CN109903574A - The acquisition methods and device of crossing traffic information - Google Patents

Abstract

This application discloses a kind of acquisition methods of crossing traffic information and devices, belong to intelligent transportation field.This method comprises: vehicle obtains crossing traffic information set, and obtain the lane information of place first lane；Rear vehicle judge the first crossing location information whether has been recorded in crossing traffic information set, and when record has the first crossing location information, obtain the first crossing location information；Vehicle searches the crossing traffic information of first lane according to the lane information of the first crossing location information and first lane in crossing traffic information set；When finding the crossing traffic information of first lane, the corresponding crossing traffic information of first lane is obtained.Where the application records the vehicle at the crossing for having vehicle front that will pass through in crossing traffic information set when the crossing location information in lane, the crossing traffic information in lane where obtaining vehicle directly from the crossing traffic information set, so that the acquisition speed of crossing traffic information is very fast, flexibility is higher.

Description

The acquisition methods and device of crossing traffic information

Technical field

This application involves intelligent transportation field, in particular to the acquisition methods and device of a kind of crossing traffic information.

Background technique

Currently, the control assembly of some vehicles can be by obtaining crossing traffic information with the suitable driving strategy of determination. Exemplary, crossing traffic information may include the signal lamp of the information traffic lights corresponding with the lane in lane where vehicle Information etc..

In the related technology, there are a kind of acquisition methods of crossing traffic information, in the method, control assembly is in vehicle distances When crossing certain distance (such as 200 meters), pass through Research on Lane Detection Based on Hough Transform, ground oriented identification identification technology or signal lamp identification technology To determine a series of crossing traffic information.Later, the control assembly of vehicle can be determined properly according to the signal information Driving strategy.

During realizing the application, inventor has found the relevant technologies the prior art has at least the following problems: passing through various identifications Technology obtains the mode of crossing traffic information in real time, may be due to the shadow of sensor effectively perceive range and complicated traffic environment Ring so that the acquisition speed of crossing traffic information depend on identification technology itself performance, identification technology acquisition speed compared with When slow, the acquisition speed of crossing traffic information also can be relatively slow.

Summary of the invention

This application provides a kind of acquisition methods of crossing traffic information and device, crossing friendship in the related technology can solve The slower problem of the acquisition speed of breath is communicated, the embodiment of the invention provides a kind of acquisition methods of crossing traffic information and dresses It sets.The technical solution is as follows:

On the one hand, a kind of acquisition methods of crossing traffic information are provided, this method is applied to vehicle, this method comprises:

Vehicle obtains crossing traffic information set, which has at least one set of corresponding relationship, often Group corresponding relationship is the corresponding relationship of crossing location information, lane information and crossing traffic information；Where vehicle can also obtain The lane information of first lane, and judge the first crossing location information whether has been recorded in crossing traffic information set, this first Crossing location information is the location information at the crossing in vehicle front pre-determined distance；When record has the in crossing traffic information set When one crossing location information, the available first crossing location information of vehicle, further according to the first crossing location information and first The lane information in lane searches the crossing traffic information of first lane in crossing traffic information set, when finding first lane Crossing traffic information when, the corresponding crossing traffic information of the available first lane of vehicle.

The technical solution of the application records the vehicle at the crossing for having vehicle front that will pass through in crossing traffic information set Where when the crossing location information in lane, the crossing in lane is handed over where obtaining vehicle directly from the crossing traffic information set Communication breath, so that the acquisition speed of crossing traffic information is very fast, flexibility is higher.

Optionally, this method further include:

When not inquiring the crossing traffic information of first lane, vehicle acquires the crossing traffic information of first lane；Base One group is established in the crossing traffic information of the first lane of the first crossing location information, the lane information of first lane and acquisition Corresponding relationship, rear vehicle judge whether to violate the traffic regulations according to driving information；When violating the traffic regulations, vehicle is deleted should Group corresponding relationship.And this group of corresponding relationship is added in crossing traffic information set, comprising: when not violating the traffic regulations, This group of corresponding relationship is added in crossing traffic information set by vehicle.

The technical solution of the application is eliminated by when violating the traffic regulations, deleting the corresponding relationship of vehicle foundation The lower corresponding relationship of reliability, improves the reliability of the corresponding relationship recorded in crossing traffic information set.

Optionally, this method further include: when not recorded the first crossing location information, and vehicle in crossing traffic information set When front preset is apart from the interior oriented identification there are ground, vehicle acquisition ground oriented identification corresponds to the crossing location information at crossing And the crossing traffic information of first lane；Lane information of the vehicle based on collected crossing location information, first lane with And the crossing traffic information of first lane of acquisition establishes one group of corresponding relationship, rear vehicle judge that vehicle is according to driving information It is no to violate the traffic regulations；When vehicle violates the traffic regulations, vehicle deletes one group of corresponding relationship；When vehicle does not violate the traffic regulations When, one group of corresponding relationship is added in crossing traffic information set by vehicle

Optionally, crossing traffic information includes signal information, and vehicle acquires the crossing traffic information of first lane, packet Include: vehicle obtains the classification information and color characteristic of the signal lamp at crossing after detecting ground oriented identification；Vehicle is detecting When to stop line, according to the position of the location determination signal lamp of stop line；Color characteristic based on acquisition establishes color characteristic point Cloth model；Determine that signal information, signal information include position, classification information and the color characteristic distributed model of signal lamp.

The technical solution of the application, using the position of signal lamp, classification information and color characteristic distributed model as signal Lamp information facilitates when vehicle again passes by the first crossing and determines these information.

Optionally, signal information further includes the corresponding object time section of color characteristic distributed model, object time area Between be section in preset n time interval where the acquisition period of color characteristic, n time interval is by the preset time Period divides at equal intervals to be obtained, and n is the integer greater than 1.

Optionally, the time cycle is 1 day.Since the light conditions of the different periods in every day tend to periodically become Change, thus sets the influence that can accurately react illumination for signal lamp color in 1 day for the preset time cycle.

Optionally, crossing traffic information includes signal information, and signal information includes the position of signal lamp, classification information With color characteristic distributed model；Vehicle is after obtaining the corresponding crossing traffic information of first lane, this method further include: vehicle Acquisition includes the image to be analyzed of signal lamp；Position of the vehicle based on the signal lamp recorded in current location and crossing traffic information It sets, determines the position of signal lamp in image to be analyzed；Color characteristic at position of the vehicle based on signal lamp in image to be analyzed, Establish color characteristic distributed model to be processed；Vehicle will record in color characteristic distributed model to be processed and crossing traffic information Color characteristic distributed model is compared, to determine the color of current signal light.

The technical solution of the application generates color characteristic distributed model according to image to be analyzed, and the color characteristic is divided The color characteristic distributed model of the signal lamp of the first lane recorded in cloth model and crossing traffic information set is compared, with Determine the color of the signal lamp of current first lane.Since the color characteristic distributed model of crossing traffic information set record is pair It should be better able to anti-in the model of first lane, the model compared to a no targetedly unified model in the related technology The feature of the color of the signal lamp of first lane is answered, thus when judging signal lamp color according to the model, accuracy can also be got over It is high.Optionally, crossing traffic information includes signal information, and signal information includes the position of signal lamp, classification information, color Feature distribution model and the corresponding object time section of color characteristic distributed model, when object time section is preset n Between section in section where the acquisition period of color characteristic, the preset time cycle is is divided by n time interval at equal intervals It obtains, n is the integer greater than 1.

Vehicle is after obtaining the corresponding crossing traffic information of first lane, this method further include: vehicle is in traveling to the When the stop line at one crossing (first crossing is the corresponding crossing of the first crossing location information), detecting in crossing traffic information is The color characteristic distributed model of the signal lamp of time interval where no record has current time,；If not remembering in crossing traffic information Record current time where time interval signal lamp color characteristic distributed model, alternatively, in crossing traffic information record have with The different color characteristic distributed mode of the corresponding color of color characteristic distributed model of the signal lamp of time interval where current time Type, vehicle obtain the color characteristic of the signal lamp at current first crossing；Color characteristic based on acquisition establishes color characteristic distribution Model；The corresponding object time section of color characteristic distributed model and color characteristic distributed model that will acquire is recorded in first In the corresponding crossing traffic information in lane.

The technical solution of the application passes through time interval where not recorded current time in crossing traffic information set Signal lamp color characteristic distributed model corresponding color when, the signal lamp color of time interval is special where obtaining current time Distributed model is levied, and the model is recorded in the corresponding crossing traffic information set of first lane, having reached can update simultaneously Improve the effect of crossing traffic information set.

Optionally, each lane information includes lane serial number and carriageway type, the lane of first lane where vehicle determines Information, comprising:

According to preset allocation order, vehicle is each lane distribution lane serial number of the road of traveling；Vehicle determines institute In the lane serial number of first lane；The carriageway type of first lane is obtained based on ground oriented identification recognition result.

Optionally, vehicle is according to the lane information of the first crossing location information and first lane in crossing traffic information collection The crossing traffic information of first lane is searched in conjunction, comprising: vehicle is according to the first crossing place information inquiry crossing traffic information Set；When crossing traffic information set record has the first crossing location information, vehicle is obtained where the first crossing location information At least one set of corresponding relationship；Vehicle inquires at least one set of corresponding relationship according to the lane information of first lane；Work as at least one set When there is record in corresponding relationship has the target group corresponding relationship of lane information of first lane, vehicle, which obtains record, the first vehicle The target group corresponding relationship of the lane information in road；Crossing traffic information in target group corresponding relationship is determined as the first vehicle by vehicle The corresponding crossing traffic information in road.

The technical solution of the application can uniquely determine one group of corresponding relationship according to crossing location information and lane information.

Optionally, crossing traffic information includes stopping line position, and vehicle is obtaining the corresponding crossing traffic letter of first lane After breath, this method further include: obtain the current vehicle speed of vehicle；

Determine the signal lamp state at the first crossing；When the current vehicle speed of vehicle is greater than preset vehicle speed threshold value, and the first crossing Signal lamp state be forbidden state, the current location of continuous updating vehicle, until vehicle current location and crossing traffic believe When the distance that breath gathers recorded stopping line position being less than first distance threshold value, stop line detection notice is issued；When vehicle Current vehicle speed be 0 or first the signal lamp state at crossing be prevailing state, and the current location of vehicle and stop line position away from When from being less than second distance threshold value, stop line detection notice is issued；Wherein, first distance threshold value is greater than second distance threshold value.

The technical solution of the application can be estimated current by the stopping line position recording in crossing traffic information set When driving, the position of the stop line of first lane, avoid stop line detection technique detection failure when there may be the problem of.

Optionally, vehicle is after obtaining the corresponding crossing traffic information of first lane, this method further include: vehicle with When the distance between the stop line at the first crossing is less than or equal to third distance threshold, the acquisition of stop line information, third are carried out Distance threshold is greater than first distance threshold value；When not collecting stop line in preset duration, the current vehicle speed for obtaining vehicle is executed The step of.

