Automatic following system for speed limit of vehicle
阅读说明：本技术 限行车速自动跟随系统 (Automatic following system for speed limit of vehicle ) 是由 李海昌 于 2021-09-14 设计创作，主要内容包括：本发明涉及一种限行车速自动跟随系统,包括：自动调速机构,设置在汽车的仪表盘的下方,用于基于接收到的目标修正速度对汽车的当前车速进行跟随式修正操作；路段检测机构,用于检测汽车当前行驶路段是否属于高速路段,以发送高速识别指令或者高速未识别指令；内容捕获器件,用于在接收到所述高速识别指令时对汽车的前方行驶场景执行定时捕获动作,以获得当前捕获时间戳对应的捕获画面。本发明的限行车速自动跟随系统运行智能、设计紧凑。由于能够在判断汽车当前处于高速公路行驶路段内时,根据前方最近的限速标识牌体上的限速数字实现对本车的当前车速的跟随式调节,从而同时满足人工驾驶车辆以及自动驾驶车辆的驾驶跟随需求。(The invention relates to a restricted driving vehicle speed automatic following system, comprising: the automatic speed regulating mechanism is arranged below an instrument panel of the automobile and used for carrying out follow-up correction operation on the current speed of the automobile based on the received target correction speed; the road section detection mechanism is used for detecting whether the current driving road section of the automobile belongs to a high-speed road section or not so as to send a high-speed identification instruction or a high-speed unidentified instruction; and the content capturing device is used for executing a timing capturing action on the front driving scene of the automobile when the high-speed identification instruction is received so as to obtain a capturing picture corresponding to the current capturing timestamp. The automatic driving limiting vehicle speed following system is intelligent in operation and compact in design. When the automobile is judged to be currently in the highway driving section, the following type adjustment of the current speed of the automobile is realized according to the speed limit number on the nearest speed limit signboard body in front, so that the driving following requirements of manually driven vehicles and automatically driven vehicles are met simultaneously.)
1. A limited vehicle speed automatic following system, the system comprising:
the automatic speed regulating mechanism is arranged below an instrument panel of the automobile and used for carrying out follow-up correction operation on the current speed of the automobile based on the received target correction speed;
the road section detection mechanism is arranged near the automatic speed regulation mechanism and used for detecting whether the current running road section of the automobile belongs to a high-speed road section or not so as to send a high-speed identification instruction or a high-speed unidentified instruction;
the content capturing device is arranged at the front end of the automobile, connected with the road section detecting mechanism and used for executing timing capturing action on a front driving scene of the automobile when the high-speed identification instruction is received so as to obtain a capturing picture corresponding to the current capturing timestamp;
the identification judgment device is connected with the content capturing device and used for searching more than one restricted line identification imaging area from the capturing picture corresponding to the current capturing timestamp based on the color characteristics corresponding to the set restricted line identification and outputting the restricted line identification imaging area with the largest area as an effective imaging area;
the digital extraction device is connected with the identification judgment device and used for identifying the restricted digit in the effective imaging area to be output as a target correction speed;
the digital extraction device is also connected with the automatic speed regulating mechanism and used for sending the target correction speed to the automatic speed regulating mechanism;
wherein identifying a restricted number in the effective imaging area for output as a target correction speed comprises: recognizing more than one number in the effective imaging area based on an OCR recognition mode, and outputting the number with the largest area as a target correction speed;
the road section detection mechanism comprises a first identification unit, a second identification unit and an instruction sending unit;
in the road section detection mechanism, the first identification unit is used for acquiring positioning data of the current position of the automobile in a satellite navigation mode;
in the road section detection mechanism, the second identification unit is connected with the first identification unit and used for matching the acquired positioning data of the current position of the automobile with each navigation data set corresponding to each highway section respectively, so that when a certain navigation data set is matched, a high-speed identification instruction is sent out;
the following type correction operation of the current speed of the automobile based on the received target correction speed comprises the following steps: and correcting the current speed of the automobile to be consistent with the target correction speed within a set time length threshold value.
2. The limited vehicle speed automatic following system according to claim 1, characterized in that:
the content capturing device is further used for stopping executing the timing capturing action on the front driving scene of the automobile when the high-speed unidentified instruction is received.
