CN114419579A

CN114419579A - Method, device and equipment for marking traffic signal lamp and edge computing equipment

Info

Publication number: CN114419579A
Application number: CN202111614622.XA
Authority: CN
Inventors: 刘博�
Original assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Priority date: 2021-12-27
Filing date: 2021-12-27
Publication date: 2022-04-29

Abstract

The disclosure provides a method, a device and equipment for marking traffic signal lamps and edge computing equipment, and relates to the technical field of intelligent traffic and deep learning. The specific implementation scheme is as follows: acquiring signal lamp marking data, wherein the signal lamp marking data comprise a marked lamp frame and a marked lamp holder frame; determining the number of the labeled lamp holder frames and the labeled lamp colors; and marking the lamp colors of the marked lamp frames based on the number of the marked lamp head frames and the marked lamp colors. The method and the device can correct the color of the marked lamp frame, and further improve the marking accuracy of the signal lamp frame.

Description

Method, device and equipment for marking traffic signal lamp and edge computing equipment

Technical Field

The disclosure relates to the technical field of intelligent transportation and deep learning.

Background

In the field of intelligent transportation, roadside sensing equipment and roadside computing equipment need to acquire and identify the display state of a traffic signal lamp. In the related art, the display state of the traffic signal lamp can be identified based on the convolutional neural network and the deep learning, wherein the method for identifying the display state of the traffic signal lamp based on the convolutional neural network and the deep learning depends on data labeled on the signal lamp.

Disclosure of Invention

The present disclosure provides a method, apparatus, device, edge computing device for labeling traffic signal lights.

According to an aspect of the present disclosure, there is provided a method of labeling a traffic signal lamp, including:

acquiring signal lamp marking data, wherein the signal lamp marking data comprise a marked lamp frame and a marked lamp holder frame; determining the number of the labeled lamp holder frames and the labeled lamp colors; and marking the lamp colors of the marked lamp frames based on the number of the marked lamp head frames and the marked lamp colors.

According to another aspect of the present disclosure, there is provided an apparatus for labeling a traffic signal, including: the system comprises an acquisition unit, a display unit and a display unit, wherein the acquisition unit is used for acquiring signal lamp marking data which comprises a marked lamp frame and a marked lamp head frame; the determining unit is used for determining the number of the labeled lamp holder frames and the labeled lamp colors; and the marking unit is used for marking the lamp colors of the marked lamp frames based on the number of the marked lamp head frames and the marked lamp colors.

According to still another aspect of the present disclosure, there is provided an electronic device including:

at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the above aspects.

According to yet another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the above aspects.

According to yet another aspect of the disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method of the above-mentioned aspects.

According to yet another aspect of the present disclosure, there is provided an edge computing device comprising an electronic device for performing the method of the above aspects.

According to the method for labeling the traffic signal lamp, the color of the labeled lamp frame is labeled based on the number of the labeled lamp frames and the labeled color of the labeled lamp frame, the color of the labeled lamp frame can be corrected, and the accuracy of labeling the lamp frame of the traffic signal lamp can be improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 illustrates a visual view schematic diagram of a light housing and a light head housing shown in an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic flow chart diagram illustrating a method of labeling a traffic signal in accordance with an exemplary embodiment of the present disclosure;

FIG. 3 is a schematic flow chart diagram illustrating a method of labeling a traffic signal in accordance with an exemplary embodiment of the present disclosure;

FIG. 4 is a flow chart illustrating a method for labeling light boxes based on the number of labeled light head boxes and the number of labeled light colors according to an exemplary embodiment of the present disclosure;

FIG. 5 is a block diagram of an apparatus for labeling a traffic signal shown in an exemplary embodiment according to the present disclosure;

FIG. 6 is a block diagram of an electronic device for implementing a method of labeling a traffic signal of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The method for marking the traffic signal lamp is applied to scenes for identifying the signal lamps such as a red signal lamp, a green signal lamp, a yellow signal lamp, a countdown signal lamp and the like. The method for marking the traffic signal lamp mainly comprises the step of marking the identification result of the color of the signal lamp display light. The display lamp colors of the signal lamp mainly comprise red, green and yellow.

