Method and system for determining speed limit of vehicle according to speed limit board information
By identifying the positional relationship and speed limit value of speed limit signs, and combining the speed limit sign information stored in the vehicle with the speed limit sign information of adjacent lanes, the problem of determining the speed limit when the speed limit sign is obscured or when multiple speed limit signs exist is solved, thus achieving precision and safety in vehicle speed control.
Patent Information
- Application Number
- CN202410726280.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-05
- Publication Date
- 2025-12-05
AI Technical Summary
In vehicle driver assistance or autonomous driving systems, existing technologies struggle to effectively identify and apply speed limit sign information, especially when the speed limit sign is obscured or multiple speed limit signs are present, in order to determine the speed limit value of the lane where the vehicle is located.
By identifying the location and speed limit values of speed limit signs, and using the speed limit sign information stored in the vehicle, combined with the speed limit sign information of adjacent lanes, the maximum speed limit that the vehicle must comply with can be determined.
It enables accurate determination of the speed limit in the lane where the vehicle is located, even when the speed limit sign is obscured or multiple speed limit signs are present, thus improving the accuracy and safety of vehicle speed control.
Smart Images
Figure CN121075151A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to a method for determining a speed limit of a vehicle according to speed limit sign information, a system for determining a speed limit of a vehicle according to speed limit sign information, a vehicle having the system, a computer program product and a computer readable storage medium for executing the method. BACKGROUND
[0002] In an assisted driving system or an automatic driving system of a vehicle, the vehicle perceives the surrounding environment by using sensors, and assists or replaces the driver to control the travel of the vehicle according to useful environmental information.
[0003] In a traffic sign recognition (TSR) system, road signs appearing on the road traveled by a motor vehicle can be recognized, and displayed and / or warned to the driver accordingly, so as to improve the driving safety. In addition, in a speed recognition limit (SRL) system based on vehicle detection information, the travel speed of a vehicle can be controlled according to a speed limit traffic sign. For example, when the vehicle is in a cruise control or adaptive cruise control or automatic driving state, the vehicle can determine the road speed limit according to the recognized speed limit sign, and can further limit the maximum travel speed of the vehicle or issue a prompt when the vehicle exceeds the speed limit. SUMMARY
[0004] The present application provides a method for determining a speed limit of a vehicle according to speed limit sign information. In a case where a speed limit sign of a lane where the vehicle is located can be recognized, the speed limit sign of the current lane can be used. In a case where a speed limit sign of a lane where the vehicle is located cannot be recognized, a speed limit value on a speed limit sign of an adjacent lane can be used.
[0005] The present application provides a method for determining a speed limit of a vehicle according to speed limit sign information, the method comprising: obtaining stored speed limit sign information in the vehicle, the stored speed limit sign information comprising first position information and a first speed limit value of a first speed limit sign; determining first position relationship information according to the first position information, the first position relationship information being used to describe a position relationship between the first speed limit sign and a lane where the vehicle is located; obtaining second speed limit sign information in a road, the second speed limit sign information comprising second position information and a second speed limit value of a second speed limit sign; determining second position relationship information according to the second position information, the second position relationship information being used to describe a position relationship between the second speed limit sign and the lane where the vehicle is located; and processing the stored speed limit sign information based on the second position relationship information and the first position relationship information.
[0006] In embodiments according to the present disclosure, processing the stored speed limit sign information based on the second position relationship information and the first position relationship information comprises: determining whether the second speed limit sign and the first speed limit sign correspond to the lane in which the vehicle is located based on the second position relationship information and the first position relationship information; and in the case that the second speed limit sign and / or the first speed limit sign correspond to the lane in which the vehicle is located, processing the stored speed limit sign information according to the first speed limit value and / or the second speed limit value included in the speed limit sign corresponding to the lane in which the vehicle is located in the second speed limit sign and / or the first speed limit sign.
[0007] In embodiments according to the present disclosure, in the case that the second speed limit sign and the first speed limit sign both correspond to the lane in which the vehicle is located, the stored speed limit sign information is processed according to the maximum value between the first speed limit value and the second speed limit value.