3. The limited vehicle speed automatic following system according to claim 1, characterized in that:
the second identification unit is further configured to issue a high-speed unidentified command when the positioning data of the current position of the automobile does not match any of the navigation data sets.
4. The limited vehicle speed automatic following system according to claim 1, characterized in that:
matching the acquired positioning data of the current position of the automobile with each navigation data set corresponding to each highway section respectively, so that when a certain navigation data set is matched, sending a high-speed identification instruction comprises the following steps: and when the positioning data of the current position of the automobile is consistent with certain navigation data in a certain navigation data set, judging that the certain navigation data set is matched, and sending a high-speed identification instruction.
5. The limited vehicle speed automatic following system according to claim 1, characterized in that:
in the link detection mechanism, the instruction transmission unit is configured to transmit the high-speed identification instruction or the high-speed unidentified instruction.
6. The limited vehicle speed automatic following system according to claim 1, characterized in that:
searching more than one row restriction identification imaging area from the capture picture corresponding to the current capture timestamp based on the color features corresponding to the set row restriction identification, and outputting the row restriction identification imaging area with the largest area as an effective imaging area, wherein the step of searching comprises the following steps: and when the color characteristic corresponding to the set restriction mark is red, judging whether the pixel belongs to the pixel forming a certain restriction mark imaging area or not based on the color component value of each pixel in the captured picture.
7. The limited vehicle speed automatic following system according to claim 6, characterized in that:
when the color feature corresponding to the set restriction mark is red, judging whether the pixel belongs to a pixel constituting a certain restriction mark imaging area based on the color component value of each pixel in the captured picture comprises: the color component value belongs to an R component value in an RGB color space.
8. The limited vehicle speed automatic following system according to claim 1, characterized in that:
the following type correction operation of the current speed of the automobile based on the received target correction speed further comprises the following steps: and after the current speed of the automobile is corrected to be consistent with the target correction speed within the set time length threshold, stabilizing the current speed of the automobile at the target correction speed.
9. The limited vehicle speed automatic following system according to claim 1, further comprising:
and the characteristic storage device is connected with the identification judgment device and is used for storing the color characteristics corresponding to the set restricted line identification.
Technical Field
The invention relates to the field of automatic control, in particular to a limited vehicle speed automatic following system.
Background
Automatic control means that a certain operating state or parameter of a machine, equipment or production process is automatically operated according to a predetermined rule by an external device or apparatus without direct human involvement. Automatic control is in contrast to manual control concepts. The research of the automatic control technology is beneficial to freeing human from complex, dangerous and fussy working environment and greatly improving the control efficiency.
Automatic control is a branch of engineering science. It involves automatic influence on the dynamic system using feedback principles to bring the output value close to what we want. From a process point of view, it is based on mathematical system theory. What people today call automatic control is a branch of the theory of control that arose in the middle of the twentieth century. The underlying conclusions are presented by norbert wiener, ludaff kalman. At present, in some countries and regions, in order to reduce the probability of traffic accidents caused by too high driving speed of automobiles in high-speed driving road sections, speed limit control is performed on the speed of the automobiles from time to time. However, due to the difference of road sections and the requirement of the timed maintenance of the road sections, the traffic control speeds of different road sections on one highway are different, and even the traffic control speeds of different periods of the same road section are different, which causes great troubles to drivers driving on the highway and intelligent automobiles in an automatic driving mode.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a driving-limiting speed automatic following system which can realize following type regulation of the current speed of a vehicle according to the speed-limiting number on the nearest speed-limiting signboard body in front when the vehicle is judged to be in the running road section of an expressway, so that the attention of a driver to speed limitation is reduced for manually driven vehicles, and the auxiliary function of the automatically driven vehicles is enriched.
Compared with the prior art, the invention at least needs to have the following outstanding substantive characteristics:
(1) intelligently recognizing speed-limiting speed figures printed on a speed-limiting signboard body in a driving environment in front of the automobile, and automatically adjusting the speed of the automobile to follow the speed-limiting speed figures by replacing a manual mode based on a recognition result;
(2) and judging whether the current driving road section of the automobile belongs to the high-speed road section or not by adopting a positioning mode, and executing follow-up correction of the automobile speed when only the current driving road section of the automobile belongs to the high-speed road section so as to avoid frequent automobile speed correction in a low-speed driving road section with higher safety.
