time detection method of ground traffic signs based on intelligent driving is proposed
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[0048] The technical solutions of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0049] 1. Place the camera at the central rearview mirror in the car, the camera lens is perpendicular to the horizontal line, and the position is fixed. Cut the image obtained by the camera containing ground traffic signs, and initially obtain the ground traffic sign template templ_i. Grayscale, binarization, morphological dilation and corrosion, and Gaussian filtering process templ_i to obtain the ground traffic sign template templ_i_bw. templ_i_bw is a templ_i_bw_width×templ_i_bw_height dimensional image matrix. Each ground traffic sign corresponds to a template, and a total of six ground traffic sign templates are obtained, namely: straight arrow template templ_1_bw, left turn arrow template templ_2_bw, right turn arrow template templ_3_bw, straight plus left turn arrow template templ_4_bw, straight plus...
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The invention discloses a ground traffic sign real-time detection method based on intelligent driving, and belongs to the field of traffic information detection in the intelligent traffic industry. The method comprises the steps of obtaining an image Src of a road in front of an intelligent vehicle in a real-time mode, conducting cutting, grey-level transformation, Gaussian filtering and binarization processing on the obtained original image Src to obtain a binary image Src_bw, meanwhile, and reading in a ground traffic sign template image temp_i prepared in advance, wherein each template can find one best matching area corresponding to the template in the Src_bw through template matching; cutting the templates to be stored as new images dst_i, and conducting subtraction on the temp_i and the corresponding dst_i to obtain new images diff_i; conducting statistic on white pixel number diff_i_Sum in each diff_i, wherein the template corresponding to the diff_i with the smallest white pixel number is most similar to a ground sign; when the diff_i_Sum is smaller than the set threshold value, considering that the ground traffic sign in the template exists in the Src_bw. The ground traffic sign real-time detection method is applicable for the intelligent driving in complex city road environment.
Description
technical field [0001] The invention is a method for real-time detection of ground traffic signs based on intelligent driving, which belongs to the field of traffic information detection in the intelligent transportation industry. Background technique [0002] With the development of social economy, the number of automobiles increases year by year, and the traffic accidents caused by driver's mistakes also increase. Therefore, intelligent driving has gradually become a new research hotspot. The recognition of ground traffic signs is an important field in intelligent driving. The key to ground traffic sign recognition is to quickly and accurately identify ground traffic signs and give drivers accurate reminders. Through the accurate recognition of ground traffic signs, the number of accidents caused by mistakes can be reduced, and the safety factor of road traffic can be improved. [0003] To recognize ground traffic signs, firstly, it is necessary to distinguish the ground...
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Inventor 刘宏哲王棚飞吴焰樟
Owner BEIJING UNION UNIVERSITY