Traffic speed limit value determination method and device, equipment and medium

Abstract

The invention discloses a traffic speed limit value determination method and device, equipment and a medium, and relates to the field of auxiliary driving, and the method comprises the steps: triggering the operation of obtaining a current first speed limit value and a current second speed limit value after a vehicle drives into an expressway; the current first speed limit value and the current second speed limit value are speed limit values determined based on a current road type and a current traffic signboard recognized by a forward-looking monocular camera of the vehicle respectively; when the current road type does not belong to the expressway and the current traffic signboard does not belong to the speed limit signboard, if the current first speed limit value is inconsistent with the current second speed limit value, whether the current road type is wrongly identified is determined by determining whether the current vehicle drives away from the expressway; and then the current target speed limit value is determined according to the judgment result and based on the current first speed limit value and the current second speed limit value, so that the vehicle is controlled to run according to the current target speed limit value, and the determination accuracy of the traffic speed limit value and the running safety of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the field of assisted driving, and in particular to a method, device, equipment and medium for determining a traffic speed limit value. Background Art

[0002] With the improvement of the level of automatic intelligent driving, outputting the correct traffic speed limit value to the driver, or controlling the vehicle driving with the correct traffic speed limit value, can improve the safety of vehicle driving. At present, the determination of the traffic speed limit value is usually carried out by visual perception software to stably output the road type and the speed limit value corresponding to the road type during the running time of the front single camera (FSC). However, due to the recognition limitations of the front single camera, there is a probability that the road type will be recognized incorrectly. When the road type is recognized incorrectly, the speed limit value corresponding to the road type will also be wrong accordingly. If the wrong speed limit value is output to the driver, or the vehicle is controlled with the wrong speed limit value, it is very likely to cause serious traffic accidents. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for determining a traffic speed limit value, which can combine the current first speed limit value determined based on the current road type and the current second speed limit value determined based on the current traffic sign to finally determine the current target speed limit value, thereby improving the accuracy of determining the traffic speed limit value and the safety of vehicle driving. The specific scheme is as follows:

[0004] In a first aspect, the present application provides a method for determining a traffic speed limit value, comprising:

[0005] After the vehicle enters the expressway, an operation of obtaining a current first speed limit value and a current second speed limit value is triggered; the current first speed limit value and the current second speed limit value are speed limit values ​​determined based on the current road type and the current traffic sign recognized by the forward-looking monocular camera of the vehicle, respectively;

[0006] When the identified current road type does not belong to the expressway and the current traffic sign does not belong to the speed limit sign, if the current first speed limit value and the current second speed limit value are inconsistent, determining whether the vehicle currently leaves the expressway to determine whether the current road type is incorrectly identified, and obtaining a corresponding determination result;

[0007] Determining a current target speed limit value by using the judgment result and based on the current first speed limit value and the current second speed limit value, so as to control the vehicle to travel according to the current target speed limit value;

[0008] Among them, if the current traffic sign is a speed limit removal sign, the current speed limit distance is determined based on the current first speed limit value, and the current curb distance from the current vehicle to the edge of the road where the current traffic sign is located is determined, and based on the current speed limit distance and the current curb distance, it is determined whether the current vehicle has left the expressway to determine whether the current road type is identified incorrectly.

[0009] Optionally, determining the current speed limit distance based on the current first speed limit value includes:

[0010] If the current first speed limit value is within a preset speed limit value range, the current speed limit distance is determined based on the speed limit distance at the previous moment and the current travel distance of the vehicle within a preset operating cycle to obtain the current speed limit distance; the preset speed limit value range is a range determined based on the speed limit value corresponding to the non-highway road;

[0011] If the current first speed limit value is less than the lower limit value of the preset speed limit value range, the preset maximum speed limit distance is determined as the current speed limit distance.

[0012] Optionally, the determining whether the vehicle currently leaves the expressway based on the current speed limit distance and the current roadside distance includes:

[0013] Based on the size relationship between the current speed limit distance and the preset maximum speed limit distance and the size relationship between the current curb distance and the preset curb distance, it is determined whether the vehicle is currently leaving the expressway.

[0014] Optionally, determining whether the vehicle currently leaves the expressway to determine whether the current road type is incorrectly identified includes:

[0015] If the current speed limit distance is equal to the preset maximum speed limit distance, it is determined that the vehicle has currently left the expressway, and it is determined that the current road type is not recognized incorrectly;

[0016] If the current speed limit distance is less than the preset maximum speed limit distance, and the current roadside distance is less than the preset roadside distance, it is determined that the vehicle has currently left the expressway, and it is determined that the current road type is not recognized incorrectly;

[0017] If the current speed limit distance is less than the preset maximum speed limit distance, and the current curb distance is not less than the preset curb distance, it is determined that the vehicle has not currently left the expressway, and it is determined that the current road type recognition is incorrect.

[0018] Optionally, determining a current roadside distance from the vehicle to a roadside where the current traffic sign is located includes:

[0019] Determine the longitudinal distance from the current vehicle to the current traffic sign, and determine the lateral distance from the current vehicle to the edge of the road where the current traffic sign is located;

[0020] The current roadside distance is determined by using the current driving parameters of the vehicle and based on the longitudinal distance and the lateral distance; the driving parameters include a heading angle, a driving curvature, and a rate of change of the driving curvature.

