CN112466139A - Speed limit fusion method and system based on multiple sensors, vehicle and storage medium - Google Patents
Speed limit fusion method and system based on multiple sensors, vehicle and storage medium Download PDFInfo
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- CN112466139A CN112466139A CN202011337997.1A CN202011337997A CN112466139A CN 112466139 A CN112466139 A CN 112466139A CN 202011337997 A CN202011337997 A CN 202011337997A CN 112466139 A CN112466139 A CN 112466139A
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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
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
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- Transportation (AREA)
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Abstract
The invention discloses a speed limit fusion method and system based on multiple sensors, a vehicle and a storage medium, wherein the speed limit fusion method comprises the following steps: acquiring speed limit information of a forward-looking camera and ADAS map speed limit information; the method for fusing the speed limit information of the forward-looking camera and the speed limit information of the ADAS map specifically comprises the following steps: when the front-view camera is unavailable, outputting ADAS map speed limit information; when the ADAS map is unavailable, outputting camera speed limit information; when both the ADAS map and the forward-looking camera are available, fusion is performed according to the following strategy: if the type of the speed limit information output by the ADAS map is the electronic eye, outputting the speed limit value and the distance of the electronic eye; if the type of the speed limit information output by the ADAS map is non-electronic eye, and the speed limit information of the ADAS map and the speed limit information of the camera are detected in non-high-speed and urban expressways at the same time, outputting the speed limit value and the distance of the ADAS map; when neither the ADAS map nor the forward-looking camera is available, the function is considered to be invalid. The output speed limit value is more accurate.
Description
Technical Field
The invention belongs to the technical field of automobile assembly, and particularly relates to a speed limit fusion method and system based on multiple sensors, a vehicle and a storage medium.
Background
With economic development, transportation systems have become the fate and hub of travel activities. The increasing living standard of people has higher and higher requirements on travel efficiency and convenience. In recent years, the development of intelligent automobiles is more and more concerned and emphasized, information around the position where the automobile is located is sensed through a plurality of sensors, and the information is analyzed and judged by fusing corresponding information of the plurality of sensors, so that the danger in the driving process is reduced, and the driving comfort is improved.
The intelligent speed limit is that the forward-looking camera or the map is used for sending identified speed limit information marked by road traffic, and the current speed is adjusted by combining information such as road conditions, so that overspeed violation or safety accidents caused by too fast speed are avoided.
For example, patent document CN107117030A discloses an active speed limit control system and control method for a vehicle, in which speed limit information is acquired based on a map and processed to control the speed limit of the vehicle, but a single source has a high requirement for the map, and has a high missing recognition rate and a high false recognition rate.
Therefore, there is a need to develop a speed limit fusion method, system, vehicle and storage medium based on multiple sensors.
Disclosure of Invention
The invention aims to provide a speed limit fusion method, a speed limit fusion system, a vehicle and a storage medium based on multiple sensors, which can make full use of respective advantages of video and map information so as to enable an output speed limit value to be more accurate.
In a first aspect, the invention provides a speed limit fusion method based on multiple sensors, which comprises the following steps:
step 1: acquiring speed limit information of a forward-looking camera and ADAS map speed limit information, wherein the forward-looking camera speed limit information and the ADAS map speed limit information both comprise a speed limit value and a distance from a speed limit point;
step 2: the method for fusing the speed limit information of the forward-looking camera and the speed limit information of the ADAS map specifically comprises the following steps:
(2a) outputting ADAS map speed limit information when the front-view camera is unavailable;
(2b) when the ADAS map is unavailable, outputting camera speed limit information;
(2c) when both the ADAS map and the forward-looking camera are available, fusion is performed according to the following strategy:
if the type of the speed limit information output by the ADAS map is the electronic eye, outputting the speed limit value and the distance of the electronic eye;
if the type of the speed limit information output by the ADAS map is non-electronic eye, and the speed limit information of the ADAS map and the speed limit information of the camera are detected in non-high-speed and urban expressways at the same time, outputting the speed limit value and the distance of the ADAS map;
(2d) when neither the ADAS map nor the forward-looking camera is available, the function is considered to be invalid.
