Judgment method and equipment of speed limit sign and computer storage medium

Abstract

The invention discloses a speed limit sign judgment method and device and a computer storage medium. The method comprises the steps that speed limit information and position information of a speed limit sign are acquired; acquiring vehicle position information and speed limit sign judgment information; when it is determined that the speed limit sign is the speed limit sign of the current lane according to the position information of the speed limit sign, the vehicle position information and the speed limit sign judgment information, the running speed of the vehicle is controlled according to the speed limit information. According to the method, the accuracy, comprehensiveness and timeliness of speed limit sign judgment are greatly improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method and device for determining a speed limit sign, and a computer storage medium. Background Art

[0002] Current methods fail to cover all scenarios involving ramp speed limits, often resulting in missed or misidentified signs, making them insufficiently rigorous and comprehensive. Furthermore, when relying on navigation information for assistance, weak network signals can cause reception delays, and vehicle positions can be misidentified in situations involving adjacent roads or overpasses. Therefore, improving the accuracy of speed limit sign recognition is an urgent issue. Summary of the Invention

[0003] The embodiments of the present application provide a method, device, and computer storage medium for determining a speed limit sign to at least partially solve the above technical problems. To achieve the above objectives, according to a first aspect of the present application, a method for determining a speed limit sign is provided, the method comprising:

[0004] Obtaining speed limit information and location information of the speed limit sign;

[0005] Obtain vehicle location information and speed limit sign judgment information;

[0006] When it is determined that the speed limit sign is the speed limit sign of the current lane based on the position information of the speed limit sign, the vehicle position information and the speed limit sign judgment information, the driving speed of the vehicle is controlled according to the speed limit information.

[0007] Optionally, the speed limit sign judgment information includes: at least one of lane line information, non-speed limit sign information and historical speed limit information of the vehicle.

[0008] Optionally, the speed limit sign judgment information includes at least one of: lane guide line information, wide lane line information, non-ramp sign information of non-speed limit signs, ramp sign information of non-speed limit signs, and previous speed limit information of the vehicle.

[0009] Optionally, determining that the speed limit sign is the speed limit sign for the current lane based on the position information of the speed limit sign, the vehicle position information, and the speed limit sign judgment information includes:

[0010] The speed limit sign is determined to be the speed limit sign for the current lane based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information.

[0011] Optionally, when multiple information including the lane guide line information, wide lane line information, non-ramp sign information of non-speed limit signs, ramp sign information of non-speed limit signs and the vehicle's previous speed limit information is used to determine whether the speed limit sign is the speed limit sign of the current lane, it is selected for use in the order of listing.

[0012] Optionally, the determining that the speed limit sign is the speed limit sign for the current lane based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information, comprises:

[0013] The speed limit sign is determined to be the speed limit sign for the current lane based on the lane guide line information and in combination with the position information of the speed limit sign and the vehicle position information.

[0014] Optionally, the determining, based on the lane guide line information, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane includes:

[0015] Obtaining a relative positional relationship between the lane guide line, the speed limit sign, and the vehicle based on the lane guide line information, the speed limit sign position information, and the vehicle position information;

[0016] When the speed limit sign and the lane guide line are respectively located on both sides of the vehicle and a lateral distance between the speed limit sign and the lane guide line is less than a preset threshold, the speed limit sign is determined to be the speed limit sign for the current lane.

[0017] Optionally, the determining, based on the lane guide line information, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane includes:

[0018] Obtaining a relative positional relationship between the lane guide line, the speed limit sign, and the vehicle based on the lane guide line information, the speed limit sign position information, and the vehicle position information;

[0019] When the speed limit sign and the lane guide line are located on the same side of the vehicle and a lateral distance between the speed limit sign and the lane guide line is greater than a preset threshold, it is determined that the speed limit sign is not the speed limit sign of the current lane.

[0020] Optionally, the determining that the speed limit sign is the speed limit sign for the current lane based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information, comprises:

[0021] According to the wide lane marking information, combined with the position information of the speed limit sign and the vehicle position information, it is determined that the speed limit sign is the speed limit sign of the current lane.

[0022] Optionally, the determining, based on the wide lane line information, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane includes:

[0023] Obtaining a relative positional relationship between the wide lane marking, the speed limit sign, and the vehicle based on the wide lane marking information, the position information of the speed limit sign, and the vehicle position information;

[0024] When the speed limit sign and the wide lane marking are respectively located on both sides of the vehicle and a lateral distance between the speed limit sign and the wide lane marking is less than a preset threshold, the speed limit sign is determined to be the speed limit sign for the current lane.

[0025] Optionally, the determining, based on the wide lane line information, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane includes:

[0026] Obtaining a relative positional relationship between the wide lane marking, the speed limit sign, and the vehicle based on the wide lane marking information, the position information of the speed limit sign, and the vehicle position information;

[0027] When the speed limit sign and the wide lane marking are located on the same side of the vehicle and a lateral distance between the speed limit sign and the wide lane marking is greater than a preset threshold, it is determined that the speed limit sign is not the speed limit sign of the current lane.

[0028] Optionally, the determining that the speed limit sign is the speed limit sign for the current lane based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information, comprises:

[0029] According to the non-ramp sign information of the non-speed limit sign, combined with the position information of the speed limit sign and the vehicle position information, it is determined that the speed limit sign is the speed limit sign of the current lane.

[0030] Optionally, the determining, based on the non-ramp sign information of the non-speed limit sign, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane includes:

[0031] Obtaining a relative positional relationship between the non-ramp sign of the non-speed limit sign, the speed limit sign, and the vehicle based on the non-ramp sign information of the non-speed limit sign, the position information of the speed limit sign, and the vehicle position information;

[0032] When the height of the non-ramp sign of the non-speed limit sign is less than a certain threshold, the speed limit sign and the non-ramp sign of the non-speed limit sign are respectively located on both sides of the vehicle, and the lateral distance and longitudinal distance between the speed limit sign and the wide lane line are both less than preset thresholds, the speed limit sign is determined to be the speed limit sign for the current lane.

