Specific embodiment
In order to make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the accompanying drawings to of the invention specific realExample is applied to be described in further detail.It is understood that specific embodiment described herein is used only for explaining the present invention,Rather than limitation of the invention.
It also should be noted that illustrate only for ease of description, in attached drawing part related to the present invention rather thanFull content.It should be mentioned that some exemplary embodiments are described before exemplary embodiment is discussed in greater detailInto the processing or method described as flow chart.Although operations (or step) are described as the processing of order by flow chart,It is that many of which operation can be implemented concurrently, concomitantly or simultaneously.In addition, the order of operations can be by againIt arranges.The processing can be terminated when its operations are completed, it is also possible to have the additional step being not included in attached drawing.The processing can correspond to method, function, regulation, subroutine, subprogram etc..
First embodiment
A kind of flow chart for Traffic Sign Recognition test method that Fig. 1 provides for first embodiment of the invention, the present embodimentMethod can be performed by Traffic Sign Recognition test device, which can be realized by way of hardware and/or software, andIt can generally be integrated in automatic driving vehicle.The method of the present embodiment specifically includes：
110th, during the traveling of automatic driving vehicle, receive corresponding with the traffic sign object placed on travel routeIdentification information, and the identification information is stored.
As previously mentioned, automatic driving vehicle in road surface in order to safely and reliably being travelled, it is desirable to be able to accurateThe traffic sign object placed on travel route is identified by image recognition technology, and according to the traffic sign object identifiedLogo content, take corresponding automation driving strategy.
The traffic sign object can include：Static traffic direction board is (for example, speed limit, no tooting, turning left and turning aroundWait direction boards) and dynamic traffic indicator light (typical, traffic lights placed in crossroad etc.).Due to existing imageIdentification technology can not ensure that therefore, it is a kind of accurate by traffic sign object to propose in embodiments of the present invention in accuracyIdentification information, come authentication image identification accuracy technical solution.
Wherein, the identification information by the associated traffic sign transmitting terminal of the traffic sign object in the form of wireless(for example, wireless signal of Wi-Fi, bluetooth or the forms such as infrared) is sent.
Preferably, traffic sign transmitting terminal can be arranged at the inside or unobstructed of the traffic sign object associated by itBe arranged in the setting range determined by associated traffic sign object (for example, 0.5m, 0.8m or 1m etc.), so work as nothingWhen people's driving vehicle is travelled to traffic marker, the transmission of traffic sign transmitting terminal can be received, with traffic sign objectCorresponding identification information.
In the present embodiment, the identification information can include：The orientation association information of traffic sign object and friendshipThe logo content information of logical marker.
Wherein, the orientation association information of the traffic sign object specifically refers to can be used for directly or indirectly, uniquelyThe information of traffic sign object placed in identification road surface, for example, for Direct Recognition traffic sign object latitude and longitude information orFor indirect identification traffic sign object and the system during traffic sign transmitting terminal wireless transmission identification informationTime corresponding transmission time information etc..
In a preferred embodiment of the present embodiment, if the traffic sign object indicates for the static trafficBoard, then the logo content information of the traffic sign object include：Traffic sign object type information；
If the traffic sign object is the dynamic traffic indicator light, the logo content information of the traffic sign objectIncluding：Traffic sign object type information and traffic sign object real time status information.
Wherein, if the traffic sign object is static traffic sign board, the logo content of the traffic sign object can phaseTo fixation, for the traffic sign object type information, such as：" 50 kilometers of speed limit is per hour ", " no left turn " or " uniline " etc.；If the traffic sign object is dynamic traffic indicator light, the logo content meeting real-time change of the traffic sign object, is trafficMarker type information and traffic sign object real time status information, such as：Traffic sign object type information is " traffic lights ", is handed overLogical marker real time status information is " green light phase " or traffic sign object type information is " motor vehicle signal lamp ", trafficMarker real time status information is " countdown 30s " etc..
