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    • 专利摘要:
    The system for recognizing road signs for a vehicle has: an imaging device (2) capturing an image comprising a road sign; an object recognition device (64) recognizing the panel in the image; a geographic information manager (5) storing location based signage information; and a processing device (67) capable of determining which of the traffic signs recognized in the image and the information relating to the stored traffic signs based on location is / are relevant to the vehicle. According to the system, the manager's information (5) is evaluated when a panel is recognized in the image, so that the reliability of this information is raised in response to a good correspondence between the recognized traffic sign and the stored information. ; reliability is maintained at its level until recognition of another panel. Reliable geographic information is used. Figure for the abstract: Figure 1
    公开号:FR3082340A1
    申请号:FR1906060
    申请日:2019-06-07
    公开日:2019-12-13
    发明作者:Taira Nagashima
    申请人:Suzuki Motor Co Ltd；
    IPC主号:
    专利说明:

    Description
    Title of the invention: SIGNALING SIGNS RECOGNITION SYSTEM The present invention relates to a signage recognition system.
    Document JP 6170416 B2 discloses a system for recognizing traffic signs in which a forward-facing on-board camera is used to recognize a regulatory panel and speed information associated with the recognized regulatory panel, and data from geographic information stored in an on-board computer provides speed information associated with a regulatory panel. The system uses a selection algorithm based on a matching process to compare the previous data of the speed information provided with the previous data of the recognized speed data. Using the selection algorithm, the recognized speed information and the provided speed information are selectively communicated to a human driver of a vehicle via a display / alert device.
    In the known traffic sign recognition system, the speed information provided is selected and communicated to the driver on the basis of an analysis of the result of the matching process in order to compensate for a discontinuity caused by a failure. in object recognition in the image captured by the camera to some extent.
    The known technology is based on the principle that a camera can reliably capture an image comprising a road sign placed near the edge of a roadway and the object recognition in the image is repeated successively while the vehicle travels on multiple sections of the road, called in the following links, one after the other.
    In some cases where the camera cannot capture the image including a traffic sign, the speed information provided is selected and communicated to the driver when the following conditions are met: when a good match has resulted not only in the last link but also in one before the last link, successively, and in the speed information provided; and when the speed information provided by the geographic information in the last link is the same as the speed information provided by the geographic information in a before the last link.
    In fact, it is possible that the camera cannot capture the image including a traffic sign successively on more than two links in the roadway due to insufficient accuracy of image recognition due in part to lack of clarity of the images captured by the camera and of tasks present on road signs. In this case, the technology described in document JP 6170416 B2 cannot solve the following problem:
    It may be that, in certain cases, the camera cannot capture the image including a traffic sign in each of the last link and one before the last, as the speed information provided by the geographic information in the last link / section are not identical to the speed information provided by the geographic information in one before the last, and that the speed information provided by the geographical information in the current link (section where the vehicle is located) is not not identical to the speed information provided by the geographical information in the last link / section.
    In this case, according to the technology described in the document JP 6170416 B2, the speed information provided by the geographic information is not communicated to the driver via the display / alert device in the current connections. and following, and no speed limit is communicated to the driver until the recognized speed information is available.
    [0009] Thus, no speed limit is communicated to the driver despite the fact that correct geographic information is provided by geographic information in the current (s) and following links as long as the inability of the camera to capture a road sign persists.
    An object of the present invention is to provide a system for recognizing traffic signs capable of reducing the inability to determine a traffic sign appropriate to the current location in the event of failure to recognize a sign. signaling in the image captured by an imaging device.
    There is a system for recognizing traffic signs for a vehicle, comprising: an imaging device configured to capture an image comprising a traffic sign; an object recognition device suitable for recognition by processing a sign in the image; a geographic information manager adapted to store location-based traffic sign information (location-based information); and a processing device for determining a traffic sign, capable of determining which of the traffic sign recognized in the image and the stored traffic sign information based on location is / is relevant for the vehicle to be the current location. According to the system, the stored information based on location is evaluated when a traffic sign is recognized in the image, so that the reliability of the information stored in traffic signs based on location is raised in response to a good correspondence between the recognized traffic sign and the stored information relating to the traffic signs, based on the location; reliability is maintained at its level until another traffic sign is recognized in the image; and it is determined that the information stored by the manager provides information relevant to the vehicle at the current location in the case where the reliability is not less than a predetermined level.
    As described, the present implementation can reduce the inability to determine an appropriate road sign at the present location in the event of failure to recognize a road sign in the image.
    In embodiments of the system or of a method implemented by the system in order to recognize a traffic sign, one or more of the following features are optionally provided:
    - reliability is raised, each time a change is detected in the information provided by the stored traffic sign information based on the location or it is detected that the vehicle enters a new section or link of a pavement;
    - it is determined that the reliability is not lower than the predetermined level in the event of failure to maintain the reliability level.
    Other characteristics, details and advantages of the invention will appear on reading the detailed description below, and on analysis of the accompanying drawings, in which:
    [fig.l] Figure 1 is a block diagram of a first embodiment of a recognition system of traffic signs according to the present invention;
    [Fig.2] Figure 2 is a flowchart of a reliability determination procedure in the first embodiment of the recognition system of traffic signs;
    [fig.3] Figure 3 is a flowchart of a procedure for displaying traffic signs / warning signs in the first embodiment of a traffic sign recognition system;
    [Fig.4] Figure 4 is a timing diagram of a first example of the application of the first embodiment of the invention;
    [Fig.5] Figure 5 is a timing diagram of a second example of application of the first embodiment of the invention;
    [Fig.6] Figure 6 is a timing diagram of a third example of the application of the first embodiment of the invention;
    [Fig.7] Figure 7 is a timing diagram of a fourth example of the application of the first embodiment of the invention;
    [Fig.8] Figure 8 is a block diagram of a second embodiment of a system for recognizing traffic signs according to the present invention; [fig.9] Figure 9 is a table illustrating how a road attribute (s) estimated on the basis of a traffic sign recognized by image recognition correspond to a road attribute (s) (s) included in stored geographic information;
    [fig.10] Figure 10 is a flowchart of a reliability determination procedure which is carried out in the second embodiment of the recognition system of traffic signs.