[0008] In embodiments according to the present disclosure, processing the stored speed limit sign information based on the second position relationship information and the first position relationship information comprises: determining whether the second speed limit sign and the first speed limit sign correspond to the lane in which the vehicle is located based on the second position relationship information and the first position relationship information; and in the case that neither the second speed limit sign nor the first speed limit sign corresponds to the lane in which the vehicle is located, processing the stored speed limit sign information according to the maximum value between the first speed limit value and the second speed limit value.
[0009] In embodiments according to the present disclosure, processing the stored speed limit sign information based on the second position relationship information and the first position relationship information comprises: if the second speed limit sign corresponds to the lane in which the vehicle is located and the first speed limit sign does not correspond to the lane in which the vehicle is located, updating the stored speed limit sign information with the second speed limit sign information.
[0010] In embodiments according to the present disclosure, processing the stored speed limit sign information based on the second position relationship information and the first position relationship information comprises: if the second speed limit sign and the first speed limit sign both correspond to the lane in which the vehicle is located, comparing the second speed limit value with the first speed limit value, and if the second speed limit value is greater than the first speed limit value, updating the stored speed limit sign information with the second speed limit sign information.
[0011] In embodiments according to the present disclosure, processing the stored speed limit sign information based on the second position relationship information and the first position relationship information comprises comparing the second speed limit value with the first speed limit value if neither the second speed limit sign nor the first speed limit sign corresponds to the lane in which the vehicle is located, and updating the stored speed limit sign information with the second speed limit sign information if the second speed limit value is greater than the first speed limit value.
[0012] In embodiments according to the present disclosure, determining second position relationship information from the second position information and / or determining first position relationship information from the first position information comprises determining a lateral distance of the position of the second speed limit sign and / or the first speed limit sign to the lane in which the vehicle is located, wherein the lateral distance extends perpendicular to a direction in which the lane extends, and comparing the lateral distance to a lateral distance threshold to determine whether the second speed limit sign and / or the first speed limit sign corresponds to the lane in which the vehicle is located.
[0013] In embodiments according to the present disclosure, the lateral distance threshold is in a range of 2 to 5 meters. Exemplarily, the lateral distance threshold is 3 meters.
[0014] In embodiments according to the present disclosure, if the second speed limit sign information comprises a plurality of speed limit values, a maximum value of the plurality of speed limit values is determined as the second speed limit value.
[0015] The present disclosure also provides a system for determining a speed limit of a vehicle from speed limit sign information, the system comprising: a storage unit providing stored speed limit sign information, the stored speed limit sign information comprising first position information of a first speed limit sign and a first speed limit value; an image recording unit configured to record a second speed limit sign in a road; an image recognition unit configured to recognize second position information of the second speed limit sign and a second speed limit value; a control unit configured to perform the following steps: determining whether the second speed limit sign corresponds to a lane in which the vehicle is located from the second position information; determining whether the first speed limit sign corresponds to the lane in which the vehicle is located from the first position information; updating the stored speed limit sign information with the second speed limit sign information if the second speed limit sign corresponds to the lane in which the vehicle is located and the first speed limit sign does not correspond to the lane in which the vehicle is located; comparing the second speed limit value with the first speed limit value if both the second speed limit sign and the first speed limit sign correspond to the lane in which the vehicle is located, and updating the stored speed limit sign information with the second speed limit sign information if the second speed limit value is greater than the first speed limit value; and comparing the second speed limit value with the first speed limit value if neither the second speed limit sign nor the first speed limit sign corresponds to the lane in which the vehicle is located, and updating the stored speed limit sign information with the second speed limit sign information if the second speed limit value is greater than the first speed limit value.
[0016] In an embodiment according to the present disclosure, the control unit is configured to limit the speed of the vehicle according to the first speed limit value in the stored speed limit sign information.
[0017] In an embodiment according to the present disclosure, the control unit is configured to issue a warning if the speed of the vehicle is greater than the first speed limit value in the stored speed limit sign information.
[0018] The present disclosure also provides a vehicle having a system according to the above described embodiments.
[0019] The present disclosure also provides a computer program product comprising a computer program which, when executed by a processor, is configured to perform a method for determining a speed limit for a vehicle according to speed limit sign information according to the above described embodiments.
[0020] The present disclosure also provides a computer readable storage medium having stored thereon computer executable instructions which, when executed by a processor, are configured to perform a method for determining a speed limit for a vehicle according to speed limit sign information according to the above described embodiments. BRIEF DESCRIPTION OF DRAWINGS
[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the description of the embodiments. Obviously, the drawings in the following description are only some example embodiments of the present disclosure, and other embodiments can also be obtained by those of ordinary skill in the art without creative effort based on these embodiments.