In a specific example, automatic driving vehicle in the process of moving, as one placed close on travel routeDuring a target traffic sign object, you can the traffic sign transmitting terminal wireless transmission associated by the correspondingly received target traffic sign objectThe target traffic sign object identification information, and the identification information is that the target traffic sign object is accurateIdentity information.Automatic driving vehicle is by storing the identification information of the target traffic sign object and by the identification informationCompared with to the image recognition information of the target traffic sign object, you can simple, automation to verify image knowledgeThe accuracy of other information.
120th, the traffic mark on the travel route that the automatic driving vehicle is obtained by image recognition technology is recordedThe image recognition information of will object.
In the present embodiment, for the identification accuracy of authentication image identification technology, automatic driving vehicle needs to record rowSail the image recognition information of the traffic sign object on route.
Wherein, described image identification information, which includes at least, image recognition result to the traffic sign object, and describedIdentification information is similar, and according to the different type of the traffic sign object, (static traffic indicates described image recognition resultBoard or dynamic traffic indicator light), it is also otherwise varied：If the traffic sign object is static traffic direction board, the figureAs recognition result only includes the traffic sign type information；If the traffic sign object is dynamic traffic indicator light, instituteStating image recognition result includes traffic sign object type information and traffic sign object real time status information.
Further, in order to identify with the accurate corresponding identification information of image recognition information, to complete pairThe verification of described image identification information accuracy also needs in described image identification information include directly or indirectly determiningImage identifies the auxiliary information of position, such as：The automatic driving vehicle position pair during with successfully identifying traffic signIdentification of geographic location information or recognition time information corresponding with system time when successfully identifying traffic sign for answering etc..
130th, described image identification information with the identification information is compared, verifies the automatic driving vehicleTo the identification accuracy of the traffic sign object image.
As previously mentioned, by by the orientation in the above-mentioned auxiliary information in image recognition information and the identification informationRelated information is compared, you can identifies and the accurate corresponding identification information of image recognition information.By that will have pairVerification is compared with logo content information in the image recognition result that should be related to, you can determines automatic driving vehicle in travel routeIn by image recognition technology obtain each image recognition result accuracy.
By above-mentioned analysis of the accuracy, the researcher of image recognition technology can analyze different usage scenario (daytime, the moonIts either night etc.) hypograph recognizer identification accuracy or image recognition algorithm be directed to different types of traffic markThe parameters such as recognition accuracy of the identification accuracy or image recognition algorithm of will object under different sections of highway, and then can havePut being improved to image recognition algorithm for arrow.
The automatic driving vehicle of the embodiment of the present invention in the process of moving, by receiving the traffic placed in travelThe identification information of the traffic sign object of the associated traffic sign transmitting terminal wireless transmission of marker is stored, and is recorded logicalThe image recognition information of the traffic sign object on the travel route of image recognition technology acquisition is crossed, described image is identified and is believedThe technological means being compared with the identification information is ceased, can realize the wireless messages reception technique by technology maturationThe identification information of the traffic sign object of reception come verify the image for the automatic driving vehicle for belonging to the technological innovation stage identifyThe technique effect of the identification accuracy of technology, verification method is simple, fast and accurately property is high.
Second embodiment
Fig. 2 is a kind of flow chart of Traffic Sign Recognition test method of second embodiment of the invention.It is more than the present embodimentIt states and optimizes based on embodiment, in the present embodiment, the orientation association information of the traffic sign object is specifically optimized for：Actual geographic location information corresponding with the traffic sign object riding position；Described image identification information is specifically optimized for：The corresponding identification of geographic location information in the automatic driving vehicle position and to institute during with successfully identifying traffic signState the image recognition result of traffic sign object.
Correspondingly, described image identification information is compared with the identification information, verification is described unmannedVehicle is specifically optimized for the image identification accuracy of the traffic sign object：By the reality in the identification informationGeographical location information is compared with the identification of geographic location information in described image identification information, and it is small to obtain relative distanceIn the first actual geographic position of given threshold and the first identification of geographic location；If with first identification of geographic location pairThe image recognition result and logo content information corresponding with the first actual geographic position answered are consistent, it is determined that with it is describedThe corresponding image recognition result of first identification of geographic location is correct.
