CN106803353B - Method for determining a transformation rule of a traffic light and on-board system - Google Patents
Method for determining a transformation rule of a traffic light and on-board system Download PDFInfo
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Abstract
The invention discloses a method for determining a transformation rule of a traffic signal lamp, which comprises the following steps: determining that the automobile is in a stop state; judging whether the automobile is a first automobile waiting for a traffic signal lamp or not through a vehicle-mounted detection device; recording relevant information capable of reflecting a transformation rule of a traffic light in the case of a first automobile determined to be waiting for the traffic light; and obtaining the transformation rule of the traffic signal lamp of the corresponding intersection according to the related information and the intersection position information of the automobile. The invention also discloses a vehicle-mounted system for determining the transformation rule of the traffic signal lamp, which comprises the following components: provided is a vehicle-mounted detection device. The method for determining the transformation rule of the traffic signal lamp and the vehicle-mounted system are reliable, can obtain the accurate transformation rule, and are low in cost.
Description
Technical Field
The invention relates to a method for determining a transformation rule of a traffic light and a corresponding on-board system.
Background
With economic development and technical progress, transportation becomes an important aspect in economic life, plays an increasingly important role in ensuring normal operation of a social and economic system, promotes material communication and people to move frequently, greatly shortens time, and improves working process and efficiency. However, with the rapid development of transportation, many disadvantages are brought, especially the problems of traffic jam and road jam in the ground automobile transportation, both developed countries and developing countries.
The traffic signal lamp plays an important role in managing and dredging traffic in cities, and is also an important factor which must be considered when a current popular car navigation system navigates. Therefore, the transformation rules of the traffic signal need to be accurately determined in order to make the navigation system more reliable and accurate. Meanwhile, the accurate determination of the transformation rule of the traffic signal lamp is also beneficial for a driver of the automobile to more reasonably control the automobile when passing through the intersection.
The Honda recently issued a brand new driving assistance system, which relies on roadside infrared signal towers communicating with a traffic control center to determine the rules of traffic lights at intersections to help drivers to determine the conditions of the intersection lights, thereby reducing unnecessary parking for the drivers, improving fuel efficiency and reducing traffic accidents. However, such systems require intelligent infrastructure as support, which is very expensive and also very cumbersome to implement.
US2014/0129121a1 discloses a method of identifying traffic light rules, which transmits traffic information including motion information and information about the light to a server for analysis using a mobile device (e.g., iPad). The method needs mass data analysis and can obtain accurate signal lamp transformation rules after filtering out error information.
For this reason, there is a strong need for a new method for determining traffic light transformation rules and a corresponding system, in order to reduce costs, in particular so that a high-cost intelligent infrastructure is no longer required and the implementation effort, the calculation time and the amount of data to be analyzed can be reduced.
Disclosure of Invention
The invention aims to provide a low-cost and reliable method for determining a change rule of a traffic signal lamp and an on-board system.
To this end, according to a first aspect of the invention, a method for determining a transformation rule of a traffic signal lamp is provided, the method comprising the steps of: determining that the automobile is in a stop state; judging whether the automobile is a first automobile waiting for a traffic signal lamp or not through a vehicle-mounted detection device; recording relevant information capable of reflecting a transformation rule of a traffic light in the case of a first automobile determined to be waiting for the traffic light; and obtaining the transformation rule of the traffic signal lamp of the corresponding intersection according to the related information and the intersection position information of the automobile.
According to an alternative embodiment of the present invention, it is determined that the vehicle is in a stopped state by a wheel speed sensor; and/or determining intersection position information of the automobile through a vehicle-mounted positioning device; and/or the related information comprises the waiting time of the first automobile, the starting waiting time of the first automobile and the starting time of the first automobile; and/or the traffic signal lamp change rule comprises a red light duration, a green light duration and/or a traffic signal lamp change moment of the traffic signal lamp; and/or the method further comprises: and sending the related information and the intersection position information of the automobile so as to allow the related information to be analyzed and processed to obtain the transformation rule of the traffic signal lamp.
According to an alternative embodiment of the invention, it is determined whether the car is the first car waiting for a traffic light by means of an on-board camera mounted at the head of the car; and/or judging whether the automobile is a first automobile waiting for a traffic signal lamp or not through a distance measuring radar installed at the head of the automobile; and/or judging whether the automobile is the first automobile waiting for the traffic signal lamp or not through the time that the automobile passes from stopping to starting to a certain speed; and/or sending the related information and the intersection position information of the automobile to a cloud server, and analyzing and processing the related information through the cloud server to obtain the transformation rule of the traffic signal lamp of the corresponding intersection.
