CN111009139A - Signal lamp timing information processing method and device and vehicle-road cooperative system - Google Patents
Signal lamp timing information processing method and device and vehicle-road cooperative system Download PDFInfo
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- CN111009139A CN111009139A CN201911097261.9A CN201911097261A CN111009139A CN 111009139 A CN111009139 A CN 111009139A CN 201911097261 A CN201911097261 A CN 201911097261A CN 111009139 A CN111009139 A CN 111009139A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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Abstract
The application relates to a signal lamp timing information processing method, a signal lamp timing information processing device and a vehicle-road cooperation system, wherein the signal lamp timing information processing method comprises the following steps: acquiring a signal lamp image and image shooting time; identifying signal light conditions from the signal light image, the signal light conditions comprising: a red light state, a green light state, or a yellow light state; and generating timing information corresponding to the signal lamp according to the image shooting time corresponding to the signal lamp image and the signal lamp state. According to the technical scheme, the roadside system can obtain the signal lamp timing information without accessing a signal lamp control system of a public security traffic administration, so that signal lamp reminding can be provided for a plurality of vehicles at the same time, the vehicle self-identification signal lamp is prevented from being identified wrongly or made wrongly, and the traffic safety is improved. In addition, the vehicle does not need to identify the signal lamp, so that the hardware cost and the calculation cost of the vehicle are reduced.
Description
Technical Field
The present application relates to the field of data processing, and in particular, to a signal lamp timing information processing method, device and vehicle-road coordination system.
Background
With the development of technologies such as car networking, 5G, cloud computing and the like, the field of unmanned driving receives more and more attention.
Although the unmanned automobile industry develops rapidly, the current unmanned technical route mainly depends on the sensing and decision of automobile equipment, and a huge computing system is placed in an automobile, but various requirements of automatic driving, especially the requirements on safety, cannot be perfectly met. In addition, the intelligent automobile has extremely high bearing pressure and high cost. The current unmanned vehicle needs self-perception and self-decision, so the requirements on environment perception and recognition capability are extremely high.
The detection and identification of the traffic signal lamp are an essential part of unmanned driving and auxiliary driving, and the identification precision of the traffic signal lamp is directly related to the safety of intelligent driving. When the vehicle is about to reach the intersection, whether the vehicle passes or waits is judged according to the current color of the signal lamp. If the unmanned vehicle identifies and judges, the unmanned vehicle can acquire the signal lamp image for identification when approaching the intersection, and then the color of the signal lamp is judged to determine whether the unmanned vehicle passes or stops for waiting. Therefore, unmanned vehicle identification can be realized only when the unmanned vehicle identification needs to be close to the intersection, and if identification processing is not timely or light change occurs, identification errors or decision errors are easy to occur, and certain influence is brought to traffic safety.
If the road side system identifies the signal lamp, the state of the signal lamp can be sent to the unmanned vehicle in advance, but the state cannot be realized based on the prior art because the road side system cannot be accessed to a signal lamp control system of a public security traffic administration and cannot directly acquire signal lamp data.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, the application provides a signal lamp timing information processing method, a signal lamp timing information processing device and a vehicle-road coordination system.
In a first aspect, an embodiment of the present application provides a signal timing information processing method, including:
acquiring a signal lamp image and image shooting time;
identifying signal light conditions from the signal light image, the signal light conditions comprising: a red light state, a green light state, or a yellow light state;
and generating timing information corresponding to the signal lamp according to the image shooting time corresponding to the signal lamp image and the signal lamp state.
Optionally, the acquiring the signal lamp image includes:
acquiring an image to be detected obtained by shooting a signal lamp;
and identifying the signal lamp from the image to be detected through a pre-trained signal lamp identification model to obtain the signal lamp image.
Optionally, the method further includes:
generating a signal lamp identifier for the signal lamp;
and associating the signal lamp identification with the timing information.