Correspondingly, the method for the present embodiment specifically includes：
210th, during the traveling of automatic driving vehicle, the traffic sign object with being placed on travel route is received and storedCorresponding actual geographic location information and logo content information.
In the present embodiment, after a traffic sign object is placed in road surface, where geographical location and markWill content information is just now uniquely determined, by with built-in traffic in the traffic sign transmitting terminal associated by the traffic sign objectThe corresponding actual geographic location information of marker (typical, latitude and longitude information and elevation information) and logo content information,Traffic sign transmitting terminal can be transmitted by it identification information include the corresponding actual geographic of the traffic sign objectLocation information and logo content information, and can ensure in physical location and the mark of the information accurate representation markerHold.
220th, the traffic mark on the travel route that the automatic driving vehicle is obtained by image recognition technology is recordedThe image recognition information of will object.
In the present embodiment, described image identification information specifically includes：During with successfully identifying traffic sign it is described nobodyDrive the corresponding identification of geographic location information in vehicle position and the image recognition result to the traffic sign object.
In the present embodiment, in order to establish the correspondence between image recognition information and identification information, it is necessary toImage recognition information corresponding identification ground in automatic driving vehicle position when including with successfully identifying traffic signManage location information.
It 230th, will be in the actual geographic location information in the identification information and described image identification informationThe identification of geographic location information is compared, and obtains the first actual geographic position and that relative distance is less than given thresholdOne identification of geographic location.
It is understood that when the image capture device (typical, camera) in automatic driving vehicle is close to traffic markDuring will object, corresponding image recognition result can be just obtained.It is consequently possible to calculate the reality in different identity identification informationThe relative distance between the identification of geographic location information in geographical location information and image recognition information obtains relative distanceLess than the first actual geographic position of given threshold and the first identification of geographic location, and determine to believe with above-mentioned two geographical locationCeasing has correspondence between corresponding image recognition result and logo content information.
Wherein, the size of the given threshold can be preset according to actual conditions, for example, according to automatic driving vehiclePicture catching scope of middle camera etc., the present embodiment is to this and is not limited.
240th, judge corresponding with first identification of geographic location image recognition result and with first actual geographicWhether the corresponding logo content information in position is consistent：If so, perform 250；Otherwise, 260 are performed.
250th, determine that image recognition result corresponding with first identification of geographic location is correct.
260th, image recognition result mistake corresponding with first identification of geographic location is determined.
The automatic driving vehicle of the technical solution of the present embodiment is by receiving and storing including traffic sign object actual geographicThe identification information of location information, and automatic driving vehicle when successfully identifying traffic sign is recorded in the process of movingThe corresponding identification of geographic location information in position, can be after driving, according between above two geographical location informationRelation, determine to compare to logo content information and image recognition result, and then can realize the nothing by technology maturationThe identification information for the traffic sign object that line information reception technique receives belongs to the unmanned of technological innovation stage to verifyThe technique effect of the identification accuracy of the image recognition technology of vehicle, verification method is simple, fast and accurately property is high.
3rd embodiment
Fig. 3 is a kind of flow chart of Traffic Sign Recognition test method of third embodiment of the invention.It is more than the present embodimentIt states and optimizes based on embodiment, in the present embodiment, the orientation association information of the traffic sign object is specifically optimized for：Transmission time information corresponding with the system time during traffic sign transmitting terminal wireless transmission identification information；It willDescribed image identification information is specifically optimized for：Recognition time information corresponding with system time when successfully identifying traffic signAnd the image recognition result to the traffic sign object.
