CN117877268A

CN117877268A - Traffic signal sign recognition method and system

Info

Publication number: CN117877268A
Application number: CN202410110667.0A
Authority: CN
Inventors: 王辉; 王向勤; 孙雅娟; 王静; 张一帆
Original assignee: Henan University of Animal Husbandry and Economy
Current assignee: Henan University of Animal Husbandry and Economy
Priority date: 2024-01-26
Filing date: 2024-01-26
Publication date: 2024-04-12

Abstract

The invention provides a traffic signal sign recognition method and a system, wherein the method comprises the following steps: radio transmitting devices are arranged on all traffic signal sign devices; the traffic content information indicated by each traffic signal sign device is coded and then is broadcasted in an unencrypted mode by adopting a single fixed frequency point; a geomagnetic detection device is arranged on the vehicle, and the traveling direction of the vehicle and the deflection angle of the local geomagnetic field direction are measured in real time; providing a radio receiving device on the vehicle; the radio receiving device scans and measures the intensity of radio signals on all fixed frequency points, and ranks the received radio signals from large to small; and taking the first n radio signals, analyzing that the absolute value of the difference value of the deflection angle of the traffic signal sign equipment in each radio signal, which is served by the traffic signal sign equipment, to the lane direction relative to the local geomagnetic field direction and the deflection angle of the local geomagnetic field direction is smaller than a threshold value, and displaying the content of the data frame of the radio signal on a display screen of the vehicle.

Description

Traffic signal sign recognition method and system

Technical Field

The invention relates to the field of road traffic, in particular to a traffic signal sign recognition method and system.

Background

In the road driving process, the vehicles often cannot see or see traffic signals and signs on the road because of the shielding of the front vehicles, the shielding of the pavement tree, bad weather, poor lighting conditions and the like. According to traffic regulation requirements, the driver should reduce the speed of the vehicle at this time, and go through the safety after carefully checking and confirming traffic signals and signs. However, excessive reduction of the vehicle speed affects the road passing efficiency to some extent, and sudden deceleration also tends to increase the risk of rear-end collision. If the traffic signal and the sign of the next road section can be displayed in the cab like a train, the driver of the car can be given a time to prepare in advance.

In the prior art, a car is generally communicated with a traffic signal machine by using car networking bidirectional communication or using near field communication such as RFID, bluetooth or NFC, and traffic signals and identifications are sent to the car. Although the transmission efficiency is high and the information identification is intelligent, the device is limited by bidirectional communication and the capacity of the device.

There is also a chinese patent application with publication number CN114078330a, which discloses a traffic signal recognition method, a traffic signal indication device and a terminal, wherein a near infrared light source is newly added outside the existing visible light signal indication system in traffic light mode, and the vehicle-mounted terminal is based on the collected near infrared light signal; traffic running information indicated by the traffic signal indicating device is determined. But with near infrared light sources, the light is subject to blocking interference.

Based on the foregoing, there is a need for a traffic sign recognition method that allows the public to receive traffic sign information at will, independent of the communication network interacting with the communication.

Disclosure of Invention

The invention aims at overcoming the defects of the prior art, and provides a traffic signal sign recognition method and a traffic signal sign recognition system, which send information in a unidirectional broadcasting mode, and realize the wish of the public to randomly receive traffic signal sign information without depending on interaction between a communication network and communication.

In order to achieve the above object, the present invention provides a traffic signal sign recognition method, comprising:

radio transmitting devices are arranged on all traffic signal sign devices;

after being coded, the traffic content information indicated by each traffic signal sign device is broadcasted in a non-encryption way by taking the position of the traffic signal sign device as the center and using lower fixed power W1 and a certain time interval t1 within a certain radius range through a radio transmitting device of the traffic content information; wherein, a plurality of fixed frequency points F are arranged in the frequency band adopted by the broadcasting of each radio transmitting device; the radio transmitting device of each traffic signal marking device adopts a single fixed frequency point to carry out non-encryption broadcasting;