According to an optional embodiment of the invention, the vehicle-mounted camera judges whether the vehicle is a first vehicle waiting for a traffic signal lamp by detecting whether a stop line and/or a zebra crossing exists within a certain distance in front of the vehicle; and/or determining whether the car is a first car waiting for a traffic signal lamp based on characteristics of an output signal of the ranging radar; and/or setting a starting time threshold value, wherein the time spent when the speed of the automobile changes from zero to a certain speed is defined as the starting time, and when the starting time is less than the starting time threshold value, the automobile is judged to be the first automobile waiting for the traffic signal lamp.
According to an optional embodiment of the invention, a time threshold value used for limiting the minimum value of the signal output duration of the distance measuring radar and a distance change threshold value used for limiting the maximum value of the distance change between the automobile and the front target are set, when the output signal of the distance measuring radar meets the conditions that the output signal is greater than the time threshold value and less than the distance change threshold value, the automobile is judged to stop other automobiles in front of the automobile, and otherwise, the automobile is judged to be the first automobile waiting for a traffic signal lamp; and/or the start-up time is about 3 seconds.
According to an optional embodiment of the invention, for the same intersection, the related information obtained by all the first vehicles on each lane is analyzed and processed to obtain a more accurate transformation rule of the traffic signal lamp; and/or comprehensively considering the change rules of the traffic signal lamps in two directions of the same intersection, and obtaining more accurate change rules of the traffic signal lamps through mutual correction.
According to an alternative embodiment of the invention, the relevant information obtained by all the first vehicles in the same direction at the same intersection is analyzed and processed by averaging, self-learning neural network technology or iterative algorithm.
Further, according to a second aspect of the present invention, there is provided an in-vehicle system for determining a change rule of a traffic signal lamp, comprising: the vehicle-mounted detection device is arranged on the automobile, and under the condition that the automobile is in a stop state, whether the automobile is a first automobile waiting for a traffic signal lamp or not is judged through the vehicle-mounted detection device; in the case of the first automobile waiting for the traffic signal lamp, relevant information reflecting the conversion rule of the traffic signal lamp is recorded, so that the conversion rule of the traffic signal lamp of the corresponding intersection is allowed to be obtained according to the relevant information and the intersection position information of the automobile.
According to an optional embodiment of the invention, the vehicle-mounted system further comprises a vehicle-mounted positioning device mounted on the vehicle, and the vehicle-mounted positioning device is used for determining the intersection position information of the vehicle; and/or the vehicle-mounted system further comprises a communication device arranged on the vehicle, and the related information and the intersection position information where the vehicle is located are sent out through the communication device so as to allow the related information to be analyzed and processed to obtain the transformation rule of the traffic signal lamp.
According to an alternative embodiment of the invention, the on-board detection device comprises an on-board camera mounted at the head of the vehicle and/or a range radar mounted at the head of the vehicle.
The method for determining the transformation rule of the traffic signal lamp and the vehicle-mounted system are reliable, can obtain the accurate transformation rule, and are low in cost.
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The principles, features and advantages of the present invention may be better understood by describing the invention in more detail below with reference to the accompanying drawings. The drawings comprise:
fig. 1 shows a schematic diagram of an information collection and analysis system for collecting and analyzing traffic light information at an intersection.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and several embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
Fig. 1 shows a schematic diagram of an information collection and analysis system for collecting and analyzing traffic light information at an intersection according to an exemplary embodiment of the present invention.
As shown in fig. 1, the information collection and analysis system 1 mainly includes an on-vehicle detection device 2 provided in an automobile itself. The on-vehicle detection device 2 collects traffic information. The collected traffic information may be processed on board the vehicle or sent out for processing via the vehicle-mounted communication device 4. For example, the information is sent to the cloud server 3 through the communication device 4 in a wireless communication manner, the cloud server 3 analyzes and processes the received information, and sends finally obtained useful information to each automobile, so that the information is provided for each automobile to use, for example, the information can be used for more accurately navigating the automobile.
It can be seen that the system shown in fig. 1 is a typical exemplary information collection and analysis system, but is not limited thereto by those skilled in the art. For example, the device for analyzing information need not be a cloud server, but may be any suitable analysis processing device located at any suitable location, such as on an automobile. Of course, the transfer of information is not limited to the use of a wireless communication network.