Correspondingly, described image identification information is compared with the identification information, verification is described unmannedVehicle is specifically optimized for the image identification accuracy of the traffic sign object：By the transmission in the identification informationTemporal information is compared with the recognition time information in described image identification information, obtains time difference and is less than setting thresholdThe first sending time and the first recognition time of value；If image recognition result corresponding with first recognition time and withThe corresponding logo content information of first sending time is consistent, it is determined that image corresponding with first recognition time is knownOther result is correct.
Correspondingly, the method for the present embodiment specifically includes：
310th, during the traveling of automatic driving vehicle, the traffic sign object with being placed on travel route is received and storedCorresponding transmission time information and logo content information.
Wherein, the transmission time information specifically refers to：The identity mark is transmitted wirelessly with the traffic sign transmitting terminalKnow the corresponding transmission time information of system time during information.
In the present embodiment, it is contemplated that different transmission signal powers is set in traffic sign transmitting terminal, transmitted byWireless signal also has different radiation scopes, by adjusting the wireless signal transmit power of traffic sign transmitting terminal, Ke YishiNow only the identification information could be obtained close to the automatic driving vehicle of the traffic sign object or traffic sign transmitting terminal.
If the correspondingly, signal transmitting power by the corresponding traffic sign transmitting terminal of each traffic sign object on travel routeWhat is set is relatively reasonable, then traffic sign transmitting terminal passes through the corresponding hair of system time when will send the identification informationTemporal information is sent to can also be used to distinguish different traffic sign objects indirectly as the orientation association information in identification information.
320th, the traffic mark on the travel route that the automatic driving vehicle is obtained by image recognition technology is recordedThe image recognition information of will object.
In the present embodiment, described image identification information specifically includes：Successfully identify system time during traffic signCorresponding recognition time information and the image recognition result to the traffic sign object.
As previously mentioned, when the image capture device (typical, camera) in automatic driving vehicle is close to traffic sign objectWhen, it can just obtain corresponding image recognition result.It is consequently possible to calculate the transmission in the different identification informationsThe time difference between the recognition time information in temporal information and described image identification information obtains time difference and is less thanThe first sending time and the first recognition time of given threshold, and determine image corresponding with above-mentioned two temporal informationThere is correspondence between recognition result and logo content information.
It 330th, will be described in the transmission time information in the identification information and described image identification informationRecognition time information is compared, and obtains the first sending time and the first recognition time that time difference is less than given threshold.
Wherein, the size of the given threshold can be preset according to actual conditions, for example, according to automatic driving vehicleThe picture catching scope of middle camera and the signal transmitting power value of traffic sign transmitting terminal etc., the present embodiment to this not intoRow limitation.
340th, corresponding with first recognition time image recognition result and corresponding with first sending time is judgedLogo content information whether be consistent：If so, perform 350；Otherwise, 360 are performed.
350th, determine that image recognition result corresponding with first recognition time is correct.
360th, image recognition result mistake corresponding with first recognition time is determined.
The automatic driving vehicle of the technical solution of the present embodiment is by receiving and storing including the corresponding hair of traffic sign objectThe identification information of temporal information is sent, and records the correspondence of system time when successfully identifying traffic sign in the process of movingRecognition time information, can after driving, according to the relation between above two temporal information, determine to compare to markWill content information and image recognition result, and then can realize the friendship received by the wireless messages reception technique of technology maturationLead to the identification information of marker to verify the knowledge of the image recognition technology for the automatic driving vehicle for belonging to the technological innovation stageThe technique effect of other accuracy, verification method is simple, fast and accurately property is high.
Fourth embodiment
Fig. 4 is a kind of structure chart of Traffic Sign Recognition test device of fourth embodiment of the invention.As shown in figure 4, instituteStating device includes：
Identification information memory module 41 for during the traveling of automatic driving vehicle, receives and travel routeThe corresponding identification information of traffic sign object of upper placement, and the identification information is stored, wherein, the bodyPart identification information is sent by the associated traffic sign transmitting terminal of the traffic sign object in the form of wireless, the identity markKnowing information includes：The orientation association information of traffic sign object and the logo content information of traffic sign object.