According to an aspect of the present invention, there is provided a restricted vehicle speed automatic following system, the system including:
the automatic speed regulating mechanism is arranged below an instrument panel of the automobile and used for carrying out follow-up correction operation on the current speed of the automobile based on the received target correction speed;
the road section detection mechanism is arranged near the automatic speed regulation mechanism and used for detecting whether the current running road section of the automobile belongs to a high-speed road section or not so as to send a high-speed identification instruction or a high-speed unidentified instruction;
the content capturing device is arranged at the front end of the automobile, connected with the road section detecting mechanism and used for executing timing capturing action on a front driving scene of the automobile when the high-speed identification instruction is received so as to obtain a capturing picture corresponding to the current capturing timestamp;
the identification judgment device is connected with the content capturing device and used for searching more than one restricted line identification imaging area from the capturing picture corresponding to the current capturing timestamp based on the color characteristics corresponding to the set restricted line identification and outputting the restricted line identification imaging area with the largest area as an effective imaging area;
the digital extraction device is connected with the identification judgment device and used for identifying the restricted digit in the effective imaging area to be output as a target correction speed;
the digital extraction device is also connected with the automatic speed regulating mechanism and used for sending the target correction speed to the automatic speed regulating mechanism;
wherein identifying a restricted number in the effective imaging area for output as a target correction speed comprises: recognizing more than one number in the effective imaging area based on an OCR recognition mode, and outputting the number with the largest area as a target correction speed;
the road section detection mechanism comprises a first identification unit, a second identification unit and an instruction sending unit;
in the road section detection mechanism, the first identification unit is used for acquiring positioning data of the current position of the automobile in a satellite navigation mode;
in the road section detection mechanism, the second identification unit is connected with the first identification unit and used for matching the acquired positioning data of the current position of the automobile with each navigation data set corresponding to each highway section respectively, so that when a certain navigation data set is matched, a high-speed identification instruction is sent out;
the following type correction operation of the current speed of the automobile based on the received target correction speed comprises the following steps: and correcting the current speed of the automobile to be consistent with the target correction speed within a set time length threshold value.
The automatic driving limiting vehicle speed following system is intelligent in operation and compact in design. When the automobile is judged to be currently in the highway driving section, the following type adjustment of the current speed of the automobile is realized according to the speed limit number on the nearest speed limit signboard body in front, so that the driving following requirements of manually driven vehicles and automatically driven vehicles are met simultaneously.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a schematic configuration diagram showing a content capturing device of a restricted vehicle speed automatic following system according to an embodiment of the present invention.
Detailed Description
The intelligent vehicle is a comprehensive system integrating functions of environmental perception, planning decision, multi-level auxiliary driving and the like, intensively applies technologies such as computer, modern sensing, information fusion, communication, artificial intelligence, automatic control and the like, and is a typical high and new technology complex. The current research on intelligent vehicles mainly aims to improve the safety and the comfort of automobiles and provide excellent human-vehicle interaction interfaces. In recent years, intelligent vehicles have become hot spots for the research in the field of vehicle engineering in the world and new power for the growth of the automobile industry, and many developed countries incorporate the intelligent vehicles into intelligent transportation systems which are intensively developed. At present, in some countries and regions, in order to reduce the probability of traffic accidents caused by too high driving speed of automobiles in high-speed driving road sections, speed limit control is performed on the speed of the automobiles from time to time. However, due to the difference of road sections and the requirement of the timed maintenance of the road sections, the traffic control speeds of different road sections on one highway are different, and even the traffic control speeds of different periods of the same road section are different, which causes great troubles to drivers driving on the highway and intelligent automobiles in an automatic driving mode.
The following will describe in detail an embodiment of the restricted vehicle speed automatic following system of the invention.
In order to overcome the defects, the invention builds a limit vehicle speed automatic following system, and can effectively solve the corresponding technical problem.