    Disclosed is a system for recognizing traffic signs for a vehicle, comprising: an imaging device configured to capture an image comprising a traffic sign; an object recognition processing means allowing recognition of a traffic sign in the image; a geographic information manager storing information relating to location based traffic signs; and a processing means for determining the traffic sign, capable of determining which of the traffic sign recognized in the image and the information relating to the stored traffic signs based on the location is / are relevant for the vehicle on the current location. According to the system, the stored location based information is evaluated when a traffic sign is recognized in the image, so that the reliability of the stored location based traffic information is raised in response to a good correspondence between the recognized traffic sign and the information relating to the traffic signs based on the location stored; reliability is maintained at its level until another traffic sign is recognized in the image; and it is determined that the stored panel information, based on the location, provides information relevant to the vehicle at the current location in the event that the reliability is not less than a predetermined level.
    Thus, the present implementation can reduce the inability to determine a suitable sign at the present location in the event of failure to recognize a sign in the image.
    With reference to the accompanying drawings, various embodiments of a system for recognizing traffic signs according to the present invention are described.
    (First Embodiment) As shown in FIG. 1, a road vehicle, which comprises a first embodiment of a driving assistance system according to the present invention, is designated by the reference numeral 1. The vehicle 1 comprises an imaging device 2, one or more display / alert devices 3, one or more communication devices 4, a geographic information manager 5 and a controller 6.
    Here, the expression controller is of nonlimiting interpretation and relates to any type of control / command device.
    The imaging device 2, which can be, for example, a camera, is generally oriented forward and directed so as to image approaching traffic signs, at an appropriate distance. A stream of images captured by the imaging device 2 is supplied to the controller 6.
    The display / alert device 3, which may include, for example, a monitor, a speaker, a lamp, a counter and an audible warning, provides various visual and / or audible elements of information to a driver or occupant of the vehicle 1.
    The communication device 4 communicates with external servers and with roadside communication devices to exchange information with them.
    The geographic information manager 5 is a computer unit which comprises a central unit (in English CPU or Central Processing Unit), a random access memory (in English RAM or Random Access Memory), a read only memory (in English ROM or Read-Only Memory), flash memory, hard disk (in English HDD or Hard Disk Drive), input ports, and output ports.
    The ROM of the geographic information manager 5 stores programs configured to allow the computer unit to perform the functions required as the geographic information manager 5 with various types of parameters and various types of maps. In other words, the computer unit functions as a geographic information manager 5 by allowing the CPU to execute the stored programs to perform the required functions.
    A receiver of a Satellite Positioning System (in English GNSS or Global Navigation Satellite System) 53 and various sensors, which include an acceleration sensor, not shown, are connected to the input ports of the manager. geographic information 5.
    The GNSS receiver 53 can receive radio waves from GNSS satellites via a GNSS antenna (not shown) to determine the location (longitude, latitude and altitude / elevation). The acceleration sensor is arranged for the detection of an acceleration of the vehicle 1.
    The geographic information manager 5 and the controller 6 communicate with each other to exchange signals, including control signals, via a local network (in English LAN or Local Area Network).
    The geographic information manager 5 serves as a unit 51 for storing static information. The static information storage unit 51 can manage static geographic information, which is stored in, for example, a hard disk and contains information relating to traffic signs, information relating to traffic lights, information relating to tracks and the like, having regard to each of the links (sections / segments) of each carriageway.
    The static information storage unit 51 has a storage portion 54 dedicated to the panels so as to be able to memorize / store information relating to one or more signaling panels installed in each. road links.
    The static information storage unit 51 has a road information storage part 55 which stores information relating to road classifications and attributes for each of the connections of a roadway.
    The road classification includes information relating to ordinary roads, limited access roads, motorways, one-way sections, etc.
    The road attribute includes information relating to the curvature of a roadway, a slope of the roadway, the number of lanes of the roadway, the width of the roadway, etc.
    Each of the connections of a roadway is a section connecting nodes which are the exchangers or the crossings of the roadway (road) with different roadways (roads).
    The geographic information manager 5 serves as a dynamic information acquisition unit 52. The dynamic information acquisition unit 52 can acquire dynamic information from servers and / or communication devices roadside information via the communication device 4. The dynamic information which is acquired includes information relating to road traffic, information on road regulations, information relating to road construction, information relating to traffic congestion , information relating to an accident, information relating to intelligent transport systems (in English ITS or Intelligent Transport Systems), weather information, etc.
    The geographic information manager 5 can determine the current location of the vehicle 1 on the basis of outputs of the aforementioned GNSS receiver 53 and the acceleration sensor.
    The geographic information manager 5 determines, based on the current location, a link (section) in a roadway where the current location is located. Using the link thus determined, the geographic information manager 5 extracts the stored static geographic information to acquire geographic information associated with the determined link, such as information relating to traffic signs, information relating to traffic lights. , information relating to a road classification, information relating to road attributes, and the like.
    The geographic information manager 5 acquires information relating to traffic around the current location, such as information relating to traffic congestion, information relating to an accident and meteorological information around the location current, from the dynamic information acquisition unit 52.
    The geographic information manager 5 can transmit the acquired geographic information, traffic information, meteorological information and the like to the controller 6. When the vehicle 1 enters a new link, the geographic information manager 5 acquires newly geographic information associated with the new link. When acquiring new information from servers and / or roadside communication devices, the geographic information manager 9 newly acquires the latest traffic information around the current location and the latest weather information around the current location. The newly acquired geographic, road and meteorological information is transmitted to the controller 6.
    The controller 6 or control device can be a computer unit which comprises a central processing unit CPU, a RAM memory, a ROM memory, a flash memory, input ports and output ports.
    The ROM memory of the controller 6 typically stores programs configured to allow the computer unit to perform the functions required as the controller 6 with various types of parameters and various types of cards. In other words, the computer unit functions as a controller 6 by allowing the CPU to execute the stored programs to perform the required functions.
    Different sensors and the like, including the imaging device (s) 2, are connected to the input ports of the controller 6. Different systems or devices to be monitored, including the display / alert device 3, are connected to the outputs of the controller 6.
    The controller 6 serves as an image reception stream 61 that can read image data captured by the imaging device 2. The controller serves as image preprocessing 62 which preprocesses images to facilitate the search for candidates for objects of interest.
    The controller 6 is used to configure objects of interest 63 making it possible to configure one or more objects of interest to implement a predetermined recognition process on each of the candidates found in the pretreated image data.
