Traffic information recognition method, electronic device, vehicle, medium, and program product

Abstract

The application relates to the field of data processing and discloses a traffic information identification method, an electronic device, a vehicle, a medium and a program product. In the method, at least one speed limit sign suspect is detected during driving of a target vehicle on a target road; a target speed limit sign object meeting a screening condition is obtained from the at least one speed limit sign suspect based on sign object parameters of the at least one speed limit sign suspect and a map speed limit value of the target road in an electronic map; and speed information identified by the target speed limit sign object is displayed. The at least one speed limit sign suspect is screened based on the sign object parameters, so that speed limit sign suspects that do not meet the condition can be filtered out, and the probability of misidentification is reduced. Moreover, the at least one speed limit sign suspect is screened in combination with the map speed limit value of the target road in the electronic map, so that the rationality of the target speed limit sign object can be ensured, the identification accuracy of the speed limit sign object is further improved, and the driving experience of a driver is improved.

Description

Technical Field

[0001] This application relates to the field of data processing, and in particular to a traffic information identification method, electronic device, vehicle, medium, and program product. Background Technology

[0002] To ensure traffic safety and improve traffic efficiency, speed limit signs are usually placed on roads. These signs set reasonable speed limits based on different road conditions (such as road surface conditions, traffic flow, and visibility) to ensure vehicles travel within a safe speed range. For example, setting lower speed limits at curves, intersections, and school zones can effectively reduce the probability of accidents and ensure traffic safety.

[0003] Currently, when a vehicle is in motion, it typically determines the parameters of the traffic signs on the road that are related to the vehicle's speed limit, based on the information obtained from the forward-facing camera and / or the speed information displayed by the navigation system. These parameters are then displayed in the corresponding area of ​​the vehicle to alert the driver.

[0004] However, in complex road driving environments (such as when the camera captures a non-speed limit sign indicating speed, and the speed limit indicated by the navigation system is inconsistent with the recognized speed), the accuracy of the sign parameters determined by the above method may decrease, for example, due to misidentification, which in turn affects the driver's driving experience. Summary of the Invention

[0005] The purpose of this application is to provide a traffic information identification method, electronic device, vehicle, medium, and program product.

[0006] The first aspect of this application provides a traffic information identification method applied to an electronic device. The method includes: detecting at least one suspected speed limit sign while a target vehicle is traveling on a target road; obtaining a target speed limit sign that meets the filtering criteria from the at least one suspected speed limit sign based on the sign parameters of the at least one suspected speed limit sign and the map speed limit value of the target road in an electronic map; and displaying the speed information of the target speed limit sign.

[0007] In this embodiment, screening at least one suspected speed limit sign based on its marker parameters can filter out signs that do not meet the criteria, reducing the probability of misidentification. Furthermore, combining the target road's speed limit value in the electronic map with the screening of at least one suspected speed limit sign ensures the reasonableness of the target speed limit sign (e.g., temporary speed limits or the latest road speed limit should be within the speed range defined by the map speed limit value), thereby further improving the accuracy of speed limit sign identification and ultimately enhancing the driver's experience.

[0008] In one possible implementation of the first aspect above, displaying the speed information of the target speed limit sign includes: detecting that the distance between the target vehicle and the target speed limit sign in a first direction is less than a first preset distance, and displaying the speed information of the target speed limit sign, wherein the first direction is the direction of extension of the target road.

[0009] In this embodiment of the application, when the distance between the target vehicle and the target speed limit sign in the first direction is less than a first preset distance, the speed information of the target speed limit sign is displayed, which can achieve the effect of reminding the driver of the road speed limit information in advance, thereby improving driving safety.

[0010] In one possible implementation of the first aspect above, the marker parameters include at least one of the following: the distance between the suspected speed limit sign and the target vehicle in a first direction; the distance between the suspected speed limit sign and the curb of the road where the speed limit sign is located in a second direction, wherein the second direction is perpendicular to the first direction; the height of the suspected speed limit sign; the moving speed of the suspected speed limit sign; the speed information indicated by the suspected speed limit sign; the type of the suspected speed limit sign, wherein the type of the suspected speed limit sign includes at least one of the following: a fixed speed limit sign, a variable speed limit sign; the maximum speed limit of the area where the target road is located; the road speed limit corresponding to the road type of the target road, wherein the road type includes at least one of the following: highway, urban road, elevated road, arterial road, secondary arterial road, branch road, rural road, mountain road, tunnel, bridge, parking lot, provincial road, county road, township road; or, the road speed limit feature corresponding to the road type of the target road, wherein the road speed limit feature is used to indicate the numerical characteristics of the road speed limit.

[0011] In one possible implementation of the first aspect above, the road speed limit feature includes at least one of the following: the unit digit of the road speed limit value for expressways is not 5, the unit digit of the road speed limit value for national highways is not 5, the road speed limit for county roads is less than or equal to 80 km / h, the road speed limit for township roads is less than or equal to 80 km / h, the road speed limit for rural roads is less than or equal to 80 km / h, the road speed limit for expressways is greater than or equal to 20 km / h, or the road speed limit for national highways is greater than or equal to 20 km / h.