[0021] Optionally, determining whether the vehicle currently leaves the expressway to determine whether the current road type is incorrectly identified includes:

[0022] If the current traffic sign is a sign indicating that the expressway is about to end, it is determined that the vehicle has not currently left the expressway, and it is determined that the current road type is incorrectly identified.

[0023] Optionally, the determining a current target speed limit value by using the judgment result and based on the current first speed limit value and the current second speed limit value includes:

[0024] If the judgment result indicates that the current road type is not misidentified, determining the current first speed limit value as the current target speed limit value;

[0025] If the judgment result indicates that the current road type is incorrectly identified, the current second speed limit value is determined as the current target speed limit value.

[0026] In a second aspect, the present application provides a traffic speed limit value determination device, comprising:

[0027] A speed limit value acquisition module, used to trigger the operation of acquiring a current first speed limit value and a current second speed limit value after the vehicle enters the expressway; the current first speed limit value and the current second speed limit value are speed limit values ​​determined based on the current road type and the current traffic sign recognized by the forward-looking monocular camera of the vehicle, respectively;

[0028] A judgment module, configured to, when the identified current road type does not belong to the expressway and the current traffic sign does not belong to the speed limit sign, if the current first speed limit value and the current second speed limit value are inconsistent, determine whether the current vehicle has left the expressway to determine whether the current road type is incorrectly identified, and obtain a corresponding judgment result;

[0029] a speed limit value determination module, configured to determine a current target speed limit value based on the current first speed limit value and the current second speed limit value by using the judgment result, so as to control the vehicle to travel according to the current target speed limit value;

[0030] Among them, the judgment module is also used for: if the current traffic sign is a speed limit release sign, determining the current speed limit distance based on the current first speed limit value, and determining the current curb distance from the current vehicle to the edge of the road where the current traffic sign is located, and determining whether the current vehicle has left the expressway based on the current speed limit distance and the current curb distance, so as to determine whether the current road type is identified incorrectly.

[0031] In a third aspect, the present application provides an electronic device, including:

[0032] Memory, used to store computer programs;

[0033] A processor is used to execute the computer program to implement the aforementioned method for determining a traffic speed limit value.

[0034] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the aforementioned method for determining a traffic speed limit value.

[0035] In the present application, after a vehicle enters a highway, an operation of obtaining a current first speed limit value and a current second speed limit value is triggered; the current first speed limit value and the current second speed limit value are speed limit values ​​determined based on the current road type and the current traffic sign recognized by the vehicle's forward-looking monocular camera, respectively; when the recognized current road type does not belong to the highway and the current traffic sign does not belong to a speed limit sign, if the current first speed limit value and the current second speed limit value are inconsistent, then by determining whether the vehicle currently leaves the highway, it is determined whether the current road type is incorrectly identified, and a corresponding judgment result is obtained; the current target speed limit value is determined using the judgment result and based on the current first speed limit value and the current second speed limit value, so as to control the vehicle to travel according to the current target speed limit value. Among them, if the current traffic sign is a speed limit removal sign, the current speed limit distance is determined based on the current first speed limit value, and the current curb distance from the current vehicle to the edge of the road where the current traffic sign is located is determined, and based on the current speed limit distance and the current curb distance, it is determined whether the current vehicle has left the expressway to determine whether the current road type is identified incorrectly.

[0036] It can be seen that after the vehicle enters the expressway, the present application obtains the current first speed limit value determined based on the current road type recognized by the front-view monocular camera, and obtains the current second speed limit value determined based on the current traffic sign recognized by the front-view monocular camera, so as to compare the consistency of the current first speed limit value and the current second speed limit value; if the current first speed limit value is inconsistent with the current second speed limit value, and the recognized current road type does not belong to the expressway and the recognized current traffic sign does not belong to the speed limit sign, it is necessary to further determine whether the current vehicle has actually left the expressway, so as to judge The method can determine whether the current road type is incorrectly identified, and finally determine the final current target speed limit value based on the judgment result representing whether the current road type is incorrectly identified and in combination with the current first speed limit value and the current second speed limit value, so as to avoid the singleness problem caused by only using the road type to determine the speed limit value; further, when the current traffic sign is a speed limit release sign, it can be determined whether the current vehicle has really left the expressway through the current speed limit distance and the current curb distance, so as to more accurately determine whether the current road type is incorrectly identified, so as to further improve the accuracy of determining the traffic speed limit value and improve the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0038] Figure 1 A flow chart of a method for determining a traffic speed limit value disclosed in this application;

[0039] Figure 2 A schematic diagram of a sign indicating that a highway is about to end is disclosed in the present application;

[0040] Figure 3 A schematic diagram for determining a roadside distance disclosed in the present application;

[0041] Figure 4 A specific traffic speed limit value switching schematic diagram disclosed in this application;

[0042] Figure 5 Another specific traffic speed limit value switching schematic diagram disclosed in this application;

[0043] Figure 6 This is a schematic diagram of the structure of a traffic speed limit determination device disclosed in this application;

[0044] Figure 7 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The visual perception software stably outputs the road type and the speed limit value corresponding to the road type during the running time of the forward-looking monocular camera. However, due to the recognition limitations of the forward-looking monocular camera, there is a probability that the road type will be recognized incorrectly. When the road type is recognized incorrectly, the speed limit value corresponding to the road type will also be correspondingly wrong. If the wrong speed limit value is output to the driver, or the vehicle is controlled with the wrong speed limit value, it is very likely to cause serious traffic accidents. To this end, the present application provides a method for determining a traffic speed limit value, which combines the current first speed limit value determined based on the current road type and the current second speed limit value determined based on the current traffic sign to finally determine the current target speed limit value, thereby improving the accuracy of determining the traffic speed limit value and the safety of vehicle driving.