Optionally, the generating a signal lamp identifier for the signal lamp includes:
acquiring the position information of the signal lamp, wherein the position information comprises: the geographic position information of the signal lamp;
and allocating a unique signal lamp identifier for the signal lamp, wherein the signal lamp identifier is associated with the position information.
Optionally, when the image to be detected includes at least two signal lamps with the same geographic location information, the location information further includes: the signal lamp orientation information;
when the image to be measured includes at least two signal lamps in the same orientation, the position information further includes: and lane information corresponding to the signal lamp.
In a second aspect, an embodiment of the present application provides a signal lamp monitoring method, including:
acquiring a road image obtained by shooting a road and image shooting time;
identifying a signal lamp state corresponding to a first signal lamp on the road according to the road image, wherein the signal lamp state comprises: a red light state, a green light state, or a yellow light state;
acquiring timing information corresponding to the first signal lamp, wherein the timing information is generated according to the embodiment of the signal lamp timing information processing method;
and generating first monitoring information corresponding to the first signal lamp according to the signal lamp state, the image shooting time and the timing information.
Optionally, the method further includes:
acquiring running information of a vehicle, wherein the running information comprises a running route;
determining a second signal lamp corresponding to the driving route on the road;
and determining second monitoring information corresponding to the second signal lamp.
Optionally, the method further includes:
and when the vehicle meets a preset reminding condition, sending the first monitoring information and/or the second monitoring information to a terminal corresponding to the vehicle.
Optionally, the first monitoring information or the second monitoring information includes at least one of the following information:
changing the lamp time;
changing the state of the signal lamp before and after the lamp;
the duration of the signal lamp state after the lamp change;
the starting time of the signal lamp state is preset.
Optionally, the determining second monitoring information corresponding to the second signal lamp includes:
determining the running time of the vehicle reaching the road according to the running information, wherein the running information also comprises the position information and the running speed of the vehicle;
generating second monitoring information corresponding to the second signal lamp when the vehicle reaches the road according to the running time, the current state of the signal lamp, the image shooting time and the timing information;
and/or the presence of a gas in the gas,
the determining of the second monitoring information corresponding to the second signal lamp includes:
and selecting second monitoring information corresponding to the second signal lamp from the first monitoring information.
Optionally, the method further includes:
and updating the timing information according to the image shooting time and the corresponding signal lamp state.
In a third aspect, an embodiment of the present application provides a signal timing information processing apparatus, including:
the acquisition module is used for acquiring the signal lamp image and the image shooting time;
an identification module to identify a signal light status from the signal light image, the signal light status comprising: a red light state, a green light state, or a yellow light state;
and the generating module is used for generating the timing information corresponding to the signal lamp according to the image shooting time corresponding to the signal lamp image and the signal lamp state.
In a fourth aspect, an embodiment of the present application provides a signal lamp monitoring device, including:
the first acquisition module is used for acquiring a road image obtained by shooting a road and image shooting time;
the identification module is used for identifying a signal lamp state corresponding to a first signal lamp on the road according to the road image, wherein the signal lamp state comprises: a red light state, a green light state, or a yellow light state;
the second acquisition module is used for acquiring the timing information corresponding to the first signal lamp, and the timing information is generated according to the signal lamp timing information processing method embodiment;
and the generating module is used for generating first monitoring information corresponding to the first signal lamp according to the signal lamp state, the image shooting time and the timing information.
In a fifth aspect, an embodiment of the present application provides a vehicle-road coordination system, including: an image pickup device and a calculation device;
the camera device is used for shooting the road and sending the shot road image and the first image shooting time to the computing device;
the computing device is configured to identify, according to the road image, a first signal lamp state corresponding to a first signal lamp on the road, where the first signal lamp state includes: a red light state, a green light state, or a yellow light state; acquiring first timing information corresponding to the first signal lamp, wherein the first timing information is generated according to the signal lamp timing information processing method embodiment; and generating first monitoring information corresponding to the first signal lamp according to the state of the first signal lamp, the image shooting time and the first timing information.