In the related art, the labeling of the display light color of the signal lamp includes labeling the light color of a lamp frame and labeling the light color of a lamp holder frame. Fig. 1 illustrates a visual view diagram of a light housing and a light head housing shown in an exemplary embodiment of the present disclosure. Referring to fig. 1, the lamp frame includes three lamp holders at most. The lamp housing may display one of red, green, and yellow correspondingly. When the signal lamp is marked, the lamp color of the lamp holder frame is marked, and the lamp color of the lamp frame is marked. The marking of the lamp color of the lamp holder frame mainly refers to marking the lamp color correspondingly displayed by the lamp holder of the signal lamp in a bright state.

In the related art, the color of the lamp frame is marked mainly based on the color of the lamp holder frame (the lamp holder frame in a lit state) marked in the lamp frame. For example, the lit lamp base frame is a red lamp base frame, and the label lamp base frame is a red lamp base frame. The lamp frame in the lighting state is a green lamp frame, and the label lamp frame is a green lamp frame. The lamp holder frame in the lighting state is a yellow lamp holder frame, and the label lamp holder frame is a yellow lamp holder frame. When the lamp frames are marked, if a plurality of lamp holder frames in a lighting state exist in the lamp frames and the lamp colors of the lamp holder frames are inconsistent, the lamp colors of the lamp frames are marked as unknown lamp colors. However, when the lamp frame includes a plurality of lit lamp frames, it indicates that the actual signal lamp includes a plurality of lit signal lamps. For example, a plurality of traffic lights that are simultaneously on may appear before and after the time of switching the traffic lights. In this case, the traffic light of the new color to be switched is displayed according to the actual traffic light switching rule. For example, when a yellow signal light is displayed, a green signal light is not completely extinguished, and the lamp frame should be marked yellow. Therefore, if there are a plurality of lamp holders in a lit state in the lamp holder, and the lamp colors of the lamp holders are not uniform, the lamp color of the lamp holder is marked as an unknown lamp color, which is not reasonable.

In view of this, the embodiments of the present disclosure provide a method for labeling a traffic signal lamp, which determines a color of a light for labeling a light frame based on the number of light heads and the number of colors of the light.

FIG. 2 is a flow chart illustrating a method of labeling a traffic signal lamp according to an exemplary embodiment of the present disclosure. Referring to fig. 2, the method for labeling the traffic signal lamp includes the following steps S101 to S102.

In step S101, the number of base frames and the number of lamp colors are determined.

In step S102, the number of lamp caps and the number of lamp colors are used to determine the lamp color of the lamp cap.

In step S103, the color of the lamp frame is marked as the determined color of the lamp frame.

In an exemplary embodiment of the present disclosure, if the light color is a single light color, the light color of the light frame may be marked as the single light color. For example, when a single lamp color is recognized when the number of the lamp bases is one, two or three, the lamp color of the lamp frame may be marked as the recognized single lamp color.

In an exemplary embodiment of the present disclosure, if the light colors in the light frame are two light colors and the number of the light frames is two or three, the new light color to be switched at the next moment is determined based on the two light colors, and the light color of the light frame is marked as the new light color.

For example, if the two lamp colors in the lamp frame are red and green, the new lamp color is determined based on the number of red bases and the number of green bases. And if the number of the red lamp holders is larger than that of the green lamp holders, determining that the new lamp is red, and marking the lamp of the lamp frame as red. And if the number of the red lamp holders is less than that of the green lamp holders, determining that the new lamp color is green, and marking the lamp color of the lamp frame as green.

For another example, two lamp colors in the lamp frame are green and yellow, the new lamp color is determined to be yellow, and the lamp color of the labeled lamp frame is yellow.

For another example, two lamp colors in the lamp frame are red and yellow, the new lamp color is determined to be red, and the lamp color labeled to the lamp frame is red.

Further, there are cases in the present disclosure where the number of recognized lamp colors is plural, but the actual lamp color cannot be determined. For example, two identified light colors, one being the light color of the identified signal light, are known. The other is the color of the countdown signal, which is unknown. In the present disclosure, if there is an unknown light color corresponding to the countdown signal lamp among the two recognized light colors, the light color of the bezel may be marked as the recognized known light color.

In an exemplary embodiment of the present disclosure, if the identified light color is three light colors, it can be known from practical situations that the signal lights corresponding to the red, yellow and green are all in a bright state, and a new light color to be displayed cannot be determined, so that the light color of the light frame can be labeled as an unknown light color.

