Road sign control method, system, device and equipment

Abstract

The present application provides a method, system, device and equipment for controlling road signs. The method for controlling road signs includes: a camera device detects an environmental image of a road; performs feature detection on the environmental image, and identifies the vehicle type and vehicle position of the motor vehicle when a motor vehicle is detected in the environmental image; determines the road sign corresponding to the vehicle position based on a preset road sign control relationship; determines the display mode of the road sign based on the vehicle type; and displays the road sign based on the display mode, so that the motor vehicle obtains the road sign signal for driving control. The above process detects the vehicle type based on the environmental image, determines the display mode after determining the vehicle type, and determines the road sign based on the vehicle position, so as to display the road sign through the above display mode, which is used to trigger the vehicle to perform corresponding form control. The above process improves the accuracy of road sign display to improve the efficiency and safety of traffic operation.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, system, device and equipment for controlling road signs. Background Art

[0002] As an important part of traffic management, the application of road signs and their control methods is first and foremost to ensure traffic safety. By accurately controlling the setting and application of road signs, the fluidity and efficiency of traffic can be improved. Road signs are used to indicate the direction and destination of the road, helping drivers or autonomous driving to understand the direction of the road and the places they pass through, so as to reach the destination faster. Information signs provide road traffic information, such as vehicle distance, intersection distance, etc., to help drivers or autonomous driving better understand road conditions and make more reasonable driving decisions. However, in the current control process of road signs, the control accuracy is not precise enough, which easily leads to the problem of low road traffic operation efficiency. Summary of the invention

[0003] The embodiments of the present application provide a method, system, device and equipment for controlling road signs, which can at least to a certain extent solve the problem that the control accuracy is not accurate enough during the control process of road signs, which easily leads to low road traffic operation efficiency.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to one aspect of the present application, a method for controlling road signs is provided, including: acquiring an environmental image around a road through a camera device; performing feature detection on the environmental image, and identifying the vehicle type and vehicle position of the motor vehicle when a motor vehicle is detected in the environmental image; determining the road sign corresponding to the vehicle position based on a preset road sign control relationship; determining a display mode of the road sign based on the vehicle type; and displaying the road sign based on the display mode, so that the motor vehicle obtains the road sign signal for driving control.

[0006] In the present application, based on the aforementioned scheme, the environmental image around the road is obtained by using a camera device, including: detecting the vehicle flow rate per unit time in the current period; determining a collection period based on the vehicle volume; and obtaining the environmental image around the road by using a camera device based on the collection period.

[0007] In the present application, based on the aforementioned scheme, the feature detection is performed on the environmental image, and when a motor vehicle is detected in the environmental image, the vehicle type and vehicle position of the motor vehicle are identified, including: if the light intensity is detected to be less than a preset intensity, based on the pixel information in the environmental image, the environmental image is enhanced to generate an enhanced image; the feature information in the enhanced image is extracted, and whether a motor vehicle is present in the environmental image is detected based on the feature information; if a motor vehicle is detected in the environmental image, the vehicle type and vehicle position of the motor vehicle are identified.

[0008] In the present application, based on the aforementioned scheme, the road sign corresponding to the vehicle position is determined based on a preset road sign control relationship, including: detecting the relative position of the vehicle on the road, and determining the positioning mark corresponding to the relative position; determining the road sign corresponding to the positioning mark based on the positioning mark and the preset road sign control relationship.

[0009] In the present application, based on the aforementioned solution, determining the display mode of the road sign based on the vehicle type includes: determining the display mode of the road sign corresponding to the vehicle type based on the correspondence between the vehicle and the display mode.

[0010] In the present application, based on the aforementioned solution, displaying the road sign based on the display method includes: rendering the road sign to generate an augmented reality picture; and displaying the augmented reality picture based on the display method.

[0011] According to one aspect of the present application, a road sign control system is provided, comprising:

[0012] An acquisition unit, used for acquiring an environmental image around the road through a camera device;

[0013] an identification unit, configured to perform feature detection on the environment image, and when a motor vehicle is detected in the environment image, identify the vehicle type and vehicle position of the motor vehicle;

[0014] An identification unit, used for determining a road identification corresponding to the vehicle position based on a preset road identification control relationship;

[0015] A display unit, used to determine a display mode of the road sign based on the vehicle type;

[0016] A control unit is used to display the road sign based on the display mode, and is used for the motor vehicle to obtain the road sign signal to perform driving control.