[0033] Optionally, the determining, based on the non-ramp sign information of the non-speed limit sign, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane includes:

[0034] Obtaining a relative positional relationship between the non-ramp sign of the non-speed limit sign, the speed limit sign, and the vehicle based on the non-ramp sign information of the non-speed limit sign, the position information of the speed limit sign, and the vehicle position information;

[0035] When the height of the non-ramp sign that is not a speed limit sign is less than a certain threshold, and the speed limit sign and the non-ramp sign that is not a speed limit sign are located on the same side of the vehicle, and the longitudinal distance between the speed limit sign and the wide lane marking is less than a preset threshold but the lateral distance is greater than a preset threshold, it is determined that the speed limit sign is not the speed limit sign for the current lane.

[0036] Optionally, the determining that the speed limit sign is the speed limit sign for the current lane based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information, comprises:

[0037] The speed limit sign is determined to be the speed limit sign for the current lane based on the ramp sign information of the non-speed limit sign and in combination with the position information of the speed limit sign and the vehicle position information.

[0038] Optionally, the determining, based on the ramp sign information of the non-speed limit sign, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign for the current lane includes:

[0039] Obtaining a relative positional relationship between the ramp sign of the non-speed limit sign, the speed limit sign, and the vehicle based on the ramp sign information of the non-speed limit sign, the position information of the speed limit sign, and the vehicle position information;

[0040] When the vehicle is currently in a ramp or intends to enter a ramp, and the ramp sign that is not a speed limit sign and the speed limit sign are both located on the right side of the vehicle, the speed limit sign is determined to be the speed limit sign for the current lane.

[0041] Optionally, the determining, based on the ramp sign information of the non-speed limit sign, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign for the current lane includes:

[0042] Obtaining a relative positional relationship between the ramp sign of the non-speed limit sign, the speed limit sign, and the vehicle based on the ramp sign information of the non-speed limit sign, the position information of the speed limit sign, and the vehicle position information;

[0043] When the vehicle is not currently in a ramp and has no intention of entering the ramp, and the ramp sign that is not a speed limit sign and the speed limit sign are both located on the right side of the vehicle, it is determined that the speed limit sign is not the speed limit sign of the current lane.

[0044] Optionally, the determining that the speed limit sign is the speed limit sign for the current lane based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information, comprises:

[0045] According to the previous speed limit information of the vehicle, combined with the position information of the speed limit sign and the vehicle position information, it is determined that the speed limit sign is the speed limit sign of the current lane.

[0046] Optionally, the determining, based on the previous speed limit information of the vehicle, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane includes:

[0047] Obtaining a relative positional relationship between the speed limit sign and the vehicle based on the previous speed limit information of the vehicle, the position information of the speed limit sign, and the vehicle position information;

[0048] When the vehicle is traveling from a highway toward a ramp, the previous speed limit information of the vehicle is greater than or equal to a preset threshold, the speed limit information of the speed limit sign is less than or equal to the preset threshold, the current vehicle speed is greater than the preset threshold, the speed limit sign is located on the right side of the vehicle, the vehicle is not currently in the ramp and has no intention of entering the ramp, and the height of the speed limit sign is less than the preset threshold, it is determined that the speed limit sign is not the speed limit sign for the current lane.

[0049] Optionally, the determining, based on the previous speed limit information of the vehicle, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane includes:

[0050] Obtaining a relative positional relationship between the speed limit sign and the vehicle based on the previous speed limit information of the vehicle, the position information of the speed limit sign, and the vehicle position information;

[0051] When the vehicle is traveling from a ramp to a highway, the previous speed limit information of the vehicle is less than or equal to a preset threshold, the speed limit information of the speed limit sign is greater than or equal to the preset threshold, the current vehicle speed is greater than the preset threshold, the speed limit sign is located on the right side of the vehicle, the vehicle is not currently in the ramp and has no intention of entering the ramp, and the height of the speed limit sign is less than the preset threshold, it is determined that the speed limit sign is not the speed limit sign for the current lane.

[0052] A second aspect of the present application provides a device, comprising a speed limit sign determination device, wherein the device is configured to execute any of the speed limit sign determination methods described above.

[0053] A third aspect of the present application provides a computer device, comprising:

[0054] at least one memory for storing a program;

[0055] At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the speed limit sign judgment method as described in any one of the above.

[0056] A third aspect of the present application provides a computer storage medium, wherein the computer storage medium stores instructions. When the instructions are executed on a computer, the computer executes the speed limit sign determination method as described in any one of the above.

[0057] In the method of the present application, the basis for judging the speed limit sign includes not only the location information of the speed limit sign and the current vehicle location information, but also at least one of the information such as lane line information, non-speed limit sign information and historical speed limit information, so as to greatly improve the accuracy, comprehensiveness and timeliness of the speed limit sign judgment. In addition, this method has low dependence on navigation and communication requirements and can greatly improve the safety of vehicle driving.

[0058] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0060] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0061] Figure 1 is a flow chart of a method for determining a speed limit sign provided in an exemplary embodiment of the present disclosure;

[0062] Figure 2 This is a flow chart (1) of another method for determining a speed limit sign provided in an exemplary embodiment of the present disclosure;

[0063] Figure 3 This is a flowchart (II) of another method for determining a speed limit sign provided in an exemplary embodiment of the present disclosure.

[0064] Figure 4 This is a flow chart (3) of another method for determining a speed limit sign provided in an exemplary embodiment of the present disclosure;

[0065] Figure 5 This is a flow chart (four) of another method for determining a speed limit sign provided in an exemplary embodiment of the present disclosure;

[0066] Figure 6 This is a flowchart (V) of another method for determining a speed limit sign provided in an exemplary embodiment of the present disclosure;

[0067] Figure 7 This is a flowchart (six) of another method for determining a speed limit sign provided in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0068] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0069] According to the first aspect of the present application, a method for determining a speed limit sign is provided. Figure 1 , the method comprising:

[0070] S1: Obtaining the speed limit information and location information of the speed limit sign;

[0071] Specifically, the image of the speed limit sign on the road can be acquired through a vehicle-mounted camera, a detection equipment camera, and other equipment, and then the image of the speed limit sign can be algorithmically processed and identified to obtain the speed limit content of the speed limit sign. The speed limit content can be one or more of a variety of speed limit signs, such as a maximum speed limit sign, a minimum speed limit sign, a speed limit release sign, a vehicle type speed limit sign, a speed limit on a special road section, a regional speed limit sign, a variable speed limit sign, and a conditional speed limit sign. In addition, the position information of the speed limit sign can be acquired based on the image information of the speed limit sign or the radar image information of the speed limit sign. The position information can represent the relative position relationship between the speed limit sign and the lane, or the speed limit sign and the current vehicle. The position relationship can be a relative position relationship or the position coordinates of the speed limit sign in the world coordinate system, which is not limited here.