[0047] See also Figure 1 As shown, an embodiment of the present invention discloses a method for determining a traffic speed limit value, comprising:

[0048] Step S11: After the vehicle enters the expressway, trigger an operation of obtaining a current first speed limit value and a current second speed limit value; the current first speed limit value and the current second speed limit value are speed limit values ​​determined based on the current road type and the current traffic sign recognized by the forward-looking monocular camera of the vehicle, respectively.

[0049] In this embodiment, after the vehicle enters the expressway, the operation of obtaining the current first speed limit value and the current second speed limit value is triggered, that is, the current first speed limit value determined based on the current road type recognized by the vehicle's front-view monocular camera is obtained, and the current second speed limit value determined based on the current traffic sign recognized by the vehicle's front-view monocular camera is obtained.

[0050] Among them, for the first speed limit value, different road types correspond to different speed limit values, for example, there is no speed limit or a speed limit of 120km / h on expressways, a speed limit of 100km / h on urban roads, and a speed limit of 50km / h on rural roads, etc., and specific reference needs to be made to the traffic regulations of various places. Specifically, the road type is identified for the current image captured by the front-view monocular camera, and the current road type is determined based on the road type identification result, and the current first speed limit value corresponding to the current road type is determined.

[0051] It should be noted that, for determining the current first speed limit value corresponding to the current road type, one method is to determine the current first speed limit value corresponding to the current road type based on a pre-established mapping relationship between the road type and the speed limit value, and another method is to train a model through deep learning to determine the current first speed limit value corresponding to the current road type based on the trained model.

[0052] Among them, for the second speed limit value, different traffic signs correspond to different speed limit values. For example, traffic signs include speed limit signs, speed limit lifting signs, area reminder signs, etc. Area reminder signs include signs indicating that the expressway is about to end, signs indicating that a school area is about to be entered, signs indicating that a expressway is about to be entered, etc. Different area reminder signs correspond to different speed limit values, and specific details need to refer to the traffic rules of each place.

[0053] It should be noted that speed limit signs include explicit speed limit signs that directly display the speed limit value and implicit speed limit signs that do not directly display the speed limit value. Among them, for explicit speed limit signs, the speed limit value displayed on the explicit speed limit sign can be directly determined as the second speed limit value; for implicit speed limit signs, it is necessary to analyze the implicit speed limit sign to determine the corresponding second speed limit value. As for the analysis of implicit speed limit signs, one way is to analyze the implicit speed limit signs based on the pre-established mapping relationship between the speed limit signs and the speed limit values, and another way is to train the model through deep learning to analyze the implicit speed limit signs based on the trained model.

[0054] It should also be noted that by performing traffic sign recognition on the current image captured by the forward-looking monocular camera, it is possible to simultaneously recognize multiple traffic signs, and it is also possible to recognize traffic signs that are not related to the determined speed limit value, such as direction signs, rest area signs, distance signs, etc. In this case, it is necessary to filter the recognized traffic signs to obtain traffic signs related to the determined speed limit value, and filter out the traffic signs related to the determined speed limit value that are closest to the vehicle as the current traffic sign used to determine the current second speed limit value.

[0055] Step S12: When the identified current road type does not belong to the expressway and the current traffic sign does not belong to the speed limit sign, if the current first speed limit value and the current second speed limit value are inconsistent, determine whether the current vehicle has left the expressway to determine whether the current road type is incorrectly identified and obtain a corresponding judgment result.

[0056] In this embodiment, when the current road type identified is not a highway and the current traffic sign is not a speed limit sign, the current first speed limit value and the current second speed limit value are compared for consistency. If the current first speed limit value and the current second speed limit value are inconsistent, it is necessary to further determine whether the current vehicle has left the highway to determine whether the current road type is incorrectly identified, thereby obtaining a corresponding judgment result; that is, the judgment result can characterize whether the current road type is incorrectly identified.

[0057] According to one embodiment, when the current first speed limit value and the current second speed limit value are inconsistent, if the current traffic sign is a sign indicating that the expressway is about to end, it is determined that the current vehicle has not yet left the expressway, and it is determined that the current road type is incorrectly identified, that is, the current road type should be a expressway. Figure 2 As shown, the sign indicates that the expressway is about to end, but in fact there is still a certain distance to the real expressway exit, which means that the current vehicle has not yet left the expressway.

[0058] Specifically, when the current road type identified is not a highway and the current traffic sign is a sign indicating that the highway is about to end, a consistency comparison is performed on the current first speed limit value and the current second speed limit value. If the current first speed limit value and the current second speed limit value are inconsistent, it is determined that the current vehicle has not left the highway, and the current road type identification is determined to be incorrect.

