Vehicle and control system and method for a vehicle

Abstract

Aspects of the invention relate to a vehicle and a control system and method for a vehicle. The control system receives visual road traffic sign data from a vision subsystem of the vehicle and receives navigation road traffic sign data from a navigation subsystem of the vehicle. The control system determines a characteristic of a detected road traffic sign in a vicinity of the vehicle, the detected road traffic sign being included in at least one of the received visual road traffic sign data and the received navigation road traffic sign data, wherein the characteristic is whether the detected road traffic sign requires advance notification. The control system determines whether to output an indication of the detected road traffic sign in dependence on the determined characteristic and in dependence on whether the detected road traffic sign is included in the visual road traffic sign data, or in the navigation road traffic sign data, or in both the visual road traffic sign data and the navigation road traffic sign data.

Description

[0001] This application is a divisional application of the invention patent application filed on January 8, 2020, with application number 202080008813.9 (PCT / EP2020 / 050262) and entitled "Control System for Vehicle". Technical Field

[0002] This disclosure relates to control systems for vehicles, and more particularly to control systems for determining whether and when to output indications of detected road traffic signs near a vehicle. Aspects of the invention relate to control systems, methods, storage media, and vehicles. Background Technology

[0003] As is well known, road vehicles, such as automobiles, have one or more forward-facing cameras to collect data related to the road in which the vehicle is traveling. Specifically, the forward-facing cameras can be used to collect data related to road traffic signs along or beside the road in which the vehicle is traveling. The collected data can be processed by an onboard image processing subsystem to determine information displayed by traffic signs, and then the determined information can be conveyed to the vehicle driver, for example, by displaying it on the vehicle's dashboard display.

[0004] The disadvantage of using forward-facing cameras for this purpose is that the camera may fail to detect certain road signs, or the image processing subsystem may make an incorrect decision about the presence of a road sign based on the collected data. This can happen, for example, if a given road sign is tilted, dirty, or partially obscured by trees or shrubs. This problem can also cause traffic signs to be displayed to drivers later than would be preferable for them to be able to react appropriately to the information on the sign. Additionally, forward-facing cameras have a limited detection range.

[0005] It is also known to use the vehicle's navigation subsystem to determine the speed limits the vehicle should adhere to. Specifically, this is achieved by determining the road the vehicle is currently traveling along and retrieving the speed limits associated with the determined road or road segment. The determined speed limits can also be displayed to the driver on the dashboard display.

[0006] This could have a drawback: the speed limits associated with the specific road the vehicle is traveling on may be unavailable or lost, or the information retrieved by the navigation subsystem may be outdated.

[0007] The purpose of this invention is to address one or more of the disadvantages associated with the prior art. Summary of the Invention

[0008] According to one aspect of the invention, a control system for a vehicle is provided. The control system may include one or more controllers. The control system may be configured to receive visual road traffic sign data from a vision subsystem of the vehicle. The control system may be configured to receive navigation road traffic sign data from a navigation subsystem of the vehicle. The control system may be configured to determine a characteristic of a detected road traffic sign near the vehicle, the detected road traffic sign being included in at least one of the received visual road traffic sign data and the received navigation road traffic sign data, wherein the characteristic is whether prior notification of the detected road traffic sign is required. The control system may be configured to determine, based on the determined characteristic and based on whether the detected road traffic sign is included in the visual road traffic sign data, the navigation road traffic sign data, or both, whether to output an indication of the detected road traffic sign.

[0009] The advantage of this invention lies in its provision of control logic to fuse data received from two independent sources—namely, a vision subsystem and a navigation subsystem—to improve the accuracy of detecting road traffic signs near a vehicle. Specifically, this invention reduces the number of signs that are not detected but are present nearby (“false negatives”), the number of signs that are detected too late (“late positives”), and the number of signs that are detected but not present nearby (“false positives”). In particular, this invention improves upon prior art systems where the false negative rate is typically 5%-10% and the false positive rate is typically 0.5-1 signs per 100 km. The control system informs the vehicle driver and / or one or more other vehicle subsystems of detected road traffic signs with greater accuracy as a continuous reminder of upcoming or impending danger zones indicated by physical traffic signs on the road.

