Method for identifying traffic signs, system, and vehicle

1 . A method for identifying traffic signs comprising:

obtaining an image of a travel in front of a vehicle, which is captured by a camera of the vehicle during a travel of the vehicle; wherein the image of the travel comprises one or more traffic lanes, one or more traffic signs, one or more first signs, one or more second signs, and one or more indicating signs arranged on each of the one or more traffic signs, wherein each of the one or more first signs is arranged on a corresponding traffic lane of the one or more traffic lanes, each of the one or more second signs is arranged on a corresponding traffic sign of the one or more traffic signs, each of the one or more second signs indicates at least one traffic lane, of the one or more traffic lanes, associated with the corresponding traffic sign;

obtaining an image of a first sign, of the one or more first signs, corresponding to a traffic lane, of the one or more traffic lanes, wherein the vehicle is on the traffic lane at a time the image of the travel is captured, according to the image of the travel;

obtaining an image of a second sign, of the one or more second signs, wherein the second sign is associated with the first sign and is on a traffic sign, of the one or more traffic signs, according to the image of the first sign and the image of the travel;

designating an image of one or more association signs associated with the traffic lane, as an image of the one or more indicating signs, wherein the image of the one or more indicating signs, in addition to the second sign, are on the traffic sign, according to the image of the second sign and the image of the travel; and

outputting a control signal to a driving system of the vehicle according to content of the image of the one or more association signs;

wherein each of the one or more first signs in the image of the travel comprises a first indicating graphic, the first indicating graphic indicates a position of a traffic lane, of the one or more traffic lanes, corresponding to a corresponding first sign, of the one or more first signs, on a road containing the one or more traffic lanes; and

each of the one or more first signs in the image of the travel further comprises one or more first assistance graphics indicating one or more positions of traffic lanes, of the one or more traffic lanes, excluding the traffic lane indicated in the first indicating graphic.

2 . The method according to claim 1 , wherein obtaining the image of the second sign further comprises:

designating a lane of the travel, of the one or more traffic lanes, where the vehicle is on at the time the image of the travel is captured, as a target association lane, corresponding to the image of the first sign;

determining one or more association lanes, of the one or more traffic lanes, corresponding to each of the one or more traffic signs in the image of the travel according to the one or more second signs on the one or more traffic signs in the image of the travel;

associating the image of the second sign with the first sign to be the image of the second sign on a target traffic sign of the target association lane in response to the target association lane is one of the association lanes.

3 . The method according to claim 2 , wherein:

the target association lane being matched with the lane of the travel represents that the target association lane and the lane of the travel indicate the same traffic lane.

4 . The method according to claim 1 , wherein:

each of the one or more second signs in the image of the travel comprises one or more second indicating graphics, the one or more second indicating graphics are configured to reflect one or more first indicating graphics, the one or more indicating graphics being at least one indicating graphic of the at least one traffic lane associated with a corresponding second sign.

5 . The method according to claim 1 , wherein:

the first indicating graphic and the first assistance graphics are distinguished via different filling levels; the first indicating graphic is a solid graphic, and each first assistance graphic is an open triangle; in a same first sign, an arrange sequence of the first indicating graphic and the first assistance graphics indicate the positions of all traffic lanes on the road.

6 . The method according to claim 5 , wherein:

a total number, which is added by a first number of the first indicating graphic with a second number of the one or more first assistance graphics; wherein the first indicating graphic and the one or more first assistance graphics are included in the image of the travel in each of the one or more first signs; is same as a number of the traffic lanes on the road; wherein in a same first sign, the first indicating graphic and the one or more first assistance graphics are arranged according to a preset lane sequence;

a first position of the first indicating graphic in the preset lane sequence corresponds to the position of one of the traffic lanes on the road, where the corresponding first sign is located at;

one or more second positions of the one or more first assistance graphics in the preset lane sequence corresponds to one or more positions of other the rest of the traffic lanes on the road.

7 . The method according to claim 4 , wherein:

each of the one or more second signs in the image of the travel further comprises one or more second assistance graphics, the one or more second assistance graphics in each of the one or more second signs are configured to indicate one or more positions of other traffic lanes excluding the at least one traffic lane associated with the corresponding second sign, the corresponding second sign comprising the one or more second assistance graphics; the second indicating graphic and the second assistance graphics are distinguished via different filling levels; the second indicating graphic is a solid graphic, and each second assistance graphic is an open triangle; in a same second sign, an arrange sequence of the second indicating graphic and the second assistance graphics indicate the positions of all traffic lanes on the road;

a total number, which is added by a third number of the one or more second indicating graphics with a fourth number of the one or more second assistance graphics; wherein the second indicating graphic and the one or more second assistance graphics are included in the image of the travel in each of the one or more second signs; is same as a number of the traffic lanes on the road; wherein in a same first sign, the one or more second indicating graphics and the one or more second assistance graphics are arranged according to a preset lane sequence;

one or more third positions of the one or more second indicating graphics in the preset lane sequence corresponds to at least one position of at least one traffic lane of the traffic lanes on the road, where the corresponding second sign is located at;

one or more fourth positions of the one or more second assistance graphics in the image of the travel in the preset lane sequence corresponds to one or more positions of the rest of the traffic lanes on the road.

