Traffic sign recognition device and associated method for providing a speed limit

Abstract

Traffic sign recognition (TSR) device, which captures information about a traffic sign positioned on a road by means of a camera (21) and recognizes and outputs the speed limit of the captured traffic sign information, comprising the following: a navigation terminal (10) designed to generate and display a vehicle's route; and an electronic control unit (22) configured to provide a speed limit updated by the navigation terminal (10) when a road attribute contained in road information changes or the sign information is display information indicating a speed limit change based on the road information on the road route and the sign information captured by the camera (21), the road information being received by the navigation terminal (10) while the vehicle travels along the road route, characterized by the fact that, when the vehicle accelerates to a maximum reference speed or more after having traveled at a preset minimum reference speed or less for a preset reference time or more, when the vehicle is traveling on the motorway, the electronic control unit (22) determines that the vehicle is passing a toll point, and sets the speed limit updated by the navigation terminal as the speed limit of the road after passing the toll point.

Description

CROSS-REFERENCE(S) TO RELATED APPLICATIONS

[0001] This application claims priority to Korean Patent Application No. 10-2015-0162468, filed on November 19, 2015, the disclosure of which is incorporated herein by reference in its entirety. BACKGROUND OF THE INVENTIONField of the invention

[0002] Exemplary embodiments of the present invention relate to a VZE (Traffic Sign Recognition) device and a speed limit providing method thereof, in particular to a VZE device and a speed limit providing method thereof capable of providing a speed limit suitable for a driving environment based on road information provided by a navigation terminal and sign information captured by a camera. General state of the art

[0003] A VZE device detects general and electronic traffic signs through a front-view camera and displays the detected information on an instrument cluster while a vehicle is operating. Thus, the VZE ​​device can warn a driver by providing the speed limit information for the road the vehicle is traveling on, thereby preventing a traffic accident caused by excessive speed.

[0004] The VZE ​​device is likely to malfunction in an environment where traffic signs on the road are obscured by other vehicles or not recognized due to bad weather, even if the traffic signs remain in a relatively normal state. Because the positions of the traffic signs on the road make them less likely to be damaged than the lanes on the road, for example, the VZE ​​device may not provide the driver with the most up-to-date information.

[0005] The environment in which such a malfunction is likely to occur may include a case where the camera fails to detect a new traffic sign for a predetermined period of time even though the road attribute has changed after the vehicle passes a highway entrance, exit, or interchange; a case where the camera fails to detect a new traffic sign for a predetermined period of time after detecting a sign indicating a change in the road attribute before the road attribute has changed; a case where the camera fails to detect a new traffic sign while the vehicle is traveling on a highway; and a case where the camera fails to detect a new traffic sign after passing through a speed limit-removed area.

[0006] Thus, there is a need for an improved VZE device that reflects information on whether a road is turning, road attribute information, position information, and speed limit information, and warns a driver by providing a speed limit according to the environment of the road on which a vehicle is traveling. [Documents of the general state of the art][Patent specifications] (Patent Document 1) Korean Patent Application Laid-Open KR 10 2010 0 004 022 A, published on January 12, 2010, entitled "Navigation device, system and method using road signs". (Patent Document 2) Korean Patent Application Laid-Open KR 10 1999 0 003 356 A, published on January 15, 1999, entitled "Vehicle overspeed warning device using GPS and map data, and control method thereof". (Patent document 3) German laid-open specification DE 10 2012 203 505 A1, published on October 22, 2015 under the title “Device for traffic sign recognition and method for outputting the speed limit using the same”. (Patent document 4) German laid-open specification DE 10 2015 207 147 A1, published on October 22, 2015 under the title “Device for traffic sign recognition and method for outputting the speed limit using the same”. (Patent 5) US Patent Application US 8 138 947 B2, published on 5 August 2010 under the title: “Speed ​​limit information device (Patent document 6) German laid-open application DE 10 2009 034 079 A1, published on 25 February 2010 under the title “Speed ​​limit announcing device, method for announcing the speed limit and computer program product therefor”. (Patent document 7) US published application US 2010 / 0 198 488 A1, published on August 5, 2010 under the title: “Method and Device for identifying traffic-relevant information”. (Patent document 8) German laid-open specification DE 198 42 176 A1, published on March 16, 2000 under the title “Device for traffic sign recognition and navigation”. BRIEF DESCRIPTION OF THE INVENTION