Image recognition information logging modle 42 is obtained by image recognition technology for recording the automatic driving vehicleThe image recognition information of the traffic sign object on travel route.
Accuracy Verification module 43 for described image identification information to be compared with the identification information, is testedDemonstrate,prove identification accuracy of the automatic driving vehicle to the traffic sign object image.
The automatic driving vehicle of the embodiment of the present invention in the process of moving, by receiving the traffic placed in travelThe identification information of the traffic sign object of the associated traffic sign transmitting terminal wireless transmission of marker is stored, and is recorded logicalThe image recognition information of the traffic sign object on the travel route of image recognition technology acquisition is crossed, described image is identified and is believedThe technological means being compared with the identification information is ceased, can realize the wireless messages reception technique by technology maturationThe identification information of the traffic sign object of reception come verify the image for the automatic driving vehicle for belonging to the technological innovation stage identifyThe technique effect of the identification accuracy of technology, verification method is simple, fast and accurately property is high.
On the basis of the various embodiments described above, the traffic sign object can include：Static traffic direction board and dynamicStop-light.
It is described if the traffic sign object is the static traffic direction board on the basis of the various embodiments described aboveThe logo content information of traffic sign object can include：Traffic sign object type information；
If the traffic sign object is the dynamic traffic indicator light, the logo content information of the traffic sign objectIt can include：Traffic sign object type information and traffic sign object real time status information.
On the basis of the various embodiments described above, the orientation association information of the traffic sign object can include：With the friendshipLead to the corresponding actual geographic location information of marker riding position；
Described image identification information can include：The automatic driving vehicle institute is in place during with successfully identifying traffic signPut corresponding identification of geographic location information and the image recognition result to the traffic sign object.
On the basis of the various embodiments described above, the Accuracy Verification module specifically can be used for：
Described in the actual geographic location information in the identification information and described image identification informationIdentification of geographic location information is compared, and obtains the first actual geographic position and the first knowledge that relative distance is less than given thresholdOther geographical location；
If image recognition result corresponding with first identification of geographic location and with the first actual geographic positionCorresponding logo content information is consistent, it is determined that pair image recognition result corresponding with first identification of geographic location is justReally.
On the basis of the various embodiments described above, the orientation association information of the traffic sign object can include：With the friendshipLogical mark transmitting terminal transmits wirelessly the corresponding transmission time information of system time during the identification information；
Described image identification information can include：During identification corresponding with system time when successfully identifying traffic signBetween information and the image recognition result to the traffic sign object.
On the basis of the various embodiments described above, the Accuracy Verification module specifically can be used for：
By the identification in the transmission time information in the identification information and described image identification informationTemporal information is compared, and obtains the first sending time and the first recognition time that time difference is less than given threshold；
If image recognition result corresponding with first recognition time and mark corresponding with first sending timeWill content information is consistent, it is determined that image recognition result corresponding with first recognition time is correct.
The Traffic Sign Recognition test device that the embodiment of the present invention is provided can be used for execution any embodiment of the present invention to carryThe Traffic Sign Recognition test method of confession, possesses corresponding function module, realizes identical advantageous effect.
Obviously, it will be understood by those skilled in the art that each module or each step of the above-mentioned present invention can be by as aboveThe automatic driving vehicle is implemented.Optionally, the embodiment of the present invention can be with the program that computer installation can perform come realIt is existing, it is executed by a processor so as to be stored in storage device, the program can be stored in a kind of calculatingIn machine readable storage medium storing program for executing, storage medium mentioned above can be read-only memory, disk or CD etc.；Or they are dividedEach integrated circuit modules are not fabricated to or multiple modules in them or step are fabricated to single integrated circuit moduleIt realizes.In this way, the combination the present invention is not limited to any specific hardware and software.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the invention, for those skilled in the artFor, the present invention can have various modifications and changes.All any modifications made within spirit and principles of the present invention are equalReplace, improve etc., it should all be included in the protection scope of the present invention.