[0017] According to one aspect of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for controlling road signs as described in the above embodiments is implemented.

[0018] According to one aspect of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement the road sign control method as described in the above embodiments.

[0019] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the road sign control method provided in the above-mentioned various optional implementations.

[0020] In the technical solution of the present application, a camera device detects an environmental image of a road; performs feature detection on the environmental image, and identifies the vehicle type and vehicle position of the motor vehicle when a motor vehicle is detected in the environmental image; determines the road sign corresponding to the vehicle position based on a preset road sign control relationship; determines the display mode of the road sign based on the vehicle type; and displays the road sign based on the display mode, so that the motor vehicle can obtain the road sign signal for driving control. In the above process, by detecting the vehicle type based on the environmental image, determining the display mode after determining the vehicle type, and determining the road sign based on the vehicle position, the road sign is displayed through the above display mode to trigger the vehicle to perform corresponding form control. The above process improves the accuracy of road sign display to improve the efficiency and safety of traffic operation.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 The flowchart of the road sign control method in one embodiment of the present application is schematically shown.

[0024] Figure 2 A flowchart for identifying the vehicle type and vehicle position of a motor vehicle in one embodiment of the present application is schematically shown.

[0025] Figure 3 The following is a schematic diagram of a control system for road signs in one embodiment of the present application.

[0026] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0027] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0028] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0029] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0030] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0031] The implementation details of the technical solution of this application are described in detail below:

[0032] Figure 1 FIG. 1 is a flow chart showing a method for controlling a road sign according to an embodiment of the present application. Figure 1As shown, the road sign control method at least includes steps S110 to S150, which are described in detail as follows:

[0033] In step S110, an environmental image of the road surroundings is acquired by a camera device.

[0034] In one embodiment of the present application, obtaining an environmental image of the road surroundings through a camera device is a process involving multiple technologies and steps. Select a suitable camera device according to the application scenario and requirements, such as a vehicle-mounted camera, a drone camera, or a fixed camera. Determine the installation position of the camera according to the road conditions and shooting requirements to ensure that key road environment information can be captured. Adjust the shooting angle and focal length of the camera to obtain the best shooting effect and coverage.

[0035] The optical system of the camera focuses light onto the imaging surface through the lens system to form an optical image of the subject. By adjusting the exposure time, aperture, gain and other parameters of the camera, it is ensured that the details in the image are accurately captured with good contrast and clarity.

[0036] In one embodiment of the present application, obtaining an environmental image around a road by a camera device includes:

[0037] Detect the traffic volume per unit time in the current period;

[0038] Based on the vehicle volume, determining a collection period;

[0039] Based on the acquisition cycle, an environmental image around the road is acquired by a camera device.

[0040] In one embodiment of the present application, a unit time is defined, such as every minute, every hour, etc. A sensor (such as a geomagnetic sensor, an infrared sensor, or a video analysis technology) is used to detect the number of vehicles passing through the road. The number of vehicles passing through the road is counted within a unit time (such as every minute) to obtain traffic flow data.

[0041] One or more traffic flow thresholds are set, which will be used to determine the acquisition period of the camera device. For example, if the traffic flow is below a certain threshold (such as less than 10 vehicles per minute), the acquisition period can be set to a longer time (such as once every 10 minutes). If the traffic flow is above another threshold (such as more than 50 vehicles per minute), the acquisition period can be set to a shorter time (such as once every minute). Between these two thresholds, linear interpolation or other algorithms can be used to determine the acquisition period.

[0042] According to the acquisition cycle determined in the previous step, set the acquisition time of the camera device. At each acquisition time point, trigger the camera device to capture the environmental image of the road. The captured image can be stored locally or uploaded to a remote server for further analysis or storage.

[0043] In step S120, feature detection is performed on the environment image, and when a motor vehicle is detected in the environment image, the vehicle type and vehicle position of the motor vehicle are identified.