[0072] S2: Obtain vehicle location information and speed limit sign judgment information;

[0073] Specifically, the specific position information of the current vehicle can be determined by the vehicle positioning system, or the relative position relationship between the vehicle and the speed limit sign, and the vehicle and the lane line can be obtained by detection of other detection systems, which is not specifically limited here; the speed limit sign judgment information can be sign information used to determine whether the speed limit sign is the speed limit sign of the current lane. Specifically, the speed limit sign judgment information may include lane line information, such as lane guide line information and wide lane line information, and may also include non-speed limit sign information, such as non-ramp sign information and ramp sign information, and may also include historical speed limit information, such as the previous speed limit information executed by the vehicle. In actual use, the above speed limit sign judgment information may be used alone or in combination. The above is only an illustrative example and is not specifically limited.

[0074] S3: When it is determined that the speed limit sign is the speed limit sign of the current lane based on the position information of the speed limit sign, the vehicle position information and the speed limit sign judgment information, the driving speed of the vehicle is controlled according to the speed limit information.

[0075] Specifically, based on the position information of the speed limit sign, the vehicle position information and the speed limit sign judgment information, it is determined that the speed limit sign is the speed limit sign for the current lane. It can be based on the position information of the speed limit sign and the vehicle position information, as well as at least any one of the above-mentioned lane line information, non-speed limit sign information and historical speed limit information, to determine whether the currently detected speed limit sign is the speed limit sign for the vehicle's current lane. If so, the vehicle's driving speed is controlled according to the speed limit content displayed by the speed limit sign. If not, the vehicle is controlled to maintain driving in the current state.

[0076] In the method of the present application, the basis for judging the speed limit sign includes not only the location information of the speed limit sign and the current vehicle location information, but also at least one of the information such as lane line information, non-speed limit sign information and historical speed limit information, so as to greatly improve the accuracy, comprehensiveness and timeliness of the speed limit sign judgment. In addition, this method has low dependence on navigation and communication requirements and can greatly improve the safety of vehicle driving.

[0077] As an optional implementation, see Figure 2 The speed limit sign determination information may include: at least one of lane marking information, non-speed limit sign information, and the vehicle's historical speed limit information. Specifically, the speed limit sign determination information may include: at least one of lane guide line information, wide lane marking information, non-ramp sign information for non-speed limit signs, ramp sign information for non-speed limit signs, and the vehicle's previous speed limit information.

[0078] The speed limit sign judgment information may include lane line information, such as lane guide line information and wide lane line information; it may also include non-speed limit sign information, such as non-ramp sign information and ramp sign information; it may also include historical speed limit information, such as the previous speed limit information executed by the vehicle. Therefore, the speed limit sign judgment information may be at least one of: lane guide line information, wide lane line information, non-ramp sign information of non-speed limit signs, ramp sign information of non-speed limit signs, and the previous speed limit information of the vehicle. In actual use, the above speed limit sign judgment information may be used alone or in multiple ways. The above is only an illustrative example and is not specifically limited. Specifically, the speed limit sign of this application may be a conventional speed limit sign, excluding ramp speed limit signs; and the non-ramp sign information of non-speed limit signs may be other traffic signs excluding conventional speed limit signs and ramp speed limit signs; in addition, the ramp sign information of non-speed limit signs may be a ramp speed limit sign, and this classification may also be used in the following implementation modes.

[0079] As an optional implementation, determining the speed limit sign as the speed limit sign for the current lane based on the position information of the speed limit sign, the vehicle position information and the speed limit sign judgment information includes: determining the speed limit sign as the speed limit sign for the current lane based on at least one of the lane guide line information, wide lane line information, non-ramp sign information of non-speed limit signs, ramp sign information of non-speed limit signs and the vehicle's previous speed limit information, in combination with the position information of the speed limit sign and the vehicle position information.

[0080] The at least one of the multiple speed limit sign determination information, such as the lane guide line information, wide lane line information, non-ramp sign information of non-speed limit signs, ramp sign information of non-speed limit signs, and previous speed limit information of the vehicle, includes at least one of the above-listed information, and is combined with the position information of the speed limit sign and the vehicle position information to determine whether the speed limit sign is the speed limit sign for the current lane. Specifically, multiple information of the above-listed speed limit sign determination information may be combined with the position information of the speed limit sign and the vehicle position information to determine whether the speed limit sign is the speed limit sign for the current lane, which is not specifically limited here.

[0081] As an optional implementation, when multiple speed limit sign judgment information including the lane guide line information, wide lane line information, non-ramp sign information of non-speed limit signs, ramp sign information of non-speed limit signs and the vehicle's previous speed limit information is used to determine whether the speed limit sign is the speed limit sign of the current lane, it is selected for use in the order of listing.

[0082] In certain specific embodiments, when multiple speed limit sign judgment information is used to determine whether the speed limit sign is the speed limit sign for the current lane, the information can be selected for use in the order of lane guide line information, wide lane line information, non-ramp sign information for non-speed limit signs, ramp sign information for non-speed limit signs, and the vehicle's previous speed limit information. That is, when the speed limit sign judgment information listed earlier appears, the speed limit sign judgment information listed earlier in the order is used, and one or more speed limit sign judgment information listed later in the order is not used to determine whether the speed limit sign is the speed limit sign for the current lane. Specifically, when multiple speed limit sign judgment information includes both lane guide line information and wide lane line information, the lane guide line information is selected in the order of listing to determine whether the speed limit sign is the speed limit sign for the current lane, while the wide lane line information is not used as the speed limit sign judgment information. Similarly, when multiple speed limit sign determination information includes three speed limit sign determination information items: wide lane marking information, non-ramp sign information for non-speed limit signs, and the vehicle's previous speed limit information, the wide lane marking information is used to determine whether the speed limit sign is the speed limit sign for the current lane, in the order listed above. The two speed limit sign determination information items: non-ramp sign information for non-speed limit signs and the vehicle's previous speed limit information are not used. In this embodiment, the various speed limit sign determination information items are arranged in order of accuracy to ensure that the algorithm prioritizes the more accurate determination information, thereby improving the accuracy of speed limit sign determination. In some embodiments, when multiple speed limit sign judgment information is used to determine whether the speed limit sign is the speed limit sign for the current lane, multiple speed limit sign judgment information can also be used to perform multiple calculations and judgments to obtain multiple judgment results, and then the multiple judgment results can be mutually verified or prioritized according to importance. In addition, after multiple judgment results are obtained using the above multiple information technologies, the final result can also be judged by a judgment algorithm to obtain the final judgment result. It should be understood that the above is only an exemplary description and does not impose any limitation on this application.