[0059] According to another embodiment, when the current first speed limit value and the current second speed limit value are inconsistent, if the current traffic sign is a speed limit removal sign, the current speed limit distance is determined based on the current first speed limit value, and the current curb distance from the current vehicle to the edge of the road where the current traffic sign is located is determined, and then based on the current speed limit distance and the current curb distance, it is determined whether the current vehicle has left the expressway to determine whether the current road type is incorrectly identified.

[0060] Specifically, when the current road type identified does not belong to a highway and the current traffic sign is a speed limit removal sign, a consistency comparison is performed on the current first speed limit value and the current second speed limit value. If the current first speed limit value and the current second speed limit value are inconsistent, the current speed limit distance is determined based on the current first speed limit value, and the current curb distance from the current vehicle to the edge of the road where the current traffic sign is located is determined. Then, based on the current speed limit distance and the current curb distance, it is determined whether the current vehicle has left the highway to determine whether the current road type is identified incorrectly.

[0061] For the determination of the current speed limit distance, first determine whether the current first speed limit value is within the preset speed limit value range, wherein the preset speed limit value range is a range determined based on the speed limit value corresponding to the non-highway road. If the current first speed limit value is within the preset speed limit value range, the speed limit distance at the current moment is determined based on the speed limit distance at the previous moment and the current driving distance of the vehicle within the preset operating cycle to obtain the current speed limit distance; wherein the speed limit distance at the initial moment is the preset minimum speed limit distance. If the current first speed limit value is less than the lower limit value of the preset speed limit value range, the preset maximum speed limit distance is determined as the current speed limit distance. It should be noted that when the current road type identified as a highway road, the current first speed limit value is greater than the upper limit value of the preset speed limit value range, therefore, the preset minimum speed limit distance can be determined as the current speed limit distance.

[0062] It should be noted that, to determine the speed limit distance at the current moment, first obtain the speed limit distance at the previous moment, and obtain the instrument speed at the current moment, then determine the current driving distance of the vehicle within the preset operating cycle based on the preset operating cycle and the instrument speed, and then calculate the sum of the speed limit distance at the previous moment and the current driving distance of the vehicle within the preset operating cycle to obtain the speed limit distance at the current moment; that is, the speed limit distance at the current moment = the speed limit distance at the previous moment + the instrument speed × the preset operating cycle. Among them, the preset operating cycle can be set according to the needs of automatic intelligent driving, for example, set to 0.02s.

[0063] For example, the preset speed limit value range determined based on the speed limit value corresponding to non-highway roads (urban roads, rural roads) is 50km / h-100km / h, the preset minimum speed limit distance is 0, and the preset maximum speed limit distance is 5000.1. If the current first speed limit value is less than 50km / h, 5000.1 is determined as the current speed limit distance; if the current first speed limit value is greater than 100km / h, 0 is determined as the current speed limit distance; if the current first speed limit value is between 50km / h-100km / h, the current speed limit distance is determined based on the previous speed limit distance and the current driving distance of the vehicle within the preset operation cycle. At this time, the current speed limit distance is greater than 0 and less than 5000.1.

[0064] To determine the current curb distance, it is first necessary to determine the longitudinal distance from the current vehicle to the current traffic sign, and determine the lateral distance from the current vehicle to the edge of the road where the current traffic sign is located, and then use the current vehicle's driving parameters to determine the current curb distance based on the longitudinal distance and the lateral distance; wherein the driving parameters include heading angle, driving curvature and driving curvature change rate.

[0065] like Figure 3As shown, assuming that the current traffic sign is a speed limit sign with a speed limit of 80 km / h, the current traffic sign can be recorded as the preview point, and then the longitudinal distance from the vehicle to the preview point is determined, and the lateral distance from the vehicle to the edge of the road where the preview point is located when the vehicle and the preview point are at the same horizontal position is predicted. Then, the current vehicle's heading angle, driving curvature, and driving curvature change rate are substituted into the preset curb distance calculation formula to determine the current curb distance based on the longitudinal distance and the lateral distance.

[0066] Among them, the preset curb distance calculation formula is: RoadEdgeDistance=Y0+(Psi×Dist)+(C0×Dist×Dist×const1)+(C1×Dist×Dist×Dist×const2); RoadEdgeDistance represents the current curb distance, Y0 represents the lateral distance, Psi represents the heading angle, Dist represents the longitudinal distance, C0 represents the driving curvature, C1 represents the rate of change of driving curvature, const1 and const2 both represent constants, for example, const1 can be set to 0.5, and const2 can be set to 0.167.

[0067] Furthermore, to determine whether the current vehicle has left the expressway, it can be determined based on the relationship between the current speed limit distance and the preset maximum speed limit distance and the relationship between the current curb distance and the preset curb distance.

[0068] Specifically, determine a first size relationship between the current speed limit distance and the preset maximum speed limit distance and the preset minimum speed limit distance, and a second size relationship between the current curb distance and the preset curb distance, and then determine whether the current vehicle has left the highway based on the first size relationship and the second size relationship.