[0012] In one possible implementation of the first aspect described above, the filtering conditions include at least one of the following: the distance between the target speed limit sign and the target vehicle in a first direction is less than or equal to a first distance threshold; the distance between the target speed limit sign and at least one curb of the road where the target speed limit sign is located in a second direction is less than or equal to a second distance threshold; the height of the target speed limit sign is greater than a first height threshold and less than a second height threshold, wherein the first height threshold is greater than 0 and the second height threshold is greater than the first height threshold; the moving speed of the target speed limit sign is less than or equal to a preset moving speed; the speed information indicated by the target speed limit sign is less than or equal to the maximum speed limit of the area where the target road is located; and the speed information indicated by the target speed limit sign conforms to the road speed limit characteristics corresponding to the road type of the target road.

[0013] In one possible implementation of the first aspect above, the number of at least one suspected speed limit sign is greater than 1, and the screening criteria further include at least one of the following: the type of the target speed limit sign has the highest priority among the types of at least one suspected speed limit sign, wherein a variable speed limit sign has a higher priority than a fixed speed limit sign; or, the speed information identified by the target speed limit sign has the largest value among the speed information identified by at least one suspected speed limit sign.

[0014] In this embodiment of the application, at least one suspected speed limit sign is screened based on the marker parameters of at least one suspected speed limit sign, which can filter out suspected speed limit signs that do not meet the conditions and reduce the probability of misidentification.

[0015] In one possible implementation of the first aspect above, the filtering criteria include: the speed information indicated by the target speed limit sign is within a preset speed range, wherein the preset speed range is determined based on the map speed limit value.

[0016] In this embodiment of the application, by combining the speed limit value of the target road in the electronic map to screen at least one suspected speed limit sign, it is possible to ensure the rationality of the target speed limit sign (e.g., temporary speed limit or the latest speed limit of the road should be within the speed range defined by the map speed limit value), thereby further improving the recognition accuracy of speed limit signs and thus improving the driving experience of drivers.

[0017] In one possible implementation of the first aspect above, the speed information indicated by the target speed limit sign is within a preset speed range, including: the speed information indicated by the target speed limit sign is greater than or equal to a first speed threshold, and the speed information indicated by the target speed limit sign is less than or equal to a second speed threshold; wherein the value of the first speed threshold is the map speed limit value minus a first preset value, and the value of the second speed threshold is the map speed limit value plus a second preset value.

[0018] In one possible implementation of the first aspect described above, displaying the speed information of the target speed limit sign includes at least one of the following: displaying the speed information of the target speed limit sign on the instrument panel of the target vehicle; displaying the speed information of the target speed limit sign on the central control screen of the target vehicle; displaying the speed information of the target speed limit sign in the head-up display area of ​​the target vehicle; displaying the speed information of the target speed limit sign in the rearview mirror of the target vehicle; displaying the speed information of the target speed limit sign in the side window of the target vehicle; or, displaying the speed information of the target speed limit sign on the door control screen of the target vehicle.

[0019] In one possible implementation of the first aspect above, the method further includes: playing the speed information of the target speed limit sign in the form of voice broadcast.

[0020] In one possible implementation of the first aspect above, the method further includes: controlling the speed of the target vehicle to be less than or equal to the speed information indicated by the target speed limit sign.

[0021] A second aspect of this application provides an electronic device including a processor and a memory, the memory being used to store program instructions, and the processor being used to invoke the program instructions to execute any of the methods described in the first aspect above.

[0022] A third aspect of this application provides a vehicle including a processor and a memory, the memory for storing program instructions, and the processor for invoking the program instructions to execute any of the methods described in the first aspect above.

[0023] A fourth aspect of this application provides a computer-readable storage medium having instructions stored thereon that, when executed, implement any of the methods described in the first aspect above.

[0024] The fifth aspect of this application provides a computer program product including instructions that, when executed, implement any of the methods described in the first aspect above. Attached Figure Description

[0025] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 A flowchart illustrating a traffic information identification method is shown according to an embodiment of this application;

[0027] Figure 2AA schematic diagram of a first direction and a second direction is shown according to an embodiment of this application;

[0028] Figure 2B A schematic diagram of another first direction and a second direction is shown according to an embodiment of this application;

[0029] Figure 3 A schematic diagram of the structure of an electronic device 100 is shown according to an embodiment of this application;

[0030] Figure 4 A schematic diagram of the structure of a target vehicle 200 is shown according to an embodiment of this application. Detailed Implementation

[0031] The illustrative embodiments of this application include, but are not limited to, a traffic information recognition method, electronic device, vehicle, medium, and program product.

[0032] As mentioned earlier, currently, when a vehicle is in motion, it typically determines the parameters of the sign based on the traffic signs related to the vehicle's speed limit obtained by the forward-facing camera and / or the speed information displayed by the navigation system, and then displays the sign parameters in the corresponding display area in the vehicle to alert the driver.

[0033] For example, it can directly display the speed corresponding to the sign obtained by the camera, or display the smaller speed information between the speed corresponding to the sign obtained by the camera and the speed information indicated by the navigation system.