[0010] The control system may include an electronic control unit or one or more controllers. For example, the control system may include an electronic processor having electrical inputs for receiving electronic signals from a vision subsystem and a navigation subsystem. The electronic controller or one or more controllers may have an associated microprocessor programmed to perform desired functions. For example, the system may include an electronic storage device electrically coupled to the electronic processor and storing instructions therein. A control system configured to determine the characteristics of detected road traffic signs near a vehicle may include a processor configured to access the storage device and execute instructions stored therein, making it operable to determine the characteristics of the detected road traffic based on at least one of received visual road traffic sign data and received navigation road traffic sign data.

[0011] Additionally, the electronic controller, or one or more controllers, may have internal storage or associated external storage, such as solid-state storage. It should be understood that all functional “devices” mentioned throughout this document can be considered as control functions within one or more electronic control units or controllers.

[0012] The control system can be configured to determine multiple features of the detected road traffic signs.

[0013] This feature can indicate whether the detected road traffic sign is permanent or temporary.

[0014] If the detected road traffic sign is permanent and included in both visual road traffic sign data and navigation road traffic sign data, the control system can be configured to output an indication of the detected road traffic sign.

[0015] If the detected road traffic sign is permanent and is only included in the visual road traffic sign data, the control system can be configured to determine whether the navigation subsystem has permission to access the data indicating the detected road traffic sign, and if the navigation subsystem does not have permission to access the data indicating the detected road traffic sign, then output the indication of the detected road traffic sign.

[0016] If the detected road traffic sign is temporary and included in the visual road traffic sign data, the control system can be configured to output an indication of the detected road traffic sign.

[0017] The feature can be permanent if the detected road traffic sign is any of the following:

[0018] Parking sign;

[0019] Yield signs;

[0020] No Entry Sign;

[0021] No motor vehicle sign;

[0022] Wildlife marking;

[0023] Bicycle logo;

[0024] Pedestrian Signs;

[0025] Children's symbol;

[0026] Sharp left or right turn sign;

[0027] Double turn sign (left or right); and

[0028] Intersection signs with or without priority.

[0029] The feature may be temporary if the detected road traffic sign is any of the following:

[0030] Slippery road signs;

[0031] Queue signs;

[0032] Sign indicating narrowing of road in both directions;

[0033] Signs indicating that the road narrows on the left or right; and,

[0034] Men at work.

[0035] If it is necessary to notify the detected road traffic signs in advance and the detected road traffic signs are included in the navigation road traffic sign data, the control system can be configured to output an indication of the detected road traffic signs.

[0036] The control system can be configured to determine if prior notification is required if an indication of a detected road traffic sign needs to be output when the distance between the vehicle and the detected road traffic sign is greater than a threshold.

[0037] The detection range of the vision subsystem can be less than or equal to the threshold.

[0038] If the detected road traffic sign is any of the following, the control system can be configured to determine that advance notification of the detected road traffic sign is required:

[0039] Parking sign;

[0040] Yield signs;

[0041] Pedestrian signs; and

[0042] Children's symbol.

[0043] The vicinity of a vehicle can include along the road in which the vehicle is traveling.

[0044] The vicinity of a vehicle can include the direction in front of the vehicle.

[0045] The control system can be configured to output the indications of detected road traffic signs to the driver of the vehicle.

[0046] The control system can be configured to display the indication of a continuously traveling vehicle at a specific distance, as indicated by detected road traffic signs.

[0047] The control system may include a display device in the driver's cab of the vehicle. The control system may be configured to output the indications of detected road traffic signs from one or more controllers to the display device. The display device may be configured to display the indications of the detected road traffic signs to the driver.