the coding method comprises the following steps: encoding traffic content information of the traffic signal marking device into a data frame, wherein the content of the data frame comprises a serial number ID of the traffic signal marking device, a deflection angle alpha of a lane direction relative to a local geomagnetic field direction, which is served by the traffic signal marking device, and specific information displayed by the traffic signal marking device;

a geomagnetic detection device is arranged on a vehicle, deflection angles of the traveling direction of the vehicle and the local geomagnetic field direction are measured in real time, and an arithmetic average value of the deflection angles in a time period t2 before the measurement time is calculated to be used as a current deflection angle beta;

providing a radio receiving device on the vehicle; the radio receiving device scans and measures the intensity of radio signals on all fixed frequency points, and sorts the received radio signals from large to small according to the intensity of the radio signals;

taking the first n radio signals, and analyzing the data frames of the radio signals; and if the absolute value of the difference value between the deflection angle alpha and the current deflection angle beta in the analyzed data frame is smaller than p, displaying the content of the data frame of the radio signal on a display screen of the vehicle.

Based on the above, the content of the data frame of any one radio transmitting apparatus also includes the frequency point information used by the next radio transmitting apparatus broadcast in the road advancing direction, for the radio transmitting apparatus in the same road advancing direction.

Based on the above, when the content of the data frame of the radio signal is displayed on the display screen of the vehicle:

presetting the priority of the content of the data frame of the radio signal to be displayed on a display screen according to the type of traffic signal signs; displaying the content of the data frame of the radio signal of the highest priority on a display screen of the vehicle according to the priority; or,

dividing a plurality of display areas in a display screen of the vehicle according to the types of traffic signal signs; the content of the data frame of the radio signal is displayed in a corresponding display area of the display screen.

Based on the above, the frequency points used by each radio transmitting device with the radius within the L kilometer area are different, and the frequency points used by adjacent radio transmitting devices are similar.

Based on the above, the method further comprises:

the radio receiving device presets a radio signal intensity value V received by the radio receiving device when the radio receiving device is away from the width of two lanes before leaving the factory;

when a radio receiving device on the vehicle detects that the radio signal intensity of a certain frequency point rises from V-k1 to V and then falls to V-k2, judging that the vehicle runs towards a radio transmitting device corresponding to the frequency point and finally runs away from the radio transmitting device corresponding to the frequency point; when the vehicle drives away from the radio transmitting device corresponding to the frequency point, the content contained in the radio signal of the frequency point is not displayed on the display screen of the vehicle; wherein k1 < k2.

Based on the above, the content of the data frame further includes a lane group mark, where the lane group is two or more groups of lanes that are in the same direction and are mutually closed;

after two or more groups of lanes are divided, each lane is separated by q meters, and m radio transmitting devices are arranged; the radio transmitting device continuously broadcasts the data frame with the lane group mark at a lower fixed transmitting power W2;

a radio receiving device on the vehicle selects a radio signal with stronger intensity from received radio signals, and takes a corresponding lane group mark in a data frame of the radio signal as a currently selected lane group.

Based on the above, the data frame is marked according to the driving direction of the uplink direction or the downlink direction;

the radio receiving device is manually set to receive one of the uplink and downlink data frames.

Based on the above, the specific information displayed by the traffic signal sign device includes:

the traffic lights of each lane are in the direction and color, the traffic lights flash information, the traffic light second time count information, the driving direction of each lane, the road section name, the section speed limit information, the section stop limit information and other road sign indication information set by traffic control departments.

Based on the above, the radio receiving device transmits the specific information displayed by the read traffic signal sign device to the vehicle navigation device, and the vehicle navigation software is assisted to work.

A second aspect of the present invention provides a traffic signal sign recognition system, comprising:

a radio transmitting device disposed at the traffic signal sign facility;

geomagnetic detection means provided in the vehicle;

a radio receiving device provided on the vehicle;

a memory;

a processor;

and a computer program, wherein the computer program is stored on the memory, which when executed by the processor, causes the controller to perform the steps of the traffic signal sign recognition method as described.