[0034] However, in complex road driving environments, the accuracy of the marker parameters determined by the above method may decrease, such as the occurrence of misidentification, which in turn affects the driver's driving experience.

[0035] For example, if a camera captures a non-speed limit sign indicating a speed limit, and the navigation system suggests a speed limit greater than the speed indicated by the non-speed limit sign, it might directly display the speed indicated by the non-speed limit sign. If the driver travels at a speed lower than the speed indicated by the non-speed limit sign, which is not the actual road speed limit, this could negatively impact the driver's experience.

[0036] In view of this, embodiments of this application provide a traffic information identification method. In this method, while a target vehicle is traveling on a target road, at least one suspected speed limit sign is detected; based on the sign parameters of the at least one suspected speed limit sign and the map speed limit value of the target road in an electronic map, a target speed limit sign that meets the filtering criteria is obtained from the at least one suspected speed limit sign; and the speed information of the target speed limit sign is displayed.

[0037] It is understandable that filtering for at least one suspected speed limit sign based on its parameters can eliminate those that do not meet the criteria, reducing the probability of misidentification. Furthermore, combining the speed limit value of the target road on the electronic map with the filtering of at least one suspected speed limit sign ensures the reasonableness of the target speed limit sign (e.g., temporary speed limits or the latest speed limit on the road should be within the speed range defined by the map speed limit value), thereby further improving the accuracy of speed limit sign identification and ultimately enhancing the driving experience for drivers.

[0038] To better understand the technical solutions of the embodiments of this application, the traffic information recognition method provided by the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0039] Figure 1 A flowchart illustrating a traffic information recognition method is shown according to an embodiment of this application. It can be understood that... Figure 1 The electronic device 100 is the primary entity executing each step of the process shown. For simplicity, the following description... Figure 1 The execution entity of each step in the process shown will not be described again.

[0040] like Figure 1 As shown, the process includes, but is not limited to, the following steps:

[0041] S101: At least one suspected speed limit sign was detected while the target vehicle was traveling on the target road.

[0042] In some embodiments, at least one suspected speed limit sign can be a suspected speed limit sign whose image features, identified by the electronic device 100 from an image acquired by the front-facing camera of the target vehicle, meet the characteristics of a speed limit sign (e.g., a speed limit sign).

[0043] S102: Based on the marker parameters of at least one suspected speed limit sign and the map speed limit value of the target road in the electronic map, obtain the target speed limit sign that meets the screening conditions from at least one suspected speed limit sign.

[0044] In some embodiments, the marker parameters include at least one of the following: the distance between the suspected speed limit sign and the target vehicle in a first direction, wherein the first direction is the direction in which the target road extends; the distance between the suspected speed limit sign and the curb of the road where the speed limit sign is located in a second direction, wherein the second direction is perpendicular to the first direction; the height of the suspected speed limit sign; the moving speed of the suspected speed limit sign; the speed information indicated by the suspected speed limit sign; the type of the suspected speed limit sign, wherein the type of the suspected speed limit sign includes at least one of the following: a fixed speed limit sign, a variable speed limit sign; the maximum speed limit of the area where the target road is located; the road speed limit corresponding to the road type of the target road, wherein the road type includes at least one of the following: highway, urban road, elevated road, arterial road, secondary arterial road, local road, rural road, mountain road, tunnel, bridge, parking lot, provincial road, county road, township road; or, the road speed limit feature corresponding to the road type of the target road, wherein the road speed limit feature is used to indicate the numerical characteristics of the road speed limit.

[0045] In some embodiments, the road speed limit feature includes at least one of the following: the unit digit of the road speed limit value for expressways is not 5, the unit digit of the road speed limit value for national highways is not 5, the road speed limit for county roads is less than or equal to 80 km / h, the road speed limit for township roads is less than or equal to 80 km / h, the road speed limit for rural roads is less than or equal to 80 km / h, the road speed limit for expressways is greater than or equal to 20 km / h, or the road speed limit for national highways is greater than or equal to 20 km / h.

[0046] In some embodiments, the filtering criteria include at least one of the following: the distance between the target speed limit sign and the target vehicle in a first direction is less than or equal to a first distance threshold; the distance between the target speed limit sign and at least one curb of the road where the target speed limit sign is located in a second direction is less than or equal to a second distance threshold; the height of the target speed limit sign is greater than a first height threshold and less than a second height threshold, wherein the first height threshold is greater than 0 and the second height threshold is greater than the first height threshold; the moving speed of the target speed limit sign is less than or equal to a preset moving speed; the speed information indicated by the target speed limit sign is less than or equal to the maximum speed limit of the area where the target road is located; and the speed information indicated by the target speed limit sign conforms to the road speed limit characteristics corresponding to the road type of the target road.

[0047] For example, Figure 2A A schematic diagram of a first direction and a second direction is shown according to an embodiment of this application.

[0048] like Figure 2A As shown, the target vehicle is traveling on the target road. The first direction is the extension direction of the target road, and the second direction is perpendicular to the first direction.

[0049] For example, Figure 2B According to an embodiment of this application, a schematic diagram of another first direction and a second direction is shown.