[0083] As an optional implementation, see Figure 3The method further comprises: determining the speed limit sign as the speed limit sign for the current lane based on at least one of the lane guide line information, wide lane line information, non-ramp sign information for non-speed limit signs, ramp sign information for non-speed limit signs, and the vehicle's previous speed limit information, in combination with the speed limit sign's position information and the vehicle's position information; including: determining the speed limit sign as the speed limit sign for the current lane based on the lane guide line information, in combination with the speed limit sign's position information and the vehicle's position information. Specifically, the method further comprises: determining the speed limit sign as the speed limit sign for the current lane based on the lane guide line information, in combination with the speed limit sign's position information and the vehicle's position information; including: obtaining the relative positional relationship between the lane guide line, the speed limit sign, and the vehicle based on the lane guide line information, the speed limit sign's position information, and the vehicle's position information; and determining the speed limit sign as the speed limit sign for the current lane when the speed limit sign and the lane guide line are located on both sides of the vehicle, respectively, and the lateral distance between the speed limit sign and the lane guide line is less than a preset threshold.

[0084] Specifically, lane guide lines are typically located at highway ramp exits, often appearing as white V-shaped or diagonally striped areas. They serve to alert drivers to a diversion ahead and changes in road conditions. If a lane line type is detected as a guide line in the lane markings on the left or right side of the vehicle, the guide line is deemed to be present. It is worth noting that guide lines are typically V-shaped. If two guide lines are detected on one side of the vehicle, the guide line farther from the vehicle is selected as the basis for judgment. Furthermore, in some road conditions, when the guide line is not located at the diversion between the main lane and the ramp, but on the far left or right side of the road, to avoid speed limit omissions in such scenarios, if a guide line is detected without a left-left lane line or a right-right lane line (on the right side of the vehicle, the lane line closest to the vehicle is recorded as the right lane line, and the second closest is recorded as the right-right lane line; similarly for the left side), the guide line is deemed to be on the far left or right side of the road. In this case, the guide line is deemed invalid, and the speed limit sign is not screened out or retained. Considering that the placement of speed limit signs is not fixed, there may still be a ramp speed limit sign at the ramp entrance after the guide line disappears. Therefore, it can be set that during the short period of time when the guide line disappears, the guide line is considered to exist, and its lateral distance to the vehicle is the lateral distance before disappearance.

[0085] Once the guide line is confirmed to exist, the positional relationship between the guide line and the speed limit sign, as well as the lateral distance between the current vehicle and the guide line, is determined. If the speed limit sign and guide line are located on either side of the vehicle, and the lateral distance between them is less than a threshold, the speed limit is considered to be the valid speed limit for the current road and is retained. The vehicle's travel speed is controlled based on the speed limit information, and this information is displayed or displayed as a reminder.

[0086] Specifically, the method determines, based on the lane guide line information, in combination with the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign for the current lane; including: obtaining, based on the lane guide line information, the position information of the speed limit sign and the vehicle position information, the relative position relationship between the lane guide line, the speed limit sign and the vehicle; when the speed limit sign and the lane guide line are located on the same side of the vehicle and the lateral distance between the speed limit sign and the lane guide line is greater than a preset threshold, determining that the speed limit sign is not the speed limit sign for the current lane.

[0087] Specifically, when a speed limit sign and a guide line are located on the same side of the vehicle, if the lateral distance of the speed limit sign exceeds a certain threshold from the guide line, the vehicle is deemed to have detected a ramp speed limit while traveling on a main road, or to have detected a main road speed limit while on a ramp. This means the detected speed limit is the speed limit of another road and the vehicle is screened out. The speed limit indication is not controlled for the vehicle, and no external display or reminder is provided. Furthermore, when a speed limit sign and a guide line are located on opposite sides of the vehicle, if the lateral distance of the speed limit sign exceeds a certain threshold from the guide line, the speed limit sign is not evaluated. Alternatively, when a speed limit sign and a guide line are located on the same side of the vehicle, if the lateral distance of the speed limit sign is less than a certain threshold from the guide line, the speed limit sign is not evaluated.

[0088] As an optional implementation, see Figure 4 The method of determining the speed limit sign as the speed limit sign for the current lane based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information, includes: determining the speed limit sign as the speed limit sign for the current lane based on the wide lane line information, in combination with the position information of the speed limit sign and the vehicle position information. Specifically, the method of determining the speed limit sign as the speed limit sign for the current lane based on the wide lane line information, in combination with the position information of the speed limit sign and the vehicle position information, includes: obtaining the relative positional relationship between the wide lane line, the speed limit sign, and the vehicle based on the wide lane line information, the position information of the speed limit sign, and the vehicle position information; and determining the speed limit sign as the speed limit sign for the current lane when the speed limit sign and the wide lane line are respectively located on both sides of the vehicle and the lateral distance between the speed limit sign and the wide lane line is less than a preset threshold.

[0089] Specifically, on highways or main roads, when approaching a ramp exit, a widened road marking is placed on the road surface to prompt drivers to slow down before entering the ramp. Based on this, lane width can be used to assist in speed limit sign recognition. Specifically, when the width of the left or right lane marking of the current lane is determined to be greater than a certain threshold and persists for a period of time, the ramp condition is considered met and a wide lane marking is detected. This is considered to disappear when the lane marking width falls below a certain threshold. After the wide lane marking is detected, the positional relationship between the wide lane marking and the speed limit sign, as well as the lateral distance between the wide lane marking and the vehicle, is determined. If the speed limit sign and the wide lane marking are located on either side of the vehicle and the lateral distance between them is less than a threshold, the speed limit sign is considered the effective speed limit for the current road, and the speed limit is retained to control the vehicle's speed. The lateral distance between the speed limit sign and the wide lane marking can also be the difference between the lateral distances from the speed limit sign to the vehicle and the lateral distance from the wide lane marking to the vehicle.