[0022] Herein, in the drawings:
[0023] Figure 1 a schematic diagram of a road having multiple lanes is shown, wherein for each lane a speed limit sign is arranged,
[0024] Figure 2 a state diagram of a method according to an embodiment of the present disclosure is shown,
[0025] Figure 3 a schematic flow chart of a method for determining a speed limit for a vehicle according to speed limit sign information according to an embodiment of the present disclosure is shown.
[0026] Figure 4 a system for determining a speed limit for a vehicle according to speed limit sign information according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION
[0027] In order to make the objects, technical solutions and advantages of the present disclosure more obvious, the following will describe the example embodiments according to the present disclosure in detail with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the example embodiments described herein.
[0028] In addition, in the present specification and drawings, the steps and elements with substantially the same or similar functions are denoted by the same or similar reference numerals, and repeated description of these steps and elements will be omitted.
[0029] In addition, in the present specification and drawings, according to the embodiments, the elements are described in singular or plural form. However, the selection of singular and plural forms for the proposed case is only for the convenience of explanation and is not intended to limit the present disclosure to this. Therefore, the singular form can include the plural form, and the plural form can also include the singular form, unless the context clearly indicates otherwise.
[0030] In addition, in the present specification and drawings, the term "first / second" involved is only to distinguish similar objects, and does not represent the specific order of the objects. Understandably, "first / second" can be interchanged with the specific order or sequence as allowed, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.
[0031] In addition, in the present specification and drawings, the terms "up", "down", "vertical", "horizontal", etc. used in relation to the orientation or positional relationship of the terms used in the embodiments according to the present disclosure are only for the convenience of description, and are not intended to limit the present disclosure to this. Therefore, it should not be understood as a limitation on the present disclosure.
[0032] Figure 1 A schematic view of a highway 100 with multiple lanes is shown, with a speed limit sign arranged for each lane. On a highway with multiple lanes, the speed limit signs for each lane are usually arranged above the highway through a gantry. For example, in Figure 1In the illustrated highway 100, the highway 100 has a first lane 111, a second lane 112 and a third lane 113. Above the highway 100, a first speed limit sign 121, a second speed limit sign 122 and a third speed limit sign 123 are arranged by gantry. The first speed limit sign 121 is used to indicate the maximum speed (100 km / h) and the minimum speed (60 km / h) allowed on the first lane 111; the second speed limit sign 122 is used to indicate the maximum speed (110 km / h) and the minimum speed (90 km / h) allowed on the second lane 112, and the third speed limit sign 123 is used to indicate the maximum speed (120 km / h) and the minimum speed (100 km / h) allowed on the third lane 113. In other words, the first speed limit sign 121, the second speed limit sign 122 and the third speed limit sign 123 correspond to the first lane 111, the second lane 112 and the third lane 113 respectively.
[0033] When a vehicle is driving in one of the three lanes 111, 112 and 113, the vehicle needs to comply with the speed limit indication, especially the maximum speed allowed, corresponding to the current lane.
[0034] In other roads, speed limit signs can be arranged on both sides of the road or other positions. In this case, different speed limit signs correspond to different lanes in the road. For example, the speed limit sign on the left side of the road corresponds to the left lane, and the speed limit sign on the right side of the road corresponds to the right lane.
[0035] Under the assisted driving or autonomous driving function of the vehicle, the vehicle is able to recognize the speed limit indications on these speed limit signs by using its camera. In order to determine which of the recognized speed limit indications at a certain moment is the maximum speed limit that the current vehicle needs to comply with, the present disclosure provides a method for determining the speed limit sign of the current lane based on the lateral distance of the vehicle to the speed limit sign. According to an exemplary embodiment of the present disclosure, the recognized speed limit indications at a certain moment are "polled" and the appropriate speed limit sign information is determined according to the following rules: first, when the vehicle recognizes multiple speed limit signs, the vehicle gives priority to the speed limit sign corresponding to the current lane, and if the speed limit sign of the current lane is blocked, the speed limit sign of the adjacent lane is used. Second, if there are multiple speed limit indications in the speed limit sign to be used, the speed limit indication with the largest value is used, which represents the maximum speed limit for the vehicle in that lane.