    The controller 6 provides an object recognition function, by an object recognition device 64, which can execute the predetermined recognition process on each of the candidates for different objects found in the pretreated image data. In this example, the various objects may be one or more objects selected from approaching traffic signs, letters or alphanumeric characters, display panels, people, road vehicles, vehicle traffic lights, traffic lights. signage for pedestrians, toll gates, lane traffic, and the like.
    The controller 6 can provide a processing output 65 which can execute an alert process to cause the display / alert device 3 to provide a report based on the location on the candidate recognized among panels approaching signage, a road classification and road attributes.
    The controller 6 serves / participates in determining the level of reliability, by a device 66 which determines the level of reliability for the geographic information stored in the geographic information manager 5.
    The controller 6 provides a panel determination function, here including a processing device 67 for the determination / identification of a traffic sign. Through the processing device 67, it determines a relevant sign for the current location based on a sign which is recognized by the object recognition device 64, and also a sign which is provided by traffic sign information based on the location for the current link (section where the vehicle is located), this sign information being extracted from the geographic information stored in the geographic information manager 5.
    The controller 6 evaluates the reliability of the traffic sign information based on the location for the current link, which is extracted from the geographic information stored in the geographic information manager 5, in the case where the object recognition enabled by the device 64 recognizes a traffic sign.
    The controller 6 regulates the reliability in the traffic sign on the basis of the location for the current link, which is extracted from the geographic information stored in the geographic information manager 5, on high ("High") in as long as the initial setting.
    If a traffic sign recognized by the object recognition (via the device 64) at the current location corresponds to the traffic sign information based on the location for the current link, which is extracted from the stored geographic information in the geographic information manager 5, the controller 6 regulates the reliability of the information relating to the location-based traffic signs for the current link on high (“High”).
    If the traffic sign recognized at the current location does not correspond to the information relating to the traffic sign based on the location for the current link, the controller 6 sets its reliability to low ("Low").
    The controller 6 retains the current level of reliability of the information relating to the traffic sign based on the location stored in the geographic information manager 5 until a subsequent evaluation of the reliability.
    In response to a modification of the traffic sign provided by the information relating to the traffic sign based on the location for the current link, which are extracted from the geographic information stored in the geographic information manager 5, the controller 6 regulates the reliability of information relating to the location-based traffic signs for the current link on high ("High"). In the present description, a modification of the road sign is used to signify a modification from a road sign of one type to a new road sign of another type, namely, for example, a passage of '' a speed limit traffic sign to a prohibited direction traffic sign, and / or a change of information from a traffic sign, i.e., for example, a change of speed information from a speed limit sign.
    In the case where the reliability of the traffic sign on the basis of the location for the current link, which is stored in the geographic information manager 5, is high (High), the controller 6 determines that the information relating to the traffic sign based on the location for the current link provide a relevant traffic sign for vehicle 1 at the current location.
    With reference to FIG. 2, the aforementioned reliability determination procedure, which is used in the system for recognizing traffic signs, is described in more detail. The execution of the reliability determination procedure is initiated when the controller 6 begins to operate and is repeated at predefined intervals.
    As described above, a traffic sign is recognized by performing image recognition at the device for object recognition 64 (see Figure 1). If it is determined that a traffic sign is recognized by performing image recognition, a decisional step S1 refers to another decisional step S2. If the traffic sign recognized by image recognition corresponds to the information relating to the traffic sign based on the location for the current link which is extracted from the geographic information stored in the geographic information manager 5, the decisional step S2 returns to step S5. In step S5, the reliability of the location sign information based on the location for the current link, which is extracted from the geographic information, is high (High) before the routine ends.
    If the traffic sign recognized at the current location does not correspond to the information relating to the traffic sign based on the location for the current link, the decisional step S2 refers to step S3. In step S3, reliability is reduced (“Low”) before the routine ends.
    If no traffic sign is recognized by performing image recognition, the decisional step SI refers to step S4. If there is a change of traffic sign provided by the location sign information based on the location for the current link or if vehicle 1 enters a new link on the roadway, decision step S4 returns in step S5 in which the reliability is high. (Student). If the traffic sign provided by location sign information based on the location for the current connection remains the same or if the vehicle 1 remains in the current connection on the roadway, the decision S4 returns to step S6. In decision step S6, it is determined whether the default setting for the reliability of the location-based traffic sign information for the current link remains unchanged. If the default reliability setting is unchanged, decision step S6 refers to step S5. In step S5, reliability remains high ("High") before the routine ends.
    If the default setting of the reliability of the information relating to the traffic sign based on the location for the current link is modified, the decisional step S6 refers to step S7. In step S7, the current level of reliability, which is stored in the geographic information manager 5, is maintained before the routine ends.
    As described above, if the traffic sign recognized by the image recognition corresponds to the information relating to the traffic sign based on the location for the current link, the decision step S2 refers to step S5; if there is a change in the traffic sign provided by the location-based traffic sign information for the current link or if vehicle 1 enters a new road link, decision step S4 returns in step S5; and if the default setting for location-based traffic sign information for the current link remains unchanged, decision step S6 returns to step S5. In step S5, reliability is raised or kept high ("High") before the routine ends.
    Referring to Figure 3, a display / alert procedure for traffic signs, which is used in the traffic sign recognition system, is described in more detail. The execution of the traffic sign display / alert procedure is initiated when the controller 6 begins to operate and is repeated at predefined intervals.
    If the reliability, which is stored in the geographic information manager 5, in the information relating to the traffic sign based on the location for the current link is high, High, a decisional step SU refers to the step S12. In step S12, a traffic sign at the current location is defined on a traffic sign which is provided by the traffic sign information based on the location for the current link.
    In step S13, the traffic sign which is provided by the information relating to the traffic sign based on the location for the current connection, is supplied to the display / alert device 3 before the routine does not end. The display / alert device 3 can display an image of a typical version of the traffic sign.
    If the reliability, which is stored in the geographic information manager 5, in the information relating to the traffic sign based on the location for the current link is low, Low, the decision step SI 1 refers to l 'step S14. In step S14, the sign at the current location is defined on the sign recognized by image recognition (at the device for object recognition 64).
