CN105513390A - Traffic sign identification method and system for unmanned driving and traditional driving - Google Patents
Traffic sign identification method and system for unmanned driving and traditional driving Download PDFInfo
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- CN105513390A CN105513390A CN201610003849.3A CN201610003849A CN105513390A CN 105513390 A CN105513390 A CN 105513390A CN 201610003849 A CN201610003849 A CN 201610003849A CN 105513390 A CN105513390 A CN 105513390A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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Abstract
The invention relates to a traffic sign identification method and system for unmanned driving and traditional driving. The method comprises: a wireless signal emission apparatus installed at a traffic crossing modulating real time sign signals into frequency modulation signals, and sending corresponding frequency modulation signals; and a vehicle wireless signal receiver on an unmanned driving vehicle receiving, modulating and analyzing the frequency modulation signals, and sending analyzed sign singles to the unmanned driving vehicle. The traffic sign identification method can effectively, reliably and real-timely detect and identify traffic signs, accurately identify traffic crossing signal lamp information, meet requirements of unmanned driving and traditional driving, and improve driving safety.
Description
Technical field
The invention belongs to automatic driving vehicle field, relate to a kind of traffic mark recognition methods towards unmanned and traditional driving and system.
Background technology
At present, unmanned technology is just with unprecedented speed and degree of concern, be subject to the extensive concern of various countries and each car manufactures and pursue, can predict, in the near future, to have in the quite a long time, automatic driving vehicle and traditional steering vehicle mixed running state in traffic route, will be there is.Traffic lights known by traditional traffic participant and without cognitive disorders, but bring no small challenge to emerging traffic participant-automatic driving car as traffic lights.Traffic light identification method in unmanned technology is one of study hotspot of intelligent transportation industry transport information detection field.Yuan Jiazheng; Liu Hongzhe etc. propose a kind of towards unpiloted dynamically crossroads traffic light detection recognition methods in real time in patent 201310438726, and first the method carries out area-of-interest cutting to original image, filters out the region irrelevant with traffic lights by empirical value.Little template and traffic lights template are set again, and read in pending picture after asking for the two-dimensional histogram of its HSV space, projected by inverse block and search for, calculate the position of search.Finally, on the basis, traffic lights position drawn, be transformed into YCBCR space and carry out colour recognition.Ask for respectively afterwards redness, green area coordinate position and compare, the lane information according to red light, green light positional information and intelligent vehicle place determines whether to travel.Reach and detect traffic lights information real-time dynamicly, apply in the middle of automatic driving car.Yang Huicheng; Wang Hongweis etc. disclose a kind of recognition device of traffic lights in patent 201310421456, this recognition device is the positional information of vehicle GPS module Real-time Collection vehicle, when car gathers image by the imaged acquisition module of traffic lights time control, and the image collected is supplied to traffic lights identification module by image processing module differentiates, differentiate that result returns to vehicle GPS module again; Vehicle GPS module is reported module according to differentiation output control GPS interface display module and voice countdown and is reminded driver.Traffic light signal is changed into character image and sound and light signal, be beneficial to colour blindness and fatigue driving people recognizes traffic lights exactly.Aforesaid way is all on the basis of existing traffic lights to the identification of traffic light signal, utilizes image processing method to identify traffic light signal.There is traffic light signal identification difficulty, by problems such as the such environmental effects such as weather are large.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned deficiency of the prior art, patent of the present invention is on the basis of existing conventional traffic signal lamp, a kind of traffic mark recognition methods towards unmanned and traditional driving and system are provided, a set ofly change with traffic intersection traffic light signal real-time synchronization for automatic driving vehicle designs and to be easy to by the traffic wireless identification signal of automatic driving vehicle identification.Traffic sign recognition method towards unmanned and traditional driving can effective, credible, detection and Identification traffic sign in real time, accurately identifies crossroads traffic light information, meets unmanned and traditional driving, improve the security of its traveling.
The invention provides a kind of traffic mark recognition methods towards unmanned and traditional driving, comprising:
Be installed on the wireless signal transmitting device of traffic intersection, real-time id signal in three kinds of green, yellow, red id signals is modulated into FM signal, send the FM signal corresponding with the information of real-time id signal, and FM signal keeps and conversion time interval keeps synchronous with the maintenance of traffic intersection signal lamp color and the time interval of conversion;
FM signal described in the onboard wireless signal receiving device receiving demodulation of automatic driving vehicle;
Resolve id signal;
Vehicle mounted traffic belisha beacon wireless signal receiver sends the id signal of resolving to automatic driving vehicle.
