CN113780247B - Traffic light detection method and device, electronic equipment and computer readable medium - Google Patents
Traffic light detection method and device, electronic equipment and computer readable medium Download PDFInfo
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Abstract
The embodiment of the disclosure discloses a traffic light detection method, a traffic light detection device, electronic equipment and a computer readable medium. One embodiment of the method comprises: determining position information of a current vehicle; acquiring a visual detection information set and an interaction information set of the current vehicle based on the position information, wherein the visual detection information in the visual detection information set comprises traffic light detection color information and a traffic light detection timestamp, and the interaction information in the interaction information set comprises traffic light interaction color information and an interaction timestamp; generating a matching degree set based on traffic light detection color information and a traffic light detection timestamp included in the visual detection information set and traffic light interaction color information and an interaction timestamp included in the interaction information group set; and generating traffic light detection information according to the matching degree set. The embodiment can improve the accuracy of generating the traffic light detection information.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of computers, in particular to a traffic light detection method, a traffic light detection device, electronic equipment and a computer readable medium.
Background
Traffic light detection is an indispensable basic technology in the field of automatic driving. At present, when detecting traffic lights, the mode that usually adopts is: firstly, acquiring a traffic light image; then, the traffic light image is input into a color identification network and a digital identification network, and the traffic light color and the traffic light countdown data are obtained.
However, when the traffic light detection is performed in the above manner, the following technical problems often exist:
firstly, under the condition that a traffic light is shielded (for example, leaves are shielded, vehicles are shielded and the like), a traffic light image cannot be acquired or the acquired traffic light image is inaccurate (for example, under the condition that the current traffic light is shielded, a traffic light image at a farther distance is taken as a traffic light image of the current intersection), so that the color of the traffic light at the current intersection cannot be accurately identified, the accuracy of generating traffic light detection information is reduced, and further, the safety of automatic driving is greatly reduced;
second, the countdown duration of the traffic lights cannot be accurately identified for some traffic lights without numbers (e.g., progress bar traffic lights), thereby resulting in a failure of the autonomous vehicle to better plan the vehicle speed and, in turn, a reduction in the autonomous driving safety.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose traffic light detection methods, apparatuses, electronic devices and computer readable media to address one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a traffic light detection method, including: determining position information of a current vehicle; acquiring a visual detection information set and an interaction information set of the current vehicle based on the position information, wherein the visual detection information in the visual detection information set comprises traffic light detection color information and a traffic light detection timestamp, and the interaction information in the interaction information set comprises traffic light interaction color information and an interaction timestamp; generating a matching degree set based on traffic light detection color information and a traffic light detection timestamp included in the visual detection information set and traffic light interaction color information and an interaction timestamp included in the interaction information group set; and generating traffic light detection information according to the matching degree set.
In a second aspect, some embodiments of the present disclosure provide a traffic light detection device, the device comprising: a determination unit configured to determine position information of a current vehicle; an obtaining unit configured to obtain a visual inspection information set and an interaction information set of the current vehicle based on the position information, wherein the visual inspection information in the visual inspection information set includes traffic light inspection color information and a traffic light inspection time stamp, and the interaction information in the interaction information set includes traffic light interaction color information and an interaction time stamp; a first generating unit configured to generate a matching degree set based on traffic light detection color information and a traffic light detection timestamp included in the visual detection information set and traffic light interaction color information and an interaction timestamp included in the interaction information group set; and the second generating unit is configured to generate the traffic light detection information according to the matching degree set.
In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect.
In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.
The above embodiments of the present disclosure have the following advantages: by the traffic light detection method of some embodiments of the present disclosure, the accuracy of generating traffic light detection information can be improved. Specifically, the reason why the accuracy of generating the traffic light detection information is reduced is that: there are situations where the traffic lights are occluded (e.g., leaves occlusion, vehicle occlusion, etc.), resulting in failure to acquire the traffic light image or inaccuracy of the acquired traffic light image (e.g., taking a traffic light image farther away as the traffic light image of the current intersection in the case where the current traffic light is occluded), and thus, the color of the traffic light at the current intersection cannot be accurately identified. Based on this, the traffic light detection method of some embodiments of the present disclosure, first, may determine the position information of the current vehicle. And then, acquiring a visual detection information set and an interactive information set of the current vehicle based on the position information. The visual detection information in the visual detection information set comprises traffic light detection color information and a traffic light detection timestamp, and the interaction information in the interaction information set comprises traffic light interaction color information and an interaction timestamp. Therefore, the corresponding visual detection information set and the interactive information set can be introduced by taking the position information of the current vehicle as a reference. And then, generating a matching degree set based on traffic light detection color information and a traffic light detection timestamp which are included in the visual detection information set and traffic light interaction color information and an interaction timestamp which are included in the interaction information set. By introducing the interactive information group set, the matching degree set can be generated no matter the traffic light is not shielded or shielded. And finally, generating traffic light detection information according to the matching degree set. Therefore, the color of the traffic light at the intersection where the current vehicle is located can be more accurately identified. Thus, the accuracy of generating traffic light detection information can be improved. Further, safety of automatic driving can be improved.