[0048] The display device may be the vehicle's instrument panel display and / or head-up display ("head-up display").

[0049] The display device can be configured to show the indication of a detected road traffic sign as the vehicle continues to travel a specific distance.

[0050] The specific distance traveled can depend on the road traffic signs detected.

[0051] The display device can be configured to display the indication of the detected road traffic sign until the vehicle passes the detected road traffic sign.

[0052] The control system may include a vision subsystem. The vision subsystem may include at least one vehicle-mounted forward-looking camera configured to receive image data of detected road traffic signs.

[0053] The vision subsystem may include an image processing unit configured to extract one or more features of the detected road traffic signs from the received image data and send them to one or more controllers.

[0054] The control system may include a navigation subsystem. The navigation subsystem may include the vehicle's telematics control unit.

[0055] According to another aspect of the invention, a method for a vehicle is provided. The method may include receiving visual road traffic sign data from a vision subsystem of the vehicle. The method may include receiving navigation road traffic sign data from a navigation subsystem of the vehicle. The method may include determining features of detected road traffic signs near the vehicle, said detected road traffic signs being included in at least one of the received visual road traffic sign data and the received navigation road traffic sign data, wherein the feature determines whether prior notification of the detected road traffic sign is required. The method may include determining, based on the determined features and based on whether the detected road traffic sign is included in the visual road traffic sign data, the navigation road traffic sign data, or both, whether an indication of the detected road traffic sign is output.

[0056] According to another aspect of the present invention, a non-transitory computer-readable storage medium having instructions stored thereon, which, when executed by one or more electronic processors, cause the one or more electronic processors to perform the above-described method.

[0057] According to another aspect of the present invention, a vehicle including the control system described above is provided.

[0058] Within the scope of this application, the aspects, embodiments, examples, and alternatives expressly intended to be set forth in the foregoing paragraphs, in the claims, and / or in the following description and drawings—and particularly in their various features—may be used individually or in any combination. That is, all embodiments and / or features of any embodiment may be combined in any manner and / or combination unless such features are incompatible. The applicant reserves the right to accordingly amend any originally filed claim or to file any new claim, including the right to modify any originally filed claim to reference any feature under any other claim and / or incorporate any feature of any other claim, even if not initially claimed in this manner. Attached Figure Description

[0059] One or more embodiments of the invention will now be described by way of example only with reference to the accompanying drawings, in which:

[0060] Figure 1 A schematic plan view of a vehicle traveling along a road and traffic signs in front of the vehicle at the side of the road are shown. The vehicle includes a control system according to an aspect of the invention; and

[0061] Figure 2 It shows the result of Figure 1 The steps of the method executed by the control system. Detailed Implementation

[0062] This invention provides a vehicle control system and method for detecting one or more road traffic signs along a road that a vehicle is currently traveling on or will be traveling on, and for notifying the driver of said one or more road traffic signs. Specifically, data related to the road traffic signs is acquired from both the vehicle's vision subsystem and its navigation subsystem, and the fusion of the two sets of acquired data allows for determination of what information should be conveyed to the driver. Such data fusion improves the accuracy and completeness of the information conveyed to the driver.

[0063] Figure 1 The image shows a vehicle 10 traveling along road 12. In front of the vehicle 10 and beside road 12 is a road traffic sign 14 that displays information to the driver of the vehicle, which will be discussed in more detail below.

[0064] Vehicle 10 includes a vision subsystem 16, which in turn includes one or more cameras 18 mounted on vehicle 10. The cameras 18 face forward and are mounted at the front of vehicle 10. The cameras 18 are configured to acquire image data of the environment surrounding vehicle 10, particularly in front of vehicle 10. Specifically, when vehicle 10 approaches traffic sign 14, camera 18 detects image data associated with road traffic sign 14. Vision subsystem 16 also includes an image processing unit 20, configured to process and analyze the image data acquired and collected by the cameras 18. Specifically, image processing unit 20 extracts one or more features of road traffic sign 14 to determine what specific type of road traffic sign 14 is. Image processing unit 20 may use character recognition and / or determine the overall shape of the detected traffic sign 14 to determine the specific type of road sign and thus determine the information being given to the driver.