Preferably, comprise further: whether the wireless signal transmitting device work of traffic intersection signal lamp is normal; If so, the work of Current traffic belisha beacon is detected; The id signal modulated in real time of Current traffic belisha beacon becomes FM signal; Send the FM signal corresponding with green, yellow, red three kinds of information.
Preferably, also comprise: the duty being used to indicate Current traffic belisha beacon is the id signal of turning off the light of turning off the light, and id signal of turning off the light is modulated into FM signal, send mark FM signal of turning off the light.
Preferably, comprise further: if not, send traffic intersection signal lamp wireless signal transmitting device operation irregularity id signal; Modulated in real time becomes FM signal; Send the FM signal of operation irregularity id signal.
Preferably, in identification information, adopt the signal lamp of the form of coding to different directions to encode, thus distinguish different id signals and avoid the issuable interference of the signal of traffic intersection signal lamp different directions.
Preferably, in identification information, adopt the form of coding to encode to different traffic intersection signal lamp, avoid adjacent traffic belisha beacon to interfere with each other.
Preferably, comprise further: the real-time id signal in three kinds of green, yellow, the red id signals obtained according to parsing, obtains corresponding control signal.
The invention provides a kind of traffic mark recognition system towards unmanned and traditional driving, comprise the wireless signal transmitting device and onboard wireless signal receiving device that are installed on traffic intersection, wherein, the wireless signal transmitting device being installed on traffic intersection comprises traffic signals identification module, modulation signal generation module, power amplification circuit module and wireless signal transmission circuit, traffic signals identification module connects modulation signal generation module, modulation signal generation module connects power amplification circuit module, power amplification circuit model calling wireless signal transmission circuit; Traffic signals identification module, for green, yellow, the red id signal of Real time identification three kinds; Modulation signal generation module, is modulated into FM signal for real-time id signal; Power amplification circuit module, for amplifying FM signal; Wireless signal transmission circuit, for sending the FM signal corresponding with the information of described real-time id signal; And described FM signal keeps and conversion time interval keeps synchronous with the maintenance of traffic intersection signal lamp color and the time interval of conversion;
Onboard wireless signal receiving device comprises wireless identification signal pre-amplification circuit module, filtering/amplification circuit module, demodulator circuit module, id signal identification circuit module and id signal output circuit module, wireless identification signal pre-amplification circuit model calling filtering/amplification circuit module, filtering/amplification circuit module connects demodulator circuit module, demodulator circuit module link identity signal recognition circuit module, id signal identification circuit module link identity signal output apparatus module; Wireless identification signal pre-amplification circuit module, for amplifying the FM signal of reception; Filtering/amplification circuit module, for the FM signal of the described reception of filtering/amplify; Demodulator circuit module, for FM signal described in demodulation; Id signal identification circuit module, for resolving id signal; Id signal output circuit module, the id signal that transmission is resolved is to automatic driving vehicle.
Preferably, whether the wireless signal transmitting device work that traffic signals identification module detects traffic intersection signal lamp is normal, if so, detects the work of Current traffic belisha beacon.
Preferably, traffic signals identification module comprises the duty for generation of instruction Current traffic belisha beacon is further the id signal of turning off the light of turning off the light.
Preferably, traffic signals identification module be included in further the work of traffic intersection wireless identification sender unit abnormal time, produce wireless signal transmitting device operation irregularity id signal.
Preferably, id signal output circuit module comprises the real-time id signal in three kinds of green, yellow, the red id signals obtained according to parsing further, obtains corresponding control signal.
The technical scheme that embodiment of the present disclosure provides can comprise following beneficial effect: meeting in the manned situation of conventional truck, traffic sign recognition method towards unmanned and traditional driving can effective, credible, detection and Identification traffic sign in real time, accurate identification crossroads traffic light information, meet unmanned and traditional driving, improve the security that it travels.
Should be understood that, it is only exemplary and explanatory that above general description and details hereinafter describe, and can not limit the disclosure.