Compared with the prior art, the invention has outstanding substantive features and remarkable progress, in particular:

the invention is characterized in that: the method comprises the steps of using a broadcasting mode to send road traffic sign information, using a geomagnetic declination to determine a driving direction, measuring the received radio signal intensity to determine the relative position of traffic signs, finally selecting road traffic information required by vehicles, displaying the road traffic information in the vehicles, and providing auxiliary services for drivers.

The invention has the advantages that: unidirectional information transfer, the vehicle does not need to transmit wireless signals; network communication is not needed, and the network can work normally in an emergency state of network blocking; the wireless broadcasting mode has little interference.

Drawings

Fig. 1 is a schematic diagram of a vehicle in embodiment 2 of the present invention acquiring traffic signal sign information of an urban ordinary ground road.

Fig. 2 is a schematic diagram of selecting traffic sign information when a vehicle is judged to pass a traffic sign in embodiment 2 of the present invention.

Fig. 3 is a schematic diagram of determining traffic signal sign information of different roads in the same direction for an automobile in embodiment 2 of the present invention.

Detailed Description

The technical scheme of the invention is further described in detail through the following specific embodiments.

Example 1

The embodiment provides a traffic signal sign recognition method, which comprises the following steps:

(1) Applying a frequency band F for prohibiting public signal transmission, preventing the radio signals transmitted by other equipment from interfering with local communication, and setting a plurality of fixed frequency points with a limited number in the frequency band F;

the frequency band F is preferably a 0.5 meter wavelength frequency band, so that the frequency band F is convenient to balance on the transmitting distance, transmitting power and preventing signal shielding.

(2) A radio transmitting device is arranged on road traffic signal identification equipment such as traffic indicator lamps, information signs and the like, and after the traffic content information of the road traffic signals and the road traffic identifications is encoded, the radio transmitting device carries out non-encryption broadcasting on the area near the road traffic signal identification equipment, so that people can receive the information conveniently and limitlessly;

specifically, the road traffic signal marking devices (traffic lights, lane marking devices and the like) with different numbers can be divided into different groups according to the specific conditions of the position, the length and the like of the road section, and each group of traffic signal marking devices is provided with a radio transmitting device.

(4) After being coded, the traffic content information of each (group of) traffic signal marking equipment is broadcasted in a non-encryption way by taking the position of the traffic signal marking equipment as the center and using lower fixed power W1 and a certain time interval t1 in a certain radius range through a radio transmitting device of the traffic signal marking equipment, so that a receiver (vehicle) can determine the distance between the receiver and the radio transmitting device according to the received radio signal intensity;

the preferred value of the lower fixed power W1 is 0.5 watt, which can ensure that the distance between two intersections (about 500 m-1000 m) can effectively receive radio signals in the F frequency band, and the radio signals decay rapidly after exceeding the distance, so that interference is not generated on the radio signals at a longer distance.

(5) A plurality of fixed frequency points F are arranged in a frequency band adopted by broadcasting of each radio transmitting device; the radio transmitting device of each traffic signal marking device adopts a single fixed frequency point to carry out non-encryption broadcasting;

the coding method comprises the following steps:

encoding traffic content information of the traffic signal marking device into a data frame; if the traffic signal sign device is a group of traffic signal sign devices, the traffic signal sign device codes into different data frames, for example, traffic lights in each direction independently form a frame, and contents on each indication board independently form a frame; the content of the data frame comprises the number ID of the traffic signal marking device, the deflection angle alpha of the traffic signal marking device serving the direction of the lane relative to the local geomagnetic field direction, and specific information displayed by the traffic signal marking device.