[0069] More specifically, if the current speed limit distance is equal to the preset maximum speed limit distance, it indicates that the current first speed limit value is less than the lower limit of the preset speed limit value range. At this time, the current road type corresponding to the current first speed limit value is quite different from the expressway, and generally will not be misidentified. Therefore, it can be determined that the current vehicle has left the expressway, and it is determined that the current road type is not misidentified, that is, the current road type does not belong to the expressway. If the current speed limit distance is less than the preset maximum speed limit distance and greater than the preset minimum speed limit distance, and the current curb distance is less than the preset curb distance, since expressways are generally equipped with emergency lanes, when a vehicle is driving on an expressway, the curb distance from the edge of the road where the traffic sign is located should generally be greater than or equal to the preset curb distance determined based on the lane width of the emergency lane, then it is determined that the current vehicle has left the expressway, and it is determined that the current road type is not misidentified, that is, the current road type does not belong to the expressway. If the current speed limit distance is less than the preset maximum speed limit distance and greater than the preset minimum speed limit distance, and the current curb distance is not less than the preset curb distance, it is determined that the current vehicle has not left the expressway, and the current road type identification is incorrect, that is, the current road type should be a highway.

[0070] Step S13: Determine a current target speed limit value by using the judgment result and based on the current first speed limit value and the current second speed limit value, so as to control the vehicle to travel according to the current target speed limit value.

[0071] In this embodiment, after obtaining a judgment result indicating whether the current road type is incorrectly identified, the current target speed limit value is determined based on the judgment result and the current first speed limit value and the current second speed limit value to control the vehicle to travel according to the current target speed limit value, and the current target speed limit value is displayed on the dashboard of the vehicle.

[0072] It should be noted that after the current target speed limit value is determined, the vehicle is controlled to switch from the last determined historical target speed limit value to the current target speed limit value within the preset switching distance range after passing the current traffic sign; wherein, the preset switching distance range can be set according to local traffic regulations and safety requirements of automatic intelligent driving, for example, the preset switching distance range is set to 0 meters to 50 meters.

[0073] Specifically, for the determination of the current target speed limit value, if the judgment result indicates that the current road type is not identified incorrectly, that is, the current road type does not belong to a highway, then the current first speed limit value determined based on the current road type will be determined as the current target speed limit value; if the judgment result indicates that the current road type is identified incorrectly, that is, the current road type should correctly be a highway, then the current second speed limit value determined based on the current traffic sign will be determined as the current target speed limit value.

[0074] It should be noted that after triggering the operation of obtaining the current first speed limit value and the current second speed limit value, if the current first speed limit value and the current second speed limit value are consistent, the current first speed limit value or the current second speed limit value is determined as the current target speed limit value. If the current traffic sign is a speed limit sign, regardless of whether the current first speed limit value and the current second speed limit value are consistent, the current second speed limit value can be determined as the current target speed limit value.

[0075] When the vehicle is traveling according to the historical target speed limit value determined last time, if the historical target speed limit value meets the first preset condition, then when the identified current road type does not belong to a highway and the current traffic sign is a sign indicating that the highway is about to end, since the current first speed limit value determined based on the current road type is inconsistent with the current second speed limit value determined based on the current traffic sign, it can be determined based on the current traffic sign that the current vehicle has not left the highway, and it can be determined that the current road type is incorrectly identified, that is, the current road type should correctly be a highway. If the vehicle travels according to the current first speed limit value corresponding to a non-highway road, it is very likely to cause a traffic accident. Therefore, it is necessary to determine the current second speed limit value as the current target speed limit value, and control the vehicle to switch from the historical target speed limit value to the current target speed limit value for driving. Among them, when there is no speed limit on the expressway, the first preset condition is that the historical target speed limit value is no speed limit or the maximum speed that the vehicle can travel, and the current second speed limit value at this time is also no speed limit or the maximum speed that the vehicle can travel; when there is a speed limit on the expressway, the first preset condition is that the historical target speed limit value is the preset expressway speed limit value corresponding to the expressway, and the current second speed limit value at this time is also the preset expressway speed limit value corresponding to the expressway.

[0076] During the process of the vehicle traveling according to the historical target speed limit value determined last time, if the historical target speed limit value meets the second preset condition, then when the identified current road type does not belong to the expressway and the current traffic sign is a speed limit release sign, since the current first speed limit value determined based on the current road type is inconsistent with the current second speed limit value determined based on the current traffic sign, the current speed limit distance can be further determined based on the current first speed limit value, and the current roadside distance from the current vehicle to the edge of the road where the current traffic sign is located is determined, and then based on the current speed limit distance and the current roadside distance, it is determined whether the current vehicle has left the expressway to determine whether the current road type is incorrectly identified. Among them, when the expressway is not speed-limited, the second preset condition is that the historical target speed limit value is less than the maximum speed at which the vehicle can travel, and the current second speed limit value at this time is no speed limit or the maximum speed at which the vehicle can travel; when the expressway is speed-limited, the second preset condition is that the historical target speed limit value is less than the preset high-speed speed limit value corresponding to the expressway, and the current second speed limit value at this time is the preset high-speed speed limit value corresponding to the expressway.