[0036] Figure 2 A state diagram of the method according to an embodiment of the present disclosure is shown. The vehicle first obtains and stores one speed limit sign information, i.e. the position information of the first speed limit sign and the first speed limit value. The first speed limit value may, for example, be the speed limit value on the first speed limit sign recognized by the vehicle. In the absence of recognition of another speed limit sign or speed limit value, the maximum speed of the vehicle is limited to the first speed limit value at the moment.
[0037] When a new speed limit sign is recognized by the vehicle while driving, i.e. the position information and the second speed limit value of the second speed limit sign are obtained, according to embodiments of the present disclosure, whether the second speed limit value should replace the first speed limit value stored in the vehicle can be determined based on the second position relationship information and the first position relationship information, i.e. whether the second speed limit sign and the first speed limit sign correspond to the lane where the vehicle is located, and the size relationship between the first speed limit value and the second speed limit value. Specifically, whether the second speed limit value should replace the first speed limit value can be considered in the following four states:
[0038] In the first state 210, the first speed limit sign corresponding to the first speed limit value corresponds to the lane where the vehicle is located (i.e. the current lane), and the second speed limit sign corresponding to the second speed limit value also corresponds to the lane where the vehicle is located. In the first state 210, both the first speed limit value and the second speed limit value are considered as the speed limit for the current lane. The first speed limit value is compared with the second speed limit value. If the second speed limit value is greater than the first speed limit value, the second speed limit value replaces the first speed limit value stored in the vehicle for limiting the maximum speed of the vehicle. If the second speed limit value is less than the first speed limit value, the first speed limit value is not replaced.
[0039] In the second state 220, the first speed limit sign corresponding to the first speed limit value does not correspond to the lane where the vehicle is located, and the second speed limit sign corresponding to the second speed limit value also does not correspond to the lane where the vehicle is located. In the second state 220, both the first speed limit value and the second speed limit value are considered as the speed limit for the adjacent lane or other lane. The second state 220 can occur when the front view of the vehicle is blocked. For example, when the front vehicle of the vehicle is a large truck or bus, the speed limit sign on the portal frame in front of the vehicle can be blocked. In the second state 220, the speed limit value on the speed limit sign corresponding to the adjacent lane or other lane is used by the vehicle to limit the current speed. In the second state 220, the first speed limit value is compared with the second speed limit value. If the second speed limit value is greater than the first speed limit value, the second speed limit value replaces the first speed limit value stored in the vehicle for limiting the maximum speed of the vehicle. If the second speed limit value is less than the first speed limit value, the first speed limit value is not replaced.
[0040] In the third state 230, the first speed limit sign corresponding to the first speed limit value corresponds to the lane where the vehicle is located, and the second speed limit sign corresponding to the second speed limit value does not correspond to the lane where the vehicle is located. In the third state 230, the first speed limit value is considered as the speed limit for the current lane, and the second speed limit value is considered as the speed limit for the adjacent lane or other lane. Therefore, the second speed limit value is not considered, and the first speed limit value is not replaced.
[0041] In the fourth state 240, the first speed limit sign corresponding to the first speed limit value does not correspond to the lane in which the vehicle is located, and the second speed limit sign corresponding to the second speed limit value corresponds to the lane in which the vehicle is located. In the fourth state 240, the second speed limit value is considered as the speed limit for the current lane, and the first speed limit value is considered as the speed limit for the adjacent lane or other lanes. Therefore, the second speed limit value replaces the first speed limit value and is stored in the vehicle for limiting the maximum speed of the vehicle.
[0042] In embodiments according to the present disclosure, that the first speed limit sign and / or the second speed limit sign corresponds to the lane in which the vehicle is located can in particular mean that the first speed limit sign and / or the second speed limit sign is located in or directly above the lane in which the vehicle is located, as shown in Figure 1
[0043] According to embodiments of the present disclosure, based on the second positional relationship information and the first positional relationship information, it is determined whether the second speed limit sign and the first speed limit sign correspond to the lane in which the vehicle is located, and in the case that the second speed limit sign and / or the first speed limit sign corresponds to the lane in which the vehicle is located, the stored speed limit sign information can be processed according to the first speed limit value and / or the second speed limit value included in the speed limit sign corresponding to the lane in which the vehicle is located. In other words, the speed limit sign corresponding to the current lane can be given priority in processing the stored speed limit sign information. Exemplarily, in the third state 230 as shown in Figure 2 Figure 2 In the fourth state 240, the second speed limit sign corresponds to the current lane, and the first speed limit sign no longer corresponds to the current lane. Therefore, the second speed limit value should be considered to replace the first speed limit value. In this case, the traffic sign recognition system in the motor vehicle can use the second speed limit value included in the second speed limit sign corresponding to the current lane to replace the first speed limit value, store it in the vehicle and use it to limit the maximum speed of the vehicle, prompt the driver, etc.