[0044] In one embodiment of the present application, feature detection is performed on the environment image to identify the vehicle type and vehicle position of the motor vehicle, which generally involves image processing, target detection and computer vision techniques. Noise and unnecessary details in the image are removed using, for example, a Gaussian filter. The image is converted from the RGB color space to a color space more suitable for target detection, such as HSV or grayscale. Edge information in the image is extracted using an edge detection algorithm to help highlight the outline of the vehicle. Possible vehicle areas are detected by features such as color, texture or shape.

[0045] Use pre-trained deep learning models for object detection. These models have been trained on large datasets and can recognize many types of objects, including vehicles. During the object detection phase, the model may have assigned a class label to each detected object. For vehicles, the class labels may include cars, trucks, motorcycles, etc. Based on these labels, the type of vehicle can be determined.

[0046] Optionally, in order to ensure the continuity of road sign display, the vehicle can be tracked continuously and a tracking algorithm (such as Kalman filter, optical flow method, etc.) can be used to process the vehicle motion between consecutive frames.

[0047] like Figure 2 As shown, in one embodiment of the present application, feature detection is performed on the environment image, and when a motor vehicle is detected in the environment image, the vehicle type and vehicle position of the motor vehicle are identified, including:

[0048] S210, if it is detected that the light intensity is less than a preset intensity, based on the pixel information in the environment image, the environment image is enhanced to generate an enhanced image;

[0049] S220, extracting feature information from the enhanced image, and detecting whether there is a motor vehicle in the environment image based on the feature information;

[0050] S230: If a motor vehicle is detected in the environment image, identify the vehicle type and vehicle position of the motor vehicle.

[0051] In this embodiment, the light intensity is detected while acquiring the environmental image. When the light intensity is detected to be less than the preset intensity, it means that the light is dim, the quality of the collected image is not high, and the features are not obvious enough. In this case, it is necessary to enhance the features in the environmental image to improve the image quality of the environmental image.

[0052] In an embodiment of the present application, based on pixel information in the environment image, the process of performing image enhancement on the environment image to generate an enhanced image includes:

[0053] Get the pixel value of each pixel in the environment image;

[0054] Based on the pixel value of the pixel point, calculate the pixel parameter corresponding to the pixel point;

[0055] The pixel value of the pixel point is enhanced based on the pixel parameter to generate an enhanced image.

[0056] Wherein, based on the pixel values ​​of the pixel points, the maximum value and the minimum value thereof are determined. Based on the maximum value among the pixel values , minimum , and the pixel value of the pixel , calculate the pixel parameters corresponding to the pixel point for:

[0057]

[0058] in, represents the pixel factor obtained by training based on historical data, Represents the identifier of the pixel in the environment image, and k represents the number of pixels in the environment image. After calculating the pixel parameters corresponding to each pixel, the product of the pixel parameters and the pixel value of the pixel is obtained to obtain the pixel value after enhancement, and then generate an enhanced image. The above process calculates the pixel parameters corresponding to each pixel respectively, and then determines the pixel value after enhancement in a targeted manner.

[0059] In one embodiment of the present application, the process of identifying the vehicle type of the motor vehicle includes:

[0060] Determine a feature vector based on feature information extracted from the enhanced image;

[0061] Comparing the feature points with pre-stored feature vectors of each type of vehicle in the database to determine similarity;

[0062] The vehicle type of the motor vehicle is determined based on the similarity.

[0063] Specifically, the feature information extracted from the enhanced image may include shape information, and feature points are extracted from the shape information to form a feature point combination. Then, the feature vector corresponding to the feature point is Pre-stored feature vectors of each type of vehicle in the database Compare and calculate similarity for:

[0064]

[0065] in, represents the preset vehicle factor, n represents the identifier of the feature vector, and m represents the number of feature vectors.

[0066] In the above process, the feature vector in the enhanced image is compared with the pre-stored feature vector in the database to determine the similarity between the two feature vectors, and then the type corresponding to the highest similarity is selected as the vehicle type. The vehicle type of the currently photographed motor vehicle is determined in the above manner, and then the corresponding display mode is determined.

[0067] In step S130, based on a preset road sign control relationship, a road sign corresponding to the vehicle position is determined.

[0068] In one embodiment of the present application, to determine the road sign corresponding to the vehicle position based on the preset road sign control relationship, it usually involves map matching, geolocation and the use of a road sign database. First, the real-time geographic location (latitude and longitude) of the vehicle is obtained through the vehicle's GPS system. A digital map is used to provide information such as the geometry of the road, traffic signs, etc. The GPS position of the vehicle is matched with the road on the map to determine the exact road segment where the vehicle is currently located.