    In step 13, the signaling panel recognized by image recognition is supplied to the display / alert device 3 before the routine ends. In this case, the display / alert device 3 can display an image of a standard version or of the current version of the recognized traffic sign. When the recognized traffic sign crosses the vehicle 1, the traffic sign is no longer relevant for the vehicle L Consequently, in step S15, it is determined whether a predetermined duration has elapsed since the start of the communication the presence of the road sign recognized by image recognition to the driver of vehicle 1 or not. If the predetermined duration has elapsed, decision step S15 returns to step S16. In step S16, the display of the recognized traffic sign is interrupted before the routine ends.
    If the predetermined duration has not elapsed, the decision-making step S15 refers to step S13. In step S13, the display of the signaling panel, which is recognized by image recognition, is continued before the routine is completed.
    With reference to FIGS. 4 to 7, the reliability determination procedure and the display / alert procedure relating to the traffic signs are described in more detail.
    In FIG. 4, at time T1, the information relating to the traffic sign based on the location for the running section taken, or current link L, does not provide any traffic sign at the current location, but a traffic sign is recognized by image recognition at the current location. The reliability of location-based traffic sign information for the current L link is reduced ("Low"). Consequently, the display / alert device 3 displays an image of a standard version or of the actual version of the traffic sign recognized by image recognition for the predetermined duration. When the predetermined time has elapsed, the display is interrupted. After the predetermined period of time has elapsed, the display / alert device 3 does not display any image unless a traffic sign is recognized by image recognition because the reliability of the information relating to the traffic sign based on the location for the current link L is weak.
    Then, at time T2, new information relating to the traffic sign based on the location for a new L + 1 link is extracted from the geographic information stored in the geographic information manager 5, and a panel of signaling is recognized by image recognition. The traffic sign recognized by image recognition corresponds to a traffic sign provided by the information relating to the traffic sign based on the location for the new L + 1 link. Consequently, the display / alert device 3 displays an image of a typical version of the traffic sign provided by the location-based traffic sign information for the new L + 1 link, as the level of reliability in the traffic sign information based on the location for the new L + 1 link is high ("High"). After time T2, the location-based traffic sign information for the current L + 1 link continues to provide the same traffic sign and the display / alert device 3 continues to display an image of the standard version of this traffic sign, unless another traffic sign of a different type or another traffic sign with different information is recognized by image recognition because the reliability of the information relating to the traffic sign based on the location for the new L + 1 link is kept high ("High").
    Then, at time T3, the vehicle 1 enters a new L + 2 link from the L + 1 link and new information relating to the traffic sign based on the location for the new L + link. 2 are extracted from the geographic information stored in the geographic information manager 5, but no traffic sign is recognized by image recognition. Therefore, the display / alert device 3 displays an image of a typical version of the traffic sign provided by the location sign information based on the location for the current L + 2 link. at time T3, location-based traffic sign information for the current L +2 link continues to provide the same traffic sign and display / alert device 3 continues to display a version image type of this traffic sign, unless another traffic sign of different type or another traffic sign with different information is recognized by image recognition because the reliability of the information relating to the traffic sign based on the The location for the new L +2 link is kept high ("High"). The reliability of location-based traffic sign information for the new L + 2 link is kept high ("High") as there is no change in the traffic sign provided by the sign information location-based signaling for the current L + 2 link and vehicle 1 enters the new L + 2 link.
    Thereafter, at time T4, even if a traffic sign is recognized by image recognition, the display / alert device 3 continues to display an image of the standard version of the sign. signage provided by location sign information based on location for the current L + 2 link as the sign recognized by image recognition corresponds to the sign provided by sign information based on the location for the current L + 2 link in order to maintain high reliability.
    As described above, since the reliability of the information relating to the traffic sign based on the location is raised to a high level ("High") each time that the vehicle 1 enters a new connection or when it there is a change in the sign provided by the location sign information based on location, the display / alert device 3 may display an image of a typical version of the sign provided by location sign information based on location without any sign being recognized by image recognition.
    Then, with reference to FIG. 5, at time T5, the information relating to the traffic sign based on the location for a new link L is extracted from the geographic information stored in the geographic information manager 5 and the default setting for reliability is high. Consequently, the display / alert device 3 can display an image of a typical version of a traffic sign provided by the information relating to the traffic sign based on the location for the new link L.
    Then, at time T6, a traffic sign is recognized by image recognition. This traffic sign does not match the one provided by the location based traffic sign information for the L link, so the reliability of the location based traffic sign information for the L link is lowered to a low level ("Low"). Consequently, the display / alert device 3 can display an image of a standard version or of the actual version of the road sign recognized by image recognition.
    At time T7, the vehicle 1 enters a new L + 1 link from the L link, so that the reliability of the information relating to the traffic sign based on the location for the new L + link 1, which are extracted from the geographic information stored in the geographic information manager 5, is set to high (“High”). Therefore, the display / alert device 3 can display an image of a typical version of the traffic sign which is provided by the location-based traffic sign information for the new L + 1 link.
    At time T8, a traffic sign is recognized by image recognition, but the reliability of the information relating to the traffic sign based on the location for the L + 1 link is reduced to a low level (“ Bottom ”) because the traffic sign recognized by image recognition does not match the traffic sign that is provided by the location sign information based on the location for the new L + 1 link. display / alert device 3 can display an image of a standard version or of the actual version of the road sign recognized by image recognition. This display is maintained for the predetermined duration and interrupted after the predetermined duration has elapsed.
    At time T9, with the traffic sign provided by the traffic information based on the location unchanged, the vehicle 1 enters a new L +2 link from the L +1 link so that the reliability of the information relating to the location-based traffic sign for the new link L +2 which is extracted from the geographic information stored in the geographic information manager 5, is set to high (“High”). Thus, the display / alert device can display an image of a typical version of the traffic sign provided by location-based traffic information for the new L + 2 link.
    At time T10, a traffic sign is recognized by image recognition, and the reliability of the information relating to the traffic sign based on the location for the link L + 2 is set to high ("High" ) because the traffic sign recognized by the image recognition corresponds to the traffic sign which is provided by the information relating to the traffic sign based on the location for the L + 2 link. Consequently, the display device / alert 3 can display an image of a typical version of the road sign recognized by image recognition.
    As described above, since the reliability of the information relating to the traffic sign based on the location is raised to a high level ("High") each time that the vehicle 1 enters a new connection or when it there is a change in the sign provided by the location sign information based on location, the display / alert device 3 may display an image of a typical version of the sign provided by traffic sign information based on location or image of a typical or actual version of a traffic sign recognized by image recognition if the recognized traffic sign does not match the traffic sign provided by location sign information.
