CN111223294A - Intelligent vehicle guiding control method and device - Google Patents
Intelligent vehicle guiding control method and device Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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Abstract
The invention belongs to the technical field of unmanned automobiles, and provides an intelligent vehicle guide control method and device, wherein the intelligent vehicle guide control method comprises the following steps: acquiring image information of a traffic marker A; obtaining traffic identification information D and public traffic information C according to the image information of the traffic marker A; and sending a guide control instruction according to the public traffic information C. An intelligent vehicle guiding control device comprises a scanning camera unit, an image processing unit and a central processing unit. Through the technical scheme, the problems that an unmanned automobile control system is complex and has high failure rate in the prior art are solved.
Description
Technical Field
The invention belongs to the technical field of unmanned automobiles, and relates to an intelligent vehicle guide control method and device.
Background
The intelligent traffic management and unmanned vehicles are the development direction of future society, the unmanned vehicles in the traditional intelligent traffic rely on a plurality of video cameras, computers and radar systems arranged on the vehicles to scan the whole range of social scenes of 360 degrees in the driving process, then the traffic signal lamps on the roads, various moving vehicles and pedestrian reference objects around the traffic signal lamps, trees, buildings and traffic facilities at the relatively fixed positions on the roadside and other scenes are scanned and shot, the current positions of the vehicles and the next instructions and the like are judged by an on-board computer, because the scanned moving vehicles, fixed structures and the like are continuously changed and are not fixed relative to the driving vehicles, and simultaneously the on-board computer and the radar system scan the scene which is irregular, moving and continuously changed according to natural conditions such as seasons and the like and is more changed and complicated than the actual society, especially, on roads, the lighting light, the landscape light, the advertisement light, the automobile light in different driving directions and the like in traffic signal lights and environments are very easy to be confused, a large amount of collected social image information needs to be calculated and discriminated through a large-scale vehicle-mounted computer system, and indication information which is only useful for unmanned automobiles is screened out from the massive information, so that the unmanned automobiles need to be designed with huge photographing, radar, computer systems, corresponding software control systems and the like, the calculation time and the response time of the system for the scanned images are increased, meanwhile, the invisible failure rate of software and hardware products and the construction cost of the system are increased, and the development of safety, rapidness and health of the unmanned automobiles is hindered.
Disclosure of Invention
The invention provides an intelligent vehicle guide control method and device, and solves the problems that an unmanned vehicle control system is complex and has high failure rate in the prior art.
The technical scheme of the invention is realized as follows:
an intelligent vehicle guiding control method comprises
S11: acquiring image information of a traffic marker A;
s12: obtaining traffic identification information D according to the image information of the traffic marker A, and obtaining public traffic information C according to the traffic identification information D, wherein the traffic identification information D is a character string;
s13: and sending a guide control instruction according to the public traffic information C.
Further, the image information of the traffic marker a includes a background and a character string, and the background and the character string are different in color.
Further, step S12 includes
S121: carrying out image processing on the image information of the traffic marker A;
s122: and identifying the traffic identification information D.
Further, step S121 includes
S1211: the image calibration is to set a reference image and calibrate the image information of the traffic marker A by taking the reference image as a reference point;
s1212: performing gray processing, namely performing gray processing on the calibrated image information of the traffic marker A by utilizing gray processing of an average value method and combining gray processing of a weighted average method and gray processing of a maximum value;
s1213: image edge processing and image tilt angle correction.
Further, step S122 includes
S1221: identifying character strings, namely identifying the character strings in the image information of the traffic marker A to obtain real-time character string contents;
s1222: establishing a character string information base, wherein the character string information base comprises all standard character strings and traffic information options corresponding to the standard character strings, comparing the obtained real-time character string contents with each standard character string one by one, if the similarity of the real-time character string contents and a certain standard character string is in a set range, assigning the contents of the standard character strings to the real-time character strings, and assigning the traffic information options corresponding to the standard character strings to public traffic information C.
Furthermore, the invention also provides an intelligent vehicle guide control device, which comprises
A scanning camera unit for obtaining image information of the traffic marker A;
and the central processing unit is used for obtaining the traffic identification information D from the image information of the traffic marker A, obtaining public traffic information C according to the obtained traffic identification information D and sending a guide control instruction according to the obtained public traffic information C.