[0007] The present invention is defined in the independent claims and has been made in view of the above problems. It is an object of the present invention to provide a VZE device and a speed limit providing method thereof capable of providing a speed limit suitable for a driving environment based on road information provided by a navigation terminal and character information captured by a camera. Some embodiments are apparent from the dependent claims.

[0008] Further objects and advantages of the present invention will be apparent from the following description and will become apparent upon reference to the embodiments of the present invention. It will also be apparent to those skilled in the art to which the present invention belongs that the objects and advantages of the present invention can be realized by the means as claimed and combinations thereof.

[0009] According to one aspect of the present invention, a VZE device is provided that captures information about a traffic sign positioned on a road using a camera and detects and outputs the speed limit from the captured traffic sign information. The VZE ​​device may include a navigation terminal and an electronic control unit. The navigation terminal can generate and display a travel path of a vehicle.The electronic control unit may provide a speed limit updated by the navigation terminal when a road attribute included in the road information has changed or the sign information is display information indicating a speed limit change based on road information on the travel path and the sign information captured by the camera, the road information being received by the navigation terminal while the vehicle travels along the travel path.When the vehicle accelerates to a maximum reference speed or more after traveling at a preset minimum reference speed or less for a preset reference time or more when the vehicle is traveling on the highway, the electronic control unit determines that the vehicle passes a toll booth and sets the speed limit updated by the navigation terminal as the speed limit of the traveling road after passing the toll booth.

[0010] According to one aspect of the present invention, a speed limit providing method of a VZE device is provided that acquires information about a traffic sign positioned on a road through a camera, and detects and outputs the speed limit from the acquired traffic sign information. The method may include: generating and displaying a travel path of a vehicle; and providing a speed limit updated by a navigation terminal when a road attribute included in the road information has changed or the sign information is display information indicating a speed limit change based on road information on the travel path and the sign information acquired by the camera, wherein the road information is received by the navigation terminal while the vehicle travels along the travel path.Providing the updated speed limit includes: determining whether the vehicle has accelerated to a maximum reference speed or more after traveling at a preset minimum reference speed or less for a preset reference time, or more when the vehicle is traveling on a highway; and determining that the vehicle passes a toll plaza when it is determined that the vehicle has accelerated to the maximum reference speed or more after traveling at a preset minimum reference speed or less for the preset reference time or more, and setting the speed limit updated by the navigation terminal as the speed limit of the traveling road after passing the toll plaza.

[0011] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above and other objects, features and other advantages of the present invention will become more clearly understood from the following detailed description when taken in conjunction with the accompanying drawings in which: Fig. 1 is a block diagram illustrating a VZE device according to an embodiment of the present invention; Fig. 2 is a block diagram showing an electronic control unit of Fig. 1 represents; Fig. 3 is a flowchart illustrating a speed limit providing method of a VZE device according to an embodiment of the present invention; and Fig. Figure 4 is a diagram illustrating an example of providing the speed limit of a road that must be changed before a road attribute changes. DESCRIPTION OF SPECIFIC EMBODIMENTS

[0013] Hereinafter, exemplary embodiments of the present invention will be described in detail with the accompanying drawings.

[0014] Fig. 1 is a block diagram illustrating a VZR (Traffic Sign Recognition) apparatus according to an embodiment of the present invention, and Fig. 2 is a block diagram showing an electronic control unit of Fig. 1 represents.

[0015] Referring to Fig. 1, the VZE ​​device 20 according to the embodiment of the present invention can provide a speed limit corresponding to a changed travel road or a road to which a travel road is to be changed, using traffic sign information captured by a camera 21 and road information received from a navigation terminal 10 when the road attribute has changed or the sign information indicates a speed limit change. The traffic sign may include a road sign on the road and a traffic sign mounted on the top of a pole attached to a side of the road, which indicates a speed limit.