[0050] like Figure 2B As shown, the target vehicle is traveling on the target road, with the first direction being the direction in which the target road extends, and the second direction perpendicular to the first direction. Furthermore, Figure 2B The second direction shown is the same as Figure 2A The directions shown are opposite.

[0051] It is understood that the first direction, that is, the direction of extension of the target road, can be the same as the direction of travel of the target vehicle, or it can be the direction whose angle difference with the direction of travel of the target vehicle is less than an angle threshold. The angle threshold is greater than 0 and less than 90 degrees, such as 5 degrees, 10 degrees, 15 degrees, etc. This application does not limit this.

[0052] It is understood that the first distance threshold can be the distance range between the speed limit sign and the road surface, and the second distance threshold can be the distance range between the speed limit sign and the left or right curb of the road. By setting the first and second distance thresholds, suspected speed limit signs that do not meet the location conditions can be filtered out, thereby improving the accuracy of speed limit sign recognition. The first distance threshold is greater than 0, and for example, it can be 50 meters, 60 meters, 70 meters, 80 meters, 90 meters, 100 meters, etc., which are not limited in this application. The second distance threshold is also greater than 0, and for example, it can be 1 meter, 2 meters, 3 meters, 4 meters, etc., which are not limited in this application.

[0053] It is understood that the first height threshold can be the minimum height of the speed limit sign, and the second height threshold can be the maximum height of the speed limit sign. By setting the first and second height thresholds, suspected speed limit signs that do not meet the height requirements can be filtered out, thereby improving the accuracy of speed limit sign identification. The first height threshold is greater than 0, and for example, it can be 0.2 meters, 0.3 meters, 0.4 meters, 0.5 meters, etc., which are not limited in this application. The second height threshold is greater than the first height threshold, and for example, it can be 2 meters, 3 meters, 4 meters, 5 meters, 6 meters, 7 meters, etc., which are not limited in this application.

[0054] It is understood that the preset moving speed can be the maximum moving speed of the speed limit sign. By setting the preset moving speed, suspected speed limit signs that do not meet the speed conditions (such as being non-stationary) can be filtered out, thereby improving the recognition accuracy of speed limit signs. The preset moving speed is greater than 0, and the preset moving speed can be, for example, 0.5 meters per second, 0.75 meters per second, 1 meter per second, 2 meters per second, etc., and this application does not impose any restrictions on it.

[0055] In other embodiments, when the number of suspected speed limit signs is greater than 1, the screening criteria also include at least one of the following: the type of the target speed limit sign has the highest priority among the types of at least one suspected speed limit sign, wherein a variable speed limit sign has a higher priority than a fixed speed limit sign; or, the speed information identified by the target speed limit sign has the largest value among the speed information identified by at least one suspected speed limit sign.

[0056] In other words, when multiple suspected speed limit signs are detected, the target speed limit sign is the suspected speed limit sign with the highest indicated speed value, and / or the target speed limit sign is the suspected speed limit sign with the highest priority.

[0057] It is understandable that by screening at least one suspected speed limit sign based on the marker parameters of at least one suspected speed limit sign, suspected speed limit signs that do not meet the conditions can be filtered out, reducing the probability of false identification.

[0058] In some embodiments, the filtering criteria further include: the speed information indicated by the target speed limit sign is within a preset speed range, wherein the preset speed range is determined based on the map speed limit value.

[0059] For example, the speed information indicated by the target speed limit sign is greater than or equal to a first speed threshold, and the speed information indicated by the target speed limit sign is less than or equal to a second speed threshold; wherein, the value of the first speed threshold is the map speed limit value minus a first preset value, and the value of the second speed threshold is the map speed limit value plus a second preset value.

[0060] For example, assuming the speed information indicated by the target speed limit sign is S1, the map speed limit value of the target road is S2, the first preset value is S3, and the second preset value is S4, then the first speed threshold can be S2-S3, the second speed threshold can be S2+S4, and S1 satisfies the following relationship: S2-S3≤S1≤S2+S4.

[0061] Among them, S3 can be 10 km / h, 15 km / h, 20 km / h, 25 km / h, etc., and S4 can be 20 km / h, 40 km / h, 60 km / h, 90 km / h, 120 km / h, etc. This application does not limit the specific values ​​of the first preset value and the second preset value, which can be set by the developers based on experience.

[0062] It is understandable that by combining the speed limit value of the target road in the electronic map with the screening of at least one suspected speed limit sign, the reasonableness of the target speed limit sign can be ensured (for example, temporary speed limits or the latest speed limit of the road should be within the speed range defined by the map speed limit value), thereby further improving the accuracy of speed limit sign identification and thus improving the driving experience of drivers.

[0063] S103: Displays speed information for the target speed limit sign.

[0064] In some embodiments, when the electronic device 100 detects that the distance between the target vehicle and the target speed limit sign in a first direction is less than a first preset distance, it displays the speed information indicated by the target speed limit sign, wherein the first direction is the direction in which the target road extends.

[0065] Wherein, the first preset distance is greater than 0, and the first preset distance can be, for example, 5 meters, 7 meters, 10 meters, 12 meters, 15 meters, etc. This application does not limit the specific value of the first preset distance.