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The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of one application scenario of a traffic light detection method of some embodiments of the present disclosure;
fig. 2 is a flow diagram of some embodiments of a traffic light detection method according to the present disclosure;
FIG. 3 is a flow diagram of further embodiments of a traffic light detection method according to the present disclosure;
FIG. 4 is a schematic diagram of a matching queue in some embodiments of a traffic light detection method according to the present disclosure;
FIG. 5 is a schematic structural diagram of some embodiments of a traffic light detection device according to the present disclosure;
FIG. 6 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic diagram of an application scenario of a traffic light detection method of some embodiments of the present disclosure.
In the application scenario of fig. 1, first, the computing device 101 may determine location information of the current vehicle. Next, the computing device 101 may obtain the visual inspection information set 102 and the interaction information group set 103 of the current vehicle based on the position information. The visual detection information in the visual detection information set 102 includes traffic light detection color information and a traffic light detection timestamp, and the interaction information in the interaction information group set 103 includes traffic light interaction color information and an interaction timestamp. Then, the computing device 101 may generate the matching degree set 104 based on the traffic light detection color information and the traffic light detection timestamp included in the visual detection information set 102 and the traffic light interaction color information and the interaction timestamp included in the interaction information group set 103. Finally, the computing device 101 may generate traffic light detection information 105 based on the set of matching degrees 104.
The computing device 101 may be hardware or software. When the computing device is hardware, it may be implemented as a distributed cluster composed of multiple servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices enumerated above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein.
It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.
With continued reference to fig. 2, a flow 200 of some embodiments of a traffic light detection method according to the present disclosure is shown. The process 200 of the traffic light detection method comprises the following steps:
in step 201, the position information of the current vehicle is determined.
In some embodiments, the performing agent of the traffic light detection method (e.g., computing device 101 shown in fig. 1) may determine location information of the current vehicle. The positioning information sent by the positioning device installed in the current vehicle can be received as the position information of the current vehicle. For example, the Positioning device may be a Global Positioning System (GPS), and is not particularly limited herein. The location information may include, but is not limited to, at least one of: the road traffic direction of the road on which the vehicle is currently located, lane identification (for example, the second straight lane from east to west), road number, location coordinates of the current vehicle, and the like.
In some embodiments, the execution subject may obtain the set of visual inspection information and the set of interaction information sets of the current vehicle based on the position information. The visual detection information in the visual detection information set may include traffic light detection color information and a traffic light detection timestamp. The interaction information in the set of interaction information groups may include traffic light interaction color information and an interaction timestamp. The set of visual inspection information and the set of interaction information sets of the current vehicle may be obtained by:
first, a visual detection information set corresponding to a lane marker included in the position information is acquired. That is, the traffic light detection result corresponding to the road where the current vehicle is located is obtained (for example, the lane identification is: from east to west, the second straight lane). Wherein each visual inspection information in the set of visual inspection information may be used to characterize the visual inspection result for a consecutive frame image (e.g., 5 frames). The continuous frame images may refer to continuous frame images in a video captured by the on-board camera of the current vehicle. In addition, if at least one visual detection information in the visual detection information set is not successfully acquired, the situation that the traffic light is blocked in at least one continuous frame image in the video can be indicated. Then the at least one piece of visual inspection information may be marked as empty.
And secondly, acquiring an interactive information group set corresponding to the position coordinates and the road passing direction included by the position information. Wherein the position coordinates may correspond to an intersection at which the vehicle is about to enter. Therefore, each group of traffic lights of the intersection can be obtained. Second, the direction of road traffic may determine a set of traffic lights that the current vehicle is to reference (e.g., traffic lights opposite a lane with reference to the same lane, but traffic lights in the direction of an adjacent lane cannot be referenced). Each interactive information group in the set of interactive information groups may correspond to one of the group traffic lights. The number of interactive information groups in the set of interactive information groups may be the number of traffic lights in a set of traffic lights (e.g., there may be three traffic lights in a set of traffic lights, which may be a left turn traffic light, a right turn traffic light, and a straight turn traffic light, respectively). In addition, each interactive information in each interactive information group may also correspond to each visual inspection information in the above-mentioned visual inspection information set by a time stamp.