[0044] According to embodiments of the present disclosure, in the case that multiple speed limit signs, for example, the second speed limit sign and the first speed limit sign, correspond to the lane in which the vehicle is located, the stored speed limit sign information can be processed based on the size relationship of the speed limit values included in the multiple speed limit signs. In this case, the maximum value among the speed limit values is preferably used to process the stored speed limit sign information. Exemplarily, in the fourth state 240 as shown in Figure 2 In the first state 210, the first speed limit sign and the second speed limit sign both correspond to the lane in which the vehicle is located. Therefore, the size relationship between the first speed limit value and the second speed limit value can be considered. If the second speed limit value is greater than the first speed limit value, it means that a higher allowed speed limit value can be used for the lane in which the vehicle is located. Therefore, the stored first speed limit value can be replaced by the second speed limit value. If the second speed limit value is less than the first speed limit value, it means that the higher allowed speed limit value can be the first speed limit value rather than the second speed limit value. Therefore, the second speed limit value is not considered and the first speed limit value is not replaced.
[0045] According to an embodiment of the present disclosure, whether the second speed limit sign and the first speed limit sign correspond to the lane in which the vehicle is located can be determined based on the second position relationship information and the first position relationship information. If neither the second speed limit sign nor the first speed limit sign corresponds to the lane in which the vehicle is located, the stored speed limit sign information is processed according to the maximum value between the first speed limit value and the second speed limit value. In other words, in the second state 220, i.e., when neither the first speed limit sign nor the second speed limit sign corresponds to the lane in which the vehicle is located, the maximum value of the speed limit values of the speed limit signs corresponding to the lanes adjacent to the lane in which the vehicle is located can be considered to "replace" the speed limit value corresponding to the lane in which the vehicle is located. Figure 2
[0046] According to the state diagram shown in Figure 2 According to the state diagram shown in Figure 3 A schematic flowchart of the method 300 is shown. In step S310, the stored speed limit sign information in the vehicle is first obtained. The stored speed limit sign information includes the first position information of the first speed limit sign and the first speed limit value. In step S320, the current speed limit sign information in the road, i.e., the second speed limit sign information, is obtained. The second speed limit sign information includes the second position information of the second speed limit sign and the second speed limit value. The execution order of steps S310 and S320 can also be exchanged or can be performed simultaneously.
[0047] In step S330, it is determined from the second position information whether the second speed limit sign corresponds to the lane in which the vehicle is located. If the second speed limit sign corresponds to the lane in which the vehicle is located, it is further determined in step S340 from the first position information whether the first speed limit sign corresponds to the lane in which the vehicle is located. If the second speed limit sign does not correspond to the lane in which the vehicle is located, it is further determined in step S350 from the first position information whether the first speed limit sign corresponds to the lane in which the vehicle is located.
[0048] A negative result in step S340 corresponds to the fourth state 240 shown in Fig. 2, i.e. the second speed limit value is considered to be a speed limit for the own lane and the first speed limit value is considered to be a speed limit for the adjacent lane or other lane. The stored speed limit sign information can thus be updated with the second speed limit sign information, i.e. the first speed limit value is replaced. Figure 2 A positive result in step S340 corresponds to the first state 210 shown in Fig. 2, i.e. both the first speed limit value and the second speed limit value are considered to be speed limits for the own lane. In a subsequent step S360, the second speed limit value is compared with the first speed limit value. If the second speed limit value is greater than the first speed limit value, the stored speed limit sign information is updated with the second speed limit sign information. If the second speed limit value is less than the first speed limit value, the second speed limit value is disregarded and the first speed limit value is not replaced.