Accompanying drawing explanation
Accompanying drawing to be herein merged in instructions and to form the part of this instructions, shows embodiment according to the invention, and is used from instructions one and explains principle of the present invention.
Fig. 1 is automatic driving vehicle according to an exemplary embodiment of the traffic mark recognition system towards unmanned and traditional driving of the present invention and crossing traffic belisha beacon schematic diagram.
Fig. 2 is the exemplary embodiment according to the traffic mark recognition methods towards unmanned and traditional driving of the present invention.
Fig. 3 is the workflow diagram being arranged on the traffic intersection signal lamp id signal wireless signal transmitting device of traffic intersection of the exemplary embodiment according to the traffic mark recognition system towards unmanned and traditional driving of the present invention.
Fig. 4 is the workflow diagram of the vehicle-mounted wireless signal receiver of an exemplary embodiment according to the traffic mark recognition system towards unmanned and traditional driving of the present invention.
Fig. 5 is the circuit diagram being arranged on the traffic intersection signal lamp id signal wireless signal transmitting device of traffic intersection of the exemplary embodiment according to the traffic mark recognition system towards unmanned and traditional driving of the present invention.
Fig. 6 is the vehicle-mounted wireless signal receiver circuit diagram of the exemplary embodiment according to the traffic mark recognition system towards unmanned and traditional driving of the present invention.
Embodiment
Here will be described exemplary embodiment in detail, its sample table shows in the accompanying drawings.When description below relates to accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawing represents same or analogous key element.Embodiment described in following exemplary embodiment does not represent all embodiments consistent with the present invention.On the contrary, they only with as in appended claims describe in detail, the example of apparatus and method that aspects more of the present invention are consistent.
Before carrying out embodiment description, it should be noted that, in order to the convenience that illustrates and specialize, this group embodiment towards the traffic mark recognition methods of unmanned and traditional driving and system, but is not limited in embodiment and enumerates limited range.
Automatic driving vehicle in following exemplary embodiment is only exemplary description, and other vehicles with automatic driving vehicle with like attribute are suitable for too, and the vehicles such as such as traditional steering vehicle are all applicable.
Fig. 1 is automatic driving vehicle described in the embodiment of the present invention and crossing traffic belisha beacon schematic diagram.
Traffic wireless identification signal is sent by the traffic intersection signal lamp id signal wireless signal transmitting device 1 being arranged on traffic intersection.
Provide corresponding control signal after being undertaken receiving and identify by the traffic intersection signal lamp id signal wireless signal receiver 2 be arranged on automatic driving vehicle, carry out identifying, judge and processing for automatic driving vehicle.
The traffic intersection signal lamp that the present invention adopts meets national standard " GB14886-2006 road traffic signal lamp is arranged and installation specification " and " GB14887-2003 road traffic signal lamp ".Traffic intersection signal lamp id signal can be divided into motor vehicle signal lamp, bicycle signal lamp, pedestrian crosswalk signal lamp, lane signal lamp, direction instruction signal lamp, flashing, alarming signal lamp, grade crossing signal lamp by function.Some road traffic signal lamps may be furnished with countdown nixie display.Automatic driving vehicle may be subject to the impact of putting in order of signal lamp and installation site to the cognition of traffic lights, the traffic intersection signal lamp that the present invention adopts meets national standard " GB14886-2006 road traffic signal lamp is arranged and installation specification ", and this standard is applicable to the installation of urban road and highway grade crossing, urban road and highway section, urban road and highway and railway plane crossing signal lamp.National standard " GB14887-2003 road traffic signal lamp " is applicable to the signal lamp used on road.Crossing mainly can be divided into by shape: cruciform, oblique, T-shaped, Y shape, dislocation T-shaped, dislocation Y shape, multichannel and road circuits.
Fig. 2 is a kind of traffic mark recognition methods towards unmanned and traditional driving that the invention process exemplifies, and as shown in Figure 2, comprises the following steps.
In a step 101, be installed on the wireless signal transmitting device of traffic intersection, the real-time id signal in three kinds of green, yellow, red id signals is modulated into FM signal.
Status signal in existing traffic light control system, control signal are identified, obtains recognition result.Status signal, control signal containing the north and south of current instruction or the directional information of thing, red, yellow, and green pilot lamp bright/information of going out, the status information etc. that control system normally works.