As an example, when there are three traffic lights in a group of traffic lights corresponding to the set of interaction information groups, the set of interaction information groups may be: { left turn traffic light: [ red, red ], direct traffic lights: [ green, green ], right turn traffic: [ green, green ] }.
In some optional implementations of some embodiments, each visual inspection information in the set of visual inspection information may be generated by:
firstly, inputting the pre-acquired road image around the current vehicle into a preset traffic light detection model to obtain traffic light detection information. The traffic light detection information may include traffic light information of each detected traffic light in a group of traffic lights. For example, a left turn traffic light, a right turn traffic light, and a straight travel traffic light.
As an example, the traffic light detection model may be an FCN (full volumetric Networks) model. A Resnet (Residual neural Network) model, a VGG (Visual Geometry Group Network) model, a *** net (deep neural Network) model, and the like, which are not specifically limited herein.
And secondly, generating the visual detection information based on the traffic light detection information and the position information. The traffic light information matched with the position information can be selected from the traffic light detection information to serve as visual detection information. The matching may be that the traffic light (e.g., straight traffic light) represented by the traffic light information corresponds to the same lane as the lane (e.g., straight lane) represented by the location information where the current vehicle is located.
In some optional implementation manners of some embodiments, each piece of mutual information in each mutual information group in the mutual information group set may be generated by:
and step one, acquiring interactive data sent by the interactive device based on the position information. The interaction device can be a traffic light information transmitting device arranged on a traffic light, a traffic light column or near the traffic light. The interactive apparatus may transmit real-time data of the traffic light (e.g., traffic light color information, traffic light countdown data, etc.) to an information receiving device (e.g., the above-described execution subject) of a vehicle arriving within a certain range of the traffic light by way of a wireless connection (e.g., V2X (vehicle to X, wireless communication technology for vehicles)). In order to avoid excessive received interactive information, the execution main body may determine a distance value between the execution main body and the position coordinate included in the position information through a preset traffic light coordinate. If the distance value is smaller than a preset range threshold (for example, 100 meters), the receiving of the interaction data sent by the interaction device may be started. The interactive data can be transmitted by a preset communication protocol. Therefore, the interactive data can be subjected to information extraction according to the preset communication protocol to obtain the interactive information.
And secondly, extracting the information of the interactive data to obtain the interactive information.
As an example, color information of a traffic light, traffic light countdown information, and the like may be extracted.
In some embodiments, the executing body generates the matching degree set based on the traffic light detection color information and the traffic light detection timestamp included in the visual detection information set and the traffic light interaction color information and the interaction timestamp included in the interaction information group set, and may include the following steps:
firstly, selecting an interactive information group meeting preset conditions from the interactive information group set to obtain a target interactive information group. The preset condition may be that a traffic light corresponding to the interactive information group matches the lane mark. That is, the lane represented by the lane marker (e.g., a straight-driving lane) is the same as the lane represented by the traffic light (e.g., a straight-driving traffic light) corresponding to the interactive information group.
And secondly, matching each piece of visual detection information in the visual detection information set with each piece of target interaction information in the target interaction information group to generate a matching degree set. The matching may be to determine whether the traffic light colors represented by the visual detection information and the target interaction information corresponding to the same timestamp are the same, the same may be matching (the matching degree may be 1), and the different may be mismatching (the matching degree may be 0). In addition, the empty visual detection information and the target interaction information of the same timestamp may be determined to be an abnormal mismatch (the degree of match may be 0.5). Thus, a matching degree set can be obtained.
And 204, generating traffic light detection information according to the matching degree set.
In some embodiments, the executive owner may generate the traffic light detection information according to the matching degree set. If the matching degree set has a matching degree of 0.5 or 0, determining the traffic light color represented by the target interaction information with the largest corresponding timestamp in the target interaction information group as the traffic light detection information.
If the matching degree set does not have the matching degree with the matching degree of 0.5, the traffic light color corresponding to the visual detection information representation with the largest timestamp in the visual detection information set can be determined as the traffic light detection information.