[0065] Vehicle 10 also includes a navigation subsystem 22, which includes satellite navigation equipment such as a Global Positioning System (GPS) configured to determine the geographic location of vehicle 10, particularly the geographic location of vehicle 10 along road 12. Navigation subsystem 22 includes map data containing information about the road 10 is traveling along, such as speed limits on road 12, road-related hazards, and upcoming junctions. Specifically, the map data includes information about various road traffic signs, including traffic signs 14, located along road 12. Navigation subsystem 22 may be part of a telematics control unit of vehicle 10.

[0066] Vehicle 10 also includes a controller 30 having inputs 32, one or more processors 34, and outputs 36. Inputs 32 are configured to receive visual data from the vision subsystem 16, and in particular data indicating road traffic signs 14—e.g., one or more features of sign 14 extracted by the image processing unit 20. Inputs 32 are also configured to receive navigation data or map data from the navigation subsystem 22, and in particular data indicating road traffic signs near a determined geographic location of vehicle 10. As discussed in more detail below, processors 34 are configured to determine whether the information provided by the road traffic signs detected by the vision subsystem 16 and / or the navigation subsystem 22 should attract the driver's attention. When it is determined that the presence of the detected road sign 14 should be communicated to the driver, outputs 36 are configured to send instructions to one or more other subsystems or devices of vehicle 10 to notify the driver accordingly.

[0067] The vehicle 10 also includes a display device 38 in the form of an instrument panel and / or a head-up display (“head-up display”) in the compartment of the vehicle 10. The display device 38 is configured to display, for example in the form of a copy of a sign icon, an indication of information provided by the detected road traffic sign based on signals received from the output 36.

[0068] The vision subsystem 16, navigation subsystem 22, controller 30, and display device 38 can be considered to form a vehicle control system 40. Alternatively, one or more of these components, but including controller 30, can be considered to form control system 40. Control system 40 may include one or more controllers to provide the functionality of controller 30 as described herein.

[0069] Figure 2 The steps of method 50, performed by controller 30 and other vehicle subsystems, are illustrated when vehicle 10 is traveling along road 12. As vehicle 10 travels along road 12, forward-facing camera 18 continuously acquires image data of the vehicle's surrounding environment, and this image data is analyzed by image processing unit 20. Typically, camera 18 has a range of approximately 30 meters. Once image processing unit 20 has determined the presence of any road traffic signs by extracting features from the collected image data, information regarding the presence of these determined road signs is sent to controller 30, and specifically, at step 52 of method 50, input 32 receives visual road traffic sign data indicating at least one road traffic sign.

[0070] Similarly, navigation subsystem 22 continuously tracks the position of vehicle 10, and in particular, the specific position of vehicle 10 along the road. Navigation subsystem 22 retrieves information related to road traffic signs (or other restrictions / rules) in the vicinity of the determined position of vehicle 10—for example, along road 12. Specifically, at step 54 of method 50, input 32 receives data indicating the type of road traffic sign detected, as well as data on its possible position relative to vehicle 10.

[0071] Processor 34 analyzes the detected road traffic signs 14 included in one or both of the visual road traffic sign data from vision subsystem 16 and navigation road traffic sign data from navigation subsystem 22. In particular, processor 34 determines one or more features of the detected road traffic signs 14.

[0072] In this context, one of the characteristics of the detected road sign 14 determined by processor 34 is whether it is a so-called "permanent" sign or a "temporary" sign. A permanent sign can be considered as a sign that is permanently present at its location on the roadside. Conversely, a temporary sign is a sign that exists only for a limited period of time at its detected location—for example, during construction work on or near road 12. At step 56, processor 34 makes a determination as to whether the detected road sign is permanent or temporary. Processor 34 can use different characteristics of the detected road sign to determine whether it is permanent or temporary, for example, by analyzing its position and height relative to the road, its overall size and / or shape, and / or its inclination relative to the road surface.