[0069] Build a database containing road sign types, locations (coordinates or distances relative to the road segment), and traffic rules associated with them (such as speed limits, no turns, etc.). Based on the road segment where the vehicle is located obtained by map matching, query the road sign database to obtain all road sign information on the road segment. Based on the vehicle's GPS position and the geometry of the road segment, calculate the distance from the vehicle to the start of the road segment. Compare the vehicle's distance with the sign locations in the road sign database, find the nearest road sign, and use it as the road sign corresponding to the vehicle's position.

[0070] In one embodiment of the present application, determining the road sign corresponding to the vehicle position based on a preset road sign control relationship includes:

[0071] Detecting the relative position of the vehicle on the road and determining a positioning mark corresponding to the relative position;

[0072] According to the control relationship between the positioning mark and the preset road mark, the road mark corresponding to the positioning mark is determined.

[0073] In one embodiment of the present application, a corresponding positioning mark is preset for each road position. For example, positioning marks are set at 100 meters, 50 meters, and 20 meters at the intersection, respectively, to detect the relative position of the vehicle and mark it. At the same time, a reasonable mark control relationship is preset in this embodiment, which is used to determine the corresponding road mark to be displayed based on the positioning mark, so that when the vehicle reaches the position, the corresponding road mark is determined according to the positioning mark corresponding to the position and displayed.

[0074] In this embodiment, the positioning mark can be a series of fixed points or marks on the road, which are used to identify the specific position of the vehicle on the road. These positioning marks can be physical (such as shoulders, center lines, lane lines, etc.) or virtual (such as equidistant points on a map or points set at equal intervals according to the lane width). According to the relative position of the vehicle on the road, the nearest positioning mark is matched. This can be achieved by calculating the distance between the vehicle position and each positioning mark and selecting the positioning mark with the shortest distance.

[0075] A control relationship between the positioning mark and the road mark is pre-established. This can be achieved through a database, a lookup table or a function mapping, where each positioning mark is associated with one or more road marks. Once the positioning mark of the vehicle is determined, the road mark corresponding to the positioning mark can be determined by querying the preset road mark control relationship.

[0076] In step S140, the display mode of the road sign is determined based on the vehicle type.

[0077] In one embodiment of the present application, the display mode of road signs is determined based on the vehicle type, and the visibility and readability of road signs can be optimized according to the needs and characteristics of different types of vehicles. For example, large vehicles (such as trucks and buses) require larger fonts or more obvious signs so that they can be seen from a distance. The driver's field of view may be different for different vehicle types. For example, the field of view of a truck driver may be limited by the height of the cargo or cab. Some types of vehicles (such as high-speed trains and motorcycles) travel at a faster speed and require more advanced sign display.

[0078] According to the vehicle size and field of vision, choose the appropriate font size and color with high color contrast to ensure that the sign is clearly visible from a distance. For large vehicles, road signs may need to be placed higher or wider so that drivers can see them. For vehicles with limited field of vision, the layout of the signs needs to be adjusted to ensure their visibility. For vehicles traveling at high speeds, dynamic signs (such as LED displays) can be used to display information in advance so that drivers have enough time to react.

[0079] In this embodiment, a mapping table or rule set is established to associate different vehicle types with corresponding display modes. The visibility and readability of road signs for different vehicle types are tested in a real road environment to ensure the effectiveness of the display mode.

[0080] In one embodiment of the present application, determining the display mode of the road sign based on the vehicle type includes: determining the display mode of the road sign corresponding to the vehicle type based on the correspondence between the vehicle and the display mode.

[0081] In one embodiment of the present application, for different types of vehicles, the corresponding road signs are displayed in different ways. For example, for a human-driven vehicle, the display method may include three-dimensional rendering, stereoscopic display, etc. For an autonomous vehicle, the display method may include image enhancement, feature highlighting, etc.

[0082] In the above process, by determining the corresponding display mode for different vehicle types, the display effect and recognition effect of road signs can be improved, which makes it easier for recipients to directly obtain road signs, and is beneficial to vehicle driving and traffic safety.