The basic idea of the invention is that whether the vehicle is the first vehicle waiting at the intersection is judged by the vehicle-mounted detection device, and then the traffic information of the corresponding intersection is determined more reliably and accurately according to the information obtained by the first vehicle.
According to the invention, a method for determining a transformation rule of a traffic signal lamp is provided, comprising the following steps: determining that the automobile is in a stop state; under the condition that the automobile is in a stop state, judging whether the automobile is a first automobile waiting for a traffic signal lamp through a vehicle-mounted detection device; recording relevant information capable of reflecting a transformation rule of a traffic light in the case of a first automobile determined to be waiting for the traffic light; and obtaining the transformation rule of the traffic signal lamp of the corresponding intersection according to the related information and the intersection position information of the automobile.
There are various ways to determine whether the vehicle is in a stopped state, and one exemplary way is to determine by a wheel speed sensor of the vehicle. The wheel speed sensor of the vehicle can be used to obtain the accurate state of the vehicle, for example, whether the vehicle is in a stopped state or a running state can be determined, and the running speed of the vehicle and the starting and stopping time can also be determined. It can be understood that the wheel speed sensor can directly reflect information such as start-stop, driving speed and the like of the automobile, so that compared with other measuring and judging methods, the information source is more accurate and reliable, the existing equipment of the automobile is fully utilized, and the cost is reduced. Of course, in other embodiments, other ways and devices may be used to obtain the state of the vehicle according to actual requirements.
In the following, it will be discussed how to determine whether a car is the first car waiting for a traffic light and how to make the determination by the on-board detection device.
As shown in fig. 1, the cars 5, 6 are arranged in sequence at the intersection waiting for the signal lights 7 ahead. When the red light is on, the first car 5 first approaches the stop line 8 to stop, and the subsequent cars 6 stop sequentially behind the first car 5. The duration of the red light ahead can therefore be determined substantially on the basis of the waiting time of the first vehicle 5, and the traffic light change rules can be derived.
When the first car 5 stops waiting for the red light, the speed of the car is zero. However, the vehicle is not always in the red waiting state when it is stopped, and may be stopped due to traffic jam or other reasons. Therefore, other information is required to assist judgment.
According to an exemplary embodiment, when the automobile is equipped with an on-vehicle detection device such as an on-vehicle camera, it is possible to judge whether the front is a traffic signal intersection by the on-vehicle camera, and for example, the stop position of the automobile may be judged by recognizing the stop line 8 or zebra crossing by a camera installed at the head of the automobile. In other words, if it is determined that the vehicle is in a stopped state, for example, by a wheel speed sensor and the camera at the head of the vehicle simultaneously recognizes the stop line 8 or zebra crossing near the head of the vehicle, it can be basically determined that the vehicle is the first vehicle stopped due to a red light.
According to another exemplary embodiment, it may also be determined by an on-board detection device, such as a distance measuring radar, whether the car is the first car to wait for a traffic light. This judgment method will be described in detail below.
For the first car 5 waiting for a red light, there is usually no car in front of it for some distance. If the head of the automobile is provided with the distance measuring radar, whether the automobile is in front of the automobile or not can be judged by the distance measuring radar when the automobile stops. If there is another car in front of the car within a predetermined range, the ranging radar always outputs and the measured distance is not changed in a certain period of time. At which point it may be determined that the car is not the first car. Obviously, in the process of waiting for the red light by the first car, pedestrians usually walk on the zebra crossing a little far in front of the car, and the car or turning car in the green light straight-ahead state in the other direction may be detected by the ranging radar of the first car. However, the signal output of the range radar caused by the interference is different from the signal output when other automobiles are stopped in front of the automobiles.
Therefore, it is possible to determine whether or not the vehicle is still stopped in front of the vehicle by determining the characteristics of the output signal of the ranging radar mounted on the head of the vehicle. Specifically, as described above, when a certain vehicle stops other vehicles stopped by a red light in front of them, the distance therebetween is generally constant for a certain period of time, so that the ranging radar generally has a fixed output for a certain period of time, whereas if there is another moving object in front, such as a pedestrian, a vehicle traveling in another direction, the output of the ranging radar is unstable and also discontinuous. These are finally reflected as the difference in the characteristics of the output signal of the range radar, so that when a certain automobile stops, it can be determined whether another automobile is stopped in front of the automobile according to the characteristics of the output signal of the range radar at the head of the automobile.