[0066] It is understandable that displaying the speed information of the target speed limit sign when the distance between the target vehicle and the target speed limit sign in the first direction is less than a first preset distance can achieve the effect of reminding the driver of the road speed limit information in advance, thereby improving driving safety.

[0067] In some embodiments, the electronic device 100 displays the speed information of the target speed limit sign in at least one of the following ways: displaying the speed information of the target speed limit sign on the instrument panel of the target vehicle; displaying the speed information of the target speed limit sign on the central control screen of the target vehicle; displaying the speed information of the target speed limit sign in the head-up display area of ​​the target vehicle; displaying the speed information of the target speed limit sign in the rearview mirror of the target vehicle; displaying the speed information of the target speed limit sign in the side window of the target vehicle; or, displaying the speed information of the target speed limit sign on the door control screen of the target vehicle.

[0068] It is understood that in other embodiments, the above... Figure 1 The steps shown can be combined, deleted, or replaced with other steps that are more conducive to achieving the purpose of this application, and this application does not impose any restrictions on them.

[0069] For example, in some embodiments, the electronic device 100 may also play the speed information of the target speed limit sign in the form of voice broadcast while displaying the speed information of the target speed limit sign.

[0070] Or, for example, in other embodiments, the electronic device 100 may also control the speed of the target vehicle to be less than or equal to the speed information indicated by the target speed limit sign while displaying the speed information of the target speed limit sign.

[0071] It is understood that the method provided in this application can be applied to any electronic device connected to or deployed in the target vehicle. Electronic devices include, but are not limited to, mobile stations (MS) and mobile terminals (MT). For example, an electronic device can be a mobile phone, a wearable device, a tablet computer, or a self-driving terminal. This application does not limit the specific form of the electronic device.

[0072] It is understood that the traffic information identification method provided in this application embodiment can also be applied to the target vehicle 200. It should be understood that the target vehicle 200 can be any type of vehicle such as a car, truck, motorcycle, bus, ship, airplane, helicopter, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, and handcart. This application embodiment does not limit the type of the target vehicle 200.

[0073] The structure of the electronic device 100 and the target vehicle 200 will be described in detail below with reference to the accompanying drawings.

[0074] For example, Figure 3 A schematic diagram of the structure of an electronic device 100 is shown according to an embodiment of this application.

[0075] like Figure 3 As shown, the electronic device 100 includes one or more (only one is shown in the figure) processors 110, memory 120, image recognition module 130, interface module 140 and display module 150.

[0076] The processor 110 includes, but is not limited to, a central processing unit (CPU), a microprocessor, an application-specific integrated circuit, etc., for executing relevant programs to achieve the functions required by the electronic device 100 of this application embodiment.

[0077] Memory 120 may include one or more memories for storing data or one or more applications. The memory may be read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM).

[0078] Processor 110 can also be an integrated circuit chip with signal processing capabilities. The aforementioned processor 110 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the traffic information recognition method in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 120. Processor 110 reads the information in memory 120 and, in conjunction with its hardware, completes the functions required by the electronic device 100 in the embodiments of this application.

[0079] The image recognition module 130 is used to identify images acquired by the front-facing camera of the target vehicle and determine suspected speed limit signs.

[0080] Interface module 140 is used to acquire road information of the target road, camera information of the target vehicle (such as images captured by the front camera), etc.

[0081] Display module 150 is used to display the speed information of the target speed limit sign.

[0082] It should be understood that Figure 3 The structure of the electronic device 100 shown is only an example. In other embodiments, the electronic device 100 may include more or fewer modules, which is not limited herein.

[0083] For example, Figure 4 A schematic diagram of the structure of a target vehicle 200 is shown according to an embodiment of this application.

[0084] like Figure 4 As shown, the target vehicle 200 may include various subsystems, such as a driving system 20, a sensor system 21, an autonomous driving system 22, one or more peripheral devices 23, a computer system 24, a power supply 25, and a user interface 26.

[0085] Optionally, the target vehicle 200 may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the target vehicle 200 may be interconnected via wired or wireless means.

[0086] The mobility system 20 may include components that provide powered motion to the target vehicle 200. In some embodiments, the mobility system 20 may include an engine 201, an energy source 202, a transmission 203, and wheels 204.

[0087] Engine 201 can be an internal combustion engine, an electric motor, an air-compressed engine, or other combinations of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. Engine 201 converts energy source 202 into mechanical energy. Energy source 202 can include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 202 can also provide energy to other systems of the target vehicle 200. Transmission 203 transmits mechanical power from engine 201 to wheels 204. Transmission 203 can include a gearbox, a differential, and a drive shaft. In some embodiments, transmission 203 may also include other components, such as a clutch. The drive shaft may include one or more axles that can be coupled to one or more wheels 204.

[0088] Sensor system 21 may include several sensors that sense and measure environmental information about the target vehicle 200. For example, sensor system 21 may include a positioning system 211, an inertial measurement unit (IMU) 212, a radar 213, a laser rangefinder 214, and a camera 215. Sensor system 21 may also include sensors that detect the internal systems of the target vehicle 200. Positioning system 211 may be a Global Positioning System (GPS), a BeiDou system, or another positioning system. In this embodiment, the laser sensor is a very important sensing module in sensor system 21.