Optionally, this method further include: vehicle can establish crossing traffic information set；Alternatively, vehicle receives server The crossing traffic information set of transmission, the crossing traffic information set are that server is handed over based on the initial crossing that multiple vehicles are established What logical information aggregate was integrated.

Optionally, crossing traffic information set is shown in a manner of traffic map.

Second aspect, provides a kind of acquisition methods of crossing traffic information, and this method is applied to server, and this method can be with Include:

Server obtains the initial crossing traffic information set that multiple vehicles are established；Multiple initial roads that server will acquire Mouth traffic information set merges into crossing traffic information set；Server each vehicle into multiple vehicles provides crossing traffic letter Breath set；Wherein, crossing traffic information set record has at least one set of corresponding relationship, and every group of corresponding relationship is crossing position letter The corresponding relationship of breath, lane information and crossing traffic information.

In the technical solution of the application, the initial crossing traffic information set that server can establish multiple vehicles merges For crossing traffic information set, the set is by including corresponding relationship that multiple vehicles are established, thus the crossing covered Traffic information is more, can facilitate the use when driving towards crossing of each vehicle.

Optionally, multiple initial crossing traffic information set that server will acquire merge into crossing traffic information set, Include: server according to the crossing location information recorded in multiple initial crossing traffic information set, multiple initial crossings are handed over Lead to information aggregate according to the difference at crossing, is divided into multiple alternative crossing traffic information set, each alternative crossing traffic information Gather a corresponding crossing；Server closes at least one set of corresponding relationship in each alternative crossing traffic information set And；Alternative crossing traffic information collection after all merging is combined into crossing traffic information set.

In the technical solution of the application, server can will correspond to each road in multiple initial crossing traffic information set Multiple crossing traffic informations of mouth merge, may duplicate information with removal.

Optionally, crossing traffic information includes signal information, signal information include signal lamp crossing location information, Classification information and colouring information, colouring information include the acquisition period of color characteristic and color characteristic, and server will be each standby At least one set of corresponding relationship in crossing traffic information set is selected to merge, comprising: for each alternative crossing traffic information Set: the lane information of highest scoring at least one set of corresponding relationship is retained using ballot decision mechanism for lane information； And/or for signal information, using the ballot decision mechanism based on weight, retain at least one set of corresponding relationship score most High signal information, the weight of each signal information and negatively correlated with reference to duration, face in when reference a length of signal information The duration gap of the acquisition period and current time of color characteristic.

The third aspect provides a kind of acquisition device of crossing traffic information, is used for vehicle, which obtains Taking device includes at least one module, at least one module obtains for realizing crossing traffic information described in above-mentioned first aspect Take method.

Fourth aspect provides a kind of acquisition device of crossing traffic information, is used for server, the crossing traffic information Acquisition device includes at least one module, at least one module is for realizing crossing traffic information described in above-mentioned second aspect Acquisition methods.

5th aspect, provides a kind of acquisition device of crossing traffic information, is used for vehicle, the acquisition of the crossing traffic information Device includes processor and memory, wherein processor is configured as executing the instruction stored in memory, and processor is by holding The acquisition methods that row instructs to realize the crossing traffic information of above-mentioned first aspect offer.

6th aspect, provides a kind of acquisition device of crossing traffic information, is used for server, which obtains Taking device includes processor and memory, wherein processor is configured as executing the instruction stored in memory, and processor passes through The acquisition methods for executing instruction to realize the crossing traffic information of above-mentioned second aspect offer.

7th aspect, provides a kind of storage medium, instruction is stored in the storage medium, when the storage medium is handed at crossing When being run on the acquisition device of communication breath, so that the acquisition device of crossing traffic information executes the crossing that above-mentioned first aspect provides The acquisition methods of traffic information.

Eighth aspect provides a kind of storage medium, and instruction is stored in the storage medium, when the storage medium is handed at crossing When being run on the acquisition device of communication breath, so that the acquisition device of crossing traffic information executes crossing described in above-mentioned second aspect The acquisition methods of traffic information.

9th aspect, provides a kind of computer program product comprising instruction, when it is filled in the acquisition of crossing traffic information When setting operation, so that the acquisition device of the crossing traffic information can be realized crossing traffic information described in above-mentioned first aspect Acquisition methods.

Tenth aspect, provides a kind of computer program product comprising instruction, when it is filled in the acquisition of crossing traffic information When setting operation, so that the acquisition device of the crossing traffic information can be realized crossing traffic information described in above-mentioned second aspect Acquisition methods.

Technical solution provided in an embodiment of the present invention has the benefit that

The crossing in lane where recording the vehicle at the crossing for having vehicle front that will pass through in crossing traffic information set When location information, the crossing traffic information in lane where obtaining vehicle directly from the crossing traffic information set, so that crossing The acquisition speed of traffic information is very fast, and flexibility is higher.

Detailed description of the invention

Fig. 1 is a kind of schematic diagram of application scenarios of the acquisition methods of crossing traffic information provided by the present application；

Fig. 2A is a kind of schematic diagram of implementation environment of the acquisition methods of crossing traffic information provided by the present application；

Fig. 2 B is the signal of another implementation environment of the acquisition methods of crossing traffic information provided by the embodiments of the present application Figure；

Fig. 3 is a kind of schematic diagram of crossing traffic information set involved in the application；

Fig. 4 A is a kind of flow chart of the acquisition methods of crossing traffic information provided by the present application；

Fig. 4 B is that a kind of inquire obtains the flow chart of the corresponding crossing traffic information of first lane in method shown in Fig. 4 A；

Fig. 5 A is the flow chart of the acquisition methods of another traffic information provided by the present application；

Fig. 5 B is a kind of flow chart of the acquisition process of crossing location information in method shown in Fig. 5 A；

Fig. 5 C is a kind of flow chart of the acquisition process of lane information in method shown in Fig. 5 A；

Fig. 6 is the flow chart for the method that another kind provided by the present application establishes crossing traffic information set；

Fig. 7 A is the flow chart of the acquisition methods of another traffic information provided by the present application；

Fig. 7 B is the flow chart that the signal lamp state at the first crossing is determined in method shown in Fig. 7 A；

Fig. 7 C is a kind of flow chart of the acquisition methods of crossing traffic information provided by the present application；

Fig. 8 A is a kind of structural block diagram of the acquisition device of crossing traffic information provided by the present application；

Fig. 8 B is the structural block diagram of the acquisition device of another crossing traffic information provided by the present application；

Fig. 8 C is the structural block diagram of the acquisition device of another crossing traffic information provided by the present application；

Fig. 8 D is the structural block diagram of the acquisition device of another crossing traffic information provided by the present application；

Fig. 8 E is the structural block diagram of the acquisition device of another crossing traffic information provided by the present application；

Fig. 8 F is the structural block diagram of the acquisition device of another crossing traffic information provided by the present application；

Fig. 8 G is the structural block diagram of the acquisition device of another crossing traffic information provided by the present application；

Fig. 9 A is a kind of structural block diagram of the acquisition device of crossing traffic information provided by the present application；

Fig. 9 B is a kind of structural block diagram for gathering merging module in the acquisition device of crossing traffic information shown in Fig. 9 A；

Figure 10 is a kind of structural block diagram of the acquisition device of crossing traffic information provided by the present application.

Specific embodiment

To keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with attached drawing to the application embodiment party Formula is described in further detail.

Fig. 1 is a kind of schematic diagram of application scenarios of the acquisition methods of traffic information provided by the present application, the application scenarios Show the information at a schematical crossing, which may include there are multiple lanes (crossing shown in FIG. 1 including three The case where a lane 111,112 and 113), on the lane apart from crossing certain distance, it is provided with ground oriented identification 12, it should Ground oriented identification 12 is used to identify the type in lane, for example, shown in fig. 1 is that the carriageway type in lane 111 and lane 112 is The case where Through Lane, the carriageway type in lane 113 is right-turn lane.Vehicle can be determined according to travel route in which vehicle Road traveling, illustratively, can be in 113 uplink of right-turn lane if a certain vehicle will turn right according to travel route at the crossing It sails.

The crossing further includes stop line 13 and signal lamp 14, and each lane can respectively correspond to signal lamp (each vehicle Road can be corresponding with the signal lamp that it is faced) or all lanes can be corresponding with the same signal lamp.Vehicle 20 is travelling When near to stop line 13, corresponding driving plan can be determined according to the instruction information of the corresponding signal lamp in 20 place lane of vehicle Slightly.

The intersection in any two road may include three (T-shaped roads junction) or four (crossroad) roads shown in FIG. 1 Mouthful.

Fig. 2A is a kind of schematic diagram of implementation environment of the acquisition methods of traffic information provided by the present application, the implementation environment May be constructed some or all of of vehicle, the vehicle 20 may include control assembly 21, image acquisition components 22, bus 23, One or more of image processing modules 24, vehicle control device 25, networking component 26 and positioning component 27.

Control assembly 21 may include one or more central processing units (Central Processing Unit, CPU), Or control assembly 21 may include control circuit.Control assembly 21 is responsible for carrying out overall control to the various components of vehicle 20.

Image acquisition components 22 may include camera, and for acquiring the image of vehicle periphery, which can be single Mesh camera or binocular camera, for example, the camera can be set in the front of vehicle 20.Image acquisition components 22 can be with Control assembly 21 connects.

Bus 23 can be controller local area network (Controller Area Network, CAN) bus, the bus 23 For obtaining the various information of vehicle itself, such as direction information and braking information.Bus 23 can be connect with control assembly 21.

Image processing modules 24 are used to analyze the image of the acquisition of image acquisition components 22.Image processing modules 24 can be with control Component 21 processed connects.

Vehicle control device 25 is connect with control assembly 21, for controlling vehicle driving according to the instruction of control assembly 21.

Networking component 26 is used for and wireless network (such as fourth generation mobile phone mobile communication standard (the 4th Generation mobile communication, 4G) network and the 5th generation mobile phone mobile communication standard (the 5th Generation mobile communication, 5G) network etc.) connection.Networking component 26 can connect with control assembly 21 It connects.

Positioning component 27 is used to pass through Beidou satellite navigation system (BeiDou Navigation Satellite System, BDS) or global positioning system (Global Positioning System, GPS) obtain vehicle 20 position.Positioning Component 27 can be connect with control assembly 21.In addition, positioning component can also pass through BDS and inertial navigation system (Inertial Navigation System, INS) to obtain position or the GPS and INS of vehicle 20 obtain the position of vehicle 20.

Fig. 2 B is the schematic diagram of another implementation environment of the acquisition methods of traffic information provided by the present application, the implementation ring Border may include server 31 and multiple vehicles 20.

Server 31 can be a server or server cluster.

Each vehicle in multiple vehicles 20 can be vehicle shown in Fig. 2.This multiple vehicle 20 can be by wireless Network and server 31, which are established, to be communicated to connect, and transmits data to server 31 by the communication connection, or pass through the communication link It connects from server 31 and obtains data.