8 . A vehicle comprising:

a storage device;

at least one processor; and

the storage device storing one or more programs, which when executed by the at least one processor, cause the at least one processor to:

obtain an image of a travel in front of a vehicle, which is captured by a camera of the vehicle during a travel of the vehicle; wherein the image of the travel comprises one or more traffic lanes, one or more traffic signs, one or more first signs, one or more second signs, and one or more indicating signs arranged on each of the one or more traffic signs, wherein each of the one or more first signs is arranged on a corresponding traffic lane of the one or more traffic lanes, each of the one or more second signs is arranged on a corresponding traffic sign of the one or more traffic signs, each of the one or more second signs indicates at least one traffic lane, of the one or more traffic lanes, associated with the corresponding traffic sign;

obtain an image of a first sign, of the one or more first signs, corresponding to a traffic lane, of the one or more traffic lanes, wherein the vehicle is on the traffic lane at a time the image of the travel is captured, according to the image of the travel;

obtain an image of a second sign, of the one or more second signs, wherein the second sign is associated with the first sign and is on a traffic sign, of the one or more traffic signs, according to the image of the first sign and the image of the travel;

designate an image of one or more association signs associated with the traffic lane, as an image of the one or more indicating signs, wherein the image of the one or more indicating signs, in addition to the second sign, are on the traffic sign, according to the image of the second sign and the image of the travel; and

output a control signal to a driving system of the vehicle according to content of the image of the one or more association signs;

wherein each of the one or more first signs in the image of the travel comprises a first indicating graphic, the first indicating graphic indicates a position of a traffic lane, of the one or more traffic lanes, corresponding to a corresponding first sign, of the one or more first signs, on a road containing the one or more traffic lanes; and

each of the one or more first signs in the image of the travel further comprises one or more first assistance graphics indicating one or more positions of traffic lanes, of the one or more traffic lanes, excluding the traffic lane indicated in the first indicating graphic.

9 . The vehicle according to claim 8 , further causing the at least one processor to:

designate a lane of the travel, where the vehicle is on at the time the image of the travel is captured, as a target association lane, corresponding to the image of the first sign;

determine one or more association lanes, of the one or more traffic lanes, corresponding to each of the one or more traffic signs in the image of the travel according to the one or more second signs on the one or more traffic signs in the image of the travel;

associate the image of the second sign with the first sign to be the image of the second sign on the a target traffic sign of the target association lane in response to the target association lane is one of the association lanes.

10 . The vehicle according to claim 9 , wherein:

the target association lane being matched with the lane of the travel represents that the target association lane and the lane of the travel indicate the same traffic lane.

11 . The vehicle according to claim 8 , wherein:

each of the one or more second signs in the image of the travel comprises one or more second indicating graphics, the one or more second indicating graphics are configured to reflect one or more first indicating graphics, the one or more indicating graphics being at least one indicating graphic of the at least one traffic lane associated with a corresponding second sign.

12 . The vehicle according to claim 11 , wherein:

the first indicating graphic and the first assistance graphics are distinguished via different filling levels; the first indicating graphic is a solid graphic, and each first assistance graphic is an open triangle; in a same first sign, an arrange sequence of the first indicating graphic and the first assistance graphics indicate the positions of all traffic lanes on the road.

13 . The vehicle according to claim 12 , wherein:

a total number, which is added by a first number of the first indicating graphic with a second number of the one or more first assistance graphics; wherein the first indicating graphic and the one or more first assistance graphics are included in the image of the travel in each of the one or more first signs is same as a number of the traffic lanes on the road; wherein in a same first sign, the first indicating graphic and the one or more first assistance graphics are arranged according to a preset lane sequence;

a first position of the first indicating graphics in the preset lane sequence corresponds to the position of one of the traffic lanes on the road, where the corresponding first sign is located at;

one or more second positions of the one or more first assistance graphics in the preset lane sequence corresponds to one or more positions of the rest of the traffic lanes on the road.