For example, a time threshold and a distance change threshold may be set. The time threshold value is used to define the minimum value of the signal output duration of the range radar, and the distance change threshold value is used to define the maximum value of the distance change between the vehicle and the front target. In an ideal situation, if two consecutive cars are waiting for a red light, the distance between the two cars is usually constant or varies little, and such a situation may persist for some time. Therefore, when the output signal of the ranging radar installed at the head of the automobile simultaneously satisfies the time threshold value and the distance change threshold value, it is determined that the other automobile is stopped in front of the automobile. Otherwise, it is determined that there is no other automobile in front of the automobile, and the automobile is in a stop state, so that the automobile can be determined to be the first automobile waiting for the red light.
According to yet another exemplary embodiment, it may also be determined whether the car is the first car waiting for a traffic light by: setting a starting time threshold value, defining the time when the speed of the automobile changes from zero to a certain speed as the starting time, and judging that the automobile is the first automobile waiting for a traffic signal lamp when the starting time is less than the starting time threshold value. This is because the first car to wait for a red light typically reacts faster when changing from a red light to a green light, and typically starts up in 3 seconds. The time that elapses from the preparation for the start to the official start to a certain speed may be determined by a detection control system of the automobile, for example, an ECU.
According to another more specific embodiment, the start time of the vehicle may be determined based on a wheel speed sensor. For example, a speed threshold may be set and the time elapsed from when the speed of the vehicle changes from zero to the speed threshold may be defined as the start time. When the starting time is less than a certain preset time, the automobile starting response is considered to be fast, so that the method can be used for judging whether the automobile is the first automobile.
It will be apparent to those skilled in the art that the starting time of the vehicle is not limited to the above determination method, and any other suitable determination method may be used.
The above exemplary description has been given of determining whether a car is the first car waiting for a traffic signal lamp by the on-board camera, the range radar, and the start time, respectively. Obviously, in order to further improve reliability and accuracy, the above three determination methods may be used in any combination.
At present, automobiles are often equipped with an onboard positioning device, such as an onboard GPS. The vehicle-mounted positioning device can position the automobile, so that the position of the automobile on a road can be judged, and particularly the traffic intersection can be specifically positioned.
Obviously, in order to further improve the reliability and accuracy of judging whether the vehicle is the first vehicle waiting for the traffic signal lamp, whether the vehicle is at the intersection can also be determined by combining the position information given by the vehicle-mounted positioning device, so that whether the vehicle is the first vehicle waiting for the traffic signal lamp can be judged only when the vehicle is at least near the intersection.
In the case of the first car determined to be waiting for a traffic light, relevant information reflecting the rule of change of the traffic light may be recorded.
Specifically, the waiting time period of the first automobile 5 is obtained by starting the timer from the time when the automobile is stopped until the driver starts the automobile again. The waiting period may be determined as the duration of the red light in the corresponding direction.
Then, the related information and the intersection position information where the automobile is located can be analyzed and processed to obtain the transformation rule of the traffic signal lamp of the corresponding intersection. For example, the related information and the intersection position information where the automobile is located can be sent out, so as to allow the related information to be analyzed and processed to obtain the transformation rule of the traffic signal lamp.
Further, for example, the related information and the intersection position information where the automobile is located are sent to the cloud server 3, and the related information is analyzed and processed by the cloud server 3 to obtain the transformation rule of the traffic signal lamp of the corresponding intersection. Specifically, the waiting time and the intersection position information determined by the vehicle-mounted positioning device can be sent to the cloud server 3 through the communication device 4, and the cloud server 3 finds the corresponding intersection according to the intersection position information. According to an exemplary embodiment, the cloud server 3 may determine whether the red light duration of the traffic signal lamp in the corresponding direction of the intersection is stored, and if not, the cloud server 3 directly corrects the received waiting time to the red light duration in the corresponding direction of the intersection, otherwise, the red light duration is substituted for a preset value on the cloud server. In other embodiments, the communication device 4 transmits the waiting time and the intersection position information determined by the vehicle-mounted positioning device directly to other vehicles according to actual needs.
It is obvious to a person skilled in the art that it may be less accurate if the waiting time of the first car in only one lane is taken as the basis for the determination. Preferably, the waiting time of the first vehicle in each lane can be statistically analyzed, for example averaged, in order to make the red light duration of the traffic light at the respective intersection more consistent with the actual situation of the traffic light.