According to the method for labeling the traffic signal lamp, the color of the labeled lamp of the lamp frame is determined based on the number of the lamp holders and the number of the colors of the lamp, the color of the lamp frame can be determined by combining actual display and switching colors of the signal lamp, and therefore the accuracy of labeling the lamp frame can be improved.

In the related art, a labeling result for labeling the display light color of the signal lamp can be used as labeling data for various traffic control scenes. For example, the labeled data may be provided to the vehicle-mounted device in a txt document form, and the vehicle-mounted device performs subsequent processing based on the labeled data to control the vehicle-mounted device.

For example, the labeling data of the signal lights can be applied to the field of automatic driving, for example, in an automatic driving automobile for identifying signal lights (red signal lights, green signal lights, yellow signal lights, and countdown signal lights). The identification of traffic lights by autodrive vehicles relies on the labeling data of the lights. And the automatic driving automobile carries out corresponding model training based on the labeled data, and then carries out relevant processing based on the trained model so as to control the automatic driving automobile.

Based on this, the present disclosure provides another application scenario of labeling traffic signal lights: the vehicle-mounted equipment acquires signal lamp original labeling data which are not optimized in the traditional technology, and performs corresponding model training after re-labeling the original labeling data based on the concept provided by the disclosure.

FIG. 3 is a flow chart illustrating a method of labeling a traffic signal lamp according to an exemplary embodiment of the present disclosure. Referring to fig. 3, the method for labeling a traffic signal lamp includes the following steps S201 to S203.

In step S201, signal lamp labeling data is obtained, where the signal lamp labeling data includes a labeled lamp frame and a labeled lamp head frame.

The labeled lamp frame can be understood as a lamp frame labeled with a lamp color. The labeled base frame is understood to be a base frame labeled with a lamp color. Typically, the number of labeled lightframes is one. The number of labeled lighthead frames can be a number less than or equal to 3. For example, one, two, or three.

In step S202, the number of the labeled lamp caps and the labeled lamp color are determined.

In the present disclosure, the acquired signal lamp labeling data may be traversed to count the number of the lamp holders labeled with the lamp colors included in the signal lamp labeling data, that is, count the number of the labeled lamp holders.

In this disclosure, the color of the lamp with the labeled lamp holder frame corresponding to the label can be further counted, that is, the color of the lamp with the labeled lamp holder frame is counted.

In step S203, the light color of the labeled lamp frame is labeled based on the number of labeled lamp frames and the labeled light color.

In the method, the number of the labeled lamp frames and the labeled lamp colors are used for labeling the lamp colors of the labeled lamp frames in the signal lamp labeling data, and the labeled lamp colors of the labeled lamp frames can be corrected and then re-labeled, so that the accuracy of lamp frame labeling can be improved.

The following description of the present disclosure describes an implementation process of labeling the lamp colors of the labeled lamp frames based on the number of the labeled lamp head frames and the labeled lamp colors.

In an exemplary embodiment, the number of labeled light colors included in the signal light labeling data may be determined, and the light color of the lamp frame may be determined based on the number of labeled light colors.

If the marked lamp color is the single lamp color, the lamp color of the lamp frame is kept consistent with the marked single lamp color, namely the lamp color marked with the lamp frame is the original single lamp color in the signal lamp marking data.

In the present disclosure, when the labeled light color included in the signal light labeling data is a single light color, the number of the base frames is usually one. However, there may be cases where the base frame is labeled but the lamp color is not labeled based on the signal lamp labeling data. In this case, the light frame may or may not be marked with the light color, and if the light color marked with the light frame in the present disclosure is the single light color, the original light color marked with the light frame may be kept unchanged. If the marked lamp frame is not marked with the lamp color, the lamp color of the lamp frame can be marked as the single lamp color. Therefore, in the present disclosure, when it is determined that the labeled light color is the single light color, no matter the number of the base frames is one, two, or three, the light color of the light frame is labeled as the single light color, that is, the light color of the light frame is kept consistent with the single light color, the judgment logic is reduced, and the accuracy of the light frame labeling is ensured.

In this disclosure, if the labeled light color is not a single light color, the number of the labeled light frames and the number of the labeled light colors may be combined to determine the light color of the light frame, and the light color of the light frame is labeled as the determined light color.