Specifically, the serial number ID of the traffic signal marking device may be bound with the hardware of the radio transmitting device, or a plurality of serial number IDs may be set according to a logical relationship under the hardware of the radio transmitting device; the deflection angle of the direction of the geomagnetic field is manufactured based on an angle, the value range is 0-359 degrees, and the whole 360-degree amount is eliminated; the specific information displayed by the traffic signal marking device can be static or dynamic;

the specific information displayed by the coded traffic signal marking equipment is broadcast and transmitted by the radio transmitting device according to a certain time interval t1, so that the dynamic change of the information can be timely transmitted; wherein, the optimal value of t1 is 0.5 seconds, so that signals of yellow and flickering traffic lights and the like can be effectively sent out;

specific information displayed by the traffic signal marking device includes, but is not limited to, the following: the traffic lights of each lane are respectively provided with direction and color, traffic light flickering information, traffic light second reading time counting information, each lane driving direction, road section names, section speed limiting information, section stop limiting information and other road sign indicating information set by traffic management departments.

(6) A geomagnetic detection device is arranged on a vehicle, deflection angles of the traveling direction of the vehicle and the local geomagnetic field direction are measured in real time, and an arithmetic average value of the deflection angles in a time period t2 before the measurement time is calculated to be used as a current deflection angle beta; the deflection angle error caused by fine adjustment of the direction in the running process of the vehicle can be reduced as much as possible by measuring the current deflection angle beta. the optimal value of t2 is 5 seconds, so that the direction identification is not influenced by the lane change of the vehicle.

(7) Providing a radio receiving device on the vehicle;

the radio receiving device scans and measures the intensity of radio signals on all fixed frequency points, and sorts the received radio signals from large to small according to the intensity of the radio signals;

taking the first n radio signals, and analyzing the data frames of the radio signals;

if the absolute value of the difference value between the deflection angle alpha and the current deflection angle beta in the analyzed data frame is smaller than p, displaying the content of the data frame of the radio signal on a display screen of the vehicle;

in particular, n has a preferred value of 10, since a typical road has a maximum of 5 traffic sign signals simultaneously present in one direction; the preferred value of p is 15 degrees, and an error of 15 degrees can ensure that the vehicle continuously changes three lanes without causing misinformation of direction.

Preferably, when the content of the data frame of the radio signal is displayed on the display screen of the vehicle:

Preferably, the radio transmitting devices with the radius within the L kilometer area respectively use different frequency points, so that mutual interference of radio signals with the same frequency is avoided; the preferred value of L is 5 km, beyond which a radio signal broadcast at 0.5 watt power by the radio transmitting device is generally undetectable. The frequency points used by the radio transmitting device with the close distance can be relatively close, so that all traffic signal sign information nearby can be acquired as soon as possible when the frequency points are scanned.

In other embodiments, when encoded, the radio transmitting devices in the same road forward direction, the content of the data frame of any radio transmitting device also includes the frequency point information used by the next radio transmitting device broadcast in the road forward direction;

if the next radio transmitting device in the current road advancing direction is far away from the current vehicle, the radio signal broadcast by the next radio transmitting device cannot be received by the current vehicle, and the wireless receiving device of the current vehicle can find the information of the data frame of the radio signal with the nearest distance and the maximum signal strength in the nearby parallel roads to display, so that the running of the current vehicle is interfered. If the data frame sent by the previous radio transmitting device contains the frequency point information used by the next radio transmitting device in the same road advancing direction, the radio receiving device of the vehicle can search the radio signal according to the designated frequency point so as to avoid error display of the information of the radio signals on other nearby parallel roads.

In other embodiments, for example, after driving off the traffic light at the intersection, the traffic light information at the intersection is not helpful to the vehicle journey, but the vehicle will still display the information of the radio signal of the traffic light because the radio signal of the traffic light is still stronger than the radio signal of the next radio transmitter. In order to avoid that the vehicle still displays the information of its radio signal after driving away from the radio transmitting device, the radio receiving device on the vehicle presets its radio signal strength value V (in dB values) received when it is two lane widths away from the radio transmitting device before leaving the factory;

the radio signal strength value V is the strength of the radio signal detected by the radio receiving device before the shipment of the radio receiving device, which is broadcast using the radio transmitting device at a distance of two lane widths from the radio receiving device. The optimal distance between the two lane widths is 6 meters, and the unidirectional two lanes are the most common lane form of the urban road and are calculated according to 3 meters of each lane;