[0016] The VZE ​​device 20 includes the camera 21 and an electronic control unit 22. The camera 21 films the road environment or the forward environment in which the vehicle is traveling, and the electronic control unit 22 displays a speed limit corresponding to the travel environment on a cluster instrument 23 or provides the speed limit through the speaker 50 using character information captured by the camera 21 and the road information received from the navigation terminal 10.

[0017] Specifically, when the road attribute has changed or the sign information indicates a speed limit change including a road attribute change while the vehicle is traveling along a path generated by designating a starting point and a destination by the navigation terminal 10, the electronic control unit 22 sets the speed limit updated by the navigation terminal 10 as the speed limit of the traveling road using the road information provided by the navigation terminal 10 and the sign information acquired by the camera 21. The road information may include road junction information, road attribute information, and position (GPS) and speed limit information, and the sign information may include a speed limit, sign information, and sign position in video form.

[0018] The navigation terminal 10 stores the speed limit, which is adjusted to the speed limit of the route. The speed limit of the route that needs to be changed before the road attribute changes is set to the speed limit updated by the navigation terminal 10 based on the display information.

[0019] The electronic control unit 22 includes a receiving unit 221, a determining unit 222, a speed limit setting unit 223, and an output supporting unit 224.

[0020] The receiving unit 221 receives character information captured by the camera 21. The receiving unit 221 receives road information provided by the navigation terminal 10. The road information may include a road attribute, including one or more of a highway entrance, a highway exit, an interchange (JC), an intersection, a highway merging with a trunk road, or a trunk road merging with a highway. The receiving unit 221 may receive an orientation of the vehicle. The receiving unit 221 receives the speed of the vehicle.

[0021] The determination unit 222 determines whether the road attribute included in the road information provided by the navigation terminal 10 indicates a change of the driving road through a motorway entrance, motorway exit, or interchange.

[0022] The determination unit 222 may determine whether the received sign information is display information indicating a speed limit change (e.g., display information indicating a road attribute change). The determination unit 222 may determine whether the received sign information is speed limit cancellation information. The determination unit 222 may determine whether the received sign information is restriction cancellation information. The determination unit 222 may determine whether the received sign information is construction site information. The determination unit 222 may determine whether the received sign information is information about a change in direction at an intersection.

[0023] The determination unit 222 determines, based on a reference speed, whether the vehicle is traveling at a higher speed than or faster than the speed limit of the sign information captured by the camera 21 when the vehicle is traveling on a highway. The determination unit 222 determines, based on a predetermined speed, whether the vehicle is traveling at a higher speed than or faster than the speed limit within a predetermined reference distance after the speed limit is provided. The determination unit 222 determines whether the vehicle is traveling at a higher speed than the maximum reference speed after traveling at a speed not exceeding the preset minimum reference speed for a preset reference time.

[0024] The speed limit setting unit 223 sets the speed limit of a traffic sign installed on the road as the speed limit of the current traveling road when the road attribute does not change. Furthermore, the speed limit setting unit 223 sets the speed limit of a traffic sign installed on the road as the speed limit of the current traveling road when no change in the road attribute is indicated. Furthermore, the speed limit setting unit 223 sets the speed limit of a traffic sign installed on the road as the speed limit of the current traveling road when the above-described condition is not met during high-speed driving on the highway.

[0025] However, when the road attribute changes, the speed limit setting unit 223 sets the speed limit updated by the navigation terminal 10 as the speed limit of the current traveling road. Further, when a change in the road attribute is indicated, the speed limit setting unit 223 sets the speed limit updated by the navigation terminal 10 as the speed limit of the current traveling road. Furthermore, when the above-described condition is met during high-speed driving on the highway, the speed limit setting unit 223 sets the speed limit updated by the navigation terminal 10 as the speed limit of the current traveling road. The current position (GPS information) of the vehicle is received by a GPS receiver (not shown) installed in the navigation terminal 10.The speed limit at each position is stored in a storage unit (not shown) of the navigation terminal 10.