The system further comprises an image processing unit, which is used for carrying out image calibration, gray processing, image edge processing and image inclination angle correction on the image information of the traffic marker A.
Further, the scanogram unit includes
The scanning camera I is arranged at the front end of the vehicle,
a second scanning camera arranged on the left side of the vehicle,
a third scanning camera arranged on the right side of the vehicle,
a scanning camera IV which is arranged at the top end of the vehicle,
and a fifth scanning camera arranged at the rear end of the vehicle.
Further, the central processing unit comprises a vehicle running speed interpretation control unit, a traffic indication sign interpretation control unit, a traffic prohibition sign interpretation control unit, a traffic warning sign interpretation control unit and a traffic auxiliary sign interpretation control unit which are all connected with the signal indication interpretation control unit,
the vehicle running speed interpretation control unit is used for reading speed limit identification information,
the traffic sign interpretation control unit is used for reading traffic sign information,
the traffic control prohibition sign interpretation control unit is used for reading the traffic prohibition sign information,
the traffic warning sign interpretation control unit is used for reading traffic warning sign information,
the traffic assistant sign interpretation control unit is used for reading the traffic assistant sign information,
the signal indication interpretation control unit is used for determining and sending a guidance control instruction according to the speed limit identification information, the traffic indication sign information, the traffic prohibition sign information, the traffic warning sign information and the traffic auxiliary sign information.
The working principle and the beneficial effects of the invention are as follows:
1. road traffic signs in the prior art, such as road traffic signal lamps, traffic signs, marking lines and the like, are easily perceived visually by people, can play a good indicating role when a driver drives an automobile, but for an unmanned automobile, the identification of the road traffic signs in the prior art needs a complex process and is easy to make mistakes.
The invention provides an intelligent vehicle guiding control method, firstly, a traffic marker A special for an unmanned automobile is arranged on the existing road traffic marker, traffic identification information D in a character string form is recorded on the traffic marker A, and image information of the traffic marker A is obtained; reading character string information from the image information of the traffic marker a; obtaining corresponding public traffic information C according to the character string information; and sending a guide control instruction according to the public traffic information C to realize the guide control of the unmanned vehicle.
The invention breaks the conventional thinking of people, replaces the road traffic signal lamp, traffic sign and marking information in the prior art with the character string form traffic identification information D, is easy to be recognized by the vehicle-mounted computer, simplifies the operation difficulty of the vehicle-mounted radar and camera and computer system in the unmanned vehicle, and improves the driving safety and accuracy of the unmanned vehicle.
2. The background and the character string of the traffic marker A are in different colors, so that the character string is convenient to recognize, the influence of light and colors of moving vehicles and natural environment on a road is small, and the accuracy of recognizing the traffic marker information D is further improved.
3. The invention adopts the image processing technology to process the image information of the traffic marker A, which is beneficial to the accurate identification of the character string in the image information of the traffic marker A. Through the image calibration operation, the distorted image can be restored to be close to the real image to the maximum extent.
The black or white character string consists of three primary colors of red, green and blue, wherein the three primary colors can be changed to form black and white colors, and also can form character strings consisting of colors and various single colors. The method is characterized in that a shot color image is converted into a negative limit image consisting of different gray levels by comprehensively using negative wide tolerance values of average value method graying, weighted average method graying and maximum method graying so as to reduce the information amount of a large amount of color processing in the operation process, and three equal amounts of R, G and B of red, green and blue three primary colors are displayed in an original color image through the combination of the three methods to form + R, + G, + B, and-R, -G and-B wide ranges and gray values capable of being controlled and changed, so that the components of the R, G and B of colors are equal, and therefore, when the original color image is used in the later period of the image, the original color image is easily restored by combining and reversely; the image information of the traffic marker A is scanned by the vehicle-mounted camera, because the vehicle-mounted camera moves along with the vehicle, and the angle between the moving vehicle-mounted camera and the traffic marker A is changed continuously, the edge and the inclination angle of the image are not uniform, so that the difficulty is greatly increased for identifying the character string in the image information of the traffic marker A, and the quick and accurate identification of the character string in the image information of the traffic marker A is facilitated through the image edge processing and the image inclination angle correction.