Optionally, the execution main body may further send the traffic light detection information to a control terminal of the current vehicle to control the current vehicle to move.
As an example, if the traffic light detection information indicates that the traffic light is red, the control terminal may control the vehicle to perform deceleration parking.
The above embodiments of the present disclosure have the following advantages: by the traffic light detection method of some embodiments of the present disclosure, the accuracy of generating traffic light detection information can be improved. Specifically, the reason why the accuracy of generating the traffic light detection information is reduced is that: there are situations where the traffic lights are occluded (e.g., leaves occlusion, vehicle occlusion, etc.), resulting in failure to acquire the traffic light image or inaccuracy of the acquired traffic light image (e.g., taking a traffic light image farther away as the traffic light image of the current intersection in the case where the current traffic light is occluded), and thus, the color of the traffic light at the current intersection cannot be accurately identified. Based on this, the traffic light detection method of some embodiments of the present disclosure, first, may determine the position information of the current vehicle. And then, acquiring a visual detection information set and an interactive information set of the current vehicle based on the position information. The visual detection information in the visual detection information set comprises traffic light detection color information and a traffic light detection timestamp, and the interaction information in the interaction information set comprises traffic light interaction color information and an interaction timestamp. Therefore, the corresponding visual detection information set and the interactive information set can be introduced by taking the position information of the current vehicle as a reference. And then, generating a matching degree set based on traffic light detection color information and a traffic light detection timestamp which are included in the visual detection information set and traffic light interaction color information and an interaction timestamp which are included in the interaction information set. By introducing the interactive information group set, the matching degree set can be generated no matter the traffic light is not shielded or shielded. And finally, generating traffic light detection information according to the matching degree set. Therefore, the color of the traffic light at the intersection where the current vehicle is located can be more accurately identified. Thus, the accuracy of generating traffic light detection information can be improved. Further, safety of automatic driving can be improved.
With further reference to fig. 3, a flow 300 of further embodiments of a traffic light detection method is illustrated. The process 300 of the traffic light detection method includes the following steps:
In some embodiments, the specific implementation manner and technical effects of the steps 301 and 302 can refer to the steps 201 and 202 in the embodiments corresponding to fig. 2, which are not described herein again.
And 303, generating a matching degree set based on traffic light detection color information and traffic light detection time stamp included in the visual detection information set visual detection information and traffic light interaction color information and interaction time stamp included in the interaction information set.
In some embodiments, if a traffic light with a number (or a traffic light with a progress bar) is detected, the visual detection information may also include a traffic light detection duration. The interaction information may also include an interaction device identification and an actual countdown duration for the traffic light (i.e., whether or not the traffic light carries a number, the interaction device may add the countdown duration for the traffic light to the interaction information for transmission to the execution subject). An executing main body (for example, a computing device 101 shown in fig. 1) of the traffic light detection method generates a matching degree set based on traffic light detection color information and a traffic light detection timestamp included in the visual detection information set and traffic light interaction color information and an interaction timestamp included in the interaction information group set, and may include the following steps:
the first step, for each mutual information group in the mutual information group set, executing the following steps to generate the matching degree:
and a first substep of constructing a matching queue based on traffic light detection color information, a traffic light detection timestamp and a traffic light detection time length included in the visual detection information centralized visual detection information and traffic light interaction color information and an interaction timestamp included in the interaction information group. The matching queue corresponds to the interactive device identifier included in the interactive information group. And establishing a matching queue by taking the traffic light detection color information and the traffic light interaction color information corresponding to each timestamp as matching data on the basis of the time sequence of the traffic light detection timestamp included by each visual detection information and the interaction timestamp included by each interaction information.
As an example, as shown in fig. 4, the matching queue may be composed of a timeline 401, a traffic light detection color information sequence 402, a traffic light interaction color information sequence 403, a traffic light detection countdown queue 404, and a traffic light interaction countdown queue 405.
And a second substep of generating a traffic light color interpolation queue and a traffic light countdown duration interpolation queue based on the matching queue. The traffic light color interpolation queue comprises a detection color interpolation queue and an interactive color interpolation queue, and the traffic light countdown duration interpolation queue comprises a detection countdown duration interpolation queue and an interactive countdown duration interpolation queue. The traffic light color interpolation queue and the traffic light countdown duration interpolation queue may be generated by:
first, the color information sequence can be detected for the traffic lights in the matching queue and the color information sequence can be interpolated up or down with the traffic lights. The upward or downward interpolation may be to insert color information between every two pieces of traffic light detection color information, where the inserted color information is the same as any one of the two pieces of traffic light detection color information, to obtain a detection color interpolation queue. Similarly, an interactive color interpolation queue can be obtained in this manner.