Fig. 4 is a flowchart illustrating a method for labeling lamp frames according to the number of labeled lamp head frames and the number of labeled lamp colors according to an exemplary embodiment of the disclosure. Referring to fig. 4, the method includes the following steps S301 to S302.

In step S301, it is determined that the labeled lamp colors are two lamp colors, and the number of labeled base frames is two or three.

In step S302, a new light color is determined based on the labeled light head frames corresponding to the two light colors, and the light color labeled with the light head frame is the new light color.

In this disclosure, when the number of the marked lamp holder frames is two or three and the like, and the lamp colors are two lamp colors, the new lamp colors for marking the lamp frames are determined based on the marked lamp holder frames corresponding to the two lamp colors, the lamp colors for marking the lamp frames are marked as the new lamp colors, the lamp colors of the lamp frames can be determined based on actual signal lamp display and switched scenes for the marked lamp frames, the correction of the lamp colors of the marked lamp frames is realized, and the accuracy of the marking of the lamp frames is further improved.

In this disclosure, when determining a new light color based on the labeled light head frames corresponding to the two light colors, one of the following manners may be included:

the first method is as follows: and if the labeled lamp head frames corresponding to the two lamp colors are the red lamp head frame and the green lamp head frame, determining the new lamp color based on the number of the red lamp head frames and the number of the green lamp head frames.

In the present disclosure, the marked lamp head frames are red lamp head frames and green lamp head frames, and may be a scene in which a red signal lamp and a green signal lamp are switched, and at this time, the actual situation (the green signal lamp is turned on, but the red signal lamp is not completely turned off) is known, and the signal lamp to be in a lit state at the next moment will be the green signal lamp. The labeled lamp head frames are red lamp head frames and green lamp head frames. In a scene where the red signal lamp is turned on during the countdown (the red signal lamp and the red signal lamp are turned on during the countdown), it is known that the signal lamp in the on state is still the red signal lamp according to the actual situation. Therefore, the present disclosure may determine the new light color according to the number of the red and green light head frames.

In one mode, if the number of red light frames is greater than the number of green light frames, the scene that the red signal light is started when counting down is determined, and the new light color is determined to be red. In another mode, if the number of red light frames is less than or equal to the number of green light frames, it is determined that the new light color is green in the scene where the red light signal is switched to the green light signal.

The second method comprises the following steps: and if the labeled lamp holder frames corresponding to the two lamp colors are the green lamp holder frame and the yellow lamp holder frame, determining that the new lamp color is yellow.

In the disclosure, when the lamp holder frames are marked as the green lamp holder frame and the yellow lamp holder frame, it is determined that the display condition of the actual signal lamp is that the yellow signal lamp is on, but the green signal lamp is not completely turned off, and at this time, it is determined that the new lamp color is yellow, which more conforms to the actual condition of switching from the green signal lamp to the yellow signal lamp.

The third method comprises the following steps: and if the labeled lamp head frames corresponding to the two lamp colors are the red lamp head frame and the yellow lamp head frame, determining that the new lamp color is red.

In the disclosure, when the lamp head frames are marked as the red lamp head frame and the yellow lamp head frame, it is determined that the display condition of the actual signal lamp is that the yellow signal lamp is on, but the red signal lamp is not completely turned off, and at this time, it is determined that the new lamp color is yellow, which more conforms to the actual condition of switching from the red signal lamp to the yellow signal lamp.

The method is as follows: and if the labeled lamp holder frames with unknown lamp colors exist in the labeled lamp holder frames corresponding to the two lamp colors, and the labeled lamp holder frames with unknown lamp colors are countdown lamp holder frames, determining that the new lamp color is the lamp color of the lamp holder frame corresponding to the known lamp color.

In the present disclosure, it is possible to determine whether or not the two displayed light colors are the light colors displayed by the countdown signal lamps. If a countdown lamp holder frame exists, the lamp color of the countdown lamp holder frame is unknown, and the lamp holder frame with another known lamp color is the lamp color of the signal lamp which is currently displayed, so that the lamp color of the lamp holder frame can be marked as the identified known lamp color to better accord with the display condition of the actual signal lamp.

In an exemplary embodiment of the present disclosure, if the labeled light colors are two light colors and the number of the labeled light head frames is one, the actual signal light display condition cannot be determined, so that the light colors of the labeled light head frames can be kept unchanged to meet the actual signal light display condition.