    Referring then to FIG. 6, at time T1, the reliability of the information relating to a traffic sign based on the location for a link L is set to high (High) because a traffic sign recognized by recognition of image corresponds to a traffic sign provided by the information relating to a traffic sign based on the location for the link L. Thus, the display / alert device 3 can display an image of a typical version of the sign signaling which is provided by the information relating to a location-based traffic sign for the link L.
    At time T12, the vehicle 1 enters a new L +1 link. In addition, there is a change in traffic which is provided by the information relating to the location-based traffic signs for the new link L +1 immediately after time T12. Thus, the reliability of the information relating to the location-based traffic signs for the new link L +1 is set to high (“High”) at time T12, when the vehicle 1 enters the new link L +1. In addition, the reliability of location-based traffic sign information for the new L + 1 link is set to high ("High") immediately after time T12 due to a change in the traffic sign which is provided by location-based traffic sign information for the new L + 1 link. Therefore, the display / alert device 3 can display an image of a typical version of the front traffic sign and after the change provided by the location-based signage information for the new L +1 link.
    Immediately before time T13, when the vehicle 1 is about to enter a new link from the current link L + 1, a change of traffic sign provided by the information relating to a sign location-based signaling occurs for the new L + 1 link. Thus, the reliability of location-based traffic sign information for the current L +1 link is set to high ("High") immediately before instant T13 due to a modification of the traffic sign which is provided by the information relating to a traffic sign based on the location for the current link L +1. Consequently, the display / alert device 3 can display an image of a typical version of the traffic sign before and after the modification provided by the information relating to the traffic sign based on the location for the current link L 1.
    As described, the display / alert device 3 can display an image of a typical version of the traffic sign provided by the information relating to the traffic signs based on the location for the current link without any traffic information is not recognized by image recognition.
    Referring next to Figure 7, at time T14, a traffic sign is recognized by image recognition. This traffic sign does not match the one provided by the location based traffic sign information for an L link, so the reliability of the location based traffic sign information for the L link is lowered to a low level ("Low"). Consequently, the display / alert device 3 displays an image of a standard version or of the actual version of the traffic sign recognized by image recognition for the predetermined duration. When the predetermined time has elapsed, the display is interrupted. After the predetermined period of time has elapsed, the display / alert device 3 does not display any image unless a traffic sign is recognized by image recognition because the reliability of the information relating to the traffic sign based on the location for the current link L is weak.
    Immediately before time T15 when the vehicle leaves the current link L, a change of traffic sign provided by the information relating to traffic signs based on the location in the current link L changes. The reliability of the location-based signage information for the current link L is raised to a high level ("High") due to the change of signage provided by the location-based signage information. location for the current link L. Thus, the display / alert device 3 can display an image of a typical version of the traffic sign after the modification provided by the information relating to the traffic signs based on the location for the current link L.
    As described above, since the reliability of the information relating to the location-based traffic sign is raised to a high level ("High") each time there is a change in the traffic sign provided. by the information relating to the traffic sign based on the location, the display / alert device 3 can display an image of a typical version of the traffic sign provided by the information relating to the traffic sign based on the location without any traffic sign being recognized by image recognition.
    (Second Embodiment) A second embodiment of the present invention is described. This second embodiment is substantially identical to the first embodiment. The same reference numbers are used in FIGS. 1 to 7, which illustrate the first embodiment, and FIGS. 8 to 10, which illustrate the second embodiment, to designate similar elements or components for the brevity of the description.
    Referring to Figure 8, a steering wheel steering angle sensor 101, a vehicle speed sensor 102, an angular speed sensor 103 and a turn indicator sensor 104 are connected to the ports of input of a driver assistance system controller 6.
    The steering wheel angle sensor 101 is arranged to detect a steering angle of a steering wheel (not shown) manipulated by a driver of a vehicle 1. The vehicle speed sensor 102 is arranged to detect a speed of the vehicle 1.
    The angular speed sensor 103 is designed to detect an angular speed of the vehicle 1. Using the angular speed detected by the angular speed sensor 103, the controller 6 determines a behavior of the vehicle in the direction of yaw, roll or pitch.
    The turn indicator sensor 104 is designed to detect an entry by a driver of the vehicle 1 into a turn indicator. Using the result detected by the turn indicator sensor 104, the controller 6 switches the information relating to the turn indicator to an active state or ON in the case where the turn indicator is manipulated until the position for indication on the right or indication on the left. In addition, the controller 6 switches the information from the turn indicator to an inactive state or OLE in the case where the turn indicator is in the rest position for non-operation.
    In order to ensure, typically by a routine or a device 68, a presumption of road information, the controller 6 can estimate the type or the classification and the attributes of the present road on which the vehicle 1 is traveling, on the base of the vehicle state of the vehicle 1 detected during the detection of the state of the vehicle 69 and of the results of the recognition made by the object recognition device 64.
    In order to ensure detection of the state of the vehicle, typically by a routine or a device 69, the controller 6 can monitor or detect the state of the vehicle of the vehicle 1 based on the detection results from various sensors such as the steering wheel steering angle sensor 101, vehicle speed sensor 102, angular speed sensor 103, and turn indicator sensor 104.
    The controller 6 determines the level of reliability of the geographic information stored in a geographic information manager 5 when receiving each of a plurality of pieces of information, such as geographic information, information relating to the traffic and weather information from the geographic information manager 5.
    The controller 6 sets the default reliability setting of the geographic information stored in the geographic information manager 5 to a high level ("High"). The controller 6 adjusts the reliability level according to the following rules.
    The controller 6 sets the level of reliability in the geographic information stored in the geographic information manager 5 to high ("High") if the road type and 171st road attribute (s), which are estimated by the estimated traffic information 68 on the basis of the recognition result by object recognition (via the device 64), correspond to the road type and to Γ / the road attribute (s) stored in the information manager geographic 5.
    The controller 6 sets the level of reliability in the geographic information stored in the geographic information manager 5 to high (“High”) if the road type and 171st road attribute (s), which are estimated by the estimated traffic information 68 on the basis of the vehicle state of the vehicle 1 determined from the detection result by each of the various sensors, correspond to the road type and to the road attribute (s) stored in the geographic information manager 5.