The application is based on above-mentioned application scenarios, a kind of crossing traffic information set is provided, by inquiring the crossing traffic Information aggregate, available vehicle are currently located the crossing traffic information in lane.The crossing traffic information set can be with image Form present, such as can be a traffic map.In the embodiment of the present application, with reference to Fig. 3, crossing traffic information set note Record has at least one set of corresponding relationship, and (Fig. 3 is shown including this three groups correspondences of corresponding relationship 1, corresponding relationship 2 and corresponding relationship 3 The case where relationship, but can also include the corresponding relationship of other quantity in crossing traffic information set, herein with no restrictions), Every group of corresponding relationship is the corresponding relationship of crossing location information, lane information and crossing traffic information.Wherein, crossing location information For one crossing of unique identification, lane information is used for one lane of unique identification, crossing in multiple lanes at a crossing Traffic information is for the reference as vehicle driving strategy.

This application involves the plurality of application scenes of the crossing traffic information set, respectively crossing traffic information set is obtained Scene, crossing traffic information set is taken to establish scene, the more new scene of crossing traffic information and the use of crossing traffic information Scene, the detailed process in the plurality of application scenes can be referred to mutually.Exemplary, the application is by taking following embodiment as an example to this Plurality of application scenes is illustrated.

For the acquisition scene of crossing traffic information set, Fig. 4 A is please referred to, Fig. 4 A is a kind of crossing provided by the present application The flow chart of the acquisition methods of traffic information, this method can be applied to vehicle shown in Fig. 2A or Fig. 2 B, and this method can wrap Include following several steps:

Step 401, vehicle obtain crossing traffic information set.

Vehicle can obtain crossing traffic information set in local memory device, or traffic is obtained from server Information aggregate.For example, obtaining the movement of crossing traffic information set can be held by the control assembly 21 of vehicle as shown in Figure 2 A Row, control assembly 21 can obtain crossing traffic information set by bus 23 in local memory device, or pass through net Network component 26 obtains traffic information set from server, wherein crossing traffic information set record has at least one set of corresponding pass System, every group of corresponding relationship are the corresponding relationship of crossing location information, lane information and crossing traffic information, the crossing location information For one crossing of unique identification.

Vehicle can show the crossing traffic information after obtaining crossing traffic information set in a manner of traffic map Set, more intuitively shows user for the crossing traffic information set.

Step 402, vehicle obtain a lane information for place first lane.

The first lane can be any one lane at the first crossing.The acquisition modes of lane information can refer to subsequent Step 505 in Fig. 5 A illustrated embodiment, details are not described herein.

Step 403, vehicle judge the first crossing location information, the first via whether have been recorded in crossing traffic information set Mouth location information is the location information at the crossing in vehicle front pre-determined distance.It is recording sometimes, is executing step 404, do not remembering Record sometimes, executes step 409.

Vehicle can be using the crossing location information recorded in crossing traffic information set as position coordinates one by one, vehicle In motion, can be detected by positioning component whether there is these position coordinates in front preset distance (such as 200 meters), such as deposit It can consider that record has the first crossing location information in crossing traffic information set, is such as not present, vehicle can consider in, vehicle The first crossing location information has not been recorded in crossing traffic information set.

Step 404, vehicle obtain the first crossing location information.

When record has the first crossing location information in crossing traffic information set, the available crossing traffic information of vehicle The the first crossing location information recorded in set.

Step 405, vehicle are according to the lane information of the first crossing location information and first lane in crossing traffic information The crossing traffic information of first lane is searched in set.In the crossing traffic information for inquiring first lane, step is executed 406；When not inquiring the crossing traffic information of first lane, step 407 is executed.

As shown in Figure 4 B, this step may include following three sub-steps:

Sub-step 4051, vehicle are according to the first crossing place information inquiry crossing traffic information set.

Sub-step 4052, when crossing traffic information set record has the first crossing location information, vehicle obtain crossing position At least one set of corresponding relationship where confidence breath.

In this application, since each crossing may include multiple lanes, the crossing location information in this multiple lane may It is identical, thus the same crossing location information may be recorded in multiple groups corresponding relationship.

Sub-step 4053, vehicle inquire at least one set of corresponding relationship according to the lane information of first lane.

Vehicle can further be inquired based on lane information.

Sub-step 4054, when in at least one set corresponding relationship exist record have first lane lane information target group When corresponding relationship, vehicle obtains the target group corresponding relationship that record has the lane information of first lane.

Vehicle can uniquely determine a vehicle according to lane information and crossing location information in crossing traffic information set The corresponding crossing traffic information in road.

When the target group corresponding relationship for the lane information for having first lane in at least one set corresponding relationship there is no record When, it is believed that the crossing traffic information of first lane is not inquired.

Crossing traffic information in target group corresponding relationship is determined as the corresponding road of first lane by sub-step 4055, vehicle Mouth traffic information.

Step 406, when inquiring the crossing traffic information of first lane, vehicle obtains the corresponding crossing of first lane and hands over Communication breath.

After vehicle obtains the corresponding crossing traffic information of first lane, it can determine to drive according to the crossing traffic information Strategy.

In actual implementation, since crossing traffic information set may not record first lane crossing traffic information, in vehicle When can not obtain the crossing traffic information of first lane by crossing traffic information set, crossing is more easily used in order to subsequent Traffic information set, at this point, vehicle can supplement Unrecorded crossing traffic information in crossing traffic information set, it should Process can also be considered as the process for updating crossing traffic information set.The road of first lane is not recorded in crossing traffic information set Mouth traffic information may include two kinds of situations, the first situation is that record has the first crossing position letter in crossing traffic information set Breath but the crossing traffic information for not recording first lane, such situation can be with reference to subsequent steps 407 to step 408；Second Situation is not record the first crossing location information in crossing traffic information set, and kind situation can be with reference to subsequent step 409 to step Rapid 411.

Step 407, when not inquiring the crossing traffic information of first lane, vehicle acquire first lane crossing traffic Information.

When not inquiring the crossing traffic information of first lane, vehicle can start to acquire the crossing traffic of first lane Information, the content that vehicle acquires the crossing traffic information of first lane can refer to aftermentioned Fig. 5 A illustrated embodiment, herein no longer It repeats.

Step 408, vehicle are based on the first crossing location information, the lane information of first lane and the first lane of acquisition Crossing traffic information establish one group of corresponding relationship.

Rear vehicle crossing traffic information set can be updated according to this group of corresponding relationship, renewal process can specifically join Continue the step 507 in Fig. 5 A illustrated embodiment after examination to step 509, details are not described herein.

Step 409, when there are when the oriented identification of ground, vehicle acquires the first crossing position letter in vehicle front pre-determined distance Breath.Execute step 410.

When do not recorded in crossing traffic information set vehicle when by the first crossing location information when, vehicle can be opened Beginning judge by ground oriented identification identification technology that front preset distance is interior whether there is ground oriented identification, and in the presence of (there are ground oriented identifications to illustrate that there are crossings in front), acquires the first crossing location information.The acquisition of crossing location information Journey specifically can be with reference to the step 505 in Fig. 5 A illustrated embodiment, and details are not described herein.In addition, in vehicle front pre-determined distance Interior when ground oriented identification is not present, showing in vehicle front pre-determined distance may be there is no crossing, and vehicle can execute at this time Step 402.

The crossing traffic information of step 410, vehicle acquisition first lane.

The content that vehicle acquires the crossing traffic information of first lane can refer to aftermentioned Fig. 5 A illustrated embodiment, herein not It repeats again.

Step 411, vehicle based on collected crossing location information, the lane information of first lane and acquisition first The crossing traffic information in lane establishes one group of corresponding relationship.

Rear vehicle crossing traffic information set can be updated according to this group of corresponding relationship, renewal process can specifically join Continue the step 507 in Fig. 5 A illustrated embodiment after examination to step 509, details are not described herein.

In conclusion the acquisition methods of crossing traffic information provided by the embodiments of the present application, in crossing traffic information set Where the middle vehicle for recording the crossing for having vehicle front that will pass through when the crossing location information in lane, directly from the crossing traffic The crossing traffic information in lane, flexibility are higher where obtaining vehicle in information aggregate.

Scene is established for crossing traffic information set, corresponding acquisition vehicle can be separately configured and execute crossing traffic The establishment process of information aggregate can also execute the establishment process of the crossing traffic information set by common vehicle, please join Fig. 5 A is examined, the process that the application establishes crossing traffic information set specifically can be as shown in Figure 5A, which may include:

Step 501, vehicle obtain the classification information and face of the signal lamp at the first crossing after detecting ground oriented identification Color characteristic.

Vehicle can persistently identify ground oriented identification when driving towards crossing by ground oriented identification identification technology, and After detecting ground oriented identification, the classification information and color of the signal lamp at the first crossing are obtained by signal lamp identification technology Feature.Ground oriented identification is generally arranged on the position apart from crossing certain distance and the road surface between stop line, and vehicle exists When detecting ground oriented identification, it is believed that soon drive into crossing, the signal lamp for obtaining the first crossing can be started at this time Classification information and color characteristic.

Wherein, the classification information of signal lamp is used to indicate the classification of signal lamp, and the classification of signal lamp may include round letter Signal lamp, straight trip arrow signal lamp, left-hand rotation arrow signal lamp, right-hand rotation arrow signal lamp, straight and turning left arrow signal lamp, straight trip and Right-hand rotation arrow signal lamp and u-turn arrow signal lamp etc., information indicated by these signal lamps can refer to the relevant technologies and method Rule, details are not described herein.

Optionally, since the ground oriented identification at crossing is less, and vehicle may not be able to identify that each ground is led To mark, thus vehicle can start the classification for obtaining the signal lamp at the first crossing when detecting ground oriented identification for the first time Information and color characteristic give subsequent step reserved abundance with the acquisition moment of the classification information of advance signal lamp and color characteristic Time.

The color characteristic of signal lamp can be the one or more features for judging the color of signal lamp.Due to crossing Environment is complex, the frame image (the frame image that the image acquisition components 22 as shown in through Fig. 2A obtain) that vehicle obtains It is difficult to directly and accurately judge the color of signal lamp, thus can persistently obtain signal lamp after detecting ground oriented identification Color characteristic, to obtain the multiple image in a continuous time period, the color that signal lamp is obtained by the multiple image is special Sign, can be improved the accuracy of the color characteristic of acquisition in this way.The color characteristic can be for based on coloration, color saturation and brightness The color characteristic of (Hue Saturation Value, HSV).Optionally, in actual implementation, hsv color feature can be removed In brightness, to drop the influence of low ambient light, and using coloration and color saturation as color characteristic.

Optionally, in step 501, vehicle can be by obtaining ground image, and with ground oriented identification identification technology The ground image is analyzed, it (can be with when there are ground oriented identification with the presence or absence of ground oriented identification in ground image to identify Identify the classification of ground oriented identification), as shown in Figure 2 A, the process can control assembly 21 in the car control image and obtain Component 22 is completed.