[0026] When the orientation of the vehicle is received, the speed limit setting unit 223 determines the direction of the vehicle traveling straight or turning left or right based on the orientation of the vehicle, and recognizes a traveling road corresponding to the determined direction. The speed limit setting unit 223 sets the speed limit of the recognized traveling road. Further, the speed limit setting unit 223 determines the direction of the vehicle traveling straight or turning left or right based on the orientation determined based on the vehicle information, and recognizes a traveling road corresponding to the determined direction. The speed limit setting unit 223 sets the speed limit of the recognized traveling road.

[0027] Specifically, the speed limit setting unit 223 sets the speed limit updated by the navigation terminal 10 as the speed limit in the specified direction. The vehicle information includes values ​​measured by various sensors installed in the vehicle during vehicle operation.

[0028] The output support unit 224 outputs the speed limit set by the speed limit setting unit 223 using one or more of the instrument cluster 23 and the speaker 24. Thus, a driver can accurately recognize the speed limit of the traveling road through the speed limit displayed on the instrument cluster 23, the speed limit output from the speaker 24, or a combination thereof.

[0029] Referring to Fig. 3, a speed limit providing method of the VZE ​​device having the configuration described above will be described as follows.

[0030] Fig. 3 is a flowchart illustrating the speed limit providing method of the VZE ​​device according to the embodiment of the present invention.

[0031] Referring to Fig. 3, the navigation terminal 10 receives a starting point and a destination at step S11. The navigation terminal 10 generates a route based on the received starting point and destination and displays the route on the screen.

[0032] At step S13, the electronic control unit 22 receives road information on the route generated by the navigation terminal 10.

[0033] At step S15, the electronic control unit 22 receives sign information on the roadway, which sign information is captured by the camera 21. At this time, the camera 21 captures a forward video of the vehicle. The forward video may include a speed limit marked on the road and a speed limit marked on both a sign installed on the road and the lanes of the road.

[0034] The order of steps S13 and S15 does not limit the present invention as long as steps S13 and S15 are performed before step S17 described later.

[0035] At step S17, the electronic control unit 22 determines whether the road attribute has changed based on the road information received at step S13. That is, the electronic control unit 22 determines whether the road attribute is a highway entrance, a highway exit, an interchange, an intersection, a highway-to-trunk road, a highway-to-truck road, or a construction site.

[0036] If it is determined at step S17 that the road attribute has changed, the electronic control unit 22 sets the speed limit updated by the navigation terminal 10 and adjusted with the traveling road as the speed limit of the current traveling road at step S19.

[0037] At step S21, the electronic control unit 22 provides the set speed limit. The set speed limit can be output via one or more of the instrument cluster 23 and the speaker 24 and reliably provided to a driver, making it possible to prevent the vehicle from overspeeding.

[0038] If the road attribute is a highway entrance and the vehicle enters the highway via the highway entrance, the electronic control unit 22 additionally determines whether the vehicle is traveling at a speed higher than the preset reference speed of 70 km / h or, for example, faster than the speed limit of the sign information captured by the camera 21. If it is determined that the vehicle is traveling on the highway at a speed higher than the reference speed or faster than the speed limit, the electronic control unit 22 sets the speed limit updated by the navigation terminal 10 and adjusted with the driving road as the speed limit of the current driving road.

[0039] When traveling on a highway, the vehicle must not exceed the reference speed of 70 km / h or, for example, the speed limit. In this case, the electronic control unit 22 determines whether the vehicle is traveling at a speed higher than the preset speed of 25 km / h or faster than the speed limit of a traffic sign installed on the road within a preset reference distance of, for example, 1.5 km. If it is determined that the vehicle is traveling at a speed higher than the preset speed or faster than the speed limit, the electronic control unit 22 sets the speed limit updated by the navigation terminal 10 and aligned with the road as the speed limit of the current road.