    The controller 6 regulates the level of reliability in the geographic information stored in the geographic information manager 5 on low (“Low”) if the road type and 171st road attribute (s), which are estimated by the estimated traffic information 68 on the basis of the result of recognition by object recognition (via the device 64, here provided locally), do not correspond to the type of road and to the road attribute (s) stored in the geographic information manager 5.
    The controller 6 sets the level of reliability in the geographic information stored in the geographic information manager 5 to low ("Low") if the road type and 171st road attribute (s), which are estimated by the estimated traffic information 68 on the basis of the vehicle state of the vehicle 1 determined from the detection result by each of the various sensors, correspond to the road type and to the road attribute (s) stored in the geographic information manager 5.
    The controller 6 maintains the current level of reliability, which is stored in the geographic information manager 5, of the geographic information stored in the geographic information manager 5 until its reliability is subsequently determined.
    If the reliability of the geographic information stored in the geographic information manager 5 is high ("High"), the controller 6 regulates the road sign, the type of road and the road attribute (s) ) at the current location to be the road sign, road type and road attribute (s) that are stored, relevant to the current location, in the geographic information manager 5.
    According to various rules tabulated in FIG. 9, the controller 6 determines whether the type of road and the road attribute (s), which are estimated on the basis of the vehicle condition of the vehicle 1 determined at from the recognition result by image recognition and from the detection result by each of the different sensors, may or may not correspond to the road type and to the road attribute (s) stored in the manager geographic information 5.
    As illustrated in the upper row or first row 1 of FIG. 9, the controller 6 determines that the estimated road attribute (s) based on the recognition of a traffic sign corresponds (s) to Γ / to the route attributes stored in the graphic information manager 5 if a traffic sign with information relating to the presence of a curve at the front is recognized by image recognition in the case where the curvature of the current roadway contained in the geographic information stored in the geographic information manager 5 is greater than a predetermined value. In one example, it is determined that the estimated road attribute (s) on the vehicle condition of vehicle 1 correspond to Γ / the road attribute (s) of the geographic information stored in the geographic information manager 5 if a <R '<b, yaw value> c, and the information of the turn indicator is OFF:
    R 'being the estimated curvature which is calculated as a function of the lateral speed G and the speed of the vehicle; and a, b (a <b) being the predetermined thresholds.
    As illustrated in second row 2 of FIG. 9, the controller 6 determines that the road attribute (s) estimated on the basis of the recognition of a traffic sign corresponds (s) to Γ / to the road attribute (s) stored in the geographic information manager 5 if a traffic sign with information relating to the presence of a bend (or hairpin bend) at the front is recognized by re image knowledge in the event that the traffic information relating to the lanes to come contains information relating to the presence of a bend. In one example, it is determined that the estimated road attribute (s) on the vehicle condition of vehicle 1 correspond to Γ / the road attribute (s) of the geographic information stored in the geographic information manager 5 if a '<R'<b', yaw value>c', and the information of the turn indicator is OFF, R 'being the estimated curvature which is calculated as a function of the lateral speed G and vehicle speed; and a ', b' (a 1 <b ') being the predetermined thresholds.
    A set comprising the predetermined thresholds a ', b', c 'used in this second row 2 and another set comprising the predetermined thresholds a, b, c used in the first row 1 are independent values such as the values of a first set can be identical or different from the values of the other set. The distance between the value a 'and the value b' (used in the second row 2) can be less than the distance between the value a and the value b (used in the first row 1), so that a <a ' and b '<b taking into account that the curve which is specified in the first row 1 varies from a curve having an acute angle to a curve having an obtuse angle. Comparing the amplitude of the yaw rate derivative with a predetermined threshold can generate a more precise discriminator between the curves specified in the first row 1 and the curvatures specified in the second row 2. It is determined that the vehicle 1 negotiates a curve if the magnitude of the yaw rate derivative exceeds a first predetermined threshold, while it is determined that vehicle 1 negotiates a turn if the magnitude of the yaw speed derivative exceeds a second threshold predetermined higher than the first predetermined threshold. In addition, the calculation of the curvature of a road ahead which is recognized by image recognition within image data of a forward view of the vehicle 1 can become another candidate for a more precise discriminator. between the curves specified in the first row 1 and the turns specified in the second row 2. In this case, it is determined that the vehicle 1 is negotiating a turn if the calculation of the curvature of the road ahead to be recognized fails .
    Using the techniques mentioned above, more precise discrimination between the curves specified in the first row 1 and the turns specified in the second row 2 is possible.
    As illustrated in the third row 3 of FIG. 9, the controller 6 determines that the road attribute (s) estimated on the basis of the recognition of a traffic sign corresponds (s) to Γ / to the road attribute (s) stored in the geographic information manager 5 if a road sign with information according to which the number of lanes to come is reduced is recognized by image recognition in the case where traffic information for future lanes contains information that the number of lanes ahead is decreasing. In one example, it is determined that the estimated road attribute (s) on the vehicle condition of vehicle 1 correspond to Γ / the road attribute (s) of the geographic information stored in the geographic information manager 5 if the result of the recognition by image recognition indicates a reduction in the number of channels.
    In addition, it is determined that the estimated road attribute (s) on the vehicle condition of vehicle 1 correspond to Γ / the road attribute (s) of the geographic information stored in the geographic information manager 5 if the result of the recognition by image recognition provides a plurality of arrows, as indicated in the third column of FIG. 9, on the road surface indicating an end of a lane left or right.
    As illustrated in fourth row 4 of FIG. 9, the controller 6 determines that the road attribute (s) estimated on the basis of the recognition of a traffic sign corresponds (s) to Γ / to the road attribute (s) stored in the geographic information manager 5 if a road sign with information according to which an incline is to come, that is to say a descent or an ascent, is recognized by image recognition in the case where the traffic information relating to the lanes to come contains information according to which an inclination is to come. It can be determined that the estimated road attribute (s) relating to the vehicle condition of vehicle 1 correspond to Γ / the road attribute (s) of the geographic information stored in the information manager geographic 5 if the slope of a slope on the road sign recognized by image recognition corresponds to the slope of a slope provided by the information relating to the slope of slopes, extracted from the geographic information stored in the information manager Geographical 5. In an example, with an estimated slope a of the current route calculated on the basis of the result of the detection by the angular speed sensor 103 and of the vehicle acceleration / deceleration of the vehicle 1, it is determined that the or the road attribute (s) estimated on the vehicle condition of the vehicle 1 corresponds to Γ / the road attribute (s) of the geographic information stored in the g geographic information questionnaire 5 if the amplitude of the estimated slope a is less than a predetermined threshold a.