Real-time id signal in three of current time kinds of green, yellow, red id signals is modulated into FM signal by wireless signal transmitting device.
Frequency modulation technology of the present invention is only exemplary, also can adopt the modulation system such as amplitude modulation and phase modulation, can be analog-modulated, also can digital modulation.
In a step 102, send the FM signal corresponding with the information of described real-time id signal, and FM signal keeps and conversion time interval keeps synchronous with the maintenance of traffic intersection signal lamp color and the time interval of conversion.
FM signal corresponding for the information being loaded with real-time id signal is launched by the wireless signal transmission circuit of wireless signal transmitting device.Most importantly, FM signal maintenance and conversion time interval keep synchronous with the maintenance of traffic intersection signal lamp color and the time interval of conversion.
For avoiding the issuable interference of the signal of traffic intersection signal lamp different directions, the antenna that wireless signal transmitting device connects can be directional antenna, also the signal lamp of the form of coding to different directions can be adopted in identification information to encode simultaneously, thus distinguish different id signals.
Meanwhile, in order to avoid adjacent traffic belisha beacon interferes with each other, can by controlling the emissive power of wireless signal transmitting device, or in identification information, adopting the form of coding to encode to different traffic intersection signal lamp, avoiding interfering with each other.
In step 103, FM signal described in the onboard wireless signal receiving device receiving demodulation of automatic driving vehicle.
The car antenna of automatic driving vehicle receives the signal that traffic intersection signal lamp signal identification wireless signal transmitting device sends, the FM signal that the demodulation of onboard wireless signal receiving device receives.
At step 104, id signal is resolved.
The traffic signals identification module of vehicle-mounted wireless signal receiver identifies the status signal in existing traffic light control system, control signal, obtains recognition result, delivers to modulation signal generation module 12.Status signal, control signal comprise the north and south of current instruction or the directional information of thing, red, yellow, and green pilot lamp bright/information of going out, the status information etc. that control system normally works.
In step 105, vehicle mounted traffic belisha beacon wireless signal receiver sends the id signal of resolving to automatic driving vehicle.
The traffic intersection that the id signal output circuit module 25 of vehicle-mounted wireless signal receiver identifies indicates traffic information, delivers to the data-interface of automatic driving vehicle, for identification with specific mode.
Real-time id signal in three kinds of green, yellow, red id signals is modulated into FM signal, sends the FM signal corresponding with the information of real-time id signal, comprises further:
Whether the work of traffic intersection wireless identification sender unit is normal;
If so, the work of Current traffic belisha beacon is detected;
The id signal modulated in real time of Current traffic belisha beacon becomes FM signal;
Send the FM signal corresponding with green, yellow, red three kinds of information.
The id signal modulated in real time of Current traffic belisha beacon becomes FM signal, sends the three kind FM signal corresponding with green, yellow, red three kinds of information, also comprises:
The duty being used to indicate described Current traffic belisha beacon is the id signal of turning off the light of turning off the light, and id signal of turning off the light is modulated into FM signal, sends mark FM signal of turning off the light.
Whether the work of traffic intersection wireless identification sender unit is normal, comprises further:
If not, traffic intersection signal lamp operation irregularity id signal is sent;
Modulated in real time becomes FM signal;
Send the FM signal of operation irregularity id signal.
Vehicle mounted traffic belisha beacon wireless signal receiver sends the id signal of resolving to automatic driving vehicle, comprises further:
Real-time id signal in three kinds of green, yellow, the red id signals obtained according to parsing, obtains corresponding control signal.
Fig. 3 is the traffic intersection signal lamp id signal wireless signal transmitting device workflow diagram being arranged on traffic intersection according to an exemplary embodiment, comprises the following steps.
From the angle of traffic intersection signal lamp id signal wireless signal transmitting device being arranged on traffic intersection, describe the process flow diagram of Fig. 2 towards the traffic mark recognition methods of unmanned and traditional driving in detail.
In step 301, whether the wireless signal transmitting device work of traffic intersection signal lamp is normal.
The wireless signal transmitting device of traffic intersection signal lamp lamp can the duty of wireless signal transmitting device of self-inspection traffic intersection signal lamp when powering on or when normal work.
In step 302, the work of Current traffic belisha beacon is detected.
Traffic intersection signal lamp beacon light is known signal wireless sender unit and is detected the work of Current traffic belisha beacon.