[0089] The positioning system 211 can be used to obtain the geographical location of the target vehicle 200. In this embodiment, a laser sensor can be used as part of the positioning system 211 to achieve precise positioning of the target vehicle 200. In some embodiments, the target vehicle 200 can obtain the map speed limit value of the target road in an electronic map through the positioning system 211. The IMU 212 is used to sense changes in the position and orientation of the target vehicle 200 based on inertial acceleration. In some embodiments, the IMU 212 can be a combination of an accelerometer and a gyroscope. The radar 213 can use radio signals to sense objects in the surrounding environment of the target vehicle 200, specifically millimeter-wave radar or lidar. In some embodiments, in addition to sensing objects, the radar 213 can also be used to sense the speed and / or direction of travel of objects. The laser rangefinder 214 can use lasers to sense objects in the environment where the target vehicle 200 is located. In some embodiments, the laser rangefinder 214 can include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components. The camera 215 can be used to capture multiple images of the surrounding environment of the target vehicle 200. The camera 215 may include a front-facing camera and a rear-facing camera. The camera 215 may include different types of cameras such as wide-angle cameras and fisheye cameras. This application does not limit the types of cameras.

[0090] The autonomous driving system 22 can be used to control the operation of the target vehicle 200 and its components. The autonomous driving system 22 can also be referred to as a control system. The autonomous driving system 22 may include various components, including a steering system 221, an accelerator 222, a braking unit 223, a computer vision system 224, a trajectory control system 225, an obstacle avoidance system 226, and a display control system 227.

[0091] The steering system 221 is operable to adjust the forward direction of the target vehicle 200. For example, in some embodiments, the steering system 221 may be a steering wheel system. The throttle 222 is used to control the operating speed of the engine 201 and thus the speed of the target vehicle 200. The braking unit 223 is used to control the deceleration of the target vehicle 200. The braking unit 223 may use friction to slow down the wheels 204. In other embodiments, the braking unit 223 may convert the kinetic energy of the wheels 204 into electrical current. The braking unit 223 may also take other forms to slow down the rotational speed of the wheels 204 to control the speed of the target vehicle 200. The computer vision system 224 is operable to process and analyze images acquired by the camera 215 to identify objects and / or features in the surrounding environment of the target vehicle 200, wherein objects and / or features may include traffic signals, speed limit signs (e.g., the aforementioned speed limit sign spurious objects), road boundaries, and obstacles. The computer vision system 224 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 224 can be used to map the environment, track objects, estimate object speeds, etc. The route control system 225 is used to determine the driving route and speed of the target vehicle 200. In some embodiments, the route control system 225 may include a lateral planning module and a longitudinal planning module, which are respectively used to combine data from the obstacle avoidance system 226, the positioning system 211, and one or more predetermined maps to determine the driving route and speed for the target vehicle 200. The obstacle avoidance system 226 is used to identify, evaluate, and avoid or otherwise traverse obstacles in the environment of the target vehicle 200, specifically physical obstacles and virtual moving objects that may collide with the target vehicle 200. The display control system 227 is used to control the display content of various display components of the target vehicle 200 (e.g., the aforementioned dashboard, head-up display area, rearview mirror, etc.). In some embodiments, the autonomous driving system 22 may add or replace components other than those shown and described. Alternatively, some of the components shown above may be reduced.

[0092] The target vehicle 200 interacts with external sensors, other vehicles, other computer systems, or users via peripheral device 23. Peripheral device 23 may include wireless communication system 231, on-board computer 232, microphone 233, speaker 234, and / or display screen 235. In some embodiments, peripheral device 23 provides a means for the user of the target vehicle 200 to interact with user interface 26. For example, on-board computer 232 may provide information to the user of the target vehicle 200. User interface 26 may also operate on-board computer 232 to receive user input. On-board computer 232 may be operated via touchscreen. In other embodiments, peripheral device 23 may provide a means for the target vehicle 200 to communicate with other devices located within the vehicle. For example, microphone 233 may receive audio (e.g., voice commands or other audio input) from the user of the target vehicle 200. Similarly, speaker 234 may output audio (e.g., playing speed information indicated by a target speed limit sign) to the user of the target vehicle 200. Display screen 235 may output display data (e.g., displaying speed information indicated by a target speed limit sign) to the user of the target vehicle 200. The wireless communication system 231 can communicate wirelessly with one or more devices, either directly or via a communication network. The wireless communication system 231 can utilize a wireless local area network (WLAN) for communication. In some embodiments, the wireless communication system 231 can communicate directly with devices using an infrared link or Bluetooth. Other wireless protocols, such as various vehicle communication systems, may also be used. For example, the wireless communication system 231 may include one or more dedicated short-range communications (DSRC) devices, which can include public and / or private data communications between vehicles and / or roadside stations.

[0093] Power source 25 can provide power to various components of target vehicle 200. In some embodiments, power source 25 can be a rechargeable lithium-ion or lead-acid battery. One or more such battery packs can be configured to provide power to various components of target vehicle 200. In some embodiments, power source 25 and energy source 202 can be implemented together, as in some fully electric vehicles.