Optionally, in step 501, the available signal lamp image of vehicle, and image is identified with signal lamp identification technology In signal lamp classification information and color characteristic, as shown in Figure 2 A, the process can control assembly 21 in the car control Image acquisition components 22 are completed.

In practical realization, which may include the first Image Acquisition structure and the second Image Acquisition knot Structure, the first Image Acquisition structure are installed near vehicle mirrors, using wide-angle camera (such as 90 degree of wide-angle cameras), installation When partial below certain angle (such as 3-4 degree), for acquiring ground image, it is attached that the second Image Acquisition structure is installed on vehicle mirrors Closely, using general angle camera (such as 60 degree of cameras), when installation, is horizontally mounted, for acquiring the first image of signal lamp image Acquire the camera that the camera in structure and the second Image Acquisition structure can be adjustable angle, such as cradle head camera.

Step 502, vehicle are determined when detecting the stop line at the first crossing according to the position of the stop line at the first crossing The position of signal lamp.

Vehicle can continue the detection for carrying out stop line after detecting ground oriented identification information, and detect When the stop line at the first crossing, according to the position of the location determination signal lamp of the stop line at the first crossing.

Since signal lamp and stopping line position are relatively fixed, and the height of signal lamp can be pre- according to corresponding national standard If therefore, in practical applications can according to the inside and outside parameter of camera calibration, vehicle near stop line when signal lamp scheming Location information as according to the preset signal lamp elevation information of national standard estimates signal lamp relative to vehicle in stop line The position 3D when nearby.The information can be used to derive the position of signal lamp in the picture when vehicle does not reach near stop line Information.

For example, obtaining crossing when vehicle driving is at crossing by crossing location information and the lane information of identification and handing over Logical information aggregate.The location information that stop line is obtained in crossing traffic information set estimates vehicle in conjunction with current vehicle position Relative position away from stop line.Relative position of the vehicle of comprehensive estimate away from stop line is obtained from crossing traffic information set Signal lamp relative to vehicle near stop line when position and camera inside and outside parameter, estimation signal lamp it is current in vehicle The position of position moment in the picture, so that the identification for signal lamp provides effective prior information.

The position of above-mentioned signal lamp is the position in preset coordinate system, which can be world coordinate system, It can be the image coordinate system in the second Image Acquisition structure of acquisition signal lamp image, common, which is image coordinate Position in system, effectively to be tracked signal lamp in the picture based on the position.

Wherein it is determined that the mode of the distance between stop line and signal lamp may include it is a variety of, be provided with survey in the car When away from sensor, the distance between stop line and signal lamp directly can be measured by the distance measuring sensor, vehicle can be with root The distance between stop line and signal lamp are determined according to the multiframe that image acquisition components obtain includes the image of signal lamp, such as are adopted The distance is determined with technique of binocular stereoscopic vision, details are not described herein.

The color characteristic of step 503, vehicle based on acquisition, establishes color characteristic distributed model.

After vehicle detection to stop line, vehicle can stop the acquisition of color characteristic, and according to detecting that ground leads Color characteristic distributed model is established to mark to the color characteristic detected in stop line this period, and according to the color characteristic Distributed model determines the color of vehicle signal lamp when detecting stop line.Pass through multiframe acquired in a continuous time period The color characteristic distributed model that image is established can accurately reflect the color characteristic of signal lamp, improve the identification in subsequent process Probability.

The color characteristic distributed model can be the color characteristic distributed model based on Gaussian Profile, for example, hsv color Model, the model are also referred to as hexagonal pyramid model (Hexcone Model).

Although also having in the related technology similar the side of signal lamp color is determined by establishing color characteristic distributed model Method, but the color characteristic distributed model in method in the related technology is the face of the signal lamp based on some crossings as sample What color characteristic was established, do not have specific aim for the signal lamp at some crossing, also without real-time, but the letter at each crossing The diversity ratio of ambient conditions locating for signal lamp (such as height, direction, abrasion and pollution of signal lamp etc.) is larger, thus related skill That establishes in art does not have the accuracy meeting that targetedly color characteristic distributed model identifies the color of some signal lamp It is lower.The color characteristic distributed model that the embodiment of the present application is established corresponds to the mould of the signal lamp at uniquely determine crossing Type has very strong specific aim, can accurately react the color characteristic of the signal lamp at the crossing uniquely determined, in turn Judge that the accuracy of the color of signal lamp also can be higher according to the model.

In actual implementation, for the same crossing can establish the color characteristic distributed model corresponding to red eye with And the color characteristic distributed model corresponding to greensignal light is (since red eye and amber lamp indicate that vehicle stops Only, thus usually amber lamp can be classified as red eye when carrying out signal lamp identification).For same crossing, this Two color characteristic distributed models can be passes through crossing institute's acquired image foundation based on same vehicle at least once (for example, a vehicle successively acquires the image that signal lamp takes on a red color in the period for once passing through the crossing and signal lamp is in The image of green, based on this period, the image of acquisition can establish two color characteristic distributed models), it is also possible to based on not Pass through what the crossing institute acquired image was established at least once with vehicle, the application does not limit this.

Optionally, as shown in Figure 2 A, color characteristic distributed model can be established by the control assembly 21 in vehicle.

Step 504, vehicle determine that signal information, signal information include position, classification information and the color of signal lamp Feature distribution model.

In position, classification information and the color characteristic distributed model for obtaining signal lamp by step 501 to step 503 Afterwards, these information can be determined as signal information by vehicle.

Since what the image including signal lamp that image acquisition components obtain was illuminated by the light is affected, and illumination is for signal The influence of lamp color is usually periodically variable at any time, and corresponding color characteristic distributed model also will receive influence, thus Color characteristic distributed model and time can be got up at this correlate, to reduce the illumination of different periods for signal lamp face The influence of the judgement of color.

Optionally, signal information further includes the corresponding object time section of color characteristic distributed model, the object time Section is the section in preset n time interval where the acquisition period of color characteristic, n time interval for will be preset when Between the period divide obtain at equal intervals, n is the integer greater than 1.I.e. vehicle passes through the first crossing in this n time interval respectively When, every time by the step of being performed both by above-mentioned steps 501 to step 504, the first crossing can be obtained in preset week time Interim color characteristic distributed model, further, when each time interval in this n time interval is at least respectively for vehicle Once pass through the first crossing, is the image of red light and green light respectively to acquire signal lamp in same time interval, then passes through repetition Whole color characteristic distributed modes of first crossing in the preset time cycle can be obtained by executing step 501 to step 504 Type.

Optionally, since the light conditions of the different periods in every day tend to periodically change, thus it is preset when Between the period can be 1 day.When the preset time cycle is 1 day, n can be that 8 or other numerical value, the present embodiment do not make rising limit System.It then, can be as shown in table 1 for the signal information at a crossing comprising: position, classification information and the face of signal lamp Color characteristic distributed model and corresponding object time section, record has the face of red eye in each object time section The color characteristic distributed model of color characteristic distributed model and greensignal light is assumed in table 1 to divide as unit of 1 day time 8 object time sections, and assume that corresponding color characteristic distributed model is complete in each object time section, but practical There may be color characteristic distributed model in partial target time interval not set up also in.

Table 1

Step 505, vehicle acquire the crossing location information at the first crossing and the lane information of first lane.

Vehicle may also begin to the crossing location information and the at the first crossing of acquisition after detecting ground oriented identification The lane information in one lane.

As shown in Figure 5 B, a kind of acquisition process of crossing location information may include:

Sub-step 5051, when detecting ground oriented identification, vehicle obtain current location, which is properly termed as first The initial position in lane.

Optionally, due to may detect that multiple ground oriented identifications before vehicle reaches stop line, in order to avoid repeating The initial position for recording first lane, can be set the flag bit of a ground oriented identification in vehicle, the flag bit just Initial value is second value, and vehicle can set the flag bit of ground oriented identification to before detecting ground oriented identification Two-value, and after detecting ground oriented identification, the first value is set by the flag bit of ground oriented identification, vehicle is being examined every time When measuring ground oriented identification, whether the flag bit that can detecte ground oriented identification is the first value, the oriented identification on ground It, can be without the record of position when flag bit is the first value；When on ground, the flag bit setting of oriented identification is not the first value, The position of available vehicle, and the first value is set by the flag bit of ground oriented identification.Wherein, the first value and second value are Identify the unequal value of any two of the flag bit of ground oriented identification.For example, the first value is 0, second value 1.

Optionally, vehicle can obtain current location, and by the current location when detecting ground oriented identification for the first time As the initial position of first lane, to improve the success rate of identification.

In addition, the flag bit of ground oriented identification can be again set at second after through the first crossing by vehicle Value.

Sub-step 5052, when vehicle detection is to stop line, obtain the position of vehicle, which is the stopping of first lane Line position.

It, can be in the multiple of the intersection in any two road by the initial position and stopping line position of first lane The first crossing is uniquely determined in crossing.Thus the initial position and stopping line position can be used as the crossing position letter at the first crossing Breath.

In addition, crossing location information can also include the position of stop line and the direction at the first crossing, pass through the two Information also can uniquely determine the first crossing in multiple crossings of the intersection in any two road.

In embodiments herein, Fig. 2A is please referred to, vehicle can obtain the position where vehicle by positioning component 27 It sets.In the embodiment of the present application, the information of position typically GPS coordinate.

The lane information in each lane may include the carriageway type in each lane and the lane serial number in each lane, often The lane serial number in a lane can be the serial number for one lane of unique identification in multiple lanes at a crossing.Such as Fig. 5 C Shown, a kind of acquisition process of lane information may include:

Sub-step 5053, according to preset allocation order, vehicle be traveling road each lane distribution lane serial number.

Vehicle can identify the number amount and type in lane by Lane detection technology, and the preset allocation order can With by vehicle first it is detected that curb or yellow lane line determine.Illustratively, if first identifying a vehicle heading left side The curb or yellow lane line of side then the lane at the first crossing are numbered since first lane of the rightmost side, successively Setting R1, R2, R3 for lane serial number ..., Rx, x are the lane sum at the first crossing.If first identifying on the left of vehicle heading Curb or yellow lane line, then the lane at the first crossing is numbered successively since first lane of the rightmost side by vehicle Road serial number is set as H1, H2, H3 ... Hx.

Further, since some Lane detection technologies can only identify a certain lane when vehicle is located at a certain lane The lane line in two sides lane, thus when using these Lane detection technologies, all lanes can be identified by lane change Lane line.

The lane serial number of first lane where sub-step 5054, vehicle determine.

Sub-step 5055, vehicle obtain the carriageway type of first lane based on ground oriented identification recognition result.

Vehicle may detect that multiple ground oriented identifications in the process of moving, since road conditions may complex, vehicle May be different for the recognition result of same type of ground oriented identification, vehicle can choose one of ground guide mark Know carriageway type of the recognition result as first lane.The selection course can be optional process, be also possible to be based on Pre-set screening rule carries out the process of selection, such as by the result of the most identification of frequency of occurrence in multiple recognition result Carriageway type as first lane.