[0090] Specifically, the method determines that the speed limit sign is the speed limit sign for the current lane based on the wide lane line information, combined with the position information of the speed limit sign and the vehicle position information; including: obtaining the relative position relationship between the wide lane line, the speed limit sign and the vehicle based on the wide lane line information, the position information of the speed limit sign and the vehicle position information; when the speed limit sign and the wide lane line are located on the same side of the vehicle, and the lateral distance between the speed limit sign and the wide lane line is greater than a preset threshold, determining that the speed limit sign is not the speed limit sign for the current lane.

[0091] If the speed limit sign and the wide lane marking are on the same side of the vehicle, and the lateral distance of the speed limit sign exceeds a certain threshold from the wide lane marking, the vehicle is deemed to have detected a ramp speed limit while traveling on a main road, or detected a main road speed limit while on a ramp. The detected speed limit sign is then determined not to be the speed limit sign for the current lane and is screened out. The vehicle is not controlled by the speed limit indication, and no external display or reminder is provided. Furthermore, when the speed limit sign and the wide lane marking are on either side of the vehicle, if the lateral distance of the speed limit sign exceeds a certain threshold from the lateral distance of the guide line, the speed limit sign is not determined. Alternatively, when the speed limit sign and the wide lane marking are on the same side of the vehicle, if the lateral distance of the speed limit sign is less than a certain threshold from the lateral distance of the guide line, the speed limit sign is not determined.

[0092] As an optional implementation, see Figure 5, determining the speed limit sign as the speed limit sign for the current lane based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information; including: determining the speed limit sign as the speed limit sign for the current lane based on the non-ramp sign information of the non-speed limit sign, in combination with the position information of the speed limit sign and the vehicle position information. Specifically, the determining, based on the non-ramp sign information of the non-speed limit sign, in combination with the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign for the current lane includes: obtaining, based on the non-ramp sign information of the non-speed limit sign, the position information of the speed limit sign and the vehicle position information, a relative positional relationship between the non-ramp sign of the non-speed limit sign, the speed limit sign and the vehicle; determining, when the height of the non-ramp sign of the non-speed limit sign is less than a certain threshold, and the speed limit sign and the non-ramp sign of the non-speed limit sign are respectively located on both sides of the vehicle, and the lateral distance and longitudinal distance between the speed limit sign and the wide lane line are both less than preset thresholds, the speed limit sign is determined to be the speed limit sign for the current lane.

[0093] The non-ramp sign of the non-speed limit sign can be other traffic signs that check for speed limit signs and ramp signs. In some road scenarios, when a vehicle passes a road fork, if there is no road information representing the lane division, then a non-ramp sign that is a non-speed limit sign placed on the ground and not suspended above the road can be used to assist in the identification of the speed limit sign. Specifically, non-ramp signs other than speed limit signs are detected, for example, other traffic signs such as weight limit and width limit; the position information of these other traffic signs is obtained, and the position information may include the height of the sign, the lateral distance of the sign from the vehicle, and the longitudinal distance of the sign from the vehicle, and the positional relationship between the other traffic signs and the speed limit sign is obtained. If multiple other traffic signs are detected at the same time, the sign that is closer to the vehicle is selected for calculation. In order to prevent the current road speed limit from being mistakenly missed in traffic scenarios such as gantry that is suspended above the road, other traffic signs can be height-restricted. When the height of other traffic signs is less than a threshold, if the non-ramp sign that is not a speed limit sign is located on the same side of the vehicle as the speed limit sign, and the difference in longitudinal distance from the vehicle is less than a threshold, and the lateral distance of the speed limit sign exceeds the lateral distance of the non-ramp sign that is not a speed limit sign by a certain threshold, then it is considered that there is a road fork, and it is determined that the vehicle has detected the ramp speed limit on the main road or the main road speed limit on the ramp. The detected speed limit sign is screened out, and neither a display nor a reminder is given, nor is the vehicle's driving controlled according to the content of the speed limit sign.

[0094] Specifically, the determining that the speed limit sign is the speed limit sign for the current lane based on the non-ramp sign information of the non-speed limit sign, combined with the position information of the speed limit sign and the vehicle position information, includes: obtaining the relative positional relationship between the non-ramp sign of the non-speed limit sign, the speed limit sign and the vehicle based on the non-ramp sign information of the non-speed limit sign, the position information of the speed limit sign and the vehicle position information; determining that the speed limit sign is not the speed limit sign for the current lane when the height of the non-ramp sign of the non-speed limit sign is less than a certain threshold, and the speed limit sign and the non-ramp sign of the non-speed limit sign are located on the same side of the vehicle, and the longitudinal distances between the speed limit sign and the wide lane line are both less than a preset threshold but the lateral distances are greater than a preset threshold.

[0095] If the height of the non-ramp sign that is not a speed limit sign is less than a certain threshold, and the non-ramp sign that is not a speed limit sign and the speed limit sign are located on both sides of the vehicle, and the difference in the longitudinal distance between the above two signs and the vehicle is less than the threshold, and the lateral distance is less than the threshold, then the detected speed limit sign is considered to be the effective speed limit of the current road, and the speed limit sign display and reminder will be retained, and the vehicle can be controlled according to the content of the speed limit sign.

[0096] In addition, when the height of a non-ramp sign that is not a speed limit sign is greater than a certain threshold, the currently detected speed limit sign will not be judged; when the height of a non-ramp sign that is not a speed limit sign is less than a certain threshold but does not meet the above judgment conditions, the speed limit sign will also not be judged.

[0097] As an optional implementation, see Figure 6 , determining the speed limit sign as the speed limit sign for the current lane based on at least one of the lane guide line information, wide lane line information, non-ramp sign information of a non-speed limit sign, ramp sign information of a non-speed limit sign, and previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information; including: determining the speed limit sign as the speed limit sign for the current lane based on the ramp sign information of the non-speed limit sign, in combination with the position information of the speed limit sign and the vehicle position information. Specifically, the determining, based on the ramp sign information of the non-speed limit sign, in combination with the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign for the current lane includes: obtaining, based on the ramp sign information of the non-speed limit sign, the position information of the speed limit sign and the vehicle position information, a relative positional relationship between the ramp sign of the non-speed limit sign, the speed limit sign and the vehicle; and determining, when the vehicle is currently in a ramp or has an intention to enter a ramp, and the ramp sign of the non-speed limit sign and the speed limit sign are both located on the right side of the vehicle, that the speed limit sign is the speed limit sign for the current lane.