    As illustrated in the fifth row 5 of FIG. 9, the controller 6 determines that the road attribute (s) estimated on the basis of the recognition of a traffic sign corresponds (ent ) to Γ / to the road attribute (s) stored in the graphic information manager 5 if a road sign with information relating to the presence of a school, a crèche or a nursery is recognized by image recognition in the case the geographic information stored in the geographic information manager 5 includes information relating to the presence of a school zone. In one example, it is determined that the estimated road attribute (s) on the vehicle condition of the vehicle 1 correspond to the road attribute (s) of the geographic information stored in the manager of geographic information 5 if the presence of a pattern on the road surface indicating a school area or the presence of school area characters on the road surface as illustrated in FIG. 9 is recognized from the recognition result by image recognition .
    As illustrated in the sixth row 6 of FIG. 9, the controller 6 determines that the road attribute (s) estimated on the basis of the recognition of a traffic sign corresponds (ent ) to Γ / to the road attribute (s) stored in the graphic information manager 5 if a traffic sign with information relating to the presence of a road construction site is recognized by image recognition in the case of geographic information stored in the geographic information manager 5 includes information relating to the presence of a road construction site. In one example, it is determined that the estimated road attribute (s) on the vehicle condition of the vehicle 1 correspond to the road attribute (s) of the geographic information stored in the manager of geographic information 5 if a traffic control panel placed in an area upstream of a traffic control area and arrow signs placed in a transition zone for the traffic control area (see Figure 9) are recognized from the result of recognition by image recognition.
    As illustrated in the seventh row 7 of FIG. 9, the controller 6 determines that the estimated road attribute (s) based on the recognition of a traffic sign corresponds (ent ) to Γ / to the road attribute (s) stored in the graphic information manager 5 if a traffic sign with information relating to the presence of traffic lights is recognized by image recognition, in the case where the geographic information stored in the geographic information manager 5 includes information relating to the presence of traffic lights. In one example, it is determined that the road attribute (s) estimated on the vehicle condition of the vehicle 1 correspond to the road attribute (s) of the stored geographic information in the geographic information manager 5 if a road sign / sign comprising a prior notification signal (see FIG. 9) is recognized from the result of the recognition by image recognition. In the case where the geographic information manager 5 can receive the current lighting color of a road sign from a roadside communication device, it is possible to determine whether a good match is made or not with the lighting color. As illustrated in the eighth row 8 of FIG. 9, the controller 6 determines that the road attribute (s) estimated on the basis of the recognition of a traffic sign corresponds (ent ) to Γ / to the road attribute (s) stored in the graphic information manager 5 if a traffic sign with information relating to a reduction in the width of the road is recognized by image recognition in the case the geographic information stored in the geographic information manager 5 includes information relating to a reduction in the width of the road. In one example, it is determined that the road attribute (s) estimated on the vehicle condition of the vehicle 1 correspond to the road attribute (s) of the stored geographic information in the geographic information manager 5 if, with the road width measured on the basis of road edges or white road edge lines which are recognized from the result of the recognition by image recognition within an image as illustrated in FIG. 9, a reduction in the width of the road exceeding a predetermined threshold is detected.
    As illustrated in the ninth row 9 of FIG. 9, the controller 6 determines that the type of road estimated on the basis of the recognition of a traffic sign corresponds to the type of road stored in the geographic information manager 5 if a traffic sign with information relating to a future motorway in the case where the geographical information stored in the geographical information manager 5 includes information according to which the current roadway is a motorway or the current roadway merges with a motorway to come up. The technique illustrated in this row is applicable to a national expressway or a highway.
    As described above, the traffic sign recognition system can make full use of geographic information by appropriately determining the degree of reliability of geographic information because the road attribute (s) or the road type are estimated on the basis of a traffic sign recognized by image recognition and the reliability of geographic information is assessed or determined on the basis of the road attribute (s) or the road type estimated (s).
    The traffic sign recognition system can make full use of geographic information by appropriately determining the reliability of geographic information despite the failure to recognize any traffic sign because the road attribute (s) ( s) or the type of road is / are estimated on the basis of white lines on the road surface or a marking pattern on the road surface and signs placed on the road recognized by recognition of image and reliability of geographic information is assessed or determined on the basis of the road attribute (s) or the type of road estimated.
    The traffic sign recognition system can make full use of geographic information by appropriately determining the reliability of geographic information despite the failure to recognize any traffic sign because the road attribute (s) ( s) or the road type is / are estimated on the basis of the vehicle state of vehicle 1 which is detected by the detection results by various sensors and the reliability of the geographic information is determined on the basis of the attribute or type of route estimated.
    Referring to Figure 10, the reliability determination procedure used by the sign recognition system according to the second embodiment of the present invention is described in detail. This procedure is initiated each time the controller 6 receives information, such as geographic information, traffic information, meteorological information, from the geographic information manager 5. The geographic information includes information which contains road signs, road types and road attributes based on location.
    In step S21, the traffic information, which is selected from the information received, is entered. The traffic information contains a location type of route and a route attribute which is relevant to the vehicle 1.
    We access the recognition result from image recognition. If the recognition result includes a warning sign relevant to the vehicle 1, a decisional step S22 refers to another decisional step S23. The warning sign is a type of sign indicating a potential danger, an obstacle or a situation requiring special attention. Some are road signs indicating a danger on roads that may not be easily visible to a human driver. The warning sign is used to estimate a road type and a road attribute. The road type and the road attribute contained in the traffic information are evaluated on the basis of the road type and the road attribute estimated on the basis of the warning sign. In detail, it is determined whether the road type or the road attribute in the traffic information corresponds to the estimated road type and corresponding road attribute.
    If the road type or the road attribute in the traffic information corresponds to the road type or the corresponding corresponding road attribute estimated, the decision step S23 refers to step S24. In step S24, the reliability of the geographic information based on the location stored in the geographic information manager 5 is set to high (or set to a high level), High.