when a radio receiving device on the vehicle detects that the radio signal intensity of a certain frequency point reaches V-k1 (dB), judging that the vehicle has driven to the vicinity of a radio transmitting device corresponding to the frequency point;

when a radio receiving device on the vehicle detects that the radio signal intensity of a certain frequency point is reduced to V-k2 (dB), judging that the vehicle drives away from a radio transmitting device corresponding to the frequency point;

therefore, when the radio receiving device on the vehicle detects that the radio signal intensity of a certain frequency point rises from V-k1 to V and then falls to V-k2, the vehicle is judged to run towards the radio transmitting device corresponding to the frequency point and finally runs away from the radio transmitting device corresponding to the frequency point; when the vehicle drives away from the radio transmitting device corresponding to the frequency point, the content contained in the radio signal of the frequency point is not displayed on the display screen of the vehicle; wherein k1 < k2.

In the embodiment, the optimal value of k1 is 5dB, which is the average attenuation error of the signal existing on the actual road site; the preferable value of k2 is 10dB, and the traffic signal sign information of the intersection is not required to be continuously displayed after the vehicle passes through the intersection, wherein the signal average attenuation amount is the average attenuation amount of the signal after the vehicle is driven 30 meters away from the radio transmitting device.

In other embodiments, two or more sets of lanes that are co-directional and close to each other for a road like overhead and ground lanes of an overpass need additional processing:

adding lane group marks, namely that the geomagnetic deflection angles of the radio transmitting devices of the overhead lanes and the ground lanes are the same, the frequency points are different, the positions are different, and the lane group marks are different, into data frames of the lane radio transmitting devices of two or more groups of lanes which are in the same direction and are mutually closed;

since the angle of the earth magnetic deflection is the same, m radio transmitting devices are arranged at each lane q m intervals after two or more lane groups are separated in order to enable the vehicle to identify which lane group of radio signals should be selected; the radio transmitting device continuously broadcasts the data frame with the lane group mark at a lower fixed transmitting power W2;

the preferred value of q is 15 meters, and the preferred value of m is 3, so that different lane groups can be effectively distinguished in a lane dividing area; detecting the average intensity of radio signals transmitted by two groups of lanes by using the characteristic that lower radio transmission power is obviously attenuated in space, and determining which lane group is closer to the average intensity; the preferred value of the fixed power W2 is 0.1 watt, and the radio signal strength decays significantly within 30 meters;

In other embodiments, in the case where the road direction is frequently changed or the geological condition is complex to affect the road section of the earth magnetic field, such as a mountain road or a long tunnel, and the aforementioned various lane recognition methods are not effective, the data frames broadcast by all the radio transmitting devices of the road section are marked as the uplink direction or the downlink direction according to the driving direction;

the driver may manually set the radio receiving means to receive one of the two uplink and downlink data frames.

In other embodiments, the radio receiving device transmits the specific information displayed by the read traffic signal sign device to the vehicle navigation device, and the vehicle navigation software is assisted to work.

Example 2

The embodiment discloses a specific method for identifying traffic signal signs of urban common ground roads by vehicles.

As shown in fig. 1, a car C travels from north to south along a construction route, i.e., arrives at an intersection of a construction route and a liberation route (hereinafter referred to as an intersection a), the next intersection in front is an intersection of a construction route and a civil route (hereinafter referred to as an intersection B), the intersection a has a four-way traffic light (A1) and four one-way signboards (each of which is provided with a radio transmitter A2-A5), and the five radio transmitters each use any one of the five fixed frequency points in succession to transmit their corresponding traffic sign information. Similarly, the intersection B also has five radio emitting devices B1-B5, and any one of the other five continuous fixed frequency points is used for emitting corresponding traffic sign information, and 5 fixed frequency points of the intersection B are similar to 5 fixed frequency points of the intersection A.

The radio receiving device in the automobile C scans all the fixed frequency points, detects that the signal intensity of the five fixed frequency points A1-A5 is the largest and is larger than the signal intensity of the five fixed frequency points B1-B5, and receives and processes the wireless signals of the fixed frequency points A1-A5.