The automatic restricted vehicle speed following system according to the embodiment of the invention comprises:
the automatic speed regulating mechanism is arranged below an instrument panel of the automobile and used for carrying out follow-up correction operation on the current speed of the automobile based on the received target correction speed;
the road section detection mechanism is arranged near the automatic speed regulation mechanism and used for detecting whether the current running road section of the automobile belongs to a high-speed road section or not so as to send a high-speed identification instruction or a high-speed unidentified instruction;
a content capturing device, which is configured as shown in fig. 1, is arranged at the front end of the automobile, is connected with the road section detecting mechanism, and is used for executing a timing capturing action on a front driving scene of the automobile when receiving the high-speed identification instruction so as to obtain a capturing picture corresponding to the current capturing timestamp;
the identification judgment device is connected with the content capturing device and used for searching more than one restricted line identification imaging area from the capturing picture corresponding to the current capturing timestamp based on the color characteristics corresponding to the set restricted line identification and outputting the restricted line identification imaging area with the largest area as an effective imaging area;
the digital extraction device is connected with the identification judgment device and used for identifying the restricted digit in the effective imaging area to be output as a target correction speed;
the digital extraction device is also connected with the automatic speed regulating mechanism and used for sending the target correction speed to the automatic speed regulating mechanism;
wherein identifying a restricted number in the effective imaging area for output as a target correction speed comprises: recognizing more than one number in the effective imaging area based on an OCR recognition mode, and outputting the number with the largest area as a target correction speed;
the road section detection mechanism comprises a first identification unit, a second identification unit and an instruction sending unit;
in the road section detection mechanism, the first identification unit is used for acquiring positioning data of the current position of the automobile in a satellite navigation mode;
in the road section detection mechanism, the second identification unit is connected with the first identification unit and used for matching the acquired positioning data of the current position of the automobile with each navigation data set corresponding to each highway section respectively, so that when a certain navigation data set is matched, a high-speed identification instruction is sent out;
the following type correction operation of the current speed of the automobile based on the received target correction speed comprises the following steps: and correcting the current speed of the automobile to be consistent with the target correction speed within a set time length threshold value.
Next, a specific configuration of the restricted vehicle speed automatic following system according to the present invention will be further described.
In the restricted vehicle speed automatic following system:
the content capturing device is further used for stopping executing the timing capturing action on the front driving scene of the automobile when the high-speed unidentified instruction is received.
In the restricted vehicle speed automatic following system:
the second identification unit is further configured to issue a high-speed unidentified command when the positioning data of the current position of the automobile does not match any of the navigation data sets.
In the restricted vehicle speed automatic following system:
matching the acquired positioning data of the current position of the automobile with each navigation data set corresponding to each highway section respectively, so that when a certain navigation data set is matched, sending a high-speed identification instruction comprises the following steps: and when the positioning data of the current position of the automobile is consistent with certain navigation data in a certain navigation data set, judging that the certain navigation data set is matched, and sending a high-speed identification instruction.
In the restricted vehicle speed automatic following system:
in the link detection mechanism, the instruction transmission unit is configured to transmit the high-speed identification instruction or the high-speed unidentified instruction.
In the restricted vehicle speed automatic following system:
searching more than one row restriction identification imaging area from the capture picture corresponding to the current capture timestamp based on the color features corresponding to the set row restriction identification, and outputting the row restriction identification imaging area with the largest area as an effective imaging area, wherein the step of searching comprises the following steps: and when the color characteristic corresponding to the set restriction mark is red, judging whether the pixel belongs to the pixel forming a certain restriction mark imaging area or not based on the color component value of each pixel in the captured picture.
In the restricted vehicle speed automatic following system:
when the color feature corresponding to the set restriction mark is red, judging whether the pixel belongs to a pixel constituting a certain restriction mark imaging area based on the color component value of each pixel in the captured picture comprises: the color component value belongs to an R component value in an RGB color space.
In the restricted vehicle speed automatic following system:
the following type correction operation of the current speed of the automobile based on the received target correction speed further comprises the following steps: and after the current speed of the automobile is corrected to be consistent with the target correction speed within the set time length threshold, stabilizing the current speed of the automobile at the target correction speed.
In the restricted vehicle speed automatic following system, the system further includes:
and the characteristic storage device is connected with the identification judgment device and is used for storing the color characteristics corresponding to the set restricted line identification.
In addition, in the restricted vehicle speed automatic following system, the second identification unit is further configured to issue a high-speed unidentified command when the positioning data of the current position of the automobile does not match any one of the navigation data sets, including: and when the positioning data of the current position of the automobile is inconsistent with any navigation data in any navigation data set, judging that the positioning data of the current position of the automobile is not matched with any navigation data set, and sending a high-speed unidentified instruction.
It will be appreciated by a person skilled in the art that further modifications are possible within the scope of the invention, which is defined by the appended claims.