[0094] Some or all of the functions of the target vehicle 200 are controlled by a computer system 24. The computer system 24 may include at least one processor 241, which executes instructions 243 stored in a computer-readable storage medium such as memory 242. The computer system 24 may also be multiple computing devices that control various components or subsystems of the target vehicle 200 in a distributed manner. The processor 241 may be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor 241 may be a dedicated device such as an application-specific integrated circuit (ASIC) or other hardware-based processor.

[0095] although Figure 4 The processor, memory, and other components of the computer system 24 within the same block are functionally illustrated; however, those skilled in the art will understand that the processor or memory may actually include multiple processors or memories not stored in the same physical housing. For example, memory 242 may be a hard disk drive or other storage medium located in a housing different from that of computer system 24. Therefore, references to processor 241 or memory 242 will be understood to include a collection of processors or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as the steering assembly and deceleration assembly, may each have their own processor that performs calculations only related to the component's specific function.

[0096] In all aspects described herein, processor 241 may be located remotely from target vehicle 200 and may communicate wirelessly with target vehicle 200. In other aspects, some of the processes described herein are executed on processor 241 located within target vehicle 200, while others are executed by remote processor 241, including taking the necessary steps to perform a single operation.

[0097] In some embodiments, memory 242 may contain instructions 243 (e.g., program logic) that can be executed by processor 241 to perform various functions of target vehicle 200, including those described above. Memory 242 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and / or control one or more of the mobility system 20, sensor system 21, autonomous driving system 22, and peripheral devices 23. In addition to instructions 243, memory 242 may also store data such as road maps, route information, vehicle position, direction, speed, and other such vehicle data, as well as other information. This information can be used by target vehicle 200 and computer system 24 during operation of target vehicle 200 in autonomous, semi-autonomous, and / or manual modes.

[0098] User interface 26 is used to provide information to or receive information from a user of target vehicle 200. Optionally, user interface 26 may include one or more input / output devices within a set of peripheral devices 23, such as wireless communication system 231, vehicle computer 232, microphone 233, speaker 234, and display screen 235.

[0099] Computer system 24 can control the functions of target vehicle 200 based on input received from various subsystems (e.g., driving system 20, sensor system 21, and autonomous driving system 22) and from user interface 26. For example, computer system 24 can utilize input from autonomous driving system 22 to control steering system 221 to avoid obstacles detected by sensor system 21 and obstacle avoidance system 226. In some embodiments, computer system 24 can operate to provide control over many aspects of target vehicle 200 and its subsystems. For example, in some embodiments, computer system 24 can operate to control display control system 227 to control target vehicle 200 to display speed information indicating a target speed limit sign, for example, via display screen 235.

[0100] Optionally, one or more of these components may be installed separately from or associated with the target vehicle 200. For example, the memory 242 may exist partially or completely separately from the target vehicle 200. The components may be communicatively coupled together in a wired and / or wireless manner.

[0101] Optionally, the components described above are merely examples. In actual applications, components in each of the above modules may be added or removed as needed. Figure 4 This should not be construed as a limitation on the embodiments of this application.

[0102] In some embodiments, this application also provides a computer-readable storage medium storing at least one computer program instruction, at least one program segment, code set, or instruction set, which is loaded and executed by a model training system to implement the traffic information recognition method provided in the above-described method embodiments.

[0103] In some embodiments, this application also provides a computer program product, which includes computer program instructions that, when executed by a model training system, enable a device to implement the traffic information recognition method provided in the above-described method embodiments.

[0104] Various embodiments of the mechanisms disclosed in this application can be implemented in hardware, software, firmware, or combinations of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0105] Program code can be applied to input instructions to execute the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application-specific integrated circuit (ASIC), or a microprocessor.

[0106] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this application are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0107] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried on or stored thereon on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, the instructions may be distributed via a network or through other computer-readable media. Therefore, computer-readable media may include various media capable of storing program code, such as USB flash drives, external hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0108] In the accompanying drawings, some structural or methodological features may be shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be necessary. Rather, in some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. Furthermore, the inclusion of structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0109] It should be noted that all units / modules mentioned in the device embodiments of this application are logical units / modules. Physically, a logical unit / module can be a physical unit / module, a part of a physical unit / module, or a combination of multiple physical units / modules. The physical implementation of these logical units / modules themselves is not the most important factor; the combination of functions implemented by these logical units / modules is the key to solving the technical problems proposed in this application. Furthermore, to highlight the innovative aspects of this application, the above-described device embodiments of this application have not introduced units / modules that are not closely related to solving the technical problems proposed in this application. This does not mean that the above-described device embodiments do not contain other units / modules.

[0110] It should be noted that in the examples and description of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0111] Although this application has been illustrated and described with reference to certain preferred embodiments thereof, those skilled in the art should understand that various changes in form and detail may be made thereto without departing from the spirit and scope of this application.