[0098] The ramp sign information other than a speed limit sign can be a ramp speed limit sign. For example, some ramp speed limit signs may have the Chinese characters "Ramp" or "Ramp" or a ramp symbol such as a right-turn arrow below them, indicating that the speed limit sign is for the ramp. Specifically, if a speed limit sign is detected to the right of the vehicle in the camera-captured image and a ramp sign is below it, and if the vehicle is determined to be within the ramp or intending to enter the ramp, the speed limit sign is determined to be the speed limit sign for the current lane, the speed limit information is displayed, and vehicle movement can be controlled according to the speed limit sign. Determining whether a vehicle is on a ramp can specifically include: if the vehicle is not in the rightmost lane or the road is wide, the vehicle is deemed not to be on the ramp. Considering that ramps on highways are generally wide, with at least three lanes, and in some road scenarios, ramps have two lanes, to prevent the ramp speed limit from being missed when the vehicle is traveling on the left side of the ramp in a two-lane scenario, the speed limit detection function is configured to display when the overall road width is narrow. Specifically: if the left and right curbs are detected at the same time and the distance between them is less than the threshold, or the left lane line is not detected but the left curb is detected, and the lateral distance between the vehicle and the ramp speed limit is less than the threshold, or the left lane line is detected and the lateral distance between the vehicle and the left curb is less than the threshold, and the lateral distance between the vehicle and the speed limit sign is less than the threshold, then the road is considered to be narrow and the speed limit sign is the effective speed limit for the current lane and can be displayed. Otherwise, it is judged that the road is wide and the validity of the speed limit sign is not judged. In addition, the turn signal status can be used to determine whether the vehicle intends to enter the ramp. Considering that the vehicle will also turn on the right turn signal when changing lanes to the right on the main road, combined with the vehicle's off-ramp situation in real life scenarios, the ramp speed limit is set to be recognized. If the vehicle is in the rightmost lane or the second lane on the right and the speed is not high, if the right turn signal is turned on, it is determined that the vehicle intends to enter the ramp. Specifically, if the speed limit is on the right side of the vehicle, the lateral distance to the vehicle is less than the threshold, or the right lane line is not detected but the right curb is detected, or the right lane line and the right curb are detected and the distance between them is less than the threshold, and the vehicle's speed is less than the threshold, and the right turn signal is turned on or turned off for a certain period of time, the vehicle is determined to have an intention to enter the ramp. Otherwise, the vehicle has no intention to enter the ramp.

[0099] Specifically, the speed limit sign is determined to be the speed limit sign for the current lane based on the ramp sign information of the non-speed limit sign, combined with the position information of the speed limit sign and the vehicle position information; including: obtaining the relative position relationship between the ramp sign of the non-speed limit sign, the speed limit sign and the vehicle based on the ramp sign information of the non-speed limit sign, the speed limit sign and the vehicle position information; when the vehicle is not currently in the ramp and has no intention of entering the ramp, and the ramp sign of the non-speed limit sign and the speed limit sign are both located on the right side of the vehicle, determining that the speed limit sign is not the speed limit sign for the current lane. Specifically, when it is detected that the speed limit sign is located on the right side of the vehicle and has a ramp sign, or when the ramp sign and the speed limit sign are both located on the right side of the vehicle, and the vehicle is not on the ramp, and it is determined that the vehicle's driving status has no intention of entering the ramp, the detected speed limit is filtered out and not displayed or prompted.

[0100] As an optional implementation, see Figure 7 , determining the speed limit sign as the speed limit sign for the current lane based on at least one of the lane guide line information, wide lane line information, non-ramp sign information of the non-speed limit sign, ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information; includes: determining the speed limit sign as the speed limit sign for the current lane based on the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information. The method of determining, based on the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign for the current lane includes: obtaining a relative positional relationship between the speed limit sign and the vehicle based on the previous speed limit information of the vehicle, the position information of the speed limit sign, and the vehicle position information; and determining that the speed limit sign is not the speed limit sign for the current lane when the vehicle is traveling from a highway to a ramp, the previous speed limit information of the vehicle is greater than or equal to a preset threshold, the speed limit information of the speed limit sign is less than or equal to the preset threshold, the current vehicle speed is greater than the preset threshold, the speed limit sign is located on the right side of the vehicle, the vehicle is not currently in the ramp and has no intention of entering the ramp, and the height of the speed limit sign is less than a preset threshold.

[0101] Specifically, because some ramp speed limit signs lack ramp markings and are not accompanied by guide lines, lane width markings, or other traffic signs, only the speed limit value and location information are available. In these cases, the previous speed limit can be used for auxiliary identification. The previous speed limit refers to the previous speed limit output by our speed limit processing module when a speed limit is detected, rather than the previous speed limit displayed by the onboard system. This ensures that the previous speed limit is not affected by the intelligent speed limit system's on / off function, preventing the previous speed limit from being updated in real time due to a switch being turned off. Utilizing previous speed limit information includes detecting a ramp speed limit on a highway and detecting a speed limit on a highway. When a vehicle is traveling from a highway onto a ramp, a ramp speed limit is detected on the highway. Specifically, the following steps are performed: obtaining the location information of the previous speed limit, including the lateral and longitudinal distances from the speed limit sign to the vehicle, and the speed limit height; obtaining information on the turn signal status and lane marking distance to determine whether the vehicle is on a ramp or about to enter a ramp; and obtaining vehicle speed and road type. The steps for determining whether a vehicle is on a ramp or intends to enter a ramp can be found in the aforementioned embodiments or examples. Determine whether a ramp speed limit is detected on a highway, or whether a highway speed limit is detected on a ramp.

[0102] Determine whether a ramp speed limit has been detected on the highway. Specifically, the previous speed limit is greater than or equal to a threshold (the minimum speed limit on highways is usually 60 km / h, and this threshold can be set to 60 km / h), and the current speed limit is less than or equal to a threshold (which can be set to 40 km / h), and the vehicle speed is greater than the threshold, and the currently detected speed limit is on the right side of the vehicle, and the vehicle is not on a ramp and has no intention of entering the ramp, and the height of the speed limit sign is less than the threshold (taking into account the speed limit signs used for construction on highways that are suspended above the lanes, their height is high but the speed limit values are low, and it is necessary to avoid missing such speed limits), and the road type is high-speed, fast, invalid, or unknown (taking into account that not all vehicles have access to road type information, or the type may be incorrect when the signal is poor, judgment can also be made when the road type is invalid or unknown). If the above conditions are met at the same time, it is determined that the vehicle is traveling on a highway, a ramp speed limit sign is detected, and the speed limit sign is filtered out and not displayed; otherwise, the speed limit sign is determined to be the speed limit sign for the current lane, the speed limit sign content is displayed, and the vehicle driving is controlled according to the speed limit sign content.