    If the road type or the road attribute in the traffic information does not correspond to the road type or the corresponding corresponding road attribute estimated, the decision step S23 refers to step S25. In step S25, the reliability of the geographic information based on the location stored in the geographic information manager 5 is set to low (or set to a low level), Low.
    If the recognition result does not include a relevant warning sign for the vehicle 1, the decision-making step S22 refers to step S26. In step S26, the result of the detection of various on-board sensors is used to estimate a road type and a road attribute.
    The road type and the road attribute contained in the traffic information are evaluated on the basis of the road type and the road attribute estimated on the basis of the result of the detection coming from various on-board sensors. In detail, it is determined whether the road type or the road attribute in the traffic information corresponds to the road type and the corresponding road attribute which are estimated on the basis of the detection result from the various on-board sensors. If the road type or the road attribute in the traffic information corresponds to the road type and the corresponding road attribute which are estimated on the basis of the detection result from the various on-board sensors, a decision step S27 refers to the step S28. In step S28, the reliability of the geographic information based on the location stored in the geographic information manager 5 is set to high (or set to a high level), High.
    If the road type or the road attribute in the traffic information does not correspond to the road type and the corresponding road attribute which are estimated on the basis of the detection result from the various on-board sensors, the step BI S27 refers to step S29. In step S29, the reliability of the geographic information based on the location stored in the geographic information manager 5 is set to low (or set to a low level), Low.
    The procedure goes to step S30 from one of steps S24, S25, S28 and S29. In step S30, the road type or the road attribute which is contained in the received traffic information is communicated to a human driver of the vehicle 1 via the display / alert device 3 if the associated reliability, based on the location in the geographic information that is stored in the geographic information manager 5 is high, "High". After step S30, the procedure ends.
    The first embodiment described with reference to FIGS. 1 to 7 determines the reliability based on the location in the geographic information which is stored in the geographic information manager 5 in order to set them to an appropriate level from among two on the basis of the determination that a road signal provided by information relating to road signs which are contained in the geographic information stored in the geographic information manager 5 corresponds or not to a road sign which is recognized by recognition of picture. The second embodiment described with reference to FIGS. 8 to 10 determines the reliability based on the location in the geographic information which is stored in the geographic information manager 5 in order to set them to an appropriate level out of two based on the determination according to which the information relating to the type of road or to the road attribute contained in the geographic information stored in the geographic information manager 5 corresponds or not to the type of road and to the estimated road attribute. They are not necessarily independent of each other. The configuration according to the second embodiment, in which the reliability based on location is renewed on the basis of the road type and the road attribute estimated, and the information relating to the road type and the road attribute contained in the geographic information can be added to the configuration according to the first embodiment, in which the reliability based on the location is evaluated on the basis of the recognized traffic sign and of the geographic information traffic sign stored in association with a section relevant in a roadway.
    The accuracy of the reliability based on the location of the geographic information is improved because the reliability based on the location is renewed on the basis of information other than the traffic signs of the geographic information, while determining whether a sign sign is placed on the current location even if it is impossible to recognize a sign in a captured image.
    In the description of the first and second embodiments, the reliability is set to one of two levels, namely a high level and a low level, but the number of levels can be greater than two to allow the processing of information. in different ways with different intermediate levels on which reliability based on location is raised or lowered to be selected based on the determination of reliability.
    In the first and second embodiments, information extracted from geographic information is communicated to a driver of the vehicle 1 via the display / alert device 3 in response to the level of reliability thereof, but the stored reliability levels can be communicated to each of different controllers of the vehicle 1 to promote active use of geographic information by causing the various controllers to extract information from geographic information based on the reliability levels communicated to them.
    [0131] Although the above disclosure focuses on the first and second embodiments in which the controller 6 makes various determinations and calculations based on information from various sensors, the present implementation is not limited to this example. For example, the vehicle 1 can send detection results from various sensors using a communication device 4 to an external unit, such as a server, which makes various determinations and receives the results of the determinations and calculations performed by the external unit. Based on the results of the determinations and calculations received by the communication device 4, various types of checks can be carried out.
    Although the disclosure relates to, but is not limited to, the present embodiment, it will be clear to those skilled in the art that modifications can be made without departing from the scope of the present invention. All of these modifications and their equivalents are intended to be covered by the present invention.
    权利要求:
    Claims (1)
    [1" id="c-fr-0001]
    [Claim 1] [Claim 2] [Claim 3]
    claims
    A system for recognizing traffic signs for a vehicle, comprising:
    an imaging device (2) configured to capture an image comprising a traffic sign;
    an object recognition device (64) adapted for recognition by processing of a sign in the image; a geographic information manager (5) adapted to store location-based traffic sign information; and a processing device (67) for determining a traffic sign, capable of determining which of the traffic sign recognized in the image and the stored traffic sign information based on location is / is relevant for the vehicle (1) at the current location, characterized in that said stored location-based information is evaluated when a traffic sign is recognized in the image, so that the reliability of the stored traffic sign information based on location is raised (S5; S24) in response to a good match between the recognized traffic sign and the stored information of location based traffic sign; reliability is maintained at its level until another traffic sign is recognized in the image; and it is determined that said stored location-based information provides information relevant to the vehicle about the current location in the event that the reliability is not less than a predetermined level.
    A traffic sign recognition system according to claim 1, wherein the reliability is raised each time a change is detected in the information provided by the location-based stored traffic sign information or it is detected that the vehicle (1) enters a new section or connection of a roadway.
    A sign recognition system according to claim 1, wherein it is determined that the reliability is not less than the predetermined level in case of failure to maintain the level of
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    FR3082340B1|2021-10-08|
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JP6170416B2|2013-11-21|2017-07-26|本田技研工業株式会社|Road sign judgment device|CN111312420A|2020-03-02|2020-06-19|上海交通大学|Fault diagnosis method and device|
    CN112750312A|2020-12-28|2021-05-04|上海眼控科技股份有限公司|Information detection method, device, equipment and storage medium|
    法律状态:
    2020-04-28| PLFP| Fee payment|Year of fee payment: 2 |
    2021-01-22| PLSC| Publication of the preliminary search report|Effective date: 20210122 |
    2021-04-30| PLFP| Fee payment|Year of fee payment: 3 |
    优先权:
    申请号 | 申请日 | 专利标题
    JP2018110073A|JP2019212188A|2018-06-08|2018-06-08|Road sign recognition device|
    JP2018-110073|2018-06-08|
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