Claims

1. A traffic information recognition method, characterized in that, Applied to electronic devices, the method includes: During the process of the target vehicle traveling on the target road, at least one suspected speed limit sign was detected; Based on the marker parameters of the at least one suspected speed limit sign and the map speed limit value of the target road in the electronic map, a target speed limit sign that meets the screening criteria is obtained from the at least one suspected speed limit sign. Displays the speed information indicated by the target speed limit sign.

2. The method according to claim 1, characterized in that, The speed information displayed by the target speed limit sign includes: If the distance between the target vehicle and the target speed limit sign is less than a first preset distance in a first direction, the speed information indicated by the target speed limit sign is displayed, wherein the first direction is the extension direction of the target road.

3. The method according to claim 1, characterized in that, The marker parameters include at least one of the following: The distance between the suspected speed limit sign and the target vehicle in the first direction; The distance between the suspected speed limit sign and the curb of the road where the speed limit sign is located in the second direction, wherein the second direction is perpendicular to the first direction; The height of the object suspected to be a speed limit sign; The speed at which the speed limit sign appears to be moving; Speed ​​information of objects suspected to be speed limit signs; The types of suspected speed limit signs include at least one of the following: fixed speed limit signs and variable speed limit signs; The maximum speed limit in the area where the target road is located; The target road's corresponding speed limit includes at least one of the following road types: expressway, urban road, elevated road, arterial road, secondary arterial road, local road, rural road, mountain road, tunnel, bridge, parking lot, provincial road, county road, and township road; or, The road speed limit feature corresponding to the road type of the target road, wherein the road speed limit feature is used to indicate the numerical characteristics of the road speed limit.

4. The method according to claim 3, characterized in that, The road speed limit feature includes at least one of the following: The last digit of the speed limit on highways is not 5. The last digit of the speed limit on national highways is not 5. The speed limit on county roads is 80 kilometers per hour or less. The speed limit on rural roads is 80 kilometers per hour or less. The speed limit on rural roads is 80 kilometers per hour or less. The speed limit on highways is greater than or equal to 20 kilometers per hour, or... The speed limit on national highways is 20 kilometers per hour or more.

5. The method according to claim 3 or 4, characterized in that, The screening criteria include at least one of the following: The distance between the target speed limit sign and the target vehicle in the first direction is less than or equal to a first distance threshold; The distance between the target speed limit sign and at least one curb of the road where the target speed limit sign is located in the second direction is less than or equal to a second distance threshold. The height of the target speed limit sign is greater than a first height threshold and less than a second height threshold, wherein the first height threshold is greater than 0 and the second height threshold is greater than the first height threshold; The moving speed of the target speed limit sign is less than or equal to the preset moving speed; The speed information indicated by the target speed limit sign is less than or equal to the maximum speed limit of the area where the target road is located; The speed information indicated by the target speed limit sign conforms to the road speed limit characteristics corresponding to the road type of the target road.

6. The method according to claim 3, characterized in that, The number of suspected speed limit signs is greater than 1, and, The filtering criteria also include at least one of the following: The type of the target speed limit sign has the highest priority among the types of at least one suspected speed limit sign, wherein the variable speed limit sign has a higher priority than the fixed speed limit sign; or, The speed information identified by the target speed limit sign has the highest value among the speed information identified by at least one suspected speed limit sign.

7. The method according to claim 1, characterized in that, The filtering criteria include: The speed information indicated by the target speed limit sign is within a preset speed range, wherein the preset speed range is determined based on the map speed limit value.

8. The method according to claim 7, characterized in that, The speed information indicated by the target speed limit sign is within a preset speed range, including: The speed information indicated by the target speed limit sign is greater than or equal to a first speed threshold, and the speed information indicated by the target speed limit sign is less than or equal to a second speed threshold; wherein, The first speed threshold is the value obtained by subtracting a first preset value from the map speed limit, and the second speed threshold is the value obtained by adding a second preset value to the map speed limit.

9. The method according to any one of claims 1 to 8, characterized in that, The speed information displayed by the target speed limit sign includes at least one of the following: The speed information indicated by the target speed limit sign is displayed on the dashboard of the target vehicle; The speed information of the target speed limit sign is displayed on the central control screen of the target vehicle; The speed information of the target speed limit sign is displayed in the head-up display area of ​​the target vehicle; The speed information indicated by the target speed limit sign is displayed in the rearview mirror of the target vehicle; The speed information of the target speed limit sign is displayed on the side window of the target vehicle; or, The speed information indicated by the target speed limit sign is displayed on the door control screen of the target vehicle.

10. The method according to claim 1, characterized in that, The method further includes: The speed information of the target speed limit sign is broadcast via voice.

11. The method according to claim 1, characterized in that, The method further includes: Control the speed of the target vehicle to be less than or equal to the speed information indicated by the target speed limit sign.

12. An electronic device, characterized in that, It includes a processor and a memory, the memory being used to store program instructions, and the processor being used to invoke the program instructions to perform the method of any one of claims 1 to 11.

13. A vehicle, characterized in that, It includes a processor and a memory, the memory being used to store program instructions, and the processor being used to invoke the program instructions to perform the method of any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed, implement the method of any one of claims 1 to 11.

15. A computer program product, characterized in that, The computer program product includes instructions that, when executed, implement the method of any one of claims 1 to 11.

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