4. Due to external factors such as natural aging, traffic accidents and artificial damage, the information part of the character string on the traffic marker A is damaged and incomplete, and if the incomplete character string is read, the character string recognition error is caused.
The invention designs a character string information base in advance, wherein the character string information base comprises all standard character strings and traffic information options corresponding to the standard character strings, and the traffic information options cover all public traffic information C, such as red light, left turn or speed limit information and the like. Comparing the real-time character string identified from the image information of the traffic marker A with the standard character string, without completely being consistent, as long as the similarity is in a certain range, the standard character string can be determined as the content of the real-time character string, and the traffic information option corresponding to the standard character string is the current public traffic information C. The invention realizes automatic error correction of character strings and has simple and reliable operation.
5. The invention also provides an intelligent vehicle guide control device, which comprises a camera unit, a central processing unit, a traffic marker A, a traffic identification information D, a public traffic information C and a corresponding guide control instruction, wherein the camera unit is used for scanning the image information of the traffic marker A, the central processing unit is used for identifying the traffic identification information D and obtaining the public traffic information C corresponding to the traffic identification information D, and the unmanned vehicle automatically runs according to the instruction of the traffic identification information D.
6. The image processing unit is used for carrying out image calibration, gray scale processing, image edge processing and image inclination angle correction on the image information of the traffic marker A, so that the central processing unit has higher accuracy when identifying the traffic identification information D from the image information of the traffic marker A.
7. The scanning camera IV arranged at the top end of the vehicle is a panoramic rotary scanning camera to realize 360-degree panoramic rotary scanning, and the scanning camera I at the front end of the vehicle, the rear reversing scanning camera V at the rear end of the vehicle, the scanning camera II at the left side of the vehicle and the scanning camera III at the right side of the vehicle are respectively used for scanning traffic identification information D arranged at the front, the rear, the left and the right of the vehicle, accurately measuring the distance between the traffic identification information D and obstacles at the front, the rear, the left and the right, and ensuring that the vehicle and other vehicles are at.
8. The central processor comprises six functional modules, wherein the vehicle running speed interpretation control unit is used for reading speed limit identification information, the traffic indication sign interpretation control unit is used for reading traffic indication sign information, the traffic prohibition sign interpretation control unit is used for reading traffic prohibition sign information, the traffic warning sign interpretation control unit is used for reading traffic warning sign information, the traffic auxiliary sign interpretation control unit is used for reading traffic auxiliary sign information, the signal indication interpretation control unit is used for reading the information of the five modules, determining an optimal control output instruction and sending the control instruction to a transmission system of the unmanned automobile, so that the unmanned automobile can perform actions such as acceleration, deceleration, avoidance, parking and the like according to the continuously scanned traffic identification information D.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a flow chart of a vehicle guidance control method of the present invention;
FIG. 2 is a schematic structural diagram of a vehicle guidance control apparatus according to the present invention;
in the figure: 21-scanning camera unit, 211-scanning camera I, 212-scanning camera II, 213-scanning camera III, 214-scanning camera IV, 215-scanning camera V, 22-image processing unit, 23-central processing unit, 231-vehicle running speed interpretation control unit, 232-traffic indication sign interpretation control unit, 233-traffic prohibition sign interpretation control unit, 234-traffic warning sign interpretation control unit, 235-traffic auxiliary sign interpretation control unit and 236-signal indication interpretation control unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
As shown in fig. 1, the present embodiment provides an intelligent vehicle guidance control method, which includes
S11: acquiring image information of a traffic marker A;
s12: obtaining traffic identification information D according to the image information of the traffic marker A, and obtaining public traffic information C according to the traffic identification information D, wherein the traffic identification information D is a character string;
s13: and sending a guide control instruction according to the public traffic information C.
Road traffic signs in the prior art, such as road traffic signal lamps, traffic signs, marking lines and the like, are easily perceived visually by people, can play a good indicating role when a driver drives an automobile, but for an unmanned automobile, the identification of the road traffic signs in the prior art needs a complex process and is easy to make mistakes.