[0077] It can be seen that after the vehicle enters the expressway, the present application obtains the current first speed limit value determined based on the current road type recognized by the front-view monocular camera, and obtains the current second speed limit value determined based on the current traffic sign recognized by the front-view monocular camera, so as to compare the consistency of the current first speed limit value and the current second speed limit value; if the current first speed limit value is inconsistent with the current second speed limit value, and the recognized current road type does not belong to the expressway and the recognized current traffic sign does not belong to the speed limit sign, it is necessary to further determine whether the current vehicle has actually left the expressway, so as to judge The method can determine whether the current road type is incorrectly identified, and finally determine the final current target speed limit value based on the judgment result representing whether the current road type is incorrectly identified and in combination with the current first speed limit value and the current second speed limit value, so as to avoid the singleness problem caused by only using the road type to determine the speed limit value; further, when the current traffic sign is a speed limit release sign, it can be determined whether the current vehicle has really left the expressway through the current speed limit distance and the current curb distance, so as to more accurately determine whether the current road type is incorrectly identified, so as to further improve the accuracy of determining the traffic speed limit value and improve the safety of vehicle driving.

[0078] join Figure 4 As shown, taking the highway with no speed limit as an example, a method for determining a traffic speed limit value disclosed in this application is illustrated, and the specific scheme is as follows:

[0079] After the vehicle enters the expressway through the expressway entrance, it will first drive at no speed limit, and when it recognizes a speed limit sign with a speed limit of 80km / h, the current second speed limit value of 80km / h determined based on the speed limit sign is determined as the current target speed limit value to control the vehicle to switch from no speed limit to 80km / h. Afterwards, when it recognizes a speed limit release sign that releases the speed limit of 80km / h, if the current road type identified does not belong to an expressway, the current first speed limit value determined based on the current road type is a preset non-highway speed limit value corresponding to a non-expressway, such as 100km / h, and the current second speed limit value determined based on the speed limit release sign is no speed limit. Since the current first speed limit value is inconsistent with the current second speed limit value, the current speed limit distance can be further determined based on the current first speed limit value, and the current roadside distance from the current vehicle to the edge of the road where the speed limit release sign is located is determined, and then based on the current speed limit distance and the current roadside distance, it is determined whether the current vehicle has left the expressway to determine whether the current road type is incorrectly identified.

[0080] If it is determined based on the current speed limit distance and the current roadside distance that the current vehicle has not left the expressway, then it is determined that the current road type identification is incorrect. At this time, the current second speed limit value can be determined as the current target speed limit value, and the vehicle is controlled to switch from the speed limit value of 80km / h to unlimited speed travel. Afterwards, when a sign indicating that the expressway is about to end is identified, if the identified current road type does not belong to an expressway, the current first speed limit value determined based on the current road type is the preset non-expressway speed limit value corresponding to the non-expressway, and the current second speed limit value determined based on the sign indicating that the expressway is about to end is unlimited speed. Since the current first speed limit value is inconsistent with the current second speed limit value, it can be determined based on the sign indicating that the expressway is about to end that the current vehicle has not left the expressway, and it is determined that the current road type identification is incorrect. Then the current second speed limit value is determined as the current target speed limit value, and the vehicle is controlled to continue to travel at unlimited speed.

[0081] join Figure 5 As shown, taking the highway with no speed limit as an example, a method for determining a traffic speed limit value disclosed in this application is illustrated, and the specific scheme is as follows:

[0082] After the vehicle enters the expressway through the expressway entrance, it will first drive at no speed limit, and when it recognizes a speed limit sign with a speed limit of 80km / h, the current second speed limit value of 80km / h determined based on the speed limit sign is determined as the current target speed limit value to control the vehicle to switch from no speed limit to 80km / h. Afterwards, when it recognizes a speed limit release sign that releases the speed limit of 80km / h, if the current road type identified does not belong to an expressway, the current first speed limit value determined based on the current road type is a preset non-highway speed limit value corresponding to a non-expressway, such as 100km / h, and the current second speed limit value determined based on the speed limit release sign is no speed limit. Since the current first speed limit value is inconsistent with the current second speed limit value, the current speed limit distance can be further determined based on the current first speed limit value, and the current roadside distance from the current vehicle to the edge of the road where the speed limit release sign is located is determined, and then based on the current speed limit distance and the current roadside distance, it is determined whether the current vehicle has left the expressway to determine whether the current road type is incorrectly identified. If it is determined based on the current speed limit distance and the current curb distance that the current vehicle has left the expressway, then it is determined that the current road type is not identified incorrectly. At this time, the current first speed limit value can be determined as the current target speed limit value, and the vehicle can be controlled to switch from a speed limit value of 80km / h to a speed limit value of 100km / h for driving.