[0073] If the detected road traffic sign detected by the vision subsystem 16 in step 56 is classified as permanent, then in step 58, the processor 34 checks whether both the received visual road traffic sign data and the navigation road traffic sign data include the detected road traffic sign 14.

[0074] Examples of road traffic signs that can be classified as inherently permanent include stop signs, yield signs, no entry signs, no motor vehicle signs, wildlife signs, cyclist signs, pedestrian signs, child signs, sharp left or right turn signs, double left or right turn signs, and intersections with or without priority signs.

[0075] If, at step 58, it is determined that both the received visual data and navigation data include the detected road traffic sign 14, this is considered a positive identification of the specific road sign. The processor 34 can check whether the relative position or distance of the detected road traffic sign from the vehicle 10 is consistent between the visual data and the navigation data to ensure that they refer to the same detected sign. In this case, at step 60, the output 36 sends the following control signal to the display device 38: to display an indication of the detected road traffic sign to the driver, or at least to display an indication of the information provided by the detected road traffic sign to the driver. That is, the output 36 is configured to send an indication of the detected road traffic sign to the driver.

[0076] However, if it is determined at step 58 that the detected road traffic sign 14 is not included in either the received visual data or the navigation data, then at step 62, the processor 34 determines which of the received visual data and the navigation data includes the detected road traffic sign 14.

[0077] If, at step 62, it is determined that the detected road traffic sign 14 is only included in the received visual road traffic sign data, then at step 64, the processor 34 makes a further determination regarding whether the navigation subsystem 22 has permission to access data indicating a specific detected road traffic sign 14. The navigation subsystem 22 may store only information relating to a subset of all different types of permanent traffic signs present on road 12. If the navigation subsystem 22 does not store information about the location of the detected road traffic sign 14 as a specific type of sign, then the processor 34 cannot therefore check whether the navigation subsystem 22 has also detected that road traffic sign. In this case, at step 66, the output 36 automatically sends a control signal to the display device 38 to display an indication of the detected road traffic sign 66.

[0078] However, if the navigation subsystem 22 does store information about the specific type of sign that the detected road traffic sign 14 is identified as, but the navigation subsystem 22 simply did not detect the road sign 14 (so that the road sign 14 is not included in the navigation road traffic sign data), then at step 68, the controller 30 does not control the display device 38 to display the indication of the detected road traffic sign. This situation may occur because the navigation subsystem 22 has not yet determined that the sign detected by the vision subsystem 16 is near the vehicle. In this case, the detected road traffic sign 14 is determined to be a false positive detection made by the vision subsystem 16 (step 68).

[0079] Returning to step 62, if it is determined that the detected road traffic sign 14 is included only in the received navigation road traffic sign data, then at step 70, the processor 34 makes a determination regarding additional characteristics, specifically whether prior notification of the particular detected road traffic sign 14 is required. Specifically, the processor 34 determines whether it is necessary to further or earlier notify the driver 10 that the vehicle 10 is approaching the detected road traffic sign 14 prior to the notification provided in the aforementioned steps of method 50.

[0080] The camera 18 of the vision subsystem 16 may have only a limited visual range in front of the vehicle 10, such as approximately 30 meters. For certain types of road traffic signs, it is beneficial to inform the driver of the information displayed on such road traffic signs when the vehicle 10 is still more than 30 meters away from the sign. That is, it is beneficial to make the driver aware of an approaching road traffic sign before it is detected by the vision subsystem 16. Such hazard or warning signs can include any of the following: stop signs, yield signs, pedestrian signs, and child signs. Specifically, providing so-called "advance notice" for certain signs warns the driver that action—such as reducing speed—is necessary before reaching the traffic sign.