Then, time length interpolation can be carried out on the traffic light detection countdown queue and the traffic light interaction countdown queue in the matching queue, so that a traffic light countdown time length interpolation queue and an interaction countdown time length interpolation queue are generated. The duration interpolation may be to determine a corresponding traffic light countdown duration for the color information inserted in the color interpolation queue and the color information inserted in the interactive color interpolation queue. A countdown duration may be inserted between every two traffic light detection countdown, and the inserted countdown duration may be a difference between the neighboring traffic light countdown duration at the latter time minus a timestamp corresponding to the traffic light countdown duration at the latter time and a timestamp corresponding to the inserted countdown duration. In the sequence with time as the sequence, the traffic light countdown duration at the next moment may be the actual countdown duration of the traffic light included in the interactive information. Since the interactive information includes the actual countdown duration of the traffic light. Therefore, the obtained traffic light countdown duration interpolation queue and the interactive countdown duration interpolation queue are more accurate.
And a third substep of determining a matching degree between the detection color interpolation queue and the interactive color interpolation queue to generate a traffic light color matching degree. The number of the same detection color difference values and the same number of the interaction color difference values in the detection color interpolation queue and the interaction color interpolation queue, and the ratio of the total time number can be determined as the traffic light color matching degree. That is, the smaller the number of colors identical, the lower the degree of matching. The total number of time instants may be a total number of detected color difference values and interactive color difference values in the detected color interpolation queue and the interactive color interpolation queue.
And a fourth substep of determining a matching degree between the detection countdown duration interpolation queue and the interactive countdown duration interpolation queue to generate a traffic light countdown matching degree. Firstly, the difference between each traffic light interaction countdown in the traffic light interaction countdown queue and the interaction countdown duration interpolation of the same timestamp in the interaction countdown duration interpolation queue can be determined, so as to generate an interaction duration difference group. Then, the difference between each traffic light detection countdown in the traffic light detection countdown queue and the detection countdown duration interpolation of the same timestamp in the detection countdown duration interpolation queue can be determined to generate a detection duration difference group. Finally, the ratio of 8 to the sum of each interaction time difference and each detection time difference can be determined as the traffic light countdown matching degree.
And a fifth substep of performing weighted summation processing on the traffic light color matching degree and the traffic light countdown matching degree to generate the matching degree. The matching degree can be generated by performing weighted summation processing according to a preset traffic light color matching degree weight (for example, 0.5) and a traffic light countdown matching degree weight (for example, 0.5).
In some optional implementation manners of some embodiments, the executing body generates a traffic light color interpolation queue and a traffic light countdown duration interpolation queue based on the matching queue, and may further include:
firstly, carrying out traffic light color interpolation on the matching queue to generate a traffic light color interpolation queue. The traffic light color interpolation can insert the traffic light detection color information corresponding to the next timestamp adjacent to the timestamp at the same timestamp position as the traffic light interaction color information in the traffic light interaction color information sequence. Thus, the inserted traffic light detection color information can be added to a sequence of traffic light detection color information to generate a detection color interpolation queue. Similarly, the traffic light interaction color information corresponding to the next timestamp adjacent to the timestamp can be inserted into the timestamp position which is the same as the detection color information of each traffic light in the traffic light detection color information sequence. Therefore, the inserted traffic light interaction color information can be added to the traffic light interaction color information sequence to generate an interaction color interpolation queue. Thus, a traffic light color interpolation column can be obtained.
As an example, four traffic light detection color information may be included in the traffic light detection color information sequence. The traffic light interaction color information sequence may include four traffic light interaction color information. By the method, four traffic light detection color information corresponding to the time stamps of the red interactive color information can be inserted. Thus, the inserted traffic light detection color information sequence, i.e. the detection color interpolation queue may include eight detection color interpolations. Similarly, eight interactive color interpolations may be included in the interactive color interpolation queue.