14 . The vehicle according to claim 11 , wherein:

each of the one or more second signs in the image of the travel further comprises one or more second assistance graphics, the one or more second assistance graphics in each of the one or more second signs are configured to indicate one or more positions of other traffic lanes excluding the at least one traffic lane associated with the corresponding second sign, the corresponding second sign comprising the one or more second assistance graphics; the second indicating graphic and the second assistance graphics are distinguished via different filling levels; the second indicating graphic is a solid graphic, and each second assistance graphic is an open triangle; in a same second sign, an arrange sequence of the second indicating graphic and the second assistance graphics indicate the positions of all traffic lanes on the road;

a total number, which is added by a third number of the one or more second indicating graphics with a fourth number of the one or more second assistance graphics; wherein the second indicating graphic and the one or more second assistance graphics are included in the image of the travel in each of the one or more second signs is same as a number of the traffic lanes on the road; wherein in a same first sign, the one or more second indicating graphics and the one or more second assistance graphics are arranged according to the preset lane sequence;

one or more third positions of the one or more second indicating graphics in the preset lane sequence corresponds to at least one position of at least one traffic lane of the traffic lanes on the road, where the corresponding second sign is located at;

one or more fourth positions of the one or more second assistance graphics in the image of the travel in the preset lane sequence corresponds to one or more positions of the rest of the traffic lanes on the road.

15 . A non-transitory storage medium storing a set of commands, when the commands being executed by at least one processor of a vehicle, causing the at least one processor to:

obtain an image of a travel in front of a vehicle, which is captured by a camera of the vehicle during a travel of the vehicle; wherein the image of the travel comprises one or more traffic lanes, one or more traffic signs, one or more first signs, one or more second signs, and one or more indicating signs arranged on each of the one or more traffic signs, wherein each of the one or more first signs is arranged on a corresponding traffic lane of the one or more traffic lanes, each of the one or more second signs is arranged on a corresponding traffic sign of the one or more traffic signs, each of the one or more second signs indicates at least one traffic lane, of the one or more traffic lanes, associated with the corresponding traffic sign;

obtain an image of a first sign, of the one or more first signs, corresponding to a traffic lane, of the one or more traffic lanes, wherein the vehicle current is on the traffic lane at a time the image of the travel is captured, according to the image of the travel;

obtain an image of a second sign, of the one or more second signs, which is wherein the second sign is associated with the first sign and is on a traffic sign, of the one or more traffic signs, according to the image of the first sign and the image of the travel; and

designate an image of one or more association signs associated with the traffic lane, as an image of the one or more indicating signs, wherein the image of the one or more indicating signs, in addition to the second sign, are on the traffic sign, according to the image of the second sign and the image of the travel; and

output a control signal to a driving system of the vehicle according to content of the image of the one or more association signs;

wherein each of the one or more first signs in the image of the travel comprises a first indicating graphic, the first indicating graphic indicates a position of one traffic lane, of the one or more traffic lanes, corresponding to a corresponding first sign, of the one or more first signs, on a road containing the one or more traffic lanes; and

each of the one or more first signs in the image of the travel further comprises one or more first assistance graphics indicating one or more positions of other traffic lanes, of the one or more traffic lanes, excluding the traffic lane indicated in the first indicating graphic.

16 . The non-transitory storage medium according to claim 15 , further causing the at least one processor to:

designate a lane of the travel, of the one or more traffic lanes, where the vehicle is on at the time the image of the travel is captured, as a target association lane, corresponding to the image of the first sign;

determine one or more association lanes, of the one or more traffic lanes, corresponding to each of the one or more traffic signs in the image of the travel according to the one or more second signs on the one or more traffic signs in the image of the travel;

associate the image of the second sign with the first sign to be the image of the second sign on the a target traffic sign of the target association lane in response to the target association lane is one of the association lanes.

17 . The non-transitory storage medium according to claim 16 , wherein:

the target association lane being matched with the lane of the travel represents that the target association lane and the lane of the travel indicate the same traffic lane.

18 . The non-transitory storage medium according to claim 15 , wherein:

each of the one or more second signs in the image of the travel comprises one or more second indicating graphics, the one or more second indicating graphics are configured to reflect one or more first indicating graphics, the one or more indicating graphics being at least one indicating graphic of the at last one traffic lane associated with a corresponding second sign.

19 . The non-transitory storage medium according to claim 18 , wherein:

the first indicating graphic and the first assistance graphics are distinguished via different filling levels; the first indicating graphic is a solid graphic, and each first assistance graphic is an open triangle; in a same first sign, an arrange sequence of the first indicating graphic and the first assistance graphics indicate the positions of all traffic lanes on the road.

20 . The non-transitory storage medium according to claim 19 , wherein:

a total number, which is added by a first number of the first indicating graphic with a second number of the one or more first assistance graphics; wherein the first indicating graphic and the one or more first assistance graphics are included in the image of the travel in each of the one or more first signs is same as a number of the traffic lanes on the road; wherein in a same first sign, the first indicating graphic and the one or more first assistance graphics are arranged according to a preset lane sequence;

a first position of the first indicating graphics in the preset lane sequence corresponds to the position of one of the traffic lanes on the road, where the corresponding first sign is located at;

one or more second positions of the one or more first assistance graphics in the preset lane sequence corresponds to one or more positions of the rest of the traffic lanes on the road.