In step 303, send green, yellow, red light id signal, send id signal of turning off the light.
Traffic intersection signal lamp beacon light is known signal wireless sender unit and is sent real-time id signal in green, yellow, red light id signal, by FM signal transmitting corresponding for the information that is loaded with real-time id signal.Most importantly, FM signal maintenance and conversion time interval keep synchronous with the maintenance of traffic intersection signal lamp color and the time interval of conversion.
In step 304, the wireless signal transmitting device operation irregularity id signal of traffic intersection signal lamp is sent.
When traffic intersection signal lamp beacon light knowledge signal wireless sender unit detects operation irregularity, send the wireless signal transmitting device operation irregularity id signal of traffic intersection signal lamp, modulated in real time becomes FM signal, sends the FM signal of operation irregularity id signal.
Fig. 4 is the vehicle-mounted wireless signal receiver workflow diagram according to an exemplary embodiment, comprises the following steps.
In step 401, the signal that traffic intersection signal lamp id signal wireless signal transmitting device sends is received.
The car antenna of automatic driving vehicle receives the signal that traffic intersection signal lamp signal identification wireless signal transmitting device sends.
In step 402, the FM signal of demodulation reception.
Demodulator circuit module carries out demodulation to the signal received, and obtains the id signal of traffic signals.
In step 403, current demand signal mark is resolved.
The id signal that vehicle mounted traffic belisha beacon wireless signal receiver demodulator circuit module exports identifies, obtains the instruction traffic information at Current traffic crossing.
In step 404, send green, yellow, red light id signal, send id signal of turning off the light.
Vehicle mounted traffic belisha beacon wireless signal receiver id signal identification circuit module identifies the id signal that demodulator circuit module exports, and obtains the instruction traffic information at Current traffic crossing.
Meanwhile, the duty that vehicle mounted traffic belisha beacon wireless signal receiver is used to indicate described Current traffic belisha beacon is the id signal of turning off the light of turning off the light, and id signal of turning off the light is modulated into FM signal, sends mark FM signal of turning off the light.
In step 405, send green, yellow, red light control signal, send control signal of turning off the light
The traffic intersection that the id signal output circuit Module recognition of vehicle mounted traffic belisha beacon wireless signal receiver goes out indicates traffic information, delivers to the data-interface of automatic driving vehicle, for identification with specific mode.
Fig. 5 is the traffic intersection signal lamp id signal wireless signal transmitting device circuit diagram being arranged on traffic intersection according to an exemplary embodiment.With reference to Fig. 5, the described wireless signal transmitting device being installed on traffic intersection comprises traffic signals identification module 11, modulation signal generation module 12, power amplification circuit module 13 and wireless signal transmission circuit 14, traffic signals identification module 11 connects modulation signal generation module 12, modulation signal generation module 12 connects power amplification circuit module 13, and power amplification circuit module 13 connects described wireless signal transmission circuit 14.
Traffic signals identification module 11 identifies the status signal in existing traffic light control system, control signal, obtains recognition result, delivers to modulation signal generation module 12.Status signal, control signal comprise the north and south of current instruction or the directional information of thing, red, yellow, and green pilot lamp bright/information of going out, the status information etc. that control system normally works.
The recognition result that modulation signal generation module 12 obtains according to traffic signals identification module, produces the id signal of assigned frequency feature, and delivers to power amplification circuit module after id signal is modulated to designated frequency band.
The id signal that modulation signal generation module produces is carried out power greatly by power amplification circuit module 13, to increase the transmission range of signal.And deliver to signal transmission circuit module.
The id signal be exaggerated from power amplification circuit module is wirelessly launched by wireless signal transmission circuit 14.The antenna that wireless signal transmission circuit 14 connects can be directional antenna.
FM signal keeps and conversion time interval keeps synchronous with the maintenance of traffic intersection signal lamp color and the time interval of conversion.
For avoiding the issuable interference of the signal of traffic intersection signal lamp different directions, the antenna that wireless signal transmitting device connects can be directional antenna, also the signal lamp of the form of coding to different directions can be adopted in identification information to encode simultaneously, thus distinguish different id signals.
Meanwhile, in order to avoid adjacent traffic belisha beacon interferes with each other, can by controlling the emissive power of wireless signal transmitting device, or in identification information, adopting the form of coding to encode to different traffic intersection signal lamp, avoiding interfering with each other.