[0049] Figure 2 A negative result in step S350 corresponds to the second state 220 shown in Fig. 2, i.e. both the first speed limit value and the second speed limit value are considered to be speed limits for the adjacent lane or other lane. In a subsequent step S370, the second speed limit value is compared with the first speed limit value. If the second speed limit value is greater than the first speed limit value, the stored speed limit sign information is updated with the second speed limit sign information. If the second speed limit value is less than the first speed limit value, the second speed limit value is disregarded and the first speed limit value is not replaced.
[0050] A positive result in step S350 corresponds to the third state 230 shown in Fig. 2, i.e. the first speed limit value is considered to be a speed limit for the own lane and the second speed limit value is considered to be a speed limit for the adjacent lane or other lane. The second speed limit value is thus disregarded and the first speed limit value is not replaced. Figure 2
[0051] Figure 2
[0052] In the method according to the present disclosure, the speed limit sign of the lane in which the vehicle is located has priority over the speed limit sign of the adjacent lane, and a higher speed has priority over a lower speed. In the case where the speed limit sign of the lane in which the vehicle is located can be identified, the speed limit sign of the own lane can be used. In the case where the speed limit sign of the lane in which the vehicle is located cannot be identified, the speed limit value on the speed limit sign of the adjacent lane can be used.
[0053] In embodiments according to this disclosure, when a vehicle is about to pass a gantry, it can simultaneously identify multiple speed limit signs and multiple speed limit values on these signs. These speed limit values can be sequentially input into method 300 of this disclosure, thereby cyclically executing method 300. Ultimately, the maximum speed limit that the vehicle should currently comply with can be determined from these speed limit values.
[0054] In embodiments according to this disclosure, determining whether a speed limit sign corresponds to the lane in which the vehicle is located based on the sign's location information can be achieved, for example, by determining the lateral distance from the speed limit sign's location to the vehicle's lane, wherein the lateral distance is perpendicular to the direction in which the lane extends. This lateral distance is then compared to a lateral distance threshold to determine whether the speed limit sign corresponds to the vehicle's lane.
[0055] The lateral distance threshold is related to the lane width. In embodiments according to this disclosure, the lateral distance threshold can be set, for example, in the range of 2 to 5 meters. In particular, the lateral distance threshold can be set to 3 meters. In this case, if the lateral distance of a speed limit sign is less than 3 meters, the speed limit sign is considered to correspond to the lane where the vehicle is located; otherwise, the speed limit sign is considered to be located in the adjacent lane of the vehicle.
[0056] In embodiments according to this disclosure, when a speed limit sign has multiple speed limit values, such as two speed limit values, as... Figure 1 As shown. Generally, a larger speed limit value represents the maximum speed limit, and a smaller speed limit value represents the minimum speed limit. In this case, in method step S320 of method 300 above, for example, the maximum value among multiple speed limit values can be determined as the second speed limit value.
[0057] When multiple speed limit signs and multiple speed limit values are identified, the above steps can reduce the number of second speed limit values that need to be input into method 300, and thus reduce the number of loop executions of method 300.
[0058] Figure 4A system 400 for determining a speed limit of a vehicle according to speed limit sign information is shown according to embodiments of the present disclosure. The system 400 comprises a storage unit 410, an image recording unit 420, an image recognition unit 430 and a control unit 440. The storage unit 410 provides stored speed limit sign information, the stored speed limit sign information comprising first position information and a first speed limit value of a first speed limit sign. The image recording unit 420 is configured to record a second speed limit sign in a road. In embodiments of the present disclosure, the image recording unit 420 can be, for example, a camera, in particular a front-view camera of the vehicle. The image recognition unit 430 is configured to recognize second position information and a second speed limit value of the second speed limit sign. In embodiments of the present disclosure, the image recognition unit 420 can be, for example, a vision chip which determines target objects, for example speed limit signs and speed limit values on speed limit signs, from recorded images based on its own recognition algorithm. The control unit 440 is configured to perform the following steps: determining whether the second speed limit sign corresponds to a lane in which the vehicle is located according to the second position information; determining whether the first speed limit sign corresponds to the lane in which the vehicle is located according to the first position information; updating the stored speed limit sign information with the second speed limit sign information if the second speed limit sign corresponds to the lane in which the vehicle is located and the first speed limit sign does not correspond to the lane in which the vehicle is located; comparing the second speed limit value with the first speed limit value if both the second speed limit sign and the first speed limit sign correspond to the lane in which the vehicle is located, and updating the stored speed limit sign information with the second speed limit sign information if the second speed limit value is greater than the first speed limit value; and comparing the second speed limit value with the first speed limit value if neither the second speed limit sign nor the first speed limit sign corresponds to the lane in which the vehicle is located, and updating the stored speed limit sign information with the second speed limit sign information if the second speed limit value is greater than the first speed limit value. In other words, the control unit 440 is configured to perform the flow of the method 300 shown. Figure 3 In embodiments of the present disclosure, the control unit 440 can be, for example, an electronic controller unit (ECU) which can receive data information from the image recognition unit 430 and can also receive data information from the storage unit 410.