According to a preferred exemplary embodiment, for a certain intersection, the waiting time of all lanes within a certain period of time (e.g., one day, several days, or even ten days) may be statistically analyzed to determine the red light duration of the traffic lights of the corresponding intersection.
According to another exemplary embodiment, the number of corrections may be set, and the correction may be stopped when the number of corrections to the red light duration stored by the cloud server 3 exceeds a predetermined threshold. After the predetermined times of correction, the red light duration of the traffic signal lamp at the intersection stored by the cloud server 3 can be basically ensured to be consistent with the actual duration, so that redundant correction is not required, and the calculation amount of the cloud server 3 can be reduced. If the number of corrections has not exceeded the predetermined threshold, the correction is continued with the newly acquired waiting time period until the predetermined number of corrections is reached.
It is obvious to those skilled in the art that the change of traffic lights in both directions of the intersection is performed alternately. Therefore, according to an exemplary embodiment of the present invention, the waiting time periods in both directions may also be comprehensively considered to be corrected to each other.
According to another exemplary embodiment, the wait periods uploaded by a large number of first vehicles may also be analyzed using self-learning neural network techniques, iterative algorithms, or other suitable data processing and analysis techniques to better match the finally determined red light duration to the actual conditions of the traffic signal.
It is obvious to those skilled in the art that the waiting time period uploaded by the first vehicle can also be obtained in real time to correct the red light duration stored in the cloud server 3 in real time, so that the navigation system can be more real-time and accurate.
It is obvious to those skilled in the art from the above description that the change rule of the traffic signal lamp in each direction of each intersection can be determined by the above method, including whether it is red light or green light at a certain time, which time changes to green light, which time changes to red light, etc. This provides a basis for the accurate and optimal navigation of the navigation system.
Further, as apparent from the above description, the present invention also provides an in-vehicle system for determining a change rule of a traffic signal, comprising:
the vehicle-mounted detection device is arranged on the automobile, and under the condition that the automobile is in a stop state, whether the automobile is a first automobile waiting for a traffic signal lamp or not is judged through the vehicle-mounted detection device;
in the case of the first automobile waiting for the traffic signal lamp, relevant information reflecting the conversion rule of the traffic signal lamp is recorded, so that the conversion rule of the traffic signal lamp of the corresponding intersection is allowed to be obtained according to the relevant information and the intersection position information of the automobile.
The method for determining and judging the red light duration is high in accuracy, and the red light duration more in line with the reality can be obtained, so that more accurate data are provided for a navigation system.
Moreover, other advantages and alternative embodiments of the present invention will be apparent to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details, representative structures, and illustrative examples shown and described. On the contrary, various modifications and substitutions may be made by those skilled in the art without departing from the basic spirit and scope of the invention.
Claims (10)
1. A method for determining a transformation rule of a traffic signal (7), characterized in that the method comprises the steps of:
determining that the vehicle (5, 6) is in a stopped state;
judging whether the automobile (5, 6) is a first automobile waiting for a traffic signal lamp (7) or not through the vehicle-mounted detection device (2);
in the case of a first vehicle determined to be waiting for a traffic light (7), recording relevant information capable of reflecting the rules of transformation of the traffic light (7);
and obtaining the transformation rule of the traffic signal lamp (7) of the corresponding intersection according to the related information and the intersection position information of the automobiles (5, 6).
2. The method for determining transformation rules of a traffic signal lamp (7) as claimed in claim 1,
it is characterized in that the preparation method is characterized in that,
determining that the vehicle (5, 6) is in a stopped state by a wheel speed sensor; and/or
Determining intersection position information of the automobiles (5, 6) through the vehicle-mounted positioning device (2); and/or
The related information comprises the waiting time of the first automobile, the starting waiting time of the first automobile and the starting time of the first automobile; and/or
The change rule of the traffic signal lamp (7) comprises the red light duration, the green light duration and/or the change time of the traffic signal lamp (7); and/or
The method further comprises the following steps: and sending the related information and the intersection position information where the automobiles (5, 6) are positioned so as to allow the related information to be analyzed and processed to obtain the transformation rule of the traffic signal lamp (7).