And secondly, performing countdown duration interpolation on the matching queue to generate a traffic light countdown duration interpolation queue. The countdown duration interpolation can insert a first target countdown duration at the same timestamp position as that of each traffic light detection countdown in the traffic light detection countdown queue to generate an interactive countdown duration interpolation queue. Similarly, a second target countdown duration can be inserted into a timestamp position which is the same as the timestamp position of each traffic light interactive countdown in the traffic light interactive countdown queue, so that a countdown duration detection interpolation queue is generated. Therefore, a traffic light countdown duration interpolation queue can be generated. Specifically, the first target countdown duration may be generated as follows:
first, two time points in the traffic light interaction countdown queue, which are adjacent to the traffic light detection countdown and are greater than a timestamp corresponding to the traffic light detection countdown and the traffic light interaction countdown on a time line, can be determined.
As an example, as shown in fig. 4, the time stamp corresponding to the traffic light detection countdown is t 6. Then, the two time points adjacent thereto that are greater than the timestamp on the time line may be t2 and t3, respectively.
Then, the two time points and the corresponding traffic lights can be counted down interactively to form coordinate points.
As an example, the traffic light interaction countdown corresponding to the time point t2 may be t2 m. Then, the constructed coordinate point may be (t 2, t2 m). Likewise, another coordinate point may be (t 3, t3 m).
Finally, a straight line equation can be obtained through the two coordinate points. Therefore, the time stamp corresponding to the traffic light detection countdown is substituted into the linear equation to obtain the first target countdown duration.
As an example, if the straight-line equation is y = ax + b. Then y = t6i after substituting x = t 6. I.e., t6i as shown in fig. 4.
Similarly, the second target countdown duration may be generated according to the manner described above. Therefore, a traffic light countdown duration interpolation queue can be generated. Thus, a traffic light countdown duration interpolation queue may be generated.
Optionally, if the visual detection information does not include the traffic light detection duration, that is, in an actual situation, the traffic light does not have the countdown indicator, the generated traffic light detection countdown queue may be empty. Then, first, in the process of performing countdown duration interpolation on the matching queue, two time points which are adjacent to the traffic light detection color information in the traffic light interaction countdown queue and are larger than the timestamp which is used for countdown detection of the traffic light and corresponds to the traffic light detection color information on the time line can be determined, so that the interaction countdown duration interpolation queue can be generated. Then, each detection countdown duration in the detection countdown duration interpolation queue may be determined to be 0. Therefore, the traffic light detection color information sequence is replaced by the empty traffic light detection countdown queue, and the generation of the set of matching degrees can be ensured. In addition, if the visual detection information does not include the traffic light detection time length, that is, there is a case where the traffic light detection countdown is empty, the traffic light color matching degree weight (for example, adjusted to 0.1) and the traffic light countdown matching degree weight (for example, adjusted to 0.9) may also be adjusted. Thus, the accuracy of the generated matching degree can be improved.
And step 304, determining the visual detection information corresponding to the maximum matching degree in the matching degree set as traffic light detection information.
In some embodiments, the executing entity may determine, as the traffic light detection information, visual detection information corresponding to a maximum matching degree in the matching degree set. Wherein each matching degree may correspond to one piece of visual inspection information. Therefore, the traffic light detection information can represent the finally obtained traffic light color and the traffic light countdown duration.
As can be seen from fig. 3, compared with the description of some embodiments corresponding to fig. 2, the flow 300 of the traffic light detection method in some embodiments corresponding to fig. 3 embodies the step of generating the matching degree set. The technical problem that the traffic lights without numbers (such as progress bar traffic lights) cannot accurately identify the countdown duration of the traffic lights is solved, so that the automatic driving vehicle cannot plan the vehicle speed better, and further, the automatic driving safety is reduced. First, consider whether traffic lights have a countdown in the actual situation. The traffic lights without countdown can also determine the countdown of the traffic light color and the traffic light corresponding to the lane where the current vehicle is located through the introduced interactive information group set. Therefore, the color of the traffic light can be detected under the shielding condition, and the countdown time length of the traffic light can be generated. The automatic driving vehicle can not only ignore the condition that the traffic light cannot be detected due to being shielded, but also count down the time according to the traffic light, and plan the vehicle speed more reasonably so as to improve the safety. In addition, for the traffic lights with countdown, the difference between the detected countdown duration of the traffic lights and the actual countdown duration can be determined through the actual countdown duration included in the introduced interactive information. Therefore, the accuracy of the countdown time length of the traffic light can be improved. Then, in the process of generating the matching degree, the weight is dynamically adjusted by determining the condition that the traffic light detection countdown is empty. This can further improve the accuracy of the generated matching degree. Therefore, the traffic light color represented by the visual detection information corresponding to the maximum matching degree and the traffic light countdown duration most accord with the actual situation can be determined. Further, the automatic safety can be improved.