Further, still include:
limiting the speed of the ramp: if the navigation is started, a ramp is arranged in front of the navigation device, the vehicle passes through the ramp, the vehicle is positioned in a lane beside the ramp, and speed limit information is output in front of the entrance of the ramp; and if the navigation is not started or the navigation is started and a ramp is in front but the vehicle does not pass through the ramp, shielding the ramp to limit the speed.
Further, still include:
and (3) limiting the tunnel speed: if the vehicle enters the tunnel, the vehicle still keeps the speed limit information in the tunnel, keeps the speed limit of the tunnel for a certain distance after the vehicle leaves the tunnel, and updates when new speed limit information is met or the speed limit information is stopped being sent.
Further, still include:
when the current road type is not an urban expressway or an expressway, if the front road fusion speed limit value is less than 40km/h, the speed is not limited, and if the front road fusion speed limit value is more than or equal to 40km/h, the output result of the speed limit value is controlled to be equal to the fusion speed limit value.
Further, still include:
the vehicle continuously sends the speed limit information within a preset holding distance after passing through the speed limit sign or the electronic eye position, and if new speed limit information is met within the preset holding distance, the new speed limit information is updated; and if no new speed limit information is updated after the vehicle running distance exceeds the preset holding distance, the speed limit value and the distance to the speed limit point are sent ineffectively.
In a second aspect, the speed-limiting fusion system based on multiple sensors comprises a controller, and a memory, a foresight camera and an ADAS map which are respectively electrically connected with the controller, wherein the foresight camera is used for acquiring the speed-limiting information of the foresight camera; the ADAS map is used for acquiring the speed limit information of the ADAS map; the memory stores a computer readable program that when invoked by the controller is capable of performing the steps of the multi-sensor based speed limit fusion method of the present invention.
In a third aspect, the invention provides a vehicle, which adopts the speed limit fusion system based on multiple sensors.
In a fourth aspect, the present invention provides a storage medium having a computer readable program stored therein, where the computer readable program is capable of executing the steps of the multi-sensor based speed limit fusion method according to the present invention when the computer readable program is called by a controller.
The invention has the following advantages: the invention adopts the camera and the ADAS map as input signals of the front-end sensor, performs fusion analysis on partial data of the camera and the ADAS map through fusion judgment, and outputs a fused speed limit value, a speed limit distance and a speed limit type. The invention fully utilizes respective advantages of the camera and the ADAS map, the video detection has the advantage of the characteristic of 'what you see is what you get', the accuracy of identifying the speed limit board is very high under the low-speed condition, the false identification and the missing identification are less, and the missing speed limit information of the map can be supplemented; the ADAS map detection has the advantages that the speed limit information is relatively fixed, the speed limit information of the road section can be accurately judged according to the positioning of the vehicle under the high-speed condition, the information such as the speed limit value, the distance from the speed limit board, the speed limit type and the like can be sent out before the vehicle reaches the speed limit board, and meanwhile, the ADAS map sends out the electronic eye speed limit information which cannot be handled by a camera. The invention combines the advantages and disadvantages of two sources and outputs the fused speed limit information according to different road condition information.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a flow chart of the velocity fusion in the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 and fig. 2, in this embodiment, a speed limit fusion method based on multiple sensors includes the following steps:
step 1: acquiring speed limit information of a forward-looking camera and ADAS map speed limit information, wherein the forward-looking camera speed limit information and the ADAS map speed limit information both comprise a speed limit value and a distance from a speed limit point;
step 2: the method for fusing the speed limit information of the forward-looking camera and the speed limit information of the ADAS map specifically comprises the following steps:
(2a) outputting ADAS map speed limit information when the front-view camera is unavailable;
(2b) when the ADAS map is unavailable, outputting camera speed limit information;
(2c) when both the ADAS map and the forward-looking camera are available, fusion is performed according to the following strategy:
if the type of the speed limit information output by the ADAS map is the electronic eye, outputting the speed limit value and the distance of the electronic eye;
if the type of the speed limit information output by the ADAS map is non-electronic eye, and the speed limit information of the ADAS map and the speed limit information of the camera are detected in non-high-speed and urban expressways at the same time, outputting the speed limit value and the distance of the ADAS map;
(2d) when neither the ADAS map nor the forward-looking camera is available, the function is considered to be invalid.