3. The method for determining a transformation rule of a traffic signal lamp (7) as claimed in claim 1 or 2,
it is characterized in that the preparation method is characterized in that,
judging whether the car (5, 6) is the first car waiting for the traffic signal light (7) by a vehicle-mounted camera mounted at the head of the car; and/or
Judging whether the automobile (5, 6) is a first automobile waiting for a traffic signal lamp (7) or not by a ranging radar installed at the head of the automobile; and/or
Judging whether the automobile (5, 6) is the first automobile waiting for the traffic signal lamp (7) or not through the time of the automobile (5, 6) from stopping to starting to a certain speed; and/or
And sending the relevant information and the intersection position information of the automobiles (5, 6) to a cloud server (3), and analyzing and processing the relevant information through the cloud server (3) to obtain the transformation rule of the traffic signal lamp (7) of the corresponding intersection.
4. Method for determining a transformation rule of a traffic signal lamp (7) as claimed in claim 3,
it is characterized in that the preparation method is characterized in that,
the vehicle-mounted camera judges whether the automobile (5, 6) is a first automobile waiting for the traffic signal lamp (7) or not by detecting whether a stop line (8) and/or a zebra crossing exists within a certain distance in front of the automobile; and/or
-determining whether the car (5, 6) is the first car to wait for a traffic light (7) based on characteristics of the output signal of the range radar; and/or
Setting a starting time threshold value, defining the time which is passed when the speed of the automobiles (5, 6) changes from zero to a certain speed as the starting time, and judging the automobiles (5, 6) to be the first automobiles waiting for the traffic signal lamp (7) when the starting time is less than the starting time threshold value.
5. The method for determining transformation rules of a traffic signal lamp (7) as claimed in claim 4,
it is characterized in that the preparation method is characterized in that,
setting a time threshold value for limiting the minimum value of the signal output duration of the range radar and a distance change threshold value for limiting the maximum value of the distance change between the automobile and the front target, when the output signal of the range radar meets the conditions that the output signal is greater than the time threshold value and less than the distance change threshold value, judging that other automobiles are stopped in front of the automobile, and otherwise, judging that the automobile (5, 6) is the first automobile waiting for a traffic signal lamp; and/or
The start-up time is about 3 seconds.
6. The method for determining transformation rules of a traffic signal lamp (7) as claimed in any of claims 1-2, 4-5,
it is characterized in that the preparation method is characterized in that,
for the same intersection, analyzing and processing the related information obtained by all the first vehicles on each lane to obtain more accurate transformation rules of the traffic lights; and/or
The change rules of the traffic signal lamps in two directions of the same intersection are comprehensively considered, and the more accurate change rule of the traffic signal lamps is obtained through mutual correction.
7. The method for determining transformation rules of a traffic signal lamp (7) as claimed in any of claims 1-2, 4-5,
it is characterized in that the preparation method is characterized in that,
and analyzing and processing the related information obtained by all the first automobiles in the same direction at the same intersection through an averaging processing technology, a self-learning neural network technology or an iterative algorithm.
8. An on-board system for determining transformation rules of a traffic light (7), comprising:
the vehicle-mounted detection device (2) is mounted on the automobiles (5, 6), and under the condition that the automobiles (5, 6) are in a stop state, whether the automobiles (5, 6) are the first automobiles waiting for traffic lights is judged through the vehicle-mounted detection device (2);
wherein, in the case of a first car determined to be waiting for a traffic light (7), relevant information reflecting the transformation rules of the traffic light (7) is recorded so as to allow the transformation rules of the traffic light (7) of the corresponding intersection to be obtained from the relevant information and intersection position information where the cars (5, 6) are located.
9. The in-vehicle system for determining a transformation rule of a traffic signal lamp according to claim 8,
it is characterized in that the preparation method is characterized in that,
the vehicle-mounted system also comprises vehicle-mounted positioning devices arranged on the automobiles (5, 6), and the intersection position information of the automobiles (5, 6) is determined through the vehicle-mounted positioning devices; and/or
The vehicle-mounted system also comprises a communication device arranged on the vehicles (5, 6), and the related information and the intersection position information of the vehicles (5, 6) are sent out through the communication device so as to allow the related information to be analyzed and processed to obtain the transformation rule of the traffic signal lamp (7).
10. The on-board system for determining the transformation rules of a traffic signal lamp according to claim 8 or 9,
it is characterized in that the preparation method is characterized in that,
the vehicle-mounted detection device comprises a vehicle-mounted camera installed at the head of the automobile and/or a ranging radar installed at the head of the automobile.
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| CN111492366A (en) * | 2017-12-21 | 2020-08-04 | 华为技术有限公司 | Information detection method and mobile device |
| CN109656245B (en) * | 2018-10-31 | 2020-10-27 | 百度在线网络技术（北京）有限公司 | Method and device for determining brake position |
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