With further reference to fig. 5, as an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a traffic light detection apparatus, which correspond to those of the method embodiments shown in fig. 2, and which may be applied in various electronic devices in particular.
As shown in fig. 5, the traffic light detecting apparatus 500 of some embodiments includes: a determination unit 501, an acquisition unit 502, a first generation unit 503, and a second generation unit 504. Wherein the determining unit 501 is configured to determine the position information of the current vehicle; an obtaining unit 502 configured to obtain a visual inspection information set and an interaction information set of the current vehicle based on the position information, wherein the visual inspection information in the visual inspection information set includes traffic light detection color information and a traffic light detection timestamp, and the interaction information in the interaction information set includes traffic light interaction color information and an interaction timestamp; a first generating unit 503 configured to generate a matching degree set based on traffic light detection color information and a traffic light detection timestamp included in the visual detection information set and traffic light interaction color information and an interaction timestamp included in the interaction information group set; and a second generating unit 504 configured to generate traffic light detection information according to the matching degree set.
It will be understood that the elements described in the apparatus 500 correspond to various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 500 and the units included therein, and are not described herein again.
Referring now to FIG. 6, a block diagram of an electronic device (e.g., computing device 101 of FIG. 1) 600 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 6, electronic device 600 may include a processing means (e.g., central processing unit, graphics processor, etc.) 601 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the electronic apparatus 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 illustrates an electronic device 600 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 6 may represent one device or may represent multiple devices as desired.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 609, or installed from the storage device 608, or installed from the ROM 602. The computer program, when executed by the processing device 601, performs the above-described functions defined in the methods of some embodiments of the present disclosure.
It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the apparatus; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining position information of a current vehicle; acquiring a visual detection information set and an interaction information set of the current vehicle based on the position information, wherein the visual detection information in the visual detection information set comprises traffic light detection color information and a traffic light detection timestamp, and the interaction information in the interaction information set comprises traffic light interaction color information and an interaction timestamp; generating a matching degree set based on traffic light detection color information and a traffic light detection timestamp included in the visual detection information set and traffic light interaction color information and an interaction timestamp included in the interaction information group set; and generating traffic light detection information according to the matching degree set.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes a determination unit, an acquisition unit, a first generation unit, and a second generation unit. Where the names of these units do not in some cases constitute a limitation on the unit itself, for example, the determination unit may also be described as a "unit that determines the position information of the current vehicle".
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (8)
1. A traffic light detection method, comprising:
determining position information of a current vehicle;
acquiring a visual detection information set and an interaction information set of the current vehicle based on the position information, wherein the visual detection information in the visual detection information set comprises traffic light detection color information and a traffic light detection timestamp, and the interaction information in the interaction information set comprises traffic light interaction color information and an interaction timestamp;
generating a matching degree set based on traffic light detection color information and a traffic light detection timestamp which are included in the visual detection information set and traffic light interaction color information and an interaction timestamp which are included in the interaction information group set;
generating traffic light detection information according to the matching degree set;
wherein each interactive information in each interactive information group in the interactive information group set is generated by the following steps:
acquiring interactive data sent by an interactive device based on the position information;
extracting information from the interactive data to obtain the interactive information;
the visual detection information further comprises traffic light detection duration, and the interaction information further comprises an interaction device identifier; and
the generating of the matching degree set based on the traffic light detection color information and the traffic light detection timestamp included by the visual detection information in the visual detection information set and the traffic light interaction color information and the interaction timestamp included by the interaction information in the interaction information group set comprises:
for each mutual information group in the mutual information group set, executing the following steps to generate a matching degree:
constructing a matching queue based on traffic light detection color information, a traffic light detection timestamp and traffic light detection duration which are included in the visual detection information set visual detection information and traffic light interaction color information and interaction timestamp which are included in the interaction information group, wherein the matching queue corresponds to an interaction device identifier which is included in the interaction information group;
generating a traffic light color interpolation queue and a traffic light countdown duration interpolation queue based on the matching queue, wherein the traffic light color interpolation queue comprises a detection color interpolation queue and an interactive color interpolation queue, and the traffic light countdown duration interpolation queue comprises a detection countdown duration interpolation queue and an interactive countdown duration interpolation queue;
determining the matching degree between the detection color interpolation queue and the interactive color interpolation queue to generate the color matching degree of the traffic light;
determining the matching degree between the detection countdown duration interpolation queue and the interactive countdown duration interpolation queue to generate a traffic light countdown matching degree;
and carrying out weighted summation processing on the traffic light color matching degree and the traffic light countdown matching degree to generate the matching degree.