Optionally, the camera device is configured to shoot the first signal lamp, and send the shot signal lamp image and the shot second image shooting time to the computing device;
the computing device is further configured to identify a second signal light state from the signal light image; and generating first timing information corresponding to the first signal lamp according to the second image shooting time corresponding to the signal lamp image and the state of the second signal lamp.
Optionally, the computing device is further configured to identify a third signal lamp state corresponding to the first signal lamp according to the road image, and update the first timing information according to the first image shooting time and the third signal lamp state.
Optionally, the system further comprises: an in-vehicle terminal located on a vehicle,
the computing device is used for sending the first monitoring information to the vehicle-mounted terminal;
and the vehicle-mounted terminal is used for controlling the vehicle to run according to the first monitoring information.
In a sixth aspect, an embodiment of the present application provides an electronic device, including: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor is configured to implement the above method steps when executing the computer program.
In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the above method steps.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages: and acquiring images of the signal lamps, and determining the state of the signal lamps corresponding to each time in an image identification mode so as to generate signal lamp timing information. Therefore, the roadside system can obtain the signal lamp timing information without accessing a signal lamp control system of a public security traffic administration, thereby providing signal lamp reminding for a plurality of vehicles at the same time, avoiding the vehicle identifying the signal lamp from having identification errors or decision errors and improving the traffic safety. In addition, the vehicle does not need to identify the signal lamp, so that the hardware cost and the calculation cost of the vehicle are reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic deployment diagram of a roadside system based on vehicle-road cooperation according to an embodiment of the present application;
fig. 2 is a flowchart of a signal timing information processing method according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a signal lamp monitoring method according to an embodiment of the present disclosure;
fig. 4 is a flowchart of a signal lamp monitoring method according to another embodiment of the present application;
fig. 5 is a block diagram of a signal timing information processing apparatus according to an embodiment of the present disclosure;
fig. 6 is a block diagram of a signal lamp monitoring apparatus according to an embodiment of the present disclosure;
fig. 7 is a block diagram of a vehicle-road coordination system according to an embodiment of the present disclosure;
fig. 8 is a block diagram of a vehicle-road coordination system according to another embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The method is mainly realized based on a road side system with vehicle cooperation.
Vehicle-road cooperation refers to the connection of all elements in a traffic system with all vehicles and roadside infrastructure in a wireless communication manner to form a complete system for providing dynamic information sharing. The road side system based on the cooperation of the vehicle and the road collects traffic information on the road, uses the edge computing equipment to carry out identification processing, and provides more comprehensive and accurate auxiliary information for the vehicle in time.
In the embodiment of the application, pictures or videos are shot on the signal lamp on the road, and the state of the signal lamp is identified based on the images, such as a red lamp state, a green lamp state or a yellow lamp state, so that generation of signal lamp timing information and monitoring of the signal lamp are achieved.
In this embodiment, the roadside system deployed on a road includes: for the camera shooting device for signal lamp shooting, the camera shooting device is connected with the edge computing device, the edge computing device can directly communicate with the cloud server, or the edge computing device can transmit image data with large data volume to the cloud server through the central computing device. The edge computing device can be an edge computing industrial personal computer, and the central computing device can be an edge computing workstation.
For example, signal lights are often provided at intersections. Fig. 1 is a schematic deployment diagram of a road side system based on vehicle-road cooperation according to an embodiment of the present application. As shown in fig. 1, at least one camera 10 is provided at each side of the intersection, and the camera 10 shoots the intersection, so that the traffic lights at the opposite side of the intersection can be shot. The camera means 10 arranged on each side are connected to an edge calculation means 21. Each edge computing device 21 is connected to 1 central computing device 23.
For example, 2 cameras 10 are provided on each side of the intersection, and the 2 cameras 10 on each side are connected to one edge calculation device 21. The crossroad worker is provided with 4 edge computing devices 21, and the 4 edge computing devices 21 are all connected with 1 central computing device 23.