[0081] In other words, if it is necessary to notify the driver of the detected road traffic sign 14 (in the navigation data provided by the navigation subsystem 22) outside the detection range of the vision subsystem 16—that is, beyond the threshold distance between the vehicle 10 and the detected road traffic sign 14 (step 70)—then at step 72, output 36 commands display device 38 to display the indication of the second road traffic sign 14 to the driver. Otherwise, at step 74, output 36 does not send such a command or reserves the right to send such a control signal until the vehicle 10 is passing the detected road traffic sign 14, or at least until the distance between the vehicle 10 and the detected road traffic sign 14 is less than the threshold distance. At this point, the vision subsystem 16 has also detected the road traffic sign 14.

[0082] Returning to step 56 in method 50, if the processor 34 alternatively classifies the detected road traffic sign 14 as inherently temporary, then at step 76, output 36 automatically sends a control signal to display device 38 to indicate that the detected road traffic sign 14 is temporary. It should be understood that inherently temporary traffic signs are not stored in the navigation system, and therefore implicitly, the detected sign 14 is included in the visual data. That is, for example, during a limited period of construction work, information relating to the presence of a temporary sign will not be stored by navigation subsystem 22 and therefore will not be detected. Therefore, unlike the case where the detected road traffic sign 14 is inherently permanent, when the detected road traffic sign 14 is inherently temporary, the processor 34 does not perform additional checks to determine whether the sign has been detected by navigation subsystem 22. Therefore, to determine that the driver is properly notified of an upcoming temporary road traffic sign, the controller 30 only needs to have the temporary sign detected by vision subsystem 16 before commanding the driver to be notified of the temporary sign at step 76.

[0083] Examples of road traffic signs that can be identified as temporary in nature include slippery road signs, queue signs, two-way road narrowing signs, left or right road narrowing signs, and building or engineering signs.

[0084] The processor 34 can determine whether a sign is temporary in nature by referring to the sign’s position / height relative to the road, the sign’s tilt, the sign’s size, and / or the specific information displayed by the sign.

[0085] When output 36 sends a control signal to display device 38, it can display an indication of the detected road traffic sign 14 to the driver within a specific distance traveled by vehicle 10. In the case of speed limit signs, the detected road traffic sign 14 is always displayed to the driver; while other types of signs can be displayed to the driver until it is determined that vehicle 10 has passed the sign on the road. Different types of hazard signs can be displayed to the driver based on the specific information displayed by the traffic sign, at different time periods, or at different distances traveled by the vehicle. For example, a road traffic hazard sign indicating a risk of falling rocks in the next mile can be displayed to the driver within one mile after the vehicle has passed it.

[0086] It should be understood that various changes and modifications can be made to this invention without departing from the scope of this application.

[0087] In the above embodiments, the road traffic sign is on the road the vehicle is traveling on and in front of the vehicle; however, in different embodiments, the road traffic sign can be anywhere near the vehicle. For example, the road traffic sign can be on the side of the road or on the road itself (e.g., in the case of a temporary road sign). The road traffic sign can be on a different road the vehicle is approaching, or on a road the vehicle has already left. Nearby the vehicle can include a specific area or distance in front of or behind the vehicle, regardless of whether the vehicle is currently on the road. Nearby the vehicle can include a specific distance along the (planned) route the vehicle is traveling on. Nearby the vehicle can include an area that is generally close to the vehicle.

[0088] The specific order of the method steps executed by the control system 40 in the above embodiments may differ in different embodiments. Furthermore, in different embodiments, only a subset of the above method steps may be executed.

[0089] In the above embodiments, when it is determined that an indication of a detected road traffic sign is being output, a control signal for displaying the detected traffic sign or at least information related to the traffic sign to the driver is sent to the display device 38. In different embodiments, the output may alternatively or additionally send the indication of the detected road traffic sign to another subsystem of the vehicle 10, such as an intelligent cruise control function, so that appropriate action can be taken.

