Traffic speed limiting identifier detection and recognition method based on vehicle-mounted foresight monocular camera

Abstract

The invention relates to a traffic speed limiting identifier detection and recognition method based on a vehicle-mounted foresight monocular camera. According to the method, a cascaded weak classifier is trained and constructed, a road speed limiting identifier feature operator is extracted within an image region-of-interest range, and the cascaded weak classifier is used to detect a road speed limiting identifier; a superminiature convolutional neural network is used to perform classification on image regions with traffic signs according to determination, and an offline training speed limiting identifier classification algorithm is adopted; detection evaluation indicators and a target recognition result are utilized to lock a target location frame by frame; and the disappearing location of a speed limiting signboard in the view is utilized to judge whether a detected speed limiting identifier is the current road speed limiting identifier, and if the detected speed limiting identifier is the current road speed limiting identifier, a speed limiting prompting signal is sent. Through the method, the road speed limiting identifier can be effectively detected and recognized, road speed limiting prompting and warning are performed, detection accuracy is high, wrong detection and missing detection are effectively avoided, processing speed is high, few hardware resources are occupied, and the method is beneficial for normal and safe traveling of a vehicle.

Description

technical field [0001] The invention relates to the field of vehicle control, in particular to a method for detecting and recognizing traffic speed limit signs based on a vehicle-mounted front-view monocular camera. Background technique [0002] Speed ​​limit reminder and early warning is one of the important functions of ADAS system (video sensor-based driving safety assistance system). There is a folk saying "Nine out of ten accidents are fast", which shows that speeding is the main hidden danger of traffic accidents. Timely and effectively inform the driver of the speed limit on the road to prevent the driver from misreading the speed limit sign. traffic efficiency. [0003] Most of the existing speed limit and overspeed reminder systems are based on map information and GPS location information. When the road conditions are poor and the map data is outdated, the speed limit prompts will lag or even be wrong. Chinese patent document CN103020623A discloses a "traffic sig...

AI Technical Summary

Problems solved by technology

[0003] Most of the existing speed limit and speeding reminder systems are based on map information and GPS location information. When the road conditions are poor and the map data is outdated, the speed limit prompts will lag or even be wrong.

Chinese patent document CN103020623A discloses a "traffic sign detection method and traffic sign detection equipment", which uses the HSV color gamut to rely on the standard color of the sign to find the candidate connected domain of the sign. In the case of a slight damage to the sign, it is not an absolute standard, and the environment is smooth and backlit. Under the working conditions, the phenomenon of missed detection and false detection is easy to occur

Chinese patent document CN103413124A discloses "a circular traffic sign detection method", which uses a circular matching method to detect traffic sign boards. In the driving field of view, the sign boards are prone to deformation, including deformation of scale and shape, which will cause leakage. check

Chinese patent document CN104657734A discloses "a road traffic sign detection method and device", which uses edge information to detect traffic signs. In the scene of complex urban road vision background, false detection is prone to occur, and the classification of false detection targets will cause the system to fail. A large number of useless calculations affect the real-time performance of the system

Images