The image pickup device 10 and the edge computing device 21 are connected to a power over ethernet switch 41, and the central computing device 23 is connected to a core power over ethernet switch 42.
The edge computing device 21 and the central computing device 23 may be connected to a cloud server, and upload an image recognition result or a data processing result to the cloud server, or receive an instruction or data sent by the cloud server.
The following describes a method for processing signal timing information according to an embodiment of the present invention.
Fig. 2 is a flowchart of a signal timing information processing method according to an embodiment of the present application. As shown in fig. 2, the method comprises the steps of:
in step S11, a traffic light image and an image capturing time are acquired.
Optionally, the signal light image may be collected within a preset time period, for example, a video is taken of the signal light within 7 × 24 hours of a week, or a picture is taken of the signal light within a week at preset time intervals, for example, 1 second; and signal lamp images can be acquired in real time for generating subsequent timing information.
Step S12, identifying a traffic light state from the traffic light image, the traffic light state including at least one of: a red light state, a green light state, or a yellow light state.
Optionally, identifying the signal light status from the signal light image includes, but is not limited to, the following: dividing traffic signal lamps in RGB color space, and detecting a circular area where the divided signal lamps are located by HOUGH conversion so as to determine the state of the signal lamps; dividing the traffic signal lamp in a Lab color space, and identifying the state of the traffic signal lamp by using a template matching method; counting the H component of the image by using a color histogram in an HSV color space, and determining the state of a signal lamp; and so on. The specific identification process is not described herein.
Step S13 is to generate timing information corresponding to the traffic light based on the image capturing time corresponding to the traffic light image and the traffic light state.
Optionally, the timing information includes: the time ratio of different signal lamp states, and/or the start-stop time of each signal lamp state. In addition, for the same signal lamp, the timing information of different time periods in each day may be different, the timing information of monday to friday in a week is the same, and the timing information of saturday and sunday is the same. The holiday and saturday may have the same timing information, or other timing information may be used.
In the embodiment, the signal lamp is subjected to image acquisition, and the signal lamp state corresponding to each time is determined in an image identification mode, so that signal lamp timing information is generated. Therefore, the roadside system can obtain the signal lamp timing information without accessing a signal lamp control system of a public security traffic administration, thereby providing signal lamp reminding for a plurality of vehicles at the same time, avoiding the vehicle identifying the signal lamp from having identification errors or decision errors and improving the traffic safety. In addition, the vehicle does not need to identify the signal lamp, so that the hardware cost and the calculation cost of the vehicle are reduced.
Optionally, step S11 includes: acquiring an image to be detected obtained by shooting a signal lamp; and identifying the signal lamp from the image to be detected through a pre-trained signal lamp identification model to obtain a signal lamp image.
The image to be measured can be a video or a picture obtained by shooting the signal lamp by the camera device which is at a distance from the signal lamp. The signal lamp may occupy only a part of the image to be detected, or the image to be detected includes a plurality of signal lamps, and therefore, it is necessary to identify each signal lamp from the image to be detected and cut out a signal lamp image corresponding to each signal lamp for status identification.
Optionally, the types of the signal lamps are various, and for example, the signal lamps can be divided into the following types according to lanes corresponding to the signal lamps: a left turn signal light, a right turn signal light, a straight traveling signal light, a sidewalk signal light, a bicycle lane signal light, and the like; there are various types of signal lamps, such as a circular lamp, an arrow, seconds, a figure, a bicycle, etc., according to their display patterns, and the types of signal lamps can be classified based on them. A large number of sample images of different types of signal lamps need to be collected in advance, feature information of the different types of signal lamps is learned based on a convolutional neural network, and a signal lamp identification model capable of identifying each type of signal lamp is constructed.
Optionally, because the number of signal lamps on the road is large, different identifiers need to be assigned to the signal lamps in order to distinguish the signal lamps. The method further comprises the following steps: generating a signal lamp identifier for a signal lamp; and associating the signal lamp identification with the timing information.