[0090] In the above embodiments, in addition to the controller, the control system also includes a vision subsystem, a navigation subsystem, and a display device; however, in different embodiments, the control system may include only one or more controllers, or a subset of the other subsystems, or additional subsystems.

Claims

1. A control system for a vehicle, the control system comprising one or more controllers, the control system being configured to: Receive visual road traffic sign data from the vehicle's vision subsystem; Receive navigation road traffic sign data from the vehicle's navigation subsystem; The characteristics of detected road traffic signs near the vehicle are determined, the detected road traffic signs being included in at least one of received visual road traffic sign data and received navigation road traffic sign data, wherein, The feature is whether prior notification of the detected road traffic signs is required; as well as Whether to output an instruction for the detected road traffic sign is determined based on the identified features and whether the detected road traffic sign includes one of the following three: visual road traffic sign data; navigation road traffic sign data; or both visual road traffic sign data and navigation road traffic sign data. Where it is necessary to notify the detected road traffic signs in advance and the detected road traffic signs are included in the navigation road traffic sign data, the control system is configured to output an indication of the detected road traffic signs. The control system is configured to determine that advance notification is required if it is necessary to output an indication of the detected road traffic sign when the distance between the vehicle and the detected road traffic sign is greater than a threshold. Wherein, the detection range of the vision subsystem is less than or equal to the threshold.

2. The control system according to claim 1, wherein, Another characteristic is whether the detected road traffic sign is permanent or temporary.

3. The control system according to claim 2, wherein, If the detected road traffic sign is permanent and is included in both the visual road traffic sign data and the navigation road traffic sign data, the control system is configured to output an indication of the detected road traffic sign.

4. The control system according to claim 2 or claim 3, wherein, If the detected road traffic sign is permanent and is only included in the visual road traffic sign data, the control system is configured to: Determine whether the navigation subsystem has permission to access the data indicating the detected road traffic signs; and, If the navigation subsystem does not have permission to access the data indicating the detected road traffic sign, it outputs the indication of the detected road traffic sign.

5. The control system according to any one of claims 2 to 4, wherein, If the detected road traffic sign is temporary and included in the visual road traffic sign data, the control system is configured to output an indication of the detected road traffic sign.

6. The control system according to any of the preceding claims, wherein the control system is configured to output the indication of the detected road traffic sign to the driver of the vehicle.

7. The control system according to claim 6, wherein, The control system is configured to cause the indication of the detected road traffic sign to continue for a specific distance the vehicle has traveled.

8. The control system according to claim 7, wherein, The display device is configured to display an indication of the detected road traffic sign until the vehicle has passed the detected road traffic sign.

9. A method for a vehicle, the method comprising: Receive visual road traffic sign data from the vehicle's vision subsystem; Receive navigation road traffic sign data from the vehicle's navigation subsystem; Determine the characteristics of detected road traffic signs near the vehicle, the detected road traffic signs being included in at least one of received visual road traffic sign data and received navigation road traffic sign data, wherein the characteristic is whether prior notification of the detected road traffic signs is required; and Whether to output an instruction for the detected road traffic sign is determined based on the identified features and whether the detected road traffic sign includes one of the following three: visual road traffic sign data; navigation road traffic sign data; or both visual road traffic sign data and navigation road traffic sign data. If it is necessary to notify the detected road traffic signs in advance, and the detected road traffic signs are included in the navigation road traffic sign data, then the indication of the detected road traffic signs is output. Specifically, if it is necessary to output an indication of the detected road traffic sign when the distance between the vehicle and the detected road traffic sign is greater than a threshold, then it is determined that prior notification is required. Wherein, the detection range of the vision subsystem is less than or equal to the threshold.

10. A non-transitory computer-readable storage medium having instructions stored thereon that, when executed by one or more electronic processors, cause the one or more electronic processors to perform the method according to claim 9.

11. A vehicle comprising a control system according to any one of claims 1 to 8.

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