In the disclosure, if the labeled light colors are two light colors, the new light colors according with the actual signal light display condition are determined by combining the labeled number of the lamp holder frames, and the lamp holder frames are labeled as the new light colors according with the actual signal light display condition, so that the response speed of signal light color switching can be increased and the processing time delay of the automatic driving vehicle can be reduced in practical application (for example, traffic control at a crossing with signal lights).

In an exemplary embodiment of the present disclosure, if the labeled light colors are three light colors and the number of the labeled light head frames is three, it may be determined that the red signal light, the yellow signal light, and the green signal light are all in a bright state in an actual situation, and at this time, it may not be determined that a new light color is to be displayed, so the light color of the light frame may be labeled as an unknown light color.

In an exemplary embodiment of the present disclosure, if the labeled light colors are three light colors and the number of the labeled light head frames is one or two, the actual signal light display condition cannot be determined, so that the light colors of the labeled light head frames can be kept unchanged to meet the actual signal light display condition.

In each of the above embodiments provided based on the present disclosure, when labeling the light color of the lamp frame based on the obtained signal light labeling data, the relationship between the light color of the lamp frame, the number of the lamp frames, and the number of the light colors may be as shown in table 1 below:

TABLE 1

In table 1, the first row of values represents the number of lamp colors, and the first column represents the number of lamp caps. Based on the number of the lamp colors and the number of the lamp holder frames, the lamp colors of the lamp holder frames can be corresponded. Wherein, the current lamp color of the lamp frame indicates that the lamp color of the labeled lamp frame is kept unchanged. The new light color represents a new light color to be displayed at the next moment determined based on the number of the lamp caps and the number of the light colors. The unknown lamp color indicates that the lamp color of the current lamp frame cannot be accurately determined.

The signal lamp frame marking method provided by the disclosure determines the color of the marked lamp frame based on the number of the lamp holder frames and the number of the color of the lamp, and can solve the problem of unknown color of the lamp frame in the marking process by considering the countdown lamp frame when determining the color of the lamp frame, and eliminate the problem of unknown color of the whole lamp frame caused by unknown countdown color of the lamp frame.

Furthermore, the signal lamp labeling data determined by the method of re-labeling the color of the labeled lamp frame in the signal lamp labeling data can further improve the accuracy of subsequent model training.

Based on the same conception, the disclosure also provides a device for marking the traffic signal lamp.

It is understood that the device for labeling a traffic signal provided by the embodiment of the present disclosure includes a hardware structure and/or a software module for performing the above functions. The disclosed embodiments can be implemented in hardware or a combination of hardware and computer software, in combination with the exemplary elements and algorithm steps disclosed in the disclosed embodiments. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

FIG. 5 is a block diagram of an apparatus for labeling a traffic signal shown in an exemplary embodiment according to the present disclosure. Referring to fig. 5, the apparatus 500 for labeling a traffic signal lamp includes an obtaining unit 501, a determining unit 502, and a labeling unit 503.

The obtaining unit 501 is configured to obtain signal lamp labeling data, where the signal lamp labeling data includes a labeled lamp frame and a labeled lamp head frame. A determining unit 502, configured to determine the number of labeled lamp holders and the labeled lamp color. And a labeling unit 503, configured to label the light color of the labeled light frame based on the number of the labeled light frames and the labeled light color.

In an exemplary embodiment, if the determining unit 502 determines that the light color has been labeled as a single light color, the labeling unit 503 labels the light color of the labeled light frame as a single light color.

In an exemplary embodiment, if the determining unit 502 determines that the labeled light colors are two light colors and the number of the labeled light frames is two or three, the labeling unit 503 determines a new light color based on the labeled light frames corresponding to the two light colors, and labels the light color of the labeled light frame as the new light color.

If the labeled lamp head frames corresponding to the two lamp colors are the red lamp head frame and the green lamp head frame, the labeling unit 503 determines a new lamp color based on the number of the red lamp head frames and the number of the green lamp head frames.

If the number of red frames is greater than the number of green frames, the labeling unit 503 determines that the new color is red. If the number of red frames is less than or equal to the number of green frames, the labeling unit 503 determines that the new color is green.