It, can be by the lane serial number and vehicle of first lane after the lane serial number and carriageway type that first lane has been determined Road type association is got up.

Terminate to step 505, vehicle has obtained the corresponding signal of information and the lane in the lane where vehicle The crossing traffic informations such as the color characteristic distributed model of lamp.

Crossing location information based on the first crossing of step 506, vehicle, the lane information of first lane and acquisition The crossing traffic information in one lane establishes one group of corresponding relationship.

Optionally, this group of corresponding relationship can be established by the control assembly in vehicle.Further, since vehicle is not by With crossing when, the curb identified first may be the curb on the left of vehicle heading, it is also possible to vehicle heading The curb on right side, thus when establishing corresponding relationship, it can be by lane serial number according to the direction where the curb recognized first Unification (such as be unified for and sort since the lane of the leftmost side, or be unified for and sort since the lane of the rightmost side) is carried out, to keep away The lane information exempted from corresponding relationship is chaotic.

Step 507, vehicle judge whether to violate the traffic regulations according to driving information；The execution when vehicle violates the traffic regulations Step 508；When vehicle does not violate the traffic regulations, step 509 is executed.

The corresponding relationship and driving information that vehicle can be established according to step 506 to determine whether violate the traffic regulations, The traffic rules can refer to relevant laws and regulations of the first crossing location about road traffic.Illustratively, table 2 shows symbol Close traffic rules various driving informations, if the running information record of vehicle in table 2, it may be considered that vehicle does not violate traffic Rule, if the driving information of vehicle is not recorded in table 2, it may be considered that vehicle violates traffic rules.

Table 2

In table 1, the first row indicates the classification of each column data, and one group of corresponding information of each behavior vehicle is exemplary, Information represented by 1 second row of table are as follows: for vehicle driving in Through Lane, signal lamp is straight trip arrow signal lamp or circular signal Lamp, the color of signal lamp be it is red, the speed of vehicle is 0, and the driving information of this vehicle does not violate the traffic regulations.Traveling in table 1 Information can be obtained from vehicle control device, and the color of carriageway type, signal lamp type and signal lamp can be established by step 506 Corresponding relationship in obtain.The case where onrelevant signal lamp in table 2 may include two kinds, arrive signal lamp one is unidentified, Another kind is that crossing is not provided with signal lamp, and in both cases, the speed of vehicle is greater than 0 it is considered that meeting traffic rule Then.

Step 508, vehicle delete this group of corresponding relationship.

The case where vehicle violates the traffic regulations really is excluded, if vehicle identification goes out current driving information and violates traffic rule Then, then show that, there may be the information of mistake in the corresponding relationship of step 506 foundation, which may not have reference price Value, thus the corresponding relationship can be deleted.

This group of corresponding relationship is added in crossing traffic information set by step 509, vehicle.

When vehicle does not violate the traffic regulations, this group of corresponding relationship can be added to crossing traffic information set by vehicle In.The crossing traffic information set can be located in the memory of vehicle local, can also be located in server.

In the acquisition methods of crossing traffic information provided by the embodiments of the present application, according to crossing location information, lane information And the crossing traffic information of acquisition establishes corresponding relationship, vehicle can be using the corresponding relationship as acquisition crossing traffic information Prior information, to improve the robustness of the acquisition methods of crossing traffic information.Exemplary, some identification technologies can in the related technology The factors such as distance, surface gathered water, road surface oriented identification are worn, front vehicles are blocked can be limited to, to be difficult to obtain lane class Type, but method provided by the embodiments of the present application can obtain carriageway type by the other information in corresponding relationship.

In addition, being based on corresponding relationship provided by the embodiments of the present application, it may be limited to distance in the related technology and be difficult to know Not Chu signal lamp color, but the face of signal lamp can be determined that in larger distance according to the information recorded in corresponding relationship Color.

In conclusion the acquisition methods of crossing traffic information provided by the embodiments of the present application, are handed over by pre-establishing crossing Logical information aggregate, in order to which the crossing location information after vehicle at the crossing of process is recorded in the crossing traffic information set When, the crossing traffic information in lane where vehicle can be obtained directly from the crossing traffic information set, so that crossing traffic The acquisition speed of information is very fast, and flexibility is higher.

Step 501 to step 509 is the process that a certain vehicle in the application establishes traffic information set, and crossing is handed over Logical information aggregate establishes scene, and the process for establishing traffic information set can also be established by server and vehicle cooperation, this When, the application provides a kind of traffic system, which includes server and multiple vehicles, and structure can refer to above-mentioned figure 2B, as shown in fig. 6, the process may include following several steps:

Step 601, server obtain the initial crossing traffic information set that multiple vehicles are established.

In practical application, each available initial crossing traffic information set of vehicle, and it is sent to server, by servicing Device is integrated accordingly, each vehicle obtain initial crossing traffic information set process can with reference to above-mentioned steps 501 to Step 510.

Step 602, server, will be multiple according to the crossing location information recorded in multiple initial crossing traffic information set Initial crossing traffic information set is divided into multiple alternative crossing traffic information set, each alternative road according to the difference at crossing The corresponding crossing of mouth traffic information set.

In initial crossing traffic information set acquired in multiple vehicles, it may include the multiple groups pair corresponding to identical crossing It should be related to, server can be using the corresponding multiple groups corresponding relationship in each crossing as an alternative crossing traffic information set.

Step 603, server merge at least one set of corresponding relationship in each alternative crossing traffic information set.

For each alternative crossing traffic information set, the mode of the merging may include in following two mode at least A kind of mode:

The first, for the merging mode of lane information: using ballot decision mechanism, server retains at least one set of corresponding The lane information of highest scoring in relationship.I.e. for certain lane information at the crossing of any one, alternative crossing can be handed over The most lane information of frequency of occurrence remains in logical information aggregate, and the lane information of other same types is deleted, exemplary , in the alternative crossing traffic information set at the first crossing, record for the type in lane has in 5 corresponding relationships and remembers Carrying the first crossing includes a Through Lane and a right-turn lane, and having 3 corresponding relationships to record the first crossing includes a left side It changes trains or buses and a right-turn lane, there is that record the first crossing in 1 corresponding relationship include 1 Through Lane, then the first crossing Highest scoring including a Through Lane and right-turn lane this carriageway type information can retain carriageway type letter Breath, and delete other carriageway type information.

In addition, by Fig. 5 A illustrated embodiment it is found that since vehicle is when by different crossings, the curb that identifies first It may be the curb on the left of vehicle heading, it is also possible to the curb on the right side of vehicle heading, thus different vehicle obtains Lane information in lane serial number may disunity, thus server can be by lane serial number according to the curb recognized first The direction at place carries out unification and (such as is unified for and sorts since the lane of the leftmost side, or be unified for since the lane of the rightmost side Sequence), it is chaotic to avoid the lane information in corresponding relationship.

Second, for the merging mode of signal information: using the ballot decision mechanism based on weight, server retains The weight of each signal information of the signal information of highest scoring and, ginseng negatively correlated with reference to duration at least one set of corresponding relationship When examining in a length of signal information color characteristic acquisition period and current time duration gap.I.e. the acquisition of color characteristic when Section is bigger with the duration gap at current time, then the weight of color characteristic is smaller, this is because color characteristic may be with the time Variation and generate variation (such as illumination can change with the variation in season, and then impact to color characteristic), thus distance The accuracy of current time closer signal information is higher, and then when merging signal information, can will apart from it is current when Carve the higher of the weight setting of closer signal information.

Server can delete the signal information apart from current time certain time length (such as half a year), and it is current only to adjust the distance Signal information of the moment in the certain time length merges, to further increase the accuracy of signal information.

Alternative crossing traffic information collection after all merging is combined into crossing traffic information set by step 604, server.

Server hands over the initial crossing that multiple vehicles upload after incorporating all alternative crossing traffic informations , there are the corresponding lane information of only one and crossing traffic information, server in each crossing recorded in logical information aggregate The alternative crossing traffic information collection after all merging can be combined into crossing traffic information set at this time.

Step 605, server each vehicle into multiple vehicles provide mouth traffic information set.

Server can provide traffic information set to vehicle by wireless network.

The embodiment of the present application merges the initial crossing traffic information set that multiple vehicles are established by server, with one kind The mode of crowdsourcing has reached the crossing traffic information that can quickly generate that one includes the crossing traffic information at multiple crossings Set performance.

In conclusion the acquisition methods of crossing traffic information provided by the embodiments of the present application, server can be by multiple vehicles Establish initial crossing traffic information set merge into crossing traffic information set, the set is by including multiple vehicle institutes The corresponding relationship of foundation, thus the crossing traffic information covered is more, can facilitate the use when driving towards crossing of each vehicle, Improve the availability of crossing traffic information set.

For the usage scenario of crossing traffic information set, as shown in Figure 7 A, which may be considered reality shown in Fig. 4 After the step 404 for applying example, vehicle obtains the process after the corresponding crossing traffic information of first lane.Road provided by the present application The acquisition methods of mouth traffic information can also include following several steps:

Step 701, between the stop line at vehicle with the first crossing at a distance from be less than or equal to third distance threshold when, vehicle Carry out stop line information acquisition.

It, can be according to crossing traffic information pair after the corresponding crossing traffic information of first lane of the vehicle where obtaining The position of the stop line recorded in the crossing location information answered determines that (first crossing is the first crossing position for vehicle and the first crossing The corresponding crossing of confidence breath) the distance between stop line whether be less than or equal to third distance threshold, and with the first via The distance between mouth (shows that vehicle may soon reach stop line) when being less than or equal to third distance threshold at this time, is stopped The acquisition of line information.Third distance threshold, which can be equal to, to be detected between the position of road surface oriented identification and the position of stop line Distance, i.e. vehicle can begin to carry out after detecting road surface oriented identification the acquisition of stop line information.

Vehicle can obtain crossing traffic information set by method shown in Fig. 5 A, or obtain crossing from server and hand over Logical information aggregate.

Step 702, when not collecting stop line in preset duration, vehicle obtains current vehicle speed.

When not collecting stop line in preset duration, show that vehicle may be since some interference be (such as front vehicles Block or rain and snow weather cause the stop line on road surface to be blocked) fail accurate detection to stop line, it is available at this time Current speed.

Step 703, vehicle determine the signal lamp state at the first crossing.

As shown in Figure 7 B, this step may include following 4 sub-steps:

Sub-step 7031, vehicle acquisition include the image to be analyzed of signal lamp.

Vehicle can obtain the image to be analyzed comprising signal lamp by image acquisition components.

The position of sub-step 7032, vehicle based on the signal lamp recorded in current location and crossing traffic information, determine to Analyze the position of signal lamp in image.

Vehicle can establish a coordinate system (such as world coordinate system), and in the coordinate system based on current vehicle position, The position of the signal lamp recorded in the height and crossing traffic information of image acquisition components, determines signal lamp in image to be analyzed Position.The coordinate system can be corresponding to the setting height with image acquisition components.