[0083] See also Figure 6 As shown, an embodiment of the present invention discloses a device for determining a traffic speed limit value, comprising:

[0084] The speed limit value acquisition module 11 is used to trigger the operation of acquiring the current first speed limit value and the current second speed limit value after the vehicle enters the expressway; the current first speed limit value and the current second speed limit value are speed limit values ​​determined based on the current road type and the current traffic sign recognized by the forward-looking monocular camera of the vehicle, respectively;

[0085] The judgment module 12 is used for, when the identified current road type does not belong to the expressway and the current traffic sign does not belong to the speed limit sign, if the current first speed limit value and the current second speed limit value are inconsistent, determining whether the current vehicle has left the expressway to determine whether the current road type is incorrectly identified, and obtaining a corresponding judgment result;

[0086] A speed limit value determination module 13, configured to determine a current target speed limit value based on the judgment result and the current first speed limit value and the current second speed limit value, so as to control the vehicle to travel according to the current target speed limit value;

[0087] Among them, the judgment module 12 is also used for: if the current traffic sign is a speed limit release sign, then determining the current speed limit distance based on the current first speed limit value, and determining the current curb distance from the current vehicle to the edge of the road where the current traffic sign is located, and determining whether the current vehicle has left the expressway based on the current speed limit distance and the current curb distance, so as to determine whether the current road type is identified incorrectly.

[0088] It can be seen that after the vehicle enters the expressway, the present application obtains the current first speed limit value determined based on the current road type recognized by the front-view monocular camera, and obtains the current second speed limit value determined based on the current traffic sign recognized by the front-view monocular camera, so as to compare the consistency of the current first speed limit value and the current second speed limit value; if the current first speed limit value is inconsistent with the current second speed limit value, and the recognized current road type does not belong to the expressway and the recognized current traffic sign does not belong to the speed limit sign, it is necessary to further determine whether the current vehicle has actually left the expressway, so as to judge The method can determine whether the current road type is incorrectly identified, and finally determine the final current target speed limit value based on the judgment result representing whether the current road type is incorrectly identified and in combination with the current first speed limit value and the current second speed limit value, so as to avoid the singleness problem caused by only using the road type to determine the speed limit value; further, when the current traffic sign is a speed limit release sign, it can be determined whether the current vehicle has really left the expressway through the current speed limit distance and the current curb distance, so as to more accurately determine whether the current road type is incorrectly identified, so as to further improve the accuracy of determining the traffic speed limit value and improve the safety of vehicle driving.

[0089] In some specific embodiments, the determination module 12 includes:

[0090] A first distance determination unit is configured to determine the speed limit distance at the current moment based on the speed limit distance at the previous moment and the current travel distance of the vehicle within a preset operation cycle if the current first speed limit value is within a preset speed limit value range, so as to obtain the current speed limit distance; the preset speed limit value range is a range determined based on the speed limit value corresponding to the non-highway road;

[0091] The second distance determining unit is configured to determine the preset maximum speed limit distance as the current speed limit distance if the current first speed limit value is less than a lower limit value of the preset speed limit value range.

[0092] In some specific embodiments, the determination module 12 includes:

[0093] The high-speed exit determination unit is used to determine whether the vehicle is currently leaving the high-speed road based on the size relationship between the current speed limit distance and the preset maximum speed limit distance and the size relationship between the current curb distance and the preset curb distance.

[0094] In some specific embodiments, the determination module 12 includes:

[0095] A first determination unit, configured to determine that the vehicle has currently left the expressway if the current speed limit distance is equal to the preset maximum speed limit distance, and determine that the current road type is not recognized incorrectly;

[0096] A second determination unit is configured to determine that the vehicle has left the expressway and determine that the current road type is not recognized incorrectly if the current speed limit distance is less than the preset maximum speed limit distance and the current roadside distance is less than the preset roadside distance;

[0097] The third determination unit is used to determine that the vehicle has not left the expressway and that the current road type recognition is incorrect if the current speed limit distance is less than the preset maximum speed limit distance and the current curb distance is not less than the preset curb distance.

[0098] In some specific embodiments, the determination module 12 includes:

[0099] A transverse and longitudinal distance determination unit, used to determine the longitudinal distance from the current vehicle to the current traffic sign, and to determine the transverse distance from the current vehicle to the edge of the road where the current traffic sign is located;

[0100] A curb distance determination unit is used to determine the current curb distance based on the longitudinal distance and the lateral distance using the current driving parameters of the vehicle; the driving parameters include a heading angle, a driving curvature, and a rate of change of the driving curvature.

[0101] In some specific embodiments, the determination module 12 includes:

[0102] The fourth determination unit is configured to determine that the vehicle has not left the expressway if the current traffic sign is a sign indicating that the expressway is about to end, and to determine that the current road type is incorrectly identified.

[0103] In some specific embodiments, the speed limit value determination module 13 includes:

[0104] A first determining unit, configured to determine the current first speed limit value as the current target speed limit value if the judgment result indicates that the current road type is not misidentified;

[0105] The second determining unit is configured to determine the current second speed limit value as the current target speed limit value if the determination result indicates that the current road type is incorrectly identified.

[0106] Furthermore, the present application also discloses an electronic device. Figure 7 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be considered as any limitation on the scope of use of the present application.

[0107] Figure 7 The present invention provides a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the method for determining the traffic speed limit value disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0108] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0109] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0110] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the traffic speed limit value determination method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

[0111] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned traffic speed limit value determination method is implemented. For the specific steps of the method, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, and no further description will be given here.