Whether traffic signals identification module 11 detects the work of traffic intersection wireless identification sender unit normal, if so, detects the work of Current traffic belisha beacon.
The duty that traffic signals identification module 11 comprises for generation of the described Current traffic belisha beacon of instruction is the id signal of turning off the light of turning off the light.
Traffic signals identification module 11 be included in the work of traffic intersection wireless identification sender unit abnormal time, produce traffic intersection signal lamp operation irregularity id signal.
Frequency modulation technology of the present invention is only exemplary, also can adopt the modulation system such as amplitude modulation and phase modulation, can be analog-modulated, also can digital modulation.
Fig. 6 is the vehicle-mounted wireless signal receiver circuit diagram according to an exemplary embodiment.With reference to Fig. 6, wireless signal receiver circuit diagram comprises wireless identification signal pre-amplification circuit module 21, filtering/amplification circuit module 22, demodulator circuit module 23, id signal identification circuit module 24 and id signal output circuit module 25.Annexation between modules as shown in Figure 6, wireless identification signal pre-amplification circuit module 21 connects filtering/amplification circuit module 22, filtering/amplification circuit module 22 connects demodulator circuit module 23, demodulator circuit module 23 connection identifier signal recognition circuit module 24, id signal identification circuit module 24 connection identifier signal output apparatus module 25.
The signal of wireless identification signal pre-amplification circuit module 21 pairs of designated frequency band carries out frequency-selecting pre-amplification, and output signal is delivered to filtering/amplification circuit module 22.Wireless identification signal pre-amplification circuit module 21 connects the car antenna of automatic driving vehicle, and car antenna is divided into chip antenna, helical antenna etc., and above-mentioned antenna is only exemplary, can adopt any type of antenna.
The signal that filtering/amplification circuit module 22 pairs of wireless identification signal pre-amplification circuit modules export carries out filtering targetedly and amplifies process, and result signal is delivered to demodulator circuit module 23.
The demodulation that signal carries out of demodulator circuit module 23 pairs of filtering/amplification circuit module, obtains the id signal of traffic signals.Id signal is delivered to id signal identification circuit module 24.
The id signal that id signal identification circuit module 24 pairs of demodulator circuit modules export identifies, obtains the instruction traffic information at Current traffic crossing, recognition result is delivered to id signal output circuit module 25.
The traffic intersection instruction traffic information that id signal output circuit module 25 will identify, delivers to the data-interface of automatic driving vehicle, for identification with specific mode.
Id signal output circuit module 25 comprises the real-time id signal in three kinds of green, yellow, the red id signals obtained according to parsing, obtains corresponding control signal.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
The software module that the method described in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, processor to perform, or the combination of the two is implemented.Software module can be placed in the storage medium of other form any known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
Those skilled in the art, at consideration instructions and after putting into practice invention disclosed herein, will easily expect other embodiment of the present invention.The application is intended to contain any modification of the present invention, purposes or adaptations, and these modification, purposes or adaptations are followed general principle of the present invention and comprised the undocumented common practise in the art of the disclosure or conventional techniques means.Instructions and embodiment are only regarded as exemplary, and true scope of the present invention and spirit are pointed out by claim below.
Should be understood that, the present invention is not limited to precision architecture described above and illustrated in the accompanying drawings, and can carry out various amendment and change not departing from its scope.Scope of the present invention is only limited by appended claim.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1., towards a traffic mark recognition methods for unmanned and traditional driving, comprising:
Be installed on the wireless signal transmitting device of traffic intersection signal lamp, real-time id signal in three kinds of green, yellow, red id signals is modulated into FM signal, send the FM signal corresponding with the information of described real-time id signal, and described FM signal keeps and conversion time interval keeps synchronous with the maintenance of traffic intersection signal lamp color and the time interval of conversion;
FM signal described in the onboard wireless signal receiving device receiving demodulation of automatic driving vehicle;
Resolve id signal;
Vehicle mounted traffic belisha beacon wireless signal receiver sends the id signal extremely described automatic driving vehicle of resolving.