Color characteristic at the position of sub-step 7033, vehicle based on signal lamp in image to be analyzed, establishes face to be processed Color characteristic distributed model.

After position of the signal lamp in image to be analyzed has been determined, the color characteristic of the position can be extracted, establish to Color characteristic distributed model is handled, establishing for the model can be no longer superfluous herein with reference to the step 503 in Fig. 5 A illustrated embodiment It states.

The color characteristic that sub-step 7034, vehicle will record in color characteristic distributed model to be processed and crossing traffic information Distributed model is compared, to determine the color of current signal light.

The color characteristic distributed model recorded in crossing traffic information may include the color spy corresponding to red eye Distributed model and the color characteristic distributed model corresponding to greensignal light are levied, it can be by color characteristic distributed model to be processed It is compared with the two models, using the color of the high corresponding signal lamp of color characteristic distributed model of similarity as current letter The color of signal lamp.The state of signal lamp can be determined according to the color of signal lamp, it is exemplary, if the color of signal lamp is green, Then the state of signal lamp is prevailing state, if the color of signal lamp is red, the state of signal lamp is forbidden state.

Step 704, when vehicle current vehicle speed be greater than preset vehicle speed threshold value, and the signal lamp state at the first crossing be it is forbidden State, vehicle continuous updating current location, until the stop line that the current location of vehicle and crossing traffic information set are recorded When the distance of position is less than first distance threshold value, stop line detection notice is issued.

When vehicle current vehicle speed be greater than preset vehicle speed threshold value, and the signal lamp state at the first crossing be forbidden state, and It, can when being less than first distance threshold value at a distance from the stopping line position that the current location of vehicle is recorded with crossing traffic information set There is the possibility for rushing across stop line to think vehicle at any time, in order to avoid the generation of this case, stop line can be issued at this time Detection notice, the notice is for having confirmly detected stop line.The first distance threshold value is less than third distance threshold, exemplary , which can be determined by the maximum distance that stop line identification technology can identify.

Step 705, when the current vehicle speed of vehicle be 0 or first the signal lamp state at crossing be prevailing state, and vehicle With when stopping being less than second distance threshold value at a distance from line position, vehicle issues stop line detection notice for current location.

When speed be 0 and vehicle current location in corresponding relationship stop line position at a distance from be less than second distance threshold value When, show that vehicle may have been travelled to stop line, then vehicle can issue stop line detection notice, alternatively, when first The signal lamp state at crossing is prevailing state, and the current location of vehicle is less than second distance threshold value at a distance from stopping line position When, vehicle may also have been travelled to stop line, then vehicle can also issue stop line detection notice.Wherein, second away from It is less than first distance threshold value from threshold value, illustratively, second distance threshold value can be 5 meters.

In actual implementation, the signal lamp of time interval where current time may not recorded due to crossing traffic information set Color characteristic distributed model, alternatively, record has and the signal lamp of time interval where current time in crossing traffic information The different color characteristic distributed model of the corresponding color of color characteristic distributed model more easily uses crossing traffic in order to subsequent Information aggregate, at this point, vehicle also supplements Unrecorded crossing traffic information in crossing traffic information set, the process The process for updating crossing traffic information set can be considered as, detailed process can be with reference to subsequent step 405 to step 407.

As seen in figure 7 c, the process of the update crossing traffic information set may include following several steps:

Step 706, in the stop line of traveling to the first crossing, whether recorded in vehicle detection crossing traffic information and worked as The color characteristic distributed model of the signal lamp of time interval where the preceding moment.

This step is the case where vehicle collects stop line in preset duration, and vehicle can detecte crossing traffic letter at this time The color characteristic distributed model of the signal lamp of time interval where whether recording current time in breath.

If the color characteristic of the signal lamp of time interval where current time is not recorded in step 707, crossing traffic information Distributed model, alternatively, there is and the color characteristic of the signal lamp of time interval where current time point record in crossing traffic information The different color characteristic distributed model of the corresponding color of cloth model, the color that vehicle obtains the signal lamp at current first crossing are special Sign.

The acquisition modes of the color characteristic can be no longer superfluous herein with reference to the step 501 in above-mentioned Fig. 5 A illustrated embodiment It states.

The color characteristic of step 708, vehicle based on acquisition, establishes color characteristic distributed model.

Vehicle establishes the step of color characteristic distributed model can be with reference to the step 503 in Fig. 5 A illustrated embodiment, herein It repeats no more.

When the corresponding target of the color characteristic distributed model and color characteristic distributed model that step 709, vehicle will acquire Between section be recorded in the corresponding crossing traffic information of first lane.

Color characteristic distributed model and the corresponding object time section of color characteristic distributed model are being recorded in first Process in the corresponding crossing traffic information in lane may be considered the process of a update to crossing traffic information, by right The crossing traffic information at each crossing is updated, it will be able to be that crossing traffic information set is more perfect.

In conclusion the acquisition methods of crossing traffic information provided by the embodiments of the present application, pass through crossing traffic information collection The crossing traffic information in lane where obtaining vehicle in conjunction, and determine that vehicle whether close to stop line, avoids by the information It can not normally detect issuable various problems when stop line.

The embodiment of the invention provides a kind of acquisition device 800 of crossing traffic information, the acquisitions of the crossing traffic information Device 800 can be applied to vehicle 20 shown in Fig. 2A, and as shown in Figure 8 A, which includes:

Set obtains module 810, for executing the step 401 in above-described embodiment.

Lane information obtains module 820, for executing the step 402 in above-described embodiment.

Judgment module 823, for executing the step 403 in above-described embodiment.

Crossing position information acquisition module 821, for executing the step 404 in above-described embodiment.

Enquiry module 822, for executing the step 405 in above-described embodiment.

Intersection information obtains module 830, for executing the step 406 in above-described embodiment.

Optionally, as shown in Figure 8 B, the acquisition device 800 of the crossing traffic information further include:

Intersection information acquisition module 840, for executing the step 407 in above-described embodiment.

Corresponding relation building module 850, for executing the step 408 and 411 in above-described embodiment.

Regular judgment module 870, for executing the step 507 in above-described embodiment.

Relationship removing module 880, for executing the step 508 in above-described embodiment.

Gather update module 860, for executing the step 509 in above-described embodiment.

Optionally, the acquisition device of the crossing traffic information in Fig. 8 B further include:

Crossing location information acquisition module 871, for executing the step 409 in above-described embodiment.

Optionally, crossing traffic information includes signal information, and intersection information acquisition module 840 is specifically used for executing State step 501,502,503 and 504 in embodiment.

Optionally, signal information further includes the corresponding object time section of color characteristic distributed model, object time area Between be section in preset n time interval where the acquisition period of color characteristic, n time interval is by the preset time Period divides at equal intervals to be obtained, and n is the integer greater than 1.

Optionally, the time cycle is 1 day.

Optionally, crossing traffic information includes signal information, and signal information includes the position of signal lamp, classification information With color characteristic distributed model；As shown in Figure 8 C, the acquisition device 800 of crossing traffic information further include:

Image capture module 890, for executing the step 7031 in above-described embodiment.

Signal location determining module 891, for executing the step 7032 in above-described embodiment.

Model building module 892, for executing the step 7033 in above-described embodiment.

Color determination module 893, for executing the step 7034 in above-described embodiment.

Optionally, crossing traffic information includes signal information, and signal information includes the position of signal lamp, classification letter Breath, color characteristic distributed model and the corresponding object time section of color characteristic distributed model, object time section is default N time interval in color characteristic the acquisition period where section, n time interval is will be between preset time cycle etc. It is obtained every division, n is the integer greater than 1；As in fig. 8d, the acquisition device 800 of crossing traffic information further include:

Model checking module 894, for executing the step 706 in above-described embodiment.

Color characteristic obtains module 895, for executing the step 707 in above-described embodiment.

Characteristic model establishes module 896, for executing the step 708 in above-described embodiment.

Model modification module 897, for executing the step 709 in above-described embodiment.

Optionally, crossing traffic information includes stopping line position, as illustrated in fig. 8e, the acquisition device of crossing traffic information 800 further include:

Speed obtains module 898, for executing the step 702 in above-described embodiment.

Signal lamp determining module 899, for executing the step 703 in above-described embodiment.

First stop line detection module 901, for executing the step 704 in above-described embodiment.

Second stop line detection module 902, for executing the step 705 in above-described embodiment.

Optionally, as shown in Figure 8 F, the acquisition device 800 of crossing traffic information further include:

Stop line acquisition module 903, for executing the step 701 in above-described embodiment.

Optionally, as shown in fig. 8g, the acquisition device 800 of crossing traffic information further include:

Set establishes module 904, for executing the step 501 in above-described embodiment to step 509.

Gather receiving module 905, for executing the step 401 in above-described embodiment.

Execution module 907, for executing the step 407 in above-described embodiment.

Optionally, crossing traffic information set is shown in a manner of traffic map.

In conclusion the acquisition device of crossing traffic information provided by the embodiments of the present application, in crossing traffic information set Where the middle vehicle for recording the crossing for having vehicle front that will pass through when the crossing location information in lane, directly from the crossing traffic The crossing traffic information in lane, flexibility are higher where obtaining vehicle in information aggregate.

The embodiment of the invention provides a kind of acquisition device 1000 of crossing traffic information, the acquisitions of the crossing traffic information Device 800 can be applied to server 31 shown in Fig. 2 B, and as shown in Figure 9 A, which includes:

Initial sets obtain module 1010, for executing the step 601 in above-described embodiment.

Gather merging module 1020, for executing the step 602 in above-described embodiment, 603 and 604.

Set provides module 1030, for executing the step 605 in above-described embodiment.

Wherein, crossing traffic information set record has at least one set of corresponding relationship, and every group of corresponding relationship is crossing position letter The corresponding relationship of breath, lane information and crossing traffic information.

Optionally, as shown in Figure 9 B, gather merging module 1020, comprising:

Intersection information divides submodule 1021, for executing the step 602 in above-described embodiment.

Intersection information merges submodule 1022, for executing the step 603 in above-described embodiment.

Set reconstruct submodule 1023, for executing the step 604 in above-described embodiment.

In conclusion the acquisition device of crossing traffic information provided by the embodiments of the present application, multiple vehicles can be established Initial crossing traffic information set merge into crossing traffic information set, the set is by including that multiple vehicles are established Corresponding relationship, thus the crossing traffic information covered is more, can facilitate the use when driving towards crossing of each vehicle, improves The availability of crossing traffic information set.

The application also provides a kind of acquisition device of crossing traffic information, is used for vehicle, the acquisition of the crossing traffic information Device includes processor and memory, and the processor and memory can be used in the control assembly 21 of vehicle shown in Fig. 2A, In, processor is configured as executing the instruction stored in memory, and processor is realized in above-described embodiment by executing instruction The acquisition methods of crossing traffic information performed by vehicle.