If the labeled lamp head frames corresponding to the two lamp colors are the green lamp head frame and the yellow lamp head frame, the labeling unit 503 determines that the new lamp color is yellow.

If the labeled lamp head frames corresponding to the two lamp colors are the red lamp head frame and the yellow lamp head frame, the labeling unit 503 determines that the new lamp color is red.

If there is a labeled lamphead frame with an unknown lampcolor in the labeled lamphead frames corresponding to the two lampcolors, and the labeled lamphead frame with the unknown lampcolor is the countdown lamphead frame, the labeling unit 503 determines that the new lampcolor is the lampcolor of the lamphead frame with the known lampcolor.

If the determining unit 502 determines that the labeled lamp colors are two lamp colors and the number of the labeled lamp frames is one, the labeling unit 503 keeps the lamp colors of the labeled lamp frames unchanged.

In an exemplary embodiment, if the determining unit 502 determines that the light colors already labeled are three light colors and the number of the light frames already labeled is three, the labeling unit 503 labels the light colors already labeled as unknown light colors.

In an exemplary embodiment, if the determining unit 502 determines that the labeled light colors are three light colors and the number of the labeled light frames is one or two, the labeling unit 503 keeps the light colors of the labeled light frames unchanged.

With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 6 illustrates a schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 6, the apparatus 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The calculation unit 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.

A number of components in the device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, a mouse, or the like; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, computing units running various machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 601 performs the respective methods and processes described above, such as the method of labeling traffic signals. For example, in some embodiments, the method of labeling traffic signals may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the method of labeling traffic signals described above may be performed. Alternatively, in other embodiments, the calculation unit 601 may be configured by any other suitable means (e.g. by means of firmware) to perform the method of labeling traffic lights.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

According to an embodiment of the present disclosure, there is also provided an edge computing device, including an electronic device, the electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of labeling traffic signals as disclosed above.

Optionally, the edge Computing device may be a Road Side device, a Road Side Computing Unit (RSCU), or the like.

Optionally, the edge computing device may include a communication component and the like in addition to the electronic device, and the electronic device may be integrated with the communication component or may be separately disposed. The electronic device can acquire data of a sensing device (such as a roadside camera), for example, pictures and videos including traffic lights, so as to perform image video processing and data calculation, and then transmit the processing and calculation results to the cloud control platform through the communication component. Optionally, the electronic device itself may also have a perception data acquisition function and a communication function, for example, an AI camera, and the electronic device may directly perform image video processing and data calculation based on the acquired perception data, and then transmit the processing and calculation results to the cloud control platform.

Optionally, the cloud control platform performs processing at the cloud end, and the electronic device included in the cloud control platform may acquire data of the sensing device (such as a roadside camera), such as pictures and videos, so as to perform image video processing and data calculation; the cloud control platform can also be called a vehicle road cooperative management platform, a V2X platform, a cloud computing platform, a central system, a cloud server, and the like.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A method of labeling a traffic signal, comprising:

acquiring signal lamp marking data, wherein the signal lamp marking data comprise a marked lamp frame and a marked lamp holder frame;

determining the number of the labeled lamp holder frames and the labeled lamp colors;

and marking the lamp colors of the marked lamp frames based on the number of the marked lamp head frames and the marked lamp colors.

2. The method of claim 1, wherein said labeling the light color of the labeled light frame based on the number of labeled light head frames and the labeled light color comprises:

and if the marked lamp color is the single lamp color, marking the lamp color of the marked lamp frame as the single lamp color.

3. The method of claim 1, wherein said labeling the light color of the labeled light frame based on the number of labeled light head frames and the labeled light color comprises:

and if the marked lamp colors are two lamp colors and the number of the marked lamp holder frames is two or three, determining a new lamp color based on the marked lamp holder frames corresponding to the two lamp colors, and marking the lamp color of the marked lamp holder as the new lamp color.

4. The method of claim 3, wherein the determining a new light color based on the labeled lighthead frames corresponding to the two light colors comprises:

if the labeled lamp head frames corresponding to the two lamp colors are red lamp head frames and green lamp head frames, determining a new lamp color based on the number of the red lamp head frames and the number of the green lamp head frames; or

If the marked lamp holder frames corresponding to the two lamp colors are the green lamp holder frame and the yellow lamp holder frame, determining that the new lamp color is yellow; or

If the marked lamp head frames corresponding to the two lamp colors are the red lamp head frame and the yellow lamp head frame, determining that the new lamp color is red; or

And if the labeled lamp holder frames with unknown lamp colors exist in the labeled lamp holder frames corresponding to the two lamp colors, and the labeled lamp holder frames with unknown lamp colors are countdown lamp holder frames, determining that the new lamp color is the lamp color of the lamp holder frame with the known lamp color.