[0040] As a result, when the vehicle is traveling on a highway, the electronic control unit 22 can reliably provide the speed limit of the traveling road updated by the navigation terminal 10 even if the vehicle encounters a road environment in which a sign is damaged, a sign is obscured by another vehicle, or bad weather continues to prevail.

[0041] Further, when the vehicle is accelerated to a maximum reference speed of 90 km / h or more after traveling at a preset minimum reference speed of 10 km / h or less for a preset reference time of 3 seconds or more, the electronic control unit 22 determines that the vehicle has passed a toll gate and sets the speed limit updated by the navigation terminal 10 as the speed limit of the travel road after the toll gate.

[0042] If it is determined at step S17 that the road attribute has not changed, the electronic control unit 22 determines at step S18 whether the sign information captured by the camera 21 is display information indicating a speed limit change.

[0043] If it is determined at step S18 that the character information captured by the camera 21 is display information indicating a speed limit change, the electronic control unit 22 proceeds to step S19 to set the speed limit of the road updated by the navigation terminal 10 as the speed limit of the current road. As shown in Fig. 4, sign information of a motorway sign installed on a road can be captured by the camera 21.

[0044] The electronic control unit 22 can recognize that the character information is display information (for example, highway) indicating that the road attribute has changed.

[0045] When the character information captured by the camera 21 is recognized as display information indicating a speed limit change, the electronic control unit 22 sets the speed limit updated by the navigation terminal 10 as the speed limit of the road to be changed. The display information includes display information indicating a highway entrance, display information indicating a highway exit, display information indicating a speed limit cancellation, display information indicating a restriction cancellation, and display information indicating a travel direction. In the case of an intersection, an orientation direction is determined, and the speed limit updated by the navigation terminal 10 is set as the speed limit in the determined orientation direction.

[0046] If it is determined at step S18 that the sign information detected by the camera 21 is not display information indicating a speed limit change, the electronic control unit 22 detects the speed limit of the sign information detected by the camera 21 at step S20 and provides the detected speed limit.

[0047] As described above, the electronic control unit 22 can provide a speed limit according to the speed limit updated by the navigation terminal 10 based on road information and sign information on a traveling road, while preventing a malfunction that occurs due to failure to recognize a traffic sign as in the related art. With this configuration, a driver can accurately recognize the speed limit according to the driving environment throughout the entire operating section.

[0048] The VZE ​​device and the associated speed limit providing method according to embodiments of the present invention can determine whether a vehicle's traveling route is a general road or a highway. The VZE ​​device and the associated speed limit providing method can provide the speed limit updating method optimized for the general road and the highway, respectively. Through this configuration, a driver can accurately recognize the speed limit according to the driving environment throughout the entire operating section.

[0049] According to embodiments of the present invention, the VZE ​​device and the associated speed limit providing method can provide a speed limit corresponding to a driving environment based on the road information provided by the navigation terminal and the character information captured by the camera.

[0050] While the present invention has been described with reference to specific embodiments, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.