Figure 10 describes the structure of the acquisition device of the crossing traffic information of another embodiment of the application offer, including extremely A few processor 1101 (such as CPU), at least one network interface 1102 or other communication interfaces, memory 1103, and At least one communication bus 1104, for realizing the connection communication between these devices.Processor 1101 is for executing memory The executable module stored in 1103, such as computer program.Memory 1103 may include high-speed random access memory (RAM:Random Access Memory), it is also possible to it further include non-labile memory (non-volatile memory), A for example, at least magnetic disk storage.The crossing is realized by least one network interface 1102 (can be wired or wireless) Communication connection between the acquisition device of traffic information and at least one other network element, can be used internet, and wide area network is local Net, Metropolitan Area Network (MAN) etc..

In some embodiments, memory 1103 stores program 11031, and program 11031 can be with device 1101 processed It executes, this program 11031 includes:

Obtain the initial crossing traffic information set that multiple vehicles are established；

The multiple initial crossing traffic information set that will acquire merge into crossing traffic information set；

Into the multiple vehicle, each vehicle provides the crossing traffic information set；

Wherein, the crossing traffic information set record has at least one set of corresponding relationship, and every group of corresponding relationship is crossing position The corresponding relationship of confidence breath, lane information and crossing traffic information.

It should be understood that the acquisition device of crossing traffic information provided by the above embodiment is obtaining crossing traffic information When, only the example of the division of the above functional modules, in practical application, it can according to need and divide above-mentioned function With being completed by different functional modules, i.e., the internal structure of equipment is divided into different functional modules, to complete above description All or part of function.In addition, the device of the acquisition of crossing traffic information provided by the above embodiment and crossing traffic are believed The acquisition methods embodiment of breath belongs to same design, and specific implementation process is detailed in embodiment of the method, and which is not described herein again.

The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.

Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..

The foregoing is merely the alternative embodiments of the application, not to limit the application, it is all in spirit herein and Within principle, any modification, equivalent replacement, improvement and so on be should be included within the scope of protection of this application.

Claims (36)

1. a kind of acquisition methods of crossing traffic information, which is characterized in that the method is applied to vehicle, which comprises

Obtaining the crossing traffic information set, the crossing traffic information set record has at least one set of corresponding relationship, and every group Corresponding relationship is the corresponding relationship of crossing location information, lane information and crossing traffic information；

The lane information of first lane where obtaining the vehicle；

Judge the first crossing location information whether has been recorded in the crossing traffic information set, first crossing location information For the location information at the crossing in the vehicle front pre-determined distance；

When record has the first via mouth location information in the crossing traffic information set, first crossing position is obtained Information；

According to the lane information of first crossing location information and the first lane in the crossing traffic information set The middle crossing traffic information for searching the first lane；

When finding the crossing traffic information of the first lane, the corresponding crossing traffic information of the first lane is obtained.

2. the method according to claim 1, wherein the method also includes:

When not finding the crossing traffic information of the first lane, the crossing traffic information of the first lane is acquired；

The road of the first lane based on first crossing location information, the lane information of the first lane and acquisition Mouth traffic information establishes one group of corresponding relationship；

Judge whether the vehicle violates the traffic regulations according to the driving information of the vehicle；

When the vehicle violates the traffic regulations, one group of corresponding relationship is deleted；

When the vehicle does not violate the traffic regulations, one group of corresponding relationship is added to the crossing traffic information set In.

3. the method according to claim 1, wherein the method also includes:

It is pre- when not recorded the first via mouth location information in the crossing traffic information set, and described in the vehicle front If when apart from the interior oriented identification there are ground, acquiring the crossing location information that the ground oriented identification corresponds to crossing；

Acquire the crossing traffic information of the first lane；

The road of the first lane based on collected crossing location information, the lane information of the first lane and acquisition Mouth traffic information establishes one group of corresponding relationship；

Judge whether the vehicle violates the traffic regulations according to the driving information of the vehicle；

When the vehicle violates the traffic regulations, one group of corresponding relationship is deleted；

When the vehicle does not violate the traffic regulations, one group of corresponding relationship is added to the crossing traffic information set In.

4. according to the method in claim 2 or 3, which is characterized in that the crossing traffic information includes signal information, institute State the crossing traffic information for acquiring the first lane, comprising:

After detecting ground oriented identification, the classification information and color characteristic of signal lamp are obtained；

When detecting stop line, the position of the signal lamp is determined according to the position of the stop line；

Color characteristic based on acquisition establishes color characteristic distributed model；

Determine that the signal information, the signal information include position, the classification information and the color of the signal lamp Feature distribution model.

5. according to the method described in claim 4, it is characterized in that, the signal information further includes the color characteristic distribution The corresponding object time section of model, the object time section are adopting for color characteristic described in preset n time interval Collect the section where the period, the n time interval divides the preset time cycle at equal intervals to be obtained, and the n is big In 1 integer.

6. according to the method described in claim 5, it is characterized in that, the time cycle is 1 day.

7. described the method according to claim 1, wherein the crossing traffic information includes signal information Signal information includes position, classification information and the color characteristic distributed model of signal lamp；

After obtaining the corresponding crossing traffic information of the first lane, the method also includes:

Acquisition includes the image to be analyzed of signal lamp；

The position of the signal lamp recorded in current location and the crossing traffic information based on the vehicle determines described wait divide Analyse the position of signal lamp in image；

Color characteristic at position based on signal lamp in the image to be analyzed establishes color characteristic distributed model to be processed；

By the color characteristic distributed model recorded in the color characteristic distributed model to be processed and the crossing traffic information into Row compares, with the color of the presently described signal lamp of determination.

8. described the method according to claim 1, wherein the crossing traffic information includes signal information Signal information includes position, classification information, color characteristic distributed model and the color characteristic distributed model of signal lamp Corresponding object time section, when the object time section is the acquisition of color characteristic described in preset n time interval Section where section, the n time interval divides the preset time cycle at equal intervals to be obtained, and the n is greater than 1 Integer；

After obtaining the corresponding crossing traffic information of the first lane, the method also includes:

In the stop line of traveling to the first crossing, when detecting where whether having recorded current time in the crossing traffic information Between section signal lamp color characteristic distributed model, first crossing be the corresponding road of first crossing location information Mouthful；

If the color characteristic distributed model of the signal lamp of time interval where current time is not recorded in the crossing traffic information, Alternatively, record has the color characteristic distributed model with the signal lamp of time interval where current time in the crossing traffic information The different color characteristic distributed model of corresponding color obtains the color characteristic of the signal lamp at presently described first crossing；

Color characteristic based on acquisition establishes color characteristic distributed model；

The color characteristic distributed model and the corresponding object time section of the color characteristic distributed model that will acquire are recorded in In the corresponding crossing traffic information of the first lane.

9. the method according to claim 1, wherein each lane information includes lane serial number and lane class Type, the lane information for obtaining vehicle place first lane, comprising:

It is that lane serial number is distributed in each lane of the road of the vehicle driving according to preset allocation order；

The lane serial number of first lane where determining the vehicle；

The carriageway type of the first lane is obtained based on ground oriented identification recognition result.

10. the method according to claim 1, wherein described according to first crossing location information and institute The lane information for stating first lane searches the crossing traffic information of the first lane in the crossing traffic information set, packet It includes:

According to crossing traffic information set described in the place information inquiry of first crossing；

When the crossing traffic information set record has the first via mouth location information, first crossing position letter is obtained At least one set of corresponding relationship where ceasing；

According to the lane information of first lane inquiry at least one set of corresponding relationship；

When the target group corresponding relationship for the lane information for having the first lane at least one set of corresponding relationship in the presence of record When, obtaining record has the target group corresponding relationship of lane information of the first lane；

Crossing traffic information in the target group corresponding relationship is determined as the corresponding crossing traffic information of the first lane.

11. the method according to claim 1, wherein the crossing traffic information include stop line position,

After obtaining the corresponding crossing traffic information of the first lane, the method also includes:

Obtain the current vehicle speed of the vehicle；

Determine the signal lamp state at the first crossing, first crossing is the corresponding crossing of first crossing location information；

When the vehicle current vehicle speed be greater than preset vehicle speed threshold value, and the signal lamp state at first crossing be forbidden shape State, the current location of vehicle described in continuous updating, until the current location of the vehicle and the crossing traffic information set institute When the distance of the stopping line position of record is less than first distance threshold value, stop line detection notice is issued；

When the signal lamp state that the current vehicle speed of the vehicle is 0 or described first crossing is prevailing state, and the vehicle When current location is less than second distance threshold value at a distance from the stopping line position, stop line detection notice is issued；

Wherein, the first distance threshold value is greater than the second distance threshold value.

12. according to the method for claim 11, which is characterized in that

After obtaining the corresponding crossing traffic information of the first lane, the method also includes:

When being less than or equal to third distance threshold at a distance between the stop line at vehicle with first crossing, stop line is carried out The acquisition of information, the third distance threshold are greater than the first distance threshold value；

When the step of not collecting stop line in preset duration, executing the current vehicle speed for obtaining the vehicle.

13. the method according to claim 1, wherein the method also includes:

Establish the crossing traffic information set；

Alternatively, receiving the crossing traffic information set that server is sent, the crossing traffic information set is the service Device is integrated based on the initial crossing traffic information set that multiple vehicles are established.

14. the method according to claim 1, wherein the crossing traffic information set is with the side of traffic map Formula is shown.

15. a kind of acquisition methods of crossing traffic information, which is characterized in that the method is applied to server, the method packet It includes:

Obtain the initial crossing traffic information set that multiple vehicles are established；

The multiple initial crossing traffic information set that will acquire merge into crossing traffic information set；

Into the multiple vehicle, each vehicle provides the crossing traffic information set；

Wherein, the crossing traffic information set record has at least one set of corresponding relationship, and every group of corresponding relationship is crossing position letter The corresponding relationship of breath, lane information and crossing traffic information.

16. according to the method for claim 15, which is characterized in that the multiple initial crossing traffic information collection that will acquire Crossing traffic information set is merged into conjunction, comprising:

According to the crossing location information recorded in the multiple initial crossing traffic information set, the multiple initial crossing is handed over Lead to information aggregate according to the difference at crossing, is divided into multiple alternative crossing traffic information set, each alternative crossing traffic information Gather a corresponding crossing；

At least one set of corresponding relationship in each alternative crossing traffic information set is merged；

Alternative crossing traffic information collection after all merging is combined into the crossing traffic information set.

17. according to the method for claim 16, which is characterized in that the crossing traffic information includes signal information, institute Stating position, classification information that signal information includes the signal lamp and colouring information, the colouring information includes color characteristic And the acquisition period of the color characteristic, at least one set of corresponding relationship by each alternative crossing traffic information set It merges, comprising:

For each alternative crossing traffic information set:

The lane letter of highest scoring at least one set of corresponding relationship is retained using ballot decision mechanism for lane information Breath；

And/or at least one set of corresponding relationship is retained using the ballot decision mechanism based on weight for signal information The signal information of middle highest scoring, the weight of each signal information and negatively correlated with reference to duration, when reference a length of letter The duration gap of the acquisition period and current time of color characteristic in signal lamp information.