2. The method of claim 1, wherein the method further comprises:
and sending the traffic light detection information to a control terminal of the current vehicle to control the current vehicle to move.
3. The method of claim 1, wherein each visual inspection information in the set of visual inspection information is generated by:
inputting the pre-acquired road image around the current vehicle into a preset traffic light detection model to obtain traffic light detection information;
and generating the visual detection information based on the traffic light detection information and the position information.
4. The method of claim 1, wherein the generating a traffic light color interpolation queue and a traffic light countdown duration interpolation queue based on the matching queue comprises:
carrying out traffic light color interpolation on the matching queue to generate a traffic light color interpolation queue;
and performing countdown duration interpolation on the matching queue to generate a traffic light countdown duration interpolation queue.
5. The method of claim 4, wherein the generating traffic light detection information according to the set of matching degrees comprises:
and determining the visual detection information corresponding to the maximum matching degree in the matching degree set as traffic light detection information.
6. A traffic light detection device, comprising:
a determination unit configured to determine position information of a current vehicle;
an obtaining unit configured to obtain a visual detection information set and an interaction information set of the current vehicle based on the position information, wherein the visual detection information in the visual detection information set includes traffic light detection color information and a traffic light detection timestamp, and the interaction information in the interaction information set includes traffic light interaction color information and an interaction timestamp;
a first generating unit configured to generate a matching degree set based on traffic light detection color information and a traffic light detection timestamp included in the visual detection information set and traffic light interaction color information and an interaction timestamp included in the interaction information group set;
a second generating unit configured to generate traffic light detection information according to the matching degree set;
wherein each interactive information in each interactive information group in the interactive information group set is generated by the following steps:
acquiring interactive data sent by an interactive device based on the position information;
extracting information from the interactive data to obtain the interactive information;
the visual detection information further comprises traffic light detection duration, and the interaction information further comprises an interaction device identifier; and
the generating of the matching degree set based on the traffic light detection color information and the traffic light detection timestamp included by the visual detection information in the visual detection information set and the traffic light interaction color information and the interaction timestamp included by the interaction information in the interaction information group set comprises:
for each mutual information group in the mutual information group set, executing the following steps to generate a matching degree:
constructing a matching queue based on traffic light detection color information, a traffic light detection timestamp and traffic light detection duration which are included in the visual detection information set visual detection information and traffic light interaction color information and interaction timestamp which are included in the interaction information group, wherein the matching queue corresponds to an interaction device identifier which is included in the interaction information group;
generating a traffic light color interpolation queue and a traffic light countdown duration interpolation queue based on the matching queue, wherein the traffic light color interpolation queue comprises a detection color interpolation queue and an interactive color interpolation queue, and the traffic light countdown duration interpolation queue comprises a detection countdown duration interpolation queue and an interactive countdown duration interpolation queue;
determining the matching degree between the detection color interpolation queue and the interactive color interpolation queue to generate the color matching degree of the traffic light;
determining the matching degree between the detection countdown duration interpolation queue and the interactive countdown duration interpolation queue to generate a traffic light countdown matching degree;
and carrying out weighted summation processing on the traffic light color matching degree and the traffic light countdown matching degree to generate the matching degree.
7. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
8. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-5.
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| CN112418031A (en) * | 2020-11-11 | 2021-02-26 | 腾讯科技（深圳）有限公司 | Image recognition method and device, storage medium and electronic equipment |
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Denomination of invention: Traffic light detection method, device, electronic equipment and computer-readable medium Effective date of registration: 20230228 Granted publication date: 20220301 Pledgee: Bank of Shanghai Co.,Ltd. Beijing Branch Pledgor: HOLOMATIC TECHNOLOGY (BEIJING) Co.,Ltd. Registration number: Y2023980033668 |
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Address after: 201, 202, 301, No. 56-4 Fenghuang South Road, Huadu District, Guangzhou City, Guangdong Province, 510806 Patentee after: Heduo Technology (Guangzhou) Co.,Ltd. Address before: 100099 101-15, 3rd floor, building 9, yard 55, zique Road, Haidian District, Beijing Patentee before: HOLOMATIC TECHNOLOGY (BEIJING) Co.,Ltd. |