Claims

[1] A VZE (Traffic Sign Recognition) device that detects information about a traffic sign positioned on a road through a camera (21) and detects and outputs the speed limit of the detected traffic sign information, comprising: a navigation terminal (10) configured to generate and display a route of a vehicle; and an electronic control unit (22) configured to provide a speed limit updated by the navigation terminal (10) when a road attribute included in road information changes or the sign information is display information indicating a speed limit change based on the road information on the route and the sign information captured by the camera (21), the road information being received by the navigation terminal (10) while the vehicle is traveling along the route, characterized by , that, when the vehicle is accelerated to a maximum reference speed or more after traveling at a preset minimum reference speed or less for a preset reference time or more when the vehicle is traveling on the highway, the electronic control unit (22) determines that the vehicle is passing a toll booth and sets the speed limit updated by the navigation terminal as the speed limit of the traveling road after passing the toll booth. [2] The VZE ​​device according to claim 1, wherein the road attribute comprises one or more of a highway entrance, a highway exit, an interchange, an intersection, a highway merging with a trunk road, a highway merging with a highway, and a construction zone. [3] The VZE ​​device according to claim 2, wherein, when the road attribute has changed after the vehicle has passed the highway entrance, the highway exit, or the interchange, the electronic control unit (22) sets the speed limit updated by the navigation terminal (10) as the speed limit of a traveling road. [4] The VZE ​​device according to any one of claims 1 to 3, wherein the display information includes one of display information indicating an entrance to a highway, display information indicating an exit from a highway, display information indicating a speed limit cancellation, display information indicating a restriction cancellation, display information indicating a construction site, and display information indicating a travel direction at an intersection. [5] The VZE ​​device according to claim 4, wherein, when the display information displays an entrance to a highway or an exit from a highway, the electronic control unit (22) sets the speed limit updated by the navigation terminal as the speed limit of the traveling road. [6] The VZE ​​device according to claim 4 or 5, wherein, when the display information indicates a traveling direction at an intersection, the electronic control unit (22) recognizes a first traveling road according to the orientation of the vehicle corresponding to the direction of the vehicle traveling straight or turning left or right, and sets the speed limit updated by the navigation terminal (10) as the speed limit of the traveling road. [7] The VZE ​​device according to any one of claims 1 to 6, wherein the electronic control unit (22) recognizes the speed limit from sign information captured by the camera (21) when the vehicle is traveling on the highway, and sets the speed limit updated by the navigation terminal (10) as the speed limit of the traveling road when the vehicle is traveling at a speed higher than a preset speed or faster than the speed limit within a preset reference distance, or is traveling at a speed higher than a preset reference speed or faster than the speed limit of the sign information captured by the camera (21). [8] A speed limit providing method of a VZE device that acquires information about a traffic sign positioned on a road through a camera (21) and recognizes and outputs the speed limit of the acquired traffic sign information, comprising: Generating and displaying a vehicle's route; and Providing a speed limit updated by a navigation terminal (10) when a road attribute included in the road information changes or the sign information is display information indicating a speed limit change based on road information on the travel path and the sign information captured by the camera (21), wherein the road information is received by the navigation terminal (10) while the vehicle travels along the travel path, characterized by that Providing the updated speed limit includes: Determining whether the vehicle has accelerated to a maximum reference speed or more after traveling at a preset minimum reference speed or less for a preset reference time or more when the vehicle is traveling on a highway; and Determining that the vehicle passes a toll booth when it is determined that the vehicle has accelerated to the maximum reference speed or more after traveling at the preset minimum reference speed or less for the preset reference time or more, and setting the speed limit updated by the navigation terminal (10) as the speed limit of the traveling road after passing the toll booth. [9] A speed limit providing method according to claim 8, wherein providing the updated speed limit comprises: Determining whether the road attribute included in the road information received by the navigation terminal (10) indicates that a route has changed after the vehicle has passed a motorway entrance, a motorway exit, or an interchange; and Setting the speed limit updated by the navigation terminal (10) as the speed limit of the changed route if the route has changed. [10] A speed limit providing method according to any one of claims 8 or 9, wherein providing the updated speed limit comprises: Determining whether the sign information is display information indicating an entrance to a highway or an exit from a highway; and Setting the speed limit updated by the navigation terminal (10) as the speed limit of the driving road when the sign information is display information indicating an entrance to or exit from a motorway. [11] A speed limit providing method according to any one of claims 8 to 10, wherein providing the updated speed limit comprises: Determining the direction of the vehicle traveling straight ahead or turning left or right according to the orientation of the vehicle when the sign information is display information indicating a direction of travel at an intersection; and Setting the speed limit updated by the navigation terminal as the speed limit of a road according to the specified direction. [12] A speed limit providing method according to any one of claims 8 to 11, wherein providing the updated speed limit comprises recognizing the speed limit of the sign information captured by the camera (21) when the vehicle is traveling on a highway, and setting the speed limit updated by the navigation terminal as the speed limit of the traveling road when the vehicle is traveling at a speed higher than a preset speed or faster than the speed limit within a preset reference distance, or is traveling at a speed higher than a preset reference speed or faster than the speed limit of the sign information captured by the camera (21).

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