The embodiment provides an intelligent vehicle guiding control method, which comprises the steps of firstly, arranging a traffic marker A special for an unmanned automobile on the existing road traffic marker, recording traffic identification information D in a character string form on the traffic marker A, and obtaining image information of the traffic marker A; reading character string information from the image information of the traffic marker a; decoding the character string information to obtain corresponding public traffic information C; and sending a guide control instruction according to the public traffic information C to realize the guide control of the unmanned vehicle.
The embodiment breaks through the conventional thinking of people, the traffic identification information D in the character string form is used for replacing road traffic signal lamps, traffic signs and marking line information in the prior art, the traffic identification information D in the character string form is easily recognized by an on-board computer, the operation difficulty of a vehicle-mounted radar, a camera and a computer system in the unmanned vehicle is simplified, and the driving safety and accuracy of the unmanned vehicle are improved.
Further, the image information of the traffic marker a includes a background and a character string, where the background is white and the character string is black, or the background is black and the character string is white.
In the embodiment, the traffic marker A is in a form of white-background black characters or black-background white characters, the identification discrimination rate of the black-and-white character strings with strong contrast is high, the influence of light and color of moving vehicles and natural environments on roads is small, and the accuracy of identifying the traffic identification information D is further improved.
Further, step S12 includes
S121: carrying out image processing on the image information of the traffic marker A;
s122: and identifying the traffic identification information D.
Further, step S121 includes
S1211: the image calibration is to set a reference image and calibrate the image information of the traffic marker A by taking the reference image as a reference point;
s1212: performing gray processing, namely performing gray processing on the calibrated image information of the traffic marker A by utilizing graying by an average value method, combining graying by a weighted average method and graying by a maximum value method;
s1213: image edge processing and image tilt angle correction.
In the embodiment, an image processing technology is adopted to process the image information of the traffic marker a, which is beneficial to accurately identifying the character string in the image information of the traffic marker a. Through the image calibration operation, the distorted image can be restored to be close to the real image to the maximum extent.
The black or white character string consists of three primary colors of red, green and blue, wherein the three primary colors can be changed to form black and white colors, and also can form character strings consisting of colors and various single colors. The method is characterized in that a shot color image is converted into a negative limit image consisting of different gray levels by comprehensively using negative wide tolerance values of average value method graying, weighted average method graying and maximum method graying so as to reduce the information amount of a large amount of color processing in the operation process, and three equal amounts of R, G and B of red, green and blue three primary colors are displayed in an original color image through the combination of the three methods to form + R, + G, + B, and-R, -G and-B wide ranges and gray values capable of being controlled and changed, so that the components of the R, G and B of colors are equal, and therefore, when the original color image is used in the later period of the image, the original color image is easily restored by combining and reversely; the image information of the traffic marker A is scanned by the vehicle-mounted camera, because the vehicle-mounted camera moves along with the vehicle, and the angle between the moving vehicle-mounted camera and the traffic marker A is changed continuously, the edge and the inclination angle of the image are not uniform, so that the difficulty is greatly increased for identifying the character string in the image information of the traffic marker A, and the quick and accurate identification of the character string in the image information of the traffic marker A is facilitated through the image edge processing and the image inclination angle correction.
Further, step S122 includes
S1221: identifying character strings, namely identifying the character strings in the image information of the traffic marker A to obtain real-time character string contents;
s1222: establishing a character string information base, wherein the character string information base comprises all standard character strings and traffic information options corresponding to the standard character strings as shown in table 1, comparing the obtained real-time character string contents with each standard character string one by one, if the similarity of the real-time character string contents and a certain standard character string is within a set range, assigning the contents of the standard character strings to the real-time character strings, and assigning the traffic information options corresponding to the standard character strings to public traffic information C.
Due to external factors such as natural aging, traffic accidents and artificial damage, the information part of the character string on the traffic marker A is damaged and incomplete, and if the incomplete character string is read, the character string recognition error is caused.
In the embodiment, a character string information base is designed in advance, the character string information base comprises all standard character strings and traffic information options corresponding to the standard character strings, and the traffic information options cover all public traffic information C, such as red light, left turn or speed limit information and the like. Comparing the real-time character string identified from the image information of the traffic marker A with the standard character string, without completely being consistent, as long as the similarity is in a certain range, the standard character string can be determined as the content of the real-time character string, and the traffic information option corresponding to the standard character string is the current public traffic information C. The embodiment realizes automatic error correction of the character string, and is simple and reliable to operate.