5. The method of claim 4, wherein the determining a new light color based on a red light head frame number and a green light head frame number comprises:

if the number of the red lamp head frames is larger than that of the green lamp head frames, determining that the new lamp color is red; or

And if the number of the red lamp head frames is less than or equal to the number of the green lamp head frames, determining that the new lamp color is green.

6. The method of claim 1, wherein said labeling the light color of the labeled light frame based on the number of labeled light head frames and the labeled light color comprises:

if the marked lamp colors are two lamp colors and the number of the marked lamp holder frames is one, keeping the lamp colors of the marked lamp holders unchanged.

7. The method of claim 1, wherein said labeling the light color of the labeled light frame based on the number of labeled light head frames and the labeled light color comprises:

and if the marked lamp colors are three lamp colors and the number of the marked lamp holder frames is three, marking the lamp colors of the marked lamp holders as unknown lamp colors.

8. The method of claim 1, wherein said labeling the light color of the labeled light frame based on the number of labeled light head frames and the labeled light color comprises:

and if the marked lamp colors are three lamp colors and the number of the marked lamp holder frames is one or two, keeping the lamp colors of the marked lamp holders unchanged.

9. An apparatus for labeling a traffic signal, comprising:

the system comprises an acquisition unit, a display unit and a display unit, wherein the acquisition unit is used for acquiring signal lamp marking data which comprises a marked lamp frame and a marked lamp head frame;

the determining unit is used for determining the number of the labeled lamp holder frames and the labeled lamp colors;

and the marking unit is used for marking the lamp colors of the marked lamp frames based on the number of the marked lamp head frames and the marked lamp colors.

10. The apparatus according to claim 9, wherein the labeling unit labels the light color of the labeled light frame as a single light color if the determining unit determines that the labeled light color is the single light color.

11. The apparatus according to claim 9, wherein if the determining unit determines that the labeled light colors are two light colors and the number of the labeled light frames is two or three, the labeling unit determines a new light color based on the labeled light frames corresponding to the two light colors, and labels the light color of the labeled light frame as the new light color.

12. The apparatus of claim 11, wherein if the labeled lamp frames corresponding to the two lamp colors are red lamp frames and green lamp frames, the labeling unit determines a new lamp color based on the number of red lamp frames and the number of green lamp frames; or

If the labeled lamp holder frames corresponding to the two lamp colors are a green lamp holder frame and a yellow lamp holder frame, the labeling unit determines that the new lamp color is yellow; or

If the labeled lamp head frames corresponding to the two lamp colors are a red lamp head frame and a yellow lamp head frame, the labeling unit determines that the new lamp color is red; or

And if the labeled lamp holder frames with unknown lamp colors exist in the labeled lamp holder frames corresponding to the two lamp colors, and the labeled lamp holder frames with unknown lamp colors are countdown lamp holder frames, the labeling unit determines that the new lamp colors are the lamp colors of the lamp holder frames with the known lamp colors.

13. The apparatus of claim 12, wherein the labeling unit determines that the new light color is red if the red number of lamp frames is greater than the green number of lamp frames; or

And if the number of the red lamp head frames is less than or equal to the number of the green lamp head frames, the marking unit determines that the new lamp color is green.

14. The apparatus of claim 9, wherein if the determining unit determines that the labeled light colors are two light colors and the number of the labeled lighthead frames is one, the labeling unit keeps the light colors of the labeled lighthead frames unchanged.

15. The apparatus of claim 9, wherein the labeling unit labels the light color of the labeled light frame as the unknown light color if the determining unit determines that the labeled light colors are three light colors and the number of the labeled light head frames is three.

16. The apparatus of claim 9, wherein if the determining unit determines that the labeled light color is three light colors and the number of the labeled light boxes is one or two, the labeling unit keeps the light color of the labeled light box unchanged.

17. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.

18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-8.

19. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-8.

20. An edge computing device comprising the electronic device of claim 17.