In this embodiment, a speed limit fusion method based on multiple sensors further includes:
limiting the speed of the ramp: if the navigation is started, a ramp is arranged in front of the navigation device, the vehicle passes through the ramp, the vehicle is positioned in a lane beside the ramp, and speed limit information is output in front of the entrance of the ramp; and if the navigation is not started or the navigation is started and a ramp is in front but the vehicle does not pass through the ramp, shielding the ramp to limit the speed.
In this embodiment, a speed limit fusion method based on multiple sensors further includes:
and (3) limiting the tunnel speed: if the vehicle enters the tunnel, the vehicle still keeps the speed limit information in the tunnel, keeps the speed limit of the tunnel for a certain distance after the vehicle leaves the tunnel, and updates when new speed limit information is met or the speed limit information is stopped being sent.
In this embodiment, a speed limit fusion method based on multiple sensors further includes:
when the current road type is not an urban expressway or an expressway, if the fused speed limit value of the front road is less than 40km/h, the speed is not limited, but reminding is carried out, and if the fused speed limit value of the front road is more than or equal to 40km/h, the output result of the speed limit value is controlled to be equal to the fused speed limit value.
In this embodiment, a speed limit fusion method based on multiple sensors further includes:
the vehicle continuously sends the speed limit information within a preset holding distance after passing through the speed limit sign or the electronic eye position, and if new speed limit information is met within the preset holding distance, the new speed limit information is updated; and if no new speed limit information is updated after the vehicle running distance exceeds the preset holding distance, the speed limit value and the distance to the speed limit point are sent ineffectively.
In the embodiment, ADAS map speed limit information and camera speed limit information are used as input, speed limit information under different road types and road conditions is judged and processed, different processing strategies are adopted for special condition ramps, tunnels and the like, stable and effective speed limit information is output to control, and the vehicle can safely and stably pass through a speed limit road section.
The method fully utilizes respective advantages of the video and the map, the video detection has the advantage of the 'what you see is what you get' characteristic, the accuracy of identifying the speed limit board is high under the low-speed condition, the false identification and the missing identification are less, and the missing speed limit information of the map can be supplemented; the ADAS map detection has the advantages that the speed limit information is relatively fixed, the speed limit information of the road section can be accurately judged according to the positioning of the vehicle under the high-speed condition, the information such as the speed limit value, the distance from the speed limit board, the speed limit type and the like can be sent out before the vehicle reaches the speed limit board, and meanwhile, the ADAS map can send out the electronic eye speed limit information which cannot be processed by a camera. Therefore, the speed limit information is fused according to different road condition information by combining the advantages and the disadvantages of the two sources.
In the embodiment, the speed-limiting fusion system based on the multiple sensors comprises a controller, a memory, a foresight camera and an ADAS map, wherein the memory, the foresight camera and the ADAS map are respectively electrically connected with the controller; the ADAS map is used for acquiring the speed limit information of the ADAS map; the memory stores a computer readable program, which when called by the controller can execute the steps of the multi-sensor based speed limit fusion method as described in this embodiment.
In this embodiment, a vehicle adopts the speed limit fusion system based on multiple sensors as described in this embodiment.
In this embodiment, a storage medium stores therein a computer readable program, and the computer readable program, when being invoked by a controller, can execute the steps of the multi-sensor-based speed limit fusion method as described in this embodiment.
Claims (8)
1. A speed limit fusion method based on multiple sensors is characterized by comprising the following steps:
step 1: acquiring speed limit information of a forward-looking camera and ADAS map speed limit information, wherein the forward-looking camera speed limit information and the ADAS map speed limit information both comprise a speed limit value and a distance from a speed limit point;
step 2: the method for fusing the speed limit information of the forward-looking camera and the speed limit information of the ADAS map specifically comprises the following steps:
(2a) outputting ADAS map speed limit information when the front-view camera is unavailable;
(2b) when the ADAS map is unavailable, outputting camera speed limit information;
(2c) when both the ADAS map and the forward-looking camera are available, fusion is performed according to the following strategy:
if the type of the speed limit information output by the ADAS map is the electronic eye, outputting the speed limit value and the distance of the electronic eye;
if the type of the speed limit information output by the ADAS map is non-electronic eye, and the speed limit information of the ADAS map and the speed limit information of the camera are detected in non-high-speed and urban expressways at the same time, outputting the speed limit value and the distance of the ADAS map;
(2d) when neither the ADAS map nor the forward-looking camera is available, the function is considered to be invalid.