[0083] In step S150, the road sign is displayed based on the display mode, so that the motor vehicle can obtain the road sign signal to perform driving control.

[0084] In one embodiment of the present application, after determining the display mode of road signs, ensuring that these road signs are displayed to motor vehicle drivers in an appropriate manner so that they can obtain road sign signals and perform driving control is a key step to ensure road safety and smooth traffic. For traditional physical road signs (such as traffic signs, road markings, etc.), they are produced and installed according to the previously determined display mode (such as font size, color, position, etc.). Ensure that these signs can be clearly seen by the driver during the day and at night. For dynamic road signs (such as LED display screens, variable information signs, etc.), adjust the display content, brightness and refresh rate according to the vehicle type. These dynamic signs can be updated in real time to reflect current traffic conditions, speed limits, lane changes and other information.

[0085] In one embodiment of the present application, displaying the road sign based on the display mode includes:

[0086] Rendering the road signs to generate an augmented reality picture;

[0087] Based on the display method, the augmented reality picture is displayed.

[0088] In one embodiment of the present application, by collecting the road signs that need to be displayed, this can include the shape, color, size, meaning, etc. of the traffic signs. Obtain the geographical location information of the road signs, such as longitude and latitude, so as to accurately locate them in AR. According to the road sign data, prepare the corresponding image or 3D model for rendering.

[0089] During the rendering process, use the AR device to sense and capture real-world images or videos. Create 3D models of road signs. These models can be static or dynamic (such as flashing warning lights). Apply images or textures of road signs to 3D models to make them look more realistic. Add lighting and shadow effects to the models to simulate real-world lighting conditions. Use a rendering engine (such as Unity, Unreal Engine, etc.) to render 3D models and textures onto real-world images or videos to generate AR images.

[0090] Optionally, an AR display screen is installed inside the vehicle to display AR images in the driver's field of view and provide navigation and road sign information.

[0091] The driver makes judgments based on the road sign signals obtained and adjusts the vehicle's driving status (such as speed, direction, etc.) accordingly. For motor vehicles equipped with advanced driver assistance systems (ADAS) or autonomous driving systems, these systems can automatically read the sign information on the road and control driving according to preset rules and algorithms. For example, when the system detects a speed limit sign ahead, it can automatically adjust the vehicle speed to comply with the speed limit regulations.

[0092] In the technical solution of the present application, a camera device detects an environmental image of a road; performs feature detection on the environmental image, and identifies the vehicle type and vehicle position of the motor vehicle when a motor vehicle is detected in the environmental image; determines the road sign corresponding to the vehicle position based on a preset road sign control relationship; determines the display mode of the road sign based on the vehicle type; and displays the road sign based on the display mode, so that the motor vehicle can obtain the road sign signal for driving control. In the above process, by detecting the vehicle type based on the environmental image, determining the display mode after determining the vehicle type, and determining the road sign based on the vehicle position, the road sign is displayed through the above display mode to trigger the vehicle to perform corresponding form control. The above process improves the accuracy of road sign display to improve the efficiency and safety of traffic operation.

[0093] The following describes an embodiment of the device of the present application, which can be used to execute the method for controlling road signs in the above-mentioned embodiment of the present application. It can be understood that the device can be a computer program (including program code) running in a computer device, for example, the device is an application software; the device can be used to execute the corresponding steps in the method provided in the embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method for controlling road signs in the above-mentioned embodiment of the present application.

[0094] Figure 3 A block diagram of a control system for road signs according to an embodiment of the present application is shown.

[0095] Reference Figure 3 As shown, a control system for road signs according to an embodiment of the present application includes:

[0096] An acquisition unit 310 is used to acquire an environmental image around the road through a camera device;

[0097] The identification unit 320 is used to perform feature detection on the environment image, and when a motor vehicle is detected in the environment image, identify the vehicle type and vehicle position of the motor vehicle;

[0098] An identification unit 330, configured to determine a road sign corresponding to the vehicle position based on a preset road sign control relationship;

[0099] A display unit 340, configured to determine a display mode of the road sign based on the vehicle type;

[0100] The control unit 350 is used to display the road sign based on the display method, so that the motor vehicle can obtain the road sign signal to control driving.