[0059] In embodiments of the present disclosure, the control unit 440 is configured to limit the speed of the vehicle according to the first speed limit value in the stored speed limit sign information.
[0060] In embodiments of the present disclosure, the control unit 440 is configured to issue a warning when the speed of the vehicle is greater than the first speed limit value in the stored speed limit sign information.
[0061] The present disclosure also provides a vehicle having the system according to the above embodiments.
[0062] The present disclosure also provides a computer program product comprising a computer program which, when executed by a processor, is configured to perform the method for determining a speed limit of a vehicle according to speed limit sign information according to the above embodiments.
[0063] The present disclosure also provides a computer readable storage medium having stored thereon computer executable instructions which, when executed by a processor, are configured to perform the method for determining a speed limit of a vehicle according to speed limit sign information according to the above embodiments.
[0064] The present disclosure uses certain terms to describe the embodiments of the present disclosure. As used in the present disclosure, the following terms are intended to have the following meanings. “First / second embodiments”, “an embodiment”, and / or “some embodiments” means that a certain feature, structure, or characteristic described in one or more embodiments is included in at least one embodiment of the present disclosure. Therefore, it should be emphasized that a repeated use of certain terms in the present description is not intended to necessarily refer to the same embodiment, unless otherwise explicitly stated. Moreover, certain features, structures, or characteristics of one or more embodiments of the present disclosure can be combined in an appropriate manner.
[0065] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this present disclosure belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
[0066] The above is a description of the present disclosure and should not be considered as limiting. Although several exemplary embodiments of the present disclosure have been described, those skilled in the art will readily understand that many modifications can be made to the exemplary embodiments without departing from the novel teachings and advantages of the present disclosure. Accordingly, all such modifications are intended to be included within the scope of the present disclosure as defined in the claims. It should be understood that the above is a description of the present disclosure and should not be considered as limiting. Although several exemplary embodiments of the present disclosure have been described, those skilled in the art will readily understand that many modifications can be made to the exemplary embodiments without departing from the novel teachings and advantages of the present disclosure. Accordingly, all such modifications are intended to be included within the scope of the present disclosure as defined in the claims. The present disclosure is defined by the claims and their equivalents.
Claims
1. A method for determining a speed limit of a vehicle based on speed limit sign information, comprising: obtaining stored speed limit sign information in the vehicle, the stored speed limit sign information comprising first position information and a first speed limit value of a first speed limit sign; determining first position relationship information based on the first position information, the first position relationship information being used to describe a position relationship between the first speed limit sign and a lane in which the vehicle is located; obtaining second speed limit sign information in a road, the second speed limit sign information comprising second position information and a second speed limit value of a second speed limit sign; determining second position relationship information based on the second position information, the second position relationship information being used to describe a position relationship between the second speed limit sign and the lane in which the vehicle is located; and processing the stored speed limit sign information based on the second position relationship information and the first position relationship information. The processing of the stored speed limit sign information based on the second position relationship information and the first position relationship information comprises:
2. The method of claim 1, wherein, determining whether the second speed limit sign and the first speed limit sign correspond to the lane in which the vehicle is located based on the second position relationship information and the first position relationship information; and in the case that the second speed limit sign and / or the first speed limit sign correspond to the lane in which the vehicle is located, processing the stored speed limit sign information according to a first speed limit value and / or a second speed limit value comprised in the speed limit sign corresponding to the lane in which the vehicle is located in the second speed limit sign and / or the first speed limit sign. in the case that both the second speed limit sign and the first speed limit sign correspond to the lane in which the vehicle is located, processing the stored speed limit sign information according to a maximum value between the first speed limit value and the second speed limit value.