[0103] As an optional implementation manner, the method of determining that the speed limit sign is the speed limit sign for the current lane based on the previous speed limit information of the vehicle, combined with the position information of the speed limit sign and the vehicle position information, includes: obtaining a relative position relationship between the speed limit sign and the vehicle based on the previous speed limit information of the vehicle, the position information of the speed limit sign and the vehicle position information; when the vehicle travels from a ramp to a highway, the previous speed limit information of the vehicle is less than or equal to a preset threshold, the speed limit information of the speed limit sign is greater than or equal to the preset threshold, the current vehicle speed is greater than the preset threshold, the speed limit sign is located on the right side of the vehicle, the vehicle is not currently in the ramp and has no intention of entering the ramp, and the height of the speed limit sign is less than a preset threshold, determining that the speed limit sign is not the speed limit sign for the current lane.

[0104] Specifically, when the expressway is located on the left side of a ramp and the vehicle is traveling on the ramp, the expressway is at a higher elevation than the ramp. When the vehicle is traveling from the ramp onto the expressway, it is determined whether the expressway speed limit has been detected on the ramp. Specifically, if the previous speed limit is less than or equal to a threshold, the current speed limit is greater than or equal to the threshold, the currently detected speed limit is located on the left side of the vehicle and its lateral distance from the vehicle is greater than a threshold, the current speed limit is higher than the previous speed limit and exceeds the threshold, the road type is not express or fast, and the vehicle has no intention of entering the expressway. If all of the above conditions are met, the vehicle is deemed to be traveling on a ramp and has detected a speed limit, and the speed limit sign will not be displayed. Otherwise, the speed limit sign will be displayed, and vehicle travel will be controlled based on the speed limit sign.

[0105] The present application also provides a device, which includes a speed limit sign judgment device, wherein the device is used to execute the speed limit sign judgment method as described in any of the above embodiments.

[0106] The present application also provides a computer device, comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the programs stored in the memory are executed, the processor is used to execute the method for determining the speed limit sign as described in any of the above embodiments.

[0107] The present application also provides a computer storage medium, wherein the computer storage medium stores instructions. When the instructions are executed on a computer, the computer executes the method for determining a speed limit sign as described in any of the above embodiments.

[0108] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0109] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0110] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0111] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for determining a speed limit sign, characterized in that: The method comprises: Obtaining speed limit information and location information of the speed limit sign; Obtain vehicle location information and speed limit sign judgment information; When it is determined that the speed limit sign is the speed limit sign of the current lane based on the position information of the speed limit sign, the vehicle position information and the speed limit sign judgment information, the driving speed of the vehicle is controlled according to the speed limit information.

2. The judgment method according to claim 1, characterized in that: The speed limit sign determination information includes at least one of lane line information, non-speed limit sign information, and historical speed limit information of the vehicle.

3. The judgment method according to claim 2, characterized in that: The speed limit sign judgment information includes at least one of lane guide line information, wide lane line information, non-ramp sign information of non-speed limit signs, ramp sign information of non-speed limit signs, and previous speed limit information of the vehicle.

4. The judgment method according to claim 3, characterized in that: The step of determining, based on the position information of the speed limit sign, the vehicle position information, and the speed limit sign judgment information, that the speed limit sign is the speed limit sign of the current lane comprises: The speed limit sign is determined to be the speed limit sign for the current lane based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, in combination with the position information of the speed limit sign and the vehicle position information.

5. The judgment method according to claim 4, characterized in that: When multiple information including the lane guide line information, wide lane line information, non-ramp sign information of non-speed limit signs, ramp sign information of non-speed limit signs and the vehicle's previous speed limit information is used to determine whether the speed limit sign is the speed limit sign of the current lane, it is selected for use in the order of listing.

6. The judgment method according to claim 3, characterized in that: The method of determining, based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, and combining the position information of the speed limit sign and the vehicle position information, comprises: The speed limit sign is determined to be the speed limit sign for the current lane based on the lane guide line information and in combination with the position information of the speed limit sign and the vehicle position information.

7. The judgment method according to claim 6, characterized in that: The determining, based on the lane guide line information, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane comprises: Obtaining a relative positional relationship between the lane guide line, the speed limit sign, and the vehicle based on the lane guide line information, the speed limit sign position information, and the vehicle position information; When the speed limit sign and the lane guide line are respectively located on both sides of the vehicle and a lateral distance between the speed limit sign and the lane guide line is less than a preset threshold, the speed limit sign is determined to be the speed limit sign for the current lane.

8. The judgment method according to claim 6, characterized in that: The determining, based on the lane guide line information, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane comprises: Obtaining a relative positional relationship between the lane guide line, the speed limit sign, and the vehicle based on the lane guide line information, the speed limit sign position information, and the vehicle position information; When the speed limit sign and the lane guide line are located on the same side of the vehicle and a lateral distance between the speed limit sign and the lane guide line is greater than a preset threshold, it is determined that the speed limit sign is not the speed limit sign of the current lane.

9. The judgment method according to claim 3, characterized in that: The method of determining, based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, and combining the position information of the speed limit sign and the vehicle position information, comprises: According to the wide lane marking information, combined with the position information of the speed limit sign and the vehicle position information, it is determined that the speed limit sign is the speed limit sign of the current lane.

10. The judgment method according to claim 9, characterized in that: The step of determining, based on the wide lane line information, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane comprises: Obtaining a relative positional relationship between the wide lane marking, the speed limit sign, and the vehicle based on the wide lane marking information, the position information of the speed limit sign, and the vehicle position information; When the speed limit sign and the wide lane marking are respectively located on both sides of the vehicle and a lateral distance between the speed limit sign and the wide lane marking is less than a preset threshold, the speed limit sign is determined to be the speed limit sign for the current lane.