As shown in table 1, the standard character string includes 9 digits, there is no duplication between the standard character strings, for example, "182358766", the content of which represents "maintain normal driving speed 120 km/h", and if any one or six digits of 1, 8, 2, 3, 5, 8, 7, 6 are lost or damaged in the read real-time character string, the content of the standard character string can be compared with the standard character string according to the remaining digits of more than three digits, so as to achieve the purpose of systematic error correction.
Example two
Based on the same inventive concept as the intelligent vehicle guiding control method in the previous embodiment, the invention also provides an intelligent vehicle guiding control device, which comprises
A scanogram unit 21 for obtaining image information of the traffic marker a;
and the central processing unit 23 is configured to obtain the traffic identification information D from the image information of the traffic marker a, obtain public transportation information C according to the obtained traffic identification information D, and send a guidance control instruction according to the obtained public transportation information C.
In the embodiment, firstly, the image information of the traffic marker A is obtained by scanning the camera unit, then the central processing unit identifies the traffic identification information D to obtain the public traffic information C corresponding to the traffic identification information D, and a corresponding guide control instruction is sent according to the public traffic information C, so that the unmanned vehicle automatically runs according to the instruction of the traffic identification information D.
Further, an image processing unit 22 is included for performing image calibration, gray scale processing, image edge processing and image tilt angle correction on the image information of the traffic marker a.
The image processing unit is used for carrying out image calibration, gray scale processing, image edge processing and image inclination angle correction on the image information of the traffic marker A, so that the central processing unit has higher accuracy when identifying the traffic identification information D from the image information of the traffic marker A.
Further, the scanogram unit 21 includes
A first scanning camera 211 arranged at the front end of the vehicle,
and a second scanning camera 212, disposed on the left side of the vehicle,
scan camera three 213, disposed on the right side of the vehicle,
a scanning camera four 214, disposed at the top of the vehicle,
and a scanning camera five 215 arranged at the rear end of the vehicle.
In the embodiment, a scanning camera IV mounted at the top end of the vehicle is a panoramic rotary scanning camera to realize 360-degree panoramic rotary scanning, and a scanning camera I at the front end of the vehicle, a rear reversing scanning camera V at the rear end of the vehicle, a scanning camera II at the left side of the vehicle and a scanning camera III at the right side of the vehicle are respectively used for scanning traffic identification information D arranged at the front, the rear, the left and the right of the vehicle, accurately measuring the distance between the vehicle and obstacles at the front, the rear, the left and the right and ensuring that the vehicle is at a safe distance with.
Further, the central processing unit 23 includes a vehicle running speed interpretation control unit 231, a traffic indication sign interpretation control unit 232, a traffic prohibition sign interpretation control unit 233, a traffic warning sign interpretation control unit 234, a traffic auxiliary sign interpretation control unit 235 which are all connected with the signal indication interpretation control unit 236,
the vehicle running speed interpretation control unit 231 is used to read speed limit identification information,
the traffic sign interpretation control unit 232 is configured to read traffic sign information,
the traffic prohibition sign interpretation control unit 233 is configured to read traffic prohibition sign information,
the traffic warning sign interpretation control unit 234 is configured to read traffic warning sign information,
the traffic assistant sign interpretation control unit 235 is for reading traffic assistant sign information,
the signal indication interpretation control unit 236 is configured to determine a guidance control instruction according to the speed limit identification information, the traffic indication sign information, the traffic prohibition sign information, the traffic warning sign information, and the traffic auxiliary sign information, and send the guidance control instruction.
As shown in table 1, the contents of the character string information base stored in the vehicle running speed interpretation control unit, the traffic indication sign interpretation control unit, the traffic prohibition sign interpretation control unit, the traffic warning sign interpretation control unit, and the traffic auxiliary sign interpretation control unit are shown. The interpretation control unit of the traffic prohibition sign comprises a subunit which is used for detailing interpretation of the information of the traffic prohibition sign.