3. The method of claim 2, wherein, The processing of the stored speed limit sign information based on the second position relationship information and the first position relationship information comprises:
4. The method of claim 1, wherein, determining whether the second speed limit sign and the first speed limit sign correspond to the lane in which the vehicle is located based on the second position relationship information and the first position relationship information; and in the case that neither the second speed limit sign nor the first speed limit sign corresponds to the lane in which the vehicle is located, processing the stored speed limit sign information according to a maximum value between the first speed limit value and the second speed limit value. The processing of the stored speed limit sign information based on the second position relationship information and the first position relationship information comprises:
5. The method of any one of claims 1 to 4, wherein, if the second speed limit sign corresponds to the lane in which the vehicle is located and the first speed limit sign does not correspond to the lane in which the vehicle is located, updating the stored speed limit sign information with the second speed limit sign information. The processing of the stored speed limit sign information based on the second position relationship information and the first position relationship information comprises:
6. The method of any one of claims 1 to 4, wherein, if both the second speed limit sign and the first speed limit sign correspond to the lane in which the vehicle is located, comparing the second speed limit value with the first speed limit value, and if the second speed limit value is greater than the first speed limit value, updating the stored speed limit sign information with the second speed limit sign information. The processing of the stored speed limit sign information based on the second position relationship information and the first position relationship information comprises:
7. The method of any one of claims 1 to 4, wherein, If neither the second speed limit sign nor the first speed limit sign corresponds to the lane in which the vehicle is located, the second speed limit value is compared to the first speed limit value, and if the second speed limit value is greater than the first speed limit value, the stored speed limit sign information is updated with the second speed limit sign information.
8. The method of any one of claims 1 to 4, wherein, determining, from the second position information, whether the second speed limit sign corresponds to the lane in which the vehicle is located; determining a lateral distance of the second speed limit sign and / or the first speed limit sign to the lane in which the vehicle is located, wherein the lateral distance extends perpendicular to a direction in which the lane extends; and comparing the lateral distance to a lateral distance threshold to determine whether the second speed limit sign and / or the first speed limit sign corresponds to the lane in which the vehicle is located.
9. The method according to claim 8, wherein the lateral distance threshold is in a range of 2 to 5 meters.
10. The method of any one of claims 1 to 4, wherein, If the second speed limit sign information comprises a plurality of speed limit values, a maximum value of the plurality of speed limit values is determined as the second speed limit value.
11. A system for determining a speed limit for a vehicle from speed limit sign information, comprising: a storage unit providing stored speed limit sign information, the stored speed limit sign information comprising first position information and a first speed limit value of a first speed limit sign; an image recording unit configured to record a second speed limit sign in a road; an image recognition unit configured to recognize second position information and a second speed limit value of the second speed limit sign; a control unit configured to perform the following steps: determining, from the second position information, whether the second speed limit sign corresponds to the lane in which the vehicle is located; determining, from the first position information, whether the first speed limit sign corresponds to the lane in which the vehicle is located; if the second speed limit sign corresponds to the lane in which the vehicle is located and the first speed limit sign does not correspond to the lane in which the vehicle is located, updating the stored speed limit sign information with the second speed limit sign information; if the second speed limit sign and the first speed limit sign both correspond to the lane in which the vehicle is located, comparing the second speed limit value to the first speed limit value, and if the second speed limit value is greater than the first speed limit value, updating the stored speed limit sign information with the second speed limit sign information; and if neither the second speed limit sign nor the first speed limit sign corresponds to the lane in which the vehicle is located, comparing the second speed limit value to the first speed limit value, and if the second speed limit value is greater than the first speed limit value, updating the stored speed limit sign information with the second speed limit sign information.
12. The system of claim 11, wherein, the control unit is configured to limit the speed of the vehicle according to the first speed limit value in the stored speed limit sign information.
13. The system of claim 11, wherein, the control unit is configured to issue a warning if the speed of the vehicle is greater than the first speed limit value in the stored speed limit sign information.
14. A vehicle having the system according to any one of claims 11 to 13.
15. A computer program product comprising a computer program which, when executed by a processor, is configured to perform the method according to any one of claims 1 to 10.
16. A computer-readable storage medium having stored thereon computer- executable instructions that, when executed by a processor, perform a method according to any one of claims 1 to 10.