[0112] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0113] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0114] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0115] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0116] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for determining a traffic speed limit, characterized in that: include: After the vehicle enters the expressway, an operation of obtaining the current first speed limit value and the current second speed limit value is triggered; The current first speed limit value and the current second speed limit value are speed limit values ​​determined based on the current road type and the current traffic sign recognized by the forward-looking monocular camera of the vehicle, respectively; When the identified current road type does not belong to the expressway and the current traffic sign does not belong to the speed limit sign, if the current first speed limit value and the current second speed limit value are inconsistent, determining whether the vehicle currently leaves the expressway to determine whether the current road type is incorrectly identified, and obtaining a corresponding determination result; Determining a current target speed limit value by using the judgment result and based on the current first speed limit value and the current second speed limit value, so as to control the vehicle to travel according to the current target speed limit value; Among them, if the current traffic sign is a speed limit removal sign, the current speed limit distance is determined based on the current first speed limit value, and the current curb distance from the current vehicle to the edge of the road where the current traffic sign is located is determined, and based on the current speed limit distance and the current curb distance, it is determined whether the current vehicle has left the expressway to determine whether the current road type is identified incorrectly.

2. The method for determining a traffic speed limit value according to claim 1, characterized in that: The determining the current speed limit distance based on the current first speed limit value includes: If the current first speed limit value is within a preset speed limit value range, the current speed limit distance is determined based on the speed limit distance at the previous moment and the current travel distance of the vehicle within a preset operating cycle to obtain the current speed limit distance; the preset speed limit value range is a range determined based on the speed limit value corresponding to the non-highway road; If the current first speed limit value is less than the lower limit value of the preset speed limit value range, the preset maximum speed limit distance is determined as the current speed limit distance.

3. The method for determining a traffic speed limit value according to claim 2, characterized in that: The determining whether the vehicle currently leaves the expressway based on the current speed limit distance and the current roadside distance comprises: Based on the size relationship between the current speed limit distance and the preset maximum speed limit distance and the size relationship between the current curb distance and the preset curb distance, it is determined whether the vehicle is currently leaving the expressway.

4. The method for determining a traffic speed limit value according to claim 3, characterized in that: The determining whether the vehicle currently leaves the expressway to determine whether the current road type is misidentified includes: If the current speed limit distance is equal to the preset maximum speed limit distance, it is determined that the vehicle has currently left the expressway, and it is determined that the current road type is not recognized incorrectly; If the current speed limit distance is less than the preset maximum speed limit distance, and the current roadside distance is less than the preset roadside distance, it is determined that the vehicle has currently left the expressway, and it is determined that the current road type is not recognized incorrectly; If the current speed limit distance is less than the preset maximum speed limit distance, and the current curb distance is not less than the preset curb distance, it is determined that the vehicle has not currently left the expressway, and it is determined that the current road type recognition is incorrect.

5. The method for determining a traffic speed limit value according to claim 1, characterized in that: The determining of the current roadside distance from the vehicle to the road edge where the current traffic sign is located includes: Determine the longitudinal distance from the current vehicle to the current traffic sign, and determine the lateral distance from the current vehicle to the edge of the road where the current traffic sign is located; The current roadside distance is determined by using the current driving parameters of the vehicle and based on the longitudinal distance and the lateral distance; the driving parameters include a heading angle, a driving curvature, and a rate of change of the driving curvature.

6. The method for determining a traffic speed limit value according to claim 1, characterized in that: The determining whether the vehicle currently leaves the expressway to determine whether the current road type is misidentified includes: If the current traffic sign is a sign indicating that the expressway is about to end, it is determined that the vehicle has not currently left the expressway, and it is determined that the current road type is incorrectly identified.

7. The method for determining a traffic speed limit value according to any one of claims 1 to 6, characterized in that: The determining a current target speed limit value by using the judgment result and based on the current first speed limit value and the current second speed limit value includes: If the judgment result indicates that the current road type is not misidentified, determining the current first speed limit value as the current target speed limit value; If the judgment result indicates that the current road type is incorrectly identified, the current second speed limit value is determined as the current target speed limit value.

8. A device for determining a traffic speed limit, characterized in that: include: A speed limit value acquisition module, used to trigger the operation of acquiring the current first speed limit value and the current second speed limit value after the vehicle enters the expressway; The current first speed limit value and the current second speed limit value are speed limit values ​​determined based on the current road type and the current traffic sign recognized by the forward-looking monocular camera of the vehicle, respectively; A judgment module, configured to, when the identified current road type does not belong to the expressway and the current traffic sign does not belong to the speed limit sign, if the current first speed limit value and the current second speed limit value are inconsistent, determine whether the current vehicle has left the expressway to determine whether the current road type is incorrectly identified, and obtain a corresponding judgment result; a speed limit value determination module, configured to determine a current target speed limit value based on the current first speed limit value and the current second speed limit value by using the judgment result, so as to control the vehicle to travel according to the current target speed limit value; Among them, the judgment module is also used for: if the current traffic sign is a speed limit release sign, determining the current speed limit distance based on the current first speed limit value, and determining the current curb distance from the current vehicle to the edge of the road where the current traffic sign is located, and determining whether the current vehicle has left the expressway based on the current speed limit distance and the current curb distance, so as to determine whether the current road type is identified incorrectly.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the method for determining a traffic speed limit value according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, which, when executed by a processor, implements the method for determining a traffic speed limit value according to any one of claims 1 to 7.

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