18. a kind of acquisition device of crossing traffic information, which is characterized in that the acquisition device of the crossing traffic information is applied to The acquisition device of vehicle, the crossing traffic information includes:

Set obtains module, and for obtaining the crossing traffic information set, the crossing traffic information set record has at least One group of corresponding relationship, every group of corresponding relationship are the corresponding relationship of crossing location information, lane information and crossing traffic information；

Lane information obtains module, the lane information for first lane where obtaining the vehicle；

Judgment module, for judging whether recorded the first crossing location information in the crossing traffic information set, described One crossing location information is the location information at the crossing in the vehicle front pre-determined distance；

Crossing position information acquisition module has first via mouth position letter for working as record in the crossing traffic information set When breath, first crossing location information is obtained；

Enquiry module, for according to the lane information of first crossing location information and the first lane at the crossing The crossing traffic information of the first lane is searched in traffic information set；

Intersection information obtains module, for obtaining first vehicle when finding the crossing traffic information of the first lane The corresponding crossing traffic information in road.

19. the acquisition device of crossing traffic information according to claim 18, which is characterized in that the crossing traffic information Acquisition device further include:

Intersection information acquisition module, for acquiring described first when not finding the crossing traffic information of the first lane The crossing traffic information in lane；

Corresponding relation building module, for based on first crossing location information, the first lane lane information and The crossing traffic information of the first lane of acquisition establishes one group of corresponding relationship；

Regular judgment module, for judging whether the vehicle violates the traffic regulations according to the driving information of the vehicle；

Relationship removing module, for deleting one group of corresponding relationship when the vehicle violates the traffic regulations；

Gather update module, for one group of corresponding relationship being added to described when the vehicle does not violate the traffic regulations In crossing traffic information set.

20. the acquisition device of crossing traffic information according to claim 18, which is characterized in that the crossing traffic information Acquisition device further include:

Crossing location information acquisition module has not recorded first via mouth position for working as in the crossing traffic information set Information, and it is corresponding there are the ground oriented identification when oriented identification of ground, is acquired in pre-determined distance described in the vehicle front The crossing location information at crossing；

Intersection information acquisition module, for acquiring the crossing traffic information of the first lane；

Corresponding relation building module, for based on collected crossing location information, the first lane lane information and The crossing traffic information of the first lane of acquisition establishes one group of corresponding relationship；

Regular judgment module, for judging whether the vehicle violates the traffic regulations according to the driving information of the vehicle；

Relationship removing module, for deleting one group of corresponding relationship when the vehicle violates the traffic regulations；

Gather update module, for one group of corresponding relationship being added to described when the vehicle does not violate the traffic regulations In crossing traffic information set.

21. the acquisition device of crossing traffic information described in 9 or 20 according to claim 1, which is characterized in that the crossing traffic Information includes signal information, and the intersection information acquisition module is specifically used for:

After detecting ground oriented identification, the classification information and color characteristic of signal lamp are obtained；

When detecting stop line, the position of the signal lamp is determined according to the position of the stop line；

Color characteristic based on acquisition establishes color characteristic distributed model；

Determine that the signal information, the signal information include position, the classification information and the color of the signal lamp Feature distribution model.

22. the acquisition device of crossing traffic information according to claim 21, which is characterized in that the signal information is also Including the corresponding object time section of the color characteristic distributed model, the object time section is preset n time zone Between described in color characteristic acquisition the period where section, the n time interval for by the preset time cycle at equal intervals What division obtained, the n is the integer greater than 1.

23. the acquisition device of crossing traffic information according to claim 22, which is characterized in that the time cycle is 1 It.

24. the acquisition device of crossing traffic information according to claim 18, which is characterized in that the crossing traffic information Including signal information, the signal information includes position, classification information and the color characteristic distributed model of signal lamp；

The acquisition device of the crossing traffic information further include:

Image capture module, for acquiring the image to be analyzed comprising signal lamp；

Signal location determining module, for based on the vehicle current location and the crossing traffic information in the letter that records The position of signal lamp determines the position of signal lamp in the image to be analyzed；

Model building module is established to be processed for the color characteristic at the position based on signal lamp in the image to be analyzed Color characteristic distributed model；

Color determination module, the face for will be recorded in the color characteristic distributed model to be processed and the crossing traffic information Color characteristic distributed model is compared, with the color of the presently described signal lamp of determination.

25. the acquisition device of crossing traffic information according to claim 18, which is characterized in that the crossing traffic information Including signal information, the signal information includes the position of signal lamp, classification information, color characteristic distributed model, and The corresponding object time section of the color characteristic distributed model, the object time section are in preset n time interval Section where the acquisition period of the color characteristic, the n time interval are to divide the preset time cycle at equal intervals It obtains, the n is the integer greater than 1；

The acquisition device of the crossing traffic information further include:

Model checking module, for detecting in the crossing traffic information and whether remembering in the stop line of traveling to the first crossing The color characteristic distributed model of the signal lamp of time interval where record has current time, first crossing are first crossing The corresponding crossing of location information；

Color characteristic obtains module, if the signal for time interval where not recording current time in the crossing traffic information The color characteristic distributed model of lamp, alternatively, record has the letter with time interval where current time in the crossing traffic information The different color characteristic distributed model of the corresponding color of color characteristic distributed model of signal lamp obtains presently described first crossing The color characteristic of signal lamp；

Characteristic model establishes module, for the color characteristic based on acquisition, establishes color characteristic distributed model；

Model modification module, color characteristic distributed model and the corresponding mesh of the color characteristic distributed model for will acquire Mark time interval is recorded in the corresponding crossing traffic information of the first lane.

26. the acquisition device of crossing traffic information according to claim 18, which is characterized in that each lane information Including lane serial number and carriageway type, the lane information obtains module, is specifically used for:

It is that lane serial number is distributed in each lane of the road of the vehicle driving according to preset allocation order；

The lane serial number of first lane where determining the vehicle；

The carriageway type of the first lane is obtained based on ground oriented identification recognition result.

27. the acquisition device of crossing traffic information according to claim 18, which is characterized in that the enquiry module, tool Body is used for:

According to crossing traffic information set described in the place information inquiry of first crossing；

When the crossing traffic information set record has the first via mouth location information, first crossing position letter is obtained At least one set of corresponding relationship where ceasing；

According to the lane information of first lane inquiry at least one set of corresponding relationship；

When the target group corresponding relationship for the lane information for having the first lane at least one set of corresponding relationship in the presence of record When, obtaining record has the target group corresponding relationship of lane information of the first lane；

Crossing traffic information in the target group corresponding relationship is determined as the corresponding crossing traffic information of the first lane.

28. the acquisition device of crossing traffic information according to claim 18, which is characterized in that the crossing traffic information Including stopping line position, the acquisition device of the crossing traffic information further include:

Speed obtains module, for obtaining the current vehicle speed of the vehicle；

Signal lamp determining module, for determining the signal lamp state at the first crossing, first crossing is the first crossing position Confidence ceases corresponding crossing；

First stop line detection module is greater than preset vehicle speed threshold value, and the first via for the current vehicle speed when the vehicle Mouthful signal lamp state be forbidden state, the current location of vehicle described in continuous updating, until the current location of the vehicle with When the distance for the stopping line position that the crossing traffic information set is recorded is less than first distance threshold value, stop line detection is issued Notice；

Second stop line detection module is the signal lamp state at 0 or described first crossing for the current vehicle speed when the vehicle For prevailing state, and when the current location of the vehicle is less than second distance threshold value at a distance from the stopping line position, issue Stop line detection notice；

Wherein, the first distance threshold value is greater than the second distance threshold value.

29. the acquisition device of crossing traffic information according to claim 28, which is characterized in that the crossing traffic information Acquisition device further include:

Stop line acquisition module, for be less than or equal at a distance between the stop line at vehicle with first crossing third away from When from threshold value, the acquisition of stop line information is carried out, the third distance threshold is greater than the first distance threshold value；

The speed obtains module, for obtaining the current vehicle speed of the vehicle when not collecting stop line in preset duration.

30. the acquisition device of crossing traffic information according to claim 18, which is characterized in that the crossing traffic information Acquisition device further include:

Set establishes module, establishes the crossing traffic information set；

Gather receiving module, for receiving the crossing traffic information set of server transmission, the crossing traffic information collection Conjunction is that the server is integrated based on the initial crossing traffic information set that multiple vehicles are established.

31. the acquisition device of crossing traffic information according to claim 18, which is characterized in that the crossing traffic information Set is shown in a manner of traffic map.

32. a kind of acquisition device of crossing traffic information, which is characterized in that the acquisition device of the crossing traffic information is applied to The acquisition device of server, the crossing traffic information includes:

Initial sets obtain module, the initial crossing traffic information set established for obtaining multiple vehicles；

Gather merging module, multiple initial crossing traffic information set for will acquire merge into crossing traffic information set；

Set provides module, provides the crossing traffic information set for vehicle each into the multiple vehicle；

Wherein, the crossing traffic information set record has at least one set of corresponding relationship, and every group of corresponding relationship is crossing position letter The corresponding relationship of breath, lane information and crossing traffic information.

33. the acquisition device of crossing traffic information according to claim 32, which is characterized in that the set merges mould Block, comprising:

Intersection information divides submodule, for being believed according to the crossing position recorded in the multiple initial crossing traffic information set Breath, by the multiple initial crossing traffic information set according to the difference at crossing, is divided into multiple alternative crossing traffic information collection It closes, each alternative corresponding crossing of crossing traffic information set；

Intersection information merges submodule, for carrying out at least one set of corresponding relationship in each alternative crossing traffic information set Merge；

Set reconstruct submodule, for the alternative crossing traffic information collection after all merging to be combined into the crossing traffic information Set.

34. the acquisition device of crossing traffic information according to claim 33, which is characterized in that the crossing traffic information Including signal information, the signal information includes position, classification information and the colouring information of the signal lamp, the color Information includes the acquisition period of color characteristic and the color characteristic, and the intersection information merges submodule, is specifically used for:

For each alternative crossing traffic information set:

The lane letter of highest scoring at least one set of corresponding relationship is retained using ballot decision mechanism for lane information Breath；

And/or at least one set of corresponding relationship is retained using the ballot decision mechanism based on weight for signal information The signal information of middle highest scoring, the weight of each signal information and negatively correlated with reference to duration, when reference a length of letter The duration gap of the acquisition period and current time of color characteristic in signal lamp information.

35. a kind of storage medium, which is characterized in that instruction is stored in the storage medium, when the storage medium is handed at crossing When being run on the acquisition device of communication breath, so that the acquisition device perform claim requirement 1 to 14 of the crossing traffic information is any The acquisition methods of the crossing traffic information.

36. a kind of storage medium, which is characterized in that instruction is stored in the storage medium, when the storage medium is handed at crossing When being run on the acquisition device of communication breath, so that the acquisition device perform claim requirement 15 to 17 of the crossing traffic information is any The acquisition methods of the crossing traffic information.