The radio transmitting device A1 transmits information of traffic lights in four directions in turn, and each direction occupies one data frame; the radio transmitting apparatuses A2 to A5 transmit road-marking information data frames of one direction per apparatus. The above five radio transmitting apparatuses transmit eight data frames in total in four directions.

The intersection A is set to form four roads with the included angles of 14 degrees (north), 104 degrees (west), 194 degrees (south) and 344 degrees (east) relative to the local magnetic deflection angle, and the angles are inserted into corresponding road traffic information data frames to be transmitted together by radio. The automobile C runs from the south to the north, a radio receiving device in the automobile continuously detects the included angle between the running direction of the automobile and the local magnetic deflection angle for five seconds, an arithmetic average value within five seconds is calculated to be 12 degrees, and a reference error is +/-15 degrees, so that the traffic content information comprising the deflection angle of 14 degrees (north) is judged to be displayed on a display screen in the automobile, namely, the information of a north traffic light of A1 and the guideboard information of A2.

In one embodiment, this embodiment discloses a specific method for determining traffic sign information when a car passes a traffic sign, as shown in fig. 2.

When the automobile C runs from the south to the north along the road to the vicinity of the intersection A, the radio receiving device of the automobile receives traffic content information broadcast by the traffic light A1 of the intersection A; if the next intersection B is relatively close to the intersection A, the radio receiving device of the automobile can also receive traffic information transmitted by the traffic light B1 of the intersection B.

Since the radio transmitting device of the traffic sign device transmits a radio signal using a fixed power (for example, 0.5 watt), the intensity of the B1 signal received by the car C is smaller than that of the A1 signal. If the signals A1 and B1 both contain traffic sign information conforming to the vehicle advancing direction, the automobile C judges that A1 is the traffic sign equipment closest to the vehicle, displays the transmitted traffic sign information conforming to the vehicle advancing direction, and does not display the traffic sign information which is identical to the type (same as a traffic light) in B1.

When the radio receiving device in the automobile C is tested for a distance of 6 meters (two lane widths) from the A1 radio transmitting device before leaving the factory, the strength of the received A1 radio signal is-10 db. When the automobile C travels to the position C1 on the way, the radio signal intensity of A1 is detected to be-12 db, the difference value between the radio signal intensity and-10 db is 2db, and the radio signal intensity is smaller than a first threshold value (5 db), and the automobile is judged to have traveled near A1.

When the automobile C runs to the C2 position, the signal intensity of A1 is detected to be-22 db, the difference value between the signal intensity of A1 and-10 db is 12db, and the signal intensity is larger than a second threshold value (10 db), and the signal intensity of A1 is still stronger than that of B1 at the moment, but the automobile judges that the automobile runs away from A1, and the information of A1 is not needed to be checked any more and the information of A1 is not displayed any more.

In one embodiment, the embodiment discloses a specific method for judging traffic signal sign information of different roads in the same direction of the automobile, as shown in fig. 3.

Two associated roads in the same direction, such as an overhead road and a ground road of the same road, have the same running direction of the vehicle, and are difficult to distinguish by using a geomagnetic declination method for automobiles. In the embodiment, three radio transmitting devices of the overpass are marked in three data frames at intervals of 15 meters at the ramp where the ground layer enters the overpass; the close location of the ground layer also establishes the radio transmitters marking the ground layer in the same number of data frames. In order to make more obvious use of the characteristic of radio signal attenuation with distance, these radio transmission devices transmit radio signals using lower transmit power (0.1 watt is recommended).

As the overpass entrance ramp separates from the ground, the height becomes higher and the radio signal received by the radio receiving device in the vehicle is significantly different in intensity from the two sets of (overpass and ground level) markers, the vehicle automatically selects the set of markers with the stronger signal as the markers for the next selection of the driving road information.