[0101] In the present application, based on the aforementioned scheme, the environmental image around the road is obtained by using a camera device, including: detecting the vehicle flow rate per unit time in the current period; determining a collection period based on the vehicle volume; and obtaining the environmental image around the road by using a camera device based on the collection period.

[0102] In the present application, based on the aforementioned scheme, the feature detection is performed on the environmental image, and when a motor vehicle is detected in the environmental image, the vehicle type and vehicle position of the motor vehicle are identified, including: if the light intensity is detected to be less than a preset intensity, based on the pixel information in the environmental image, the environmental image is enhanced to generate an enhanced image; the feature information in the enhanced image is extracted, and whether a motor vehicle is present in the environmental image is detected based on the feature information; if a motor vehicle is detected in the environmental image, the vehicle type and vehicle position of the motor vehicle are identified.

[0103] In the present application, based on the aforementioned scheme, the road sign corresponding to the vehicle position is determined based on a preset road sign control relationship, including: detecting the relative position of the vehicle on the road, and determining the positioning mark corresponding to the relative position; determining the road sign corresponding to the positioning mark based on the positioning mark and the preset road sign control relationship.

[0104] In the present application, based on the aforementioned solution, determining the display mode of the road sign based on the vehicle type includes: determining the display mode of the road sign corresponding to the vehicle type based on the correspondence between the vehicle and the display mode.

[0105] In the present application, based on the aforementioned solution, displaying the road sign based on the display method includes: rendering the road sign to generate an augmented reality picture; and displaying the augmented reality picture based on the display method.

[0106] In the technical solution of the present application, a camera device detects an environmental image of a road; performs feature detection on the environmental image, and identifies the vehicle type and vehicle position of the motor vehicle when a motor vehicle is detected in the environmental image; determines the road sign corresponding to the vehicle position based on a preset road sign control relationship; determines the display mode of the road sign based on the vehicle type; and displays the road sign based on the display mode, so that the motor vehicle can obtain the road sign signal for driving control. In the above process, by detecting the vehicle type based on the environmental image, determining the display mode after determining the vehicle type, and determining the road sign based on the vehicle position, the road sign is displayed through the above display mode to trigger the vehicle to perform corresponding form control. The above process improves the accuracy of road sign display to improve the efficiency and safety of traffic operation.

[0107] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0108] It should be noted that the computer system 400 of the electronic device shown in the figure is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0109] The computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403, such as executing the method described in the above embodiment. Various programs and data required for system operation are also stored in the RAM 403. The CPU 401, the ROM 402 and the RAM 403 are connected to each other through the bus 404. The input / output (I / O) interface 405 is also connected to the bus 404.

[0110] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0111] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 409, and / or installed from a removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, various functions defined in the system of the present application are executed.

[0112] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0113] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0114] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0115] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above-mentioned various optional implementations.

[0116] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the above embodiment.

[0117] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0118] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software, or by combining software with necessary hardware. Therefore, the technical solution according to the implementation method of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation method of the present application.

[0119] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0120] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for controlling road signs, characterized in that: include: Acquire environmental images around the road through a camera device; Performing feature detection on the environment image, and identifying the vehicle type and vehicle position of the motor vehicle when detecting that a motor vehicle exists in the environment image; Determining the road sign corresponding to the vehicle position based on a preset road sign control relationship; Based on the vehicle type, determining a display mode of the road sign; Displaying the road sign based on the display mode, so that the motor vehicle acquires the road sign signal for driving control; The step of performing feature detection on the environment image and identifying the vehicle type and vehicle position of the motor vehicle when detecting that a motor vehicle exists in the environment image includes: If it is detected that the light intensity is less than a preset intensity, the environment image is enhanced based on the pixel information in the environment image to generate an enhanced image; Extracting feature information from the enhanced image, and detecting whether there is a motor vehicle in the environment image based on the feature information; If a motor vehicle is detected in the environment image, identifying the vehicle type and vehicle position of the motor vehicle; The step of performing image enhancement on the environment image based on pixel information in the environment image to generate an enhanced image includes: Get the pixel value of each pixel in the environment image; Based on the maximum value of the pixel value , minimum , and the pixel value of the pixel , calculate the pixel parameters corresponding to the pixel point for: in, represents the pixel factor obtained by training based on historical data, represents the identifier of the pixel in the environment image, and k represents the number of pixels in the environment image; The pixel value of the pixel point is enhanced based on the pixel parameter to generate an enhanced image.