11. The judgment method according to claim 9, characterized in that: The step of determining, based on the wide lane line information, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane comprises: Obtaining a relative positional relationship between the wide lane marking, the speed limit sign, and the vehicle based on the wide lane marking information, the position information of the speed limit sign, and the vehicle position information; When the speed limit sign and the wide lane marking are located on the same side of the vehicle and a lateral distance between the speed limit sign and the wide lane marking is greater than a preset threshold, it is determined that the speed limit sign is not the speed limit sign of the current lane.

12. The judgment method according to claim 3, characterized in that: The method of determining, based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, and combining the position information of the speed limit sign and the vehicle position information, comprises: According to the non-ramp sign information of the non-speed limit sign, combined with the position information of the speed limit sign and the vehicle position information, it is determined that the speed limit sign is the speed limit sign of the current lane.

13. The judgment method according to claim 12, characterized in that: The step of determining, based on the non-ramp sign information of the non-speed limit sign, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane comprises: Obtaining a relative positional relationship between the non-ramp sign of the non-speed limit sign, the speed limit sign, and the vehicle based on the non-ramp sign information of the non-speed limit sign, the position information of the speed limit sign, and the vehicle position information; When the height of the non-ramp sign of the non-speed limit sign is less than a certain threshold, the speed limit sign and the non-ramp sign of the non-speed limit sign are respectively located on both sides of the vehicle, and the lateral distance and longitudinal distance between the speed limit sign and the wide lane line are both less than preset thresholds, the speed limit sign is determined to be the speed limit sign for the current lane.

14. The judgment method according to claim 12, characterized in that: The step of determining, based on the non-ramp sign information of the non-speed limit sign, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane comprises: Obtaining a relative positional relationship between the non-ramp sign of the non-speed limit sign, the speed limit sign, and the vehicle based on the non-ramp sign information of the non-speed limit sign, the position information of the speed limit sign, and the vehicle position information; When the height of the non-ramp sign that is not a speed limit sign is less than a certain threshold, and the speed limit sign and the non-ramp sign that is not a speed limit sign are located on the same side of the vehicle, and the longitudinal distance between the speed limit sign and the wide lane marking is less than a preset threshold but the lateral distance is greater than a preset threshold, it is determined that the speed limit sign is not the speed limit sign for the current lane.

15. The judgment method according to claim 3, characterized in that: The method of determining, based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, and combining the position information of the speed limit sign and the vehicle position information, comprises: The speed limit sign is determined to be the speed limit sign for the current lane based on the ramp sign information of the non-speed limit sign and in combination with the position information of the speed limit sign and the vehicle position information.

16. The determination method according to claim 15, characterized in that: The step of determining, based on the ramp sign information of the non-speed limit sign and in combination with the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane comprises: Obtaining a relative positional relationship between the ramp sign of the non-speed limit sign, the speed limit sign, and the vehicle based on the ramp sign information of the non-speed limit sign, the position information of the speed limit sign, and the vehicle position information; When the vehicle is currently in a ramp or intends to enter a ramp, and the ramp sign that is not a speed limit sign and the speed limit sign are both located on the right side of the vehicle, the speed limit sign is determined to be the speed limit sign for the current lane.

17. The determination method according to claim 15, characterized in that: The step of determining, based on the ramp sign information of the non-speed limit sign and in combination with the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane comprises: Obtaining a relative positional relationship between the ramp sign of the non-speed limit sign, the speed limit sign, and the vehicle based on the ramp sign information of the non-speed limit sign, the position information of the speed limit sign, and the vehicle position information; When the vehicle is not currently in a ramp and has no intention of entering the ramp, and the ramp sign that is not a speed limit sign and the speed limit sign are both located on the right side of the vehicle, it is determined that the speed limit sign is not the speed limit sign of the current lane.

18. The judgment method according to claim 3, characterized in that: The method of determining, based on at least one of the lane guide line information, the wide lane line information, the non-ramp sign information of the non-speed limit sign, the ramp sign information of the non-speed limit sign, and the previous speed limit information of the vehicle, and combining the position information of the speed limit sign and the vehicle position information, comprises: According to the previous speed limit information of the vehicle, combined with the position information of the speed limit sign and the vehicle position information, it is determined that the speed limit sign is the speed limit sign of the current lane.

19. The determination method according to claim 18, characterized in that: The step of determining, based on the previous speed limit information of the vehicle, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane comprises: Obtaining a relative positional relationship between the speed limit sign and the vehicle based on the previous speed limit information of the vehicle, the position information of the speed limit sign, and the vehicle position information; When the vehicle is traveling from a highway toward a ramp, the previous speed limit information of the vehicle is greater than or equal to a preset threshold, the speed limit information of the speed limit sign is less than or equal to the preset threshold, the current vehicle speed is greater than the preset threshold, the speed limit sign is located on the right side of the vehicle, the vehicle is not currently in the ramp and has no intention of entering the ramp, and the height of the speed limit sign is less than the preset threshold, it is determined that the speed limit sign is not the speed limit sign for the current lane.

20. The determination method according to claim 18, wherein: The step of determining, based on the previous speed limit information of the vehicle, the position information of the speed limit sign and the vehicle position information, that the speed limit sign is the speed limit sign of the current lane comprises: Obtaining a relative positional relationship between the speed limit sign and the vehicle based on the previous speed limit information of the vehicle, the position information of the speed limit sign, and the vehicle position information; When the vehicle is traveling from a ramp to a highway, the previous speed limit information of the vehicle is less than or equal to a preset threshold, the speed limit information of the speed limit sign is greater than or equal to the preset threshold, the current vehicle speed is greater than the preset threshold, the speed limit sign is located on the right side of the vehicle, the vehicle is not currently in the ramp and has no intention of entering the ramp, and the height of the speed limit sign is less than the preset threshold, it is determined that the speed limit sign is not the speed limit sign for the current lane.

21. A device, characterized in that The device comprises a speed limit sign judgment device, wherein the device is used to execute the speed limit sign judgment method according to any one of claims 1 to 20.

22. A computer device, characterized in that: include: at least one memory for storing a program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the speed limit sign judgment method according to any one of claims 1 to 20.

23. A computer storage medium, wherein instructions are stored in the computer storage medium, and when the instructions are executed on a computer, the computer executes the method for determining a speed limit sign according to any one of claims 1 to 20.

Images