In one embodiment, the accuracy of the geomagnetic bias method is greatly reduced when the automobile runs on a road section (such as a mountain road or a long tunnel) where the road direction is frequently changed or the geological condition is complex and affects the geomagnetic field. The data frames transmitted by all the radio transmitting devices of the road section can be marked as an uplink direction or a downlink direction according to the driving direction, the automobile is driven to the road section, after the radio receiving device in the automobile detects the uplink or the downlink mark, a prompt box is popped up on the screen in the automobile, a driver is required to manually select one of the uplink or the downlink, and the driver can manually set the radio receiving device to accept and display the information of one of the uplink and the downlink data frames.

In one embodiment, the vehicle's radio receiving device receives relevant road traffic information, such as 40 km/h of temporary speed limit for the road segment, and forwards this information to the vehicle navigation system.

If the original data stored in the vehicle-mounted navigation system is the speed limit of 60 km/h of the road section, and the running speed of the vehicle is 50 km/h, the vehicle-mounted navigation system prompts that the vehicle has overspeed, and the driver is required to run according to the speed limit of 40 km/h, and the navigation information database is modified.

Example 3

The present embodiment provides a traffic signal sign recognition system, including:

a radio transmitting device disposed at the traffic signal sign facility;

geomagnetic detection means provided in the vehicle;

a radio receiving device provided on the vehicle;

a memory;

a processor;

and a computer program, wherein the computer program is stored on the memory, which when executed by the processor, causes the controller to perform the steps of the traffic signal sign recognition method as described in embodiment 1 or embodiment 2.

It will be apparent to those skilled in the art that the techniques of embodiments of the present invention may be implemented in software plus a necessary general purpose hardware platform. Based on such understanding, the technical solutions in the embodiments of the present invention may be embodied in essence or what contributes to the prior art in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the embodiments or some parts of the embodiments of the present invention.

In the present specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are referred to each other, so that the embodiments of the present invention and features in the embodiments may be combined with each other without conflict, and each embodiment focuses on differences from other embodiments. In particular, for system and apparatus embodiments, the description is relatively simple, as it is substantially similar to method embodiments, with reference to the description of method embodiments in part.

The terms "comprises" and "comprising," along with any variations thereof, in the description and claims, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.

Claims

1. A traffic signal sign recognition method, comprising:

radio transmitting devices are arranged on all traffic signal sign devices;

2. The traffic signal sign recognition method according to claim 1, wherein: the content of the data frame of any radio transmitting apparatus also includes frequency point information used by the next radio transmitting apparatus broadcast in the road advancing direction, by radio transmitting apparatuses in the same road advancing direction.

3. The transmission line fault location data collection system of claim 1, wherein when the content of the data frame of the radio signal is displayed on the display screen of the vehicle:

4. The transmission line fault location data collection system of claim 1, wherein: the frequency points used by the radio transmitting devices in the L kilometer area are different, and the frequency points used by the adjacent radio transmitting devices are similar.

5. A traffic signal sign recognition method according to any one of claims 1-3, further comprising:

6. The traffic signal sign recognition method according to claim 1, wherein:

the content of the data frame also comprises a lane group mark, wherein the lane group is two or more groups of lanes which are in the same direction and are mutually closed;

7. The traffic signal sign recognition method according to claim 1, wherein:

the data frame is marked according to the driving direction of the uplink direction or the downlink direction;

8. The traffic signal sign recognition method according to claim 1, wherein the specific information displayed by the traffic signal sign device includes:

9. The traffic signal sign recognition method according to claim 8, wherein: the radio receiving device transmits the specific information displayed by the read traffic signal sign equipment to the vehicle navigation equipment to assist the vehicle navigation software to work.

10. A traffic signal sign recognition system, comprising:

a radio transmitting device disposed at the traffic signal sign facility;

geomagnetic detection means provided in the vehicle;

a radio receiving device provided on the vehicle;

a memory;

a processor;

and a computer program, wherein the computer program is stored on the memory, which when executed by the processor, causes the controller to perform the steps of the traffic signal sign recognition method according to any one of claims 1 to 9.