2. The method according to claim 1, characterized in that: The environmental image around the road is obtained by a camera device, including: Detect the traffic volume per unit time in the current period; Based on the vehicle flow, determining a collection period; Based on the acquisition cycle, an environmental image around the road is acquired by a camera device.

3. The method according to claim 1, characterized in that Determining the road sign corresponding to the vehicle position based on a preset road sign control relationship includes: Detecting the relative position of the vehicle on the road and determining a positioning mark corresponding to the relative position; According to the control relationship between the positioning mark and a preset road mark, the road mark corresponding to the positioning mark is determined.

4. The method according to claim 1, characterized in that Determining a display mode of the road sign based on the vehicle type includes: Based on the correspondence between the vehicle and the display mode, the display mode of the road sign corresponding to the vehicle type is determined.

5. The method according to claim 1, characterized in that Displaying the road sign based on the display mode includes: Rendering the road signs to generate an augmented reality picture; Based on the display method, the augmented reality picture is displayed.

6. A road sign control system, characterized in that: include: An acquisition unit, used for acquiring an environmental image around the road through a camera device; an identification unit, configured to perform feature detection on the environment image, and when a motor vehicle is detected in the environment image, identify the vehicle type and vehicle position of the motor vehicle; An identification unit, used for determining a road identification corresponding to the vehicle position based on a preset road identification control relationship; A display unit, used to determine a display mode of the road sign based on the vehicle type; A control unit, configured to display the road sign based on the display mode, so that the motor vehicle can obtain the road sign signal to perform driving control; The step of performing feature detection on the environment image and identifying the vehicle type and vehicle position of the motor vehicle when detecting that a motor vehicle exists in the environment image includes: If it is detected that the light intensity is less than a preset intensity, the environment image is enhanced based on the pixel information in the environment image to generate an enhanced image; Extracting feature information from the enhanced image, and detecting whether there is a motor vehicle in the environment image based on the feature information; If a motor vehicle is detected in the environment image, identifying the vehicle type and vehicle position of the motor vehicle; The step of performing image enhancement on the environment image based on pixel information in the environment image to generate an enhanced image includes: Get the pixel value of each pixel in the environment image; Based on the maximum value of the pixel value , minimum , and the pixel value of the pixel , calculate the pixel parameters corresponding to the pixel point for: in, represents the pixel factor obtained by training based on historical data, represents the identifier of the pixel in the environment image, and k represents the number of pixels in the environment image; The pixel value of the pixel point is enhanced based on the pixel parameter to generate an enhanced image.

7. A road sign control device, characterized in that: include: An acquisition module is used to acquire an environmental image around the road through a camera device; an identification module, configured to perform feature detection on the environment image, and when a motor vehicle is detected in the environment image, identify the vehicle type and vehicle position of the motor vehicle; An identification module, used for determining a road identification corresponding to the vehicle position based on a preset road identification control relationship; A display module, used to determine the display mode of the road sign based on the vehicle type; A control module, used for displaying the road sign based on the display mode, so that the motor vehicle acquires the road sign signal to perform driving control; The step of performing feature detection on the environment image and identifying the vehicle type and vehicle position of the motor vehicle when detecting that a motor vehicle exists in the environment image includes: If it is detected that the light intensity is less than a preset intensity, the environment image is enhanced based on the pixel information in the environment image to generate an enhanced image; Extracting feature information from the enhanced image, and detecting whether there is a motor vehicle in the environment image based on the feature information; If a motor vehicle is detected in the environment image, identifying the vehicle type and vehicle position of the motor vehicle; The step of performing image enhancement on the environment image based on pixel information in the environment image to generate an enhanced image includes: Get the pixel value of each pixel in the environment image; Based on the maximum value of the pixel value , minimum , and the pixel value of the pixel , calculate the pixel parameters corresponding to the pixel point for: in, represents the pixel factor obtained by training based on historical data, represents the identifier of the pixel in the environment image, and k represents the number of pixels in the environment image; The pixel value of the pixel point is enhanced based on the pixel parameter to generate an enhanced image.

8. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for controlling a road sign according to any one of claims 1 to 5 is implemented.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the one or more processors to implement the road sign control method as described in any one of claims 1 to 5.

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