2. The multi-sensor based speed limit fusion method according to claim 1, further comprising:
limiting the speed of the ramp: if the navigation is started, a ramp is arranged in front of the navigation device, the vehicle passes through the ramp, the vehicle is positioned in a lane beside the ramp, and speed limit information is output in front of the entrance of the ramp; and if the navigation is not started or the navigation is started and a ramp is in front but the vehicle does not pass through the ramp, shielding the ramp to limit the speed.
3. The multi-sensor based speed limit fusion method according to claim 1 or 2, further comprising:
and (3) limiting the tunnel speed: if the vehicle enters the tunnel, the vehicle still keeps the speed limit information in the tunnel, keeps the speed limit of the tunnel for a certain distance after the vehicle leaves the tunnel, and updates when new speed limit information is met or the speed limit information is stopped being sent.
4. The multi-sensor based speed limit fusion method according to claim 3, further comprising:
when the current road type is not an urban expressway or an expressway, if the front road fusion speed limit value is less than 40km/h, the speed is not limited, and if the front road fusion speed limit value is more than or equal to 40km/h, the output result of the speed limit value is controlled to be equal to the fusion speed limit value.
5. The multi-sensor based speed limit fusion method according to claim 1, 2 or 4, further comprising:
continuously sending speed limit information within a preset holding distance after the vehicle passes through the speed limit sign or the electronic eye position, and if new speed limit information is met within the preset holding distance, updating the speed limit information into new speed limit information; and if no new speed limit information is updated after the vehicle running distance exceeds the preset holding distance, the speed limit value and the distance to the speed limit point are sent ineffectively.
6. The utility model provides a speed limit fuses system based on multisensor which characterized in that: the device comprises a controller, a memory, a foresight camera and an ADAS map, wherein the memory, the foresight camera and the ADAS map are respectively and electrically connected with the controller; the ADAS map is used for acquiring the speed limit information of the ADAS map; the memory has stored therein a computer readable program that when invoked by the controller is capable of performing the steps of the multi-sensor based speed limit fusion method of any of claims 1 to 5.
7. A vehicle, characterized in that: the multi-sensor based speed limit fusion system of claim 6 is employed.
8. A storage medium, characterized by: stored with a computer readable program which, when invoked by a controller, is able to perform the steps of the multi-sensor based speed limit fusion method according to any of claims 1 to 5.
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| CN202011337997.1A CN112466139A (en) | 2020-11-25 | 2020-11-25 | Speed limit fusion method and system based on multiple sensors, vehicle and storage medium |
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| CN202011337997.1A CN112466139A (en) | 2020-11-25 | 2020-11-25 | Speed limit fusion method and system based on multiple sensors, vehicle and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114446071A (en) * | 2022-02-28 | 2022-05-06 | 重庆长安汽车股份有限公司 | Road speed limit information fusion judgment method |
| CN114771568A (en) * | 2022-04-22 | 2022-07-22 | 重庆长安汽车股份有限公司 | Speed limit fusion method and system based on camera and map information and vehicle |
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| CN110264759A (en) * | 2019-06-06 | 2019-09-20 | 浙江吉利控股集团有限公司 | A kind of speed limit release method, apparatus and terminal |
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| CN108573611A (en) * | 2017-12-15 | 2018-09-25 | 蔚来汽车有限公司 | A kind of speed limit mark fusion method and speed limit identify emerging system |
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| CN114446071A (en) * | 2022-02-28 | 2022-05-06 | 重庆长安汽车股份有限公司 | Road speed limit information fusion judgment method |
| CN114771568A (en) * | 2022-04-22 | 2022-07-22 | 重庆长安汽车股份有限公司 | Speed limit fusion method and system based on camera and map information and vehicle |
| CN114771568B (en) * | 2022-04-22 | 2024-06-11 | 重庆长安汽车股份有限公司 | Speed limiting fusion method and system based on camera and map information and vehicle |
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Application publication date: 20210309 |