2. method according to claim 1, is characterized in that, the real-time id signal in described three kinds of green, yellow, red id signals is modulated into FM signal, sends the FM signal corresponding with the information of described real-time id signal, comprises further:
Whether the wireless signal transmitting device work of described traffic intersection signal lamp is normal;
If so, the work of Current traffic belisha beacon is detected;
The id signal modulated in real time of Current traffic belisha beacon becomes FM signal;
Send the FM signal corresponding with green, yellow, red three kinds of information.
3. method according to claim 2, is characterized in that, the id signal modulated in real time of Current traffic belisha beacon becomes FM signal, sends the three kind FM signal corresponding with green, yellow, red three kinds of information, also comprises:
The duty being used to indicate described Current traffic belisha beacon is the id signal of turning off the light of turning off the light, described in id signal of turning off the light be modulated into FM signal, mark of turning off the light described in transmission FM signal.
4. method according to claim 2, is characterized in that, whether the wireless signal transmitting device work of described traffic intersection signal lamp is normal, comprises further:
If not, wireless signal transmitting device operation irregularity id signal is sent;
Modulated in real time becomes FM signal;
Send the FM signal of operation irregularity id signal.
5. method according to claim 1, is characterized in that, described vehicle mounted traffic belisha beacon wireless signal receiver sends the id signal of resolving to automatic driving vehicle, comprises further:
Real-time id signal in three kinds of green, yellow, the red id signals obtained according to parsing, obtains corresponding control signal.
6., towards a traffic mark recognition system for unmanned and traditional driving, comprise the onboard wireless signal receiving device of wireless signal transmitting device and the automatic driving vehicle being installed on traffic intersection signal lamp, it is characterized in that,
The described wireless signal transmitting device being installed on traffic intersection comprises traffic signals identification module, modulation signal generation module, power amplification circuit module and wireless signal transmission circuit, described traffic signals identification module connects described modulation signal generation module, described modulation signal generation module connects described power amplification circuit module, wireless signal transmission circuit described in described power amplification circuit model calling;
Described traffic signals identification module, for green, yellow, the red id signal of Real time identification three kinds;
Described modulation signal generation module, for being modulated into FM signal by real-time id signal;
Described power amplification circuit module, for amplifying FM signal;
Described wireless signal transmission circuit, for sending the FM signal corresponding with the information of described real-time id signal;
And described FM signal keeps and conversion time interval keeps synchronous with the maintenance of traffic intersection signal lamp color and the time interval of conversion;
Described onboard wireless signal receiving device comprises wireless identification signal pre-amplification circuit module, filtering/amplification circuit module, demodulator circuit module, id signal identification circuit module and id signal output circuit module, filtering/amplification circuit module described in described wireless identification signal pre-amplification circuit model calling, described filtering/amplification circuit module connects described demodulator circuit module, id signal identification circuit module described in described demodulator circuit model calling, id signal output circuit module described in described id signal identification circuit model calling;
Described wireless identification signal pre-amplification circuit module, for amplifying the FM signal of reception;
Described filtering/amplification circuit module, for the FM signal of the described reception of filtering/amplify;
Described demodulator circuit module, for FM signal described in demodulation;
Described id signal identification circuit module, for resolving id signal;
Described id signal output circuit module, the id signal that transmission is resolved is to automatic driving vehicle.
7. system according to claim 6, is characterized in that,
Whether the wireless signal transmitting device work that described traffic signals identification module detects traffic intersection signal lamp is normal, if so, detects the work of Current traffic belisha beacon.
8. system according to claim 7, is characterized in that, the duty that described traffic signals identification module comprises further for generation of the described Current traffic belisha beacon of instruction is the id signal of turning off the light of turning off the light.
9. system according to claim 7, is characterized in that, described traffic signals identification module be included in further the work of traffic intersection signal lamp wireless signal transmitting device abnormal time, produce the abnormal id signal of wireless signal transmitting device.
10. system according to claim 6, is characterized in that, described id signal output circuit module comprises the real-time id signal in three kinds of green, yellow, the red id signals obtained according to parsing further, obtains corresponding control signal.
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Cited By (7)
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| CN106205165A (en) * | 2016-07-22 | 2016-12-07 | 金陵科技学院 | A kind of traffic intersection whistle control system with wireless traffic signal dispensing device |
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| CN108447292A (en) * | 2018-04-10 | 2018-08-24 | 江苏微科云信息技术有限公司 | A kind of wireless intelligent traffic signal guidance system |
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