TABLE 1
The central processing unit in this embodiment includes six functional modules, where the vehicle running speed interpretation control unit is configured to read speed limit identification information, the traffic indication sign interpretation control unit is configured to read traffic indication sign information, the traffic prohibition sign interpretation control unit is configured to read traffic prohibition sign information, the traffic warning sign interpretation control unit is configured to read traffic warning sign information, the traffic auxiliary sign interpretation control unit is configured to read traffic auxiliary sign information, and the signal indication interpretation control unit is configured to read information of the five modules, determine an optimal control output instruction, and send the control instruction to a transmission system of the unmanned vehicle, so that the unmanned vehicle performs actions such as acceleration, deceleration, avoidance, parking, and the like of the vehicle according to the continuously scanned traffic identification information D.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The intelligent vehicle guiding control method is characterized by comprising
S11: acquiring image information of a traffic marker A;
s12: obtaining traffic identification information D according to the image information of the traffic marker A, and obtaining public traffic information C according to the traffic identification information D, wherein the traffic identification information D is a character string;
s13: and sending a guide control instruction according to the public traffic information C.
2. The intelligent vehicle guidance control method according to claim 1, wherein the image information of the traffic marker a includes a background and a character string, and the background and the character string are different colors.
3. The intelligent vehicle guidance control method according to claim 1, wherein step S12 includes
S121: carrying out image processing on the image information of the traffic marker A;
s122: and identifying the traffic identification information D.
4. The intelligent vehicle guidance control method according to claim 3, wherein step S121 includes
S1211: the image calibration is to set a reference image and calibrate the image information of the traffic marker A by taking the reference image as a reference point;
s1212: performing gray processing, namely performing gray processing on the calibrated image information of the traffic marker A by utilizing the gray processing of an average value method in combination with the gray processing of a weighted average method and the gray processing of a maximum value;
s1213: image edge processing and image tilt angle correction.
5. The intelligent vehicle guidance control method according to claim 3, wherein step S122 includes
S1221: identifying character strings, namely identifying the character strings in the image information of the traffic marker A to obtain real-time character string contents;
s1222: establishing a character string information base, wherein the character string information base comprises all standard character strings and traffic information options corresponding to the standard character strings, comparing the obtained real-time character string contents with the standard character strings one by one, if the similarity of the real-time character string contents and a certain standard character string is in a set range, assigning the contents of the standard character strings to the real-time character strings, and assigning the traffic information options corresponding to the standard character strings to public traffic information C.
6. An intelligent vehicle guide control device is characterized by comprising
A scanning camera unit (21) for obtaining image information of the traffic marker A;
and the central processing unit (23) is used for obtaining the traffic identification information D from the image information of the traffic marker A, obtaining public traffic information C according to the obtained traffic identification information D, and sending out a guide control instruction according to the obtained public traffic information C.
7. The intelligent vehicle guidance control device according to claim 6, further comprising an image processing unit (22) for performing image calibration, gray scale processing, image edge processing, and image tilt angle correction on the image information of the traffic marker A.
8. The intelligent vehicle guidance control device according to claim 6, wherein the scanogram unit (21) comprises
A scanning camera I (211) arranged at the front end of the vehicle,
a second scanning camera (212) disposed on the left side of the vehicle,
a scanning camera three (213) disposed on the right side of the vehicle,
a scanning camera four (214) disposed at a top end of the vehicle,
and a scanning camera five (215) arranged at the rear end of the vehicle.
9. The intelligent vehicle guidance control device according to claim 6, wherein the central processor (23) comprises a vehicle travel speed interpretation control unit (231), a traffic indication sign interpretation control unit (232), a traffic prohibition sign interpretation control unit (233), a traffic warning sign interpretation control unit (234), and a traffic auxiliary sign interpretation control unit (235) which are all connected to the signal indication interpretation control unit (236),
the vehicle running speed interpretation control unit (231) is used for reading speed limit identification information,
the traffic sign interpretation control unit (232) is used for reading traffic sign information,
the traffic control flag interpretation control unit (233) is used for reading traffic control flag information,
the traffic warning sign interpretation control unit (234) is configured to read traffic warning sign information,
the traffic assistant sign interpretation control unit (235) is used for reading the traffic assistant sign information,
the signal indication interpretation control unit (236) is used for determining and sending a guiding control instruction according to the speed limit identification information, the traffic indication sign information, the traffic prohibition sign information, the traffic warning sign information and the traffic auxiliary sign information.
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