Optionally, in order to facilitate subsequent positioning monitoring of the signal lamp, the position information of the signal lamp may be associated with the identifier. The above operation of generating a signal light identifier for a signal light comprises: acquiring the position information of the signal lamp, wherein the position information comprises: the geographic position information of the signal lamp; and allocating a unique signal lamp identifier for the signal lamp, wherein the signal lamp identifier is associated with the position information.
Optionally, when the image to be measured includes at least two signal lamps with the same geographic location information, the location information further includes: signal light orientation information. When the image to be measured includes at least two signal lamps in the same orientation, the position information further includes: and lane information corresponding to the signal lamp.
For example, for an intersection, the geographic location information corresponding to a plurality of signal lamps may be the same, and in order to distinguish the signal lamps, the orientation information of each signal lamp may be further obtained, such as the south side, the east side, and the like. If each orientation corresponds to a plurality of signal lamps, lane information corresponding to the signal lamps can be further acquired, such as a south left first lane and an east left second lane.
Alternatively, the geographic location information may be GPS positioning data, latitude and longitude information, or other forms of geographic location data. The orientation may be marked by directional indicia, such as characters corresponding to respective directions of east, south, west, north, southeast, southwest, northeast, or northwest. The lane information may be preset to number lanes from left to right, such as 01, 02, 03, … …. For example, the position information of a certain traffic light is represented by 39.9759059855-116.3176220896-N-02, where 39.9759059855 and 116.3176220896 represent latitude and longitude information of the traffic light, N represents that the corresponding direction is north, and 02 represents that the corresponding 2 nd lane from the left starts.
Alternatively, the geographical position information of the signal lamp may be measured in advance by the position measuring device. The orientation information of the signal lamp and the lane information of the signal lamp can be obtained by analyzing the image to be detected. For example, the signal light orientation may be determined by information such as a road name sign on the image. For another example, it may be determined through the image that the signal lamp corresponds to the leftmost lane, and a left-turn sign is marked on the leftmost lane, then the corresponding lane information of the signal is a left-turn lane. For another example, the signal lamp type may be identified through the signal lamp identification model, the signal lamp displays a right turn arrow, the signal lamp corresponds to a right turn lane, the signal lamp displays a human shape, the signal lamp corresponds to a sidewalk, and so on. If the direction or lane corresponding to the signal lamp cannot be determined through the image, manual marking can be reminded.
Optionally, the signal light identifier may be a random number, but the uniqueness of the signal light identifier is guaranteed, and the signal light identifier, the position information, and the timing information are associated with each other.
In the embodiment, each signal lamp is assigned with the unique identifier and is associated with the position information and the timing information of the signal lamp, so that the signal lamp can be accurately positioned and monitored subsequently, and accurate signal lamp state information is provided for vehicles and users.
When the method embodiment is implemented by the vehicle-road cooperation system, the signal lamp can be shot by the camera device, and the shot image is sent to the edge computing device. The image is uploaded to the cloud server by the edge computing device, or the image is uploaded to the cloud server by the edge computing device through the central computing device. And the cloud server obtains the timing information of the signal lamp according to the image training and sends the timing information to the edge computing device. In this way, the edge computing device can subsequently predict the signal lamp state based on the timing information.
The following describes a signal lamp monitoring method provided by an embodiment of the present application in detail.
Fig. 3 is a flowchart of a signal lamp monitoring method according to an embodiment of the present application. As shown in fig. 3, the signal lamp monitoring method includes the following steps:
in step S21, a road image obtained by capturing the image of the road and the image capturing time are acquired.
During actual monitoring, videos can be shot on the road in real time, and the state of the signal lamp can be determined in real time while the traffic condition of the road is monitored.
Step S22, identifying a signal lamp state corresponding to a first signal lamp on the road according to the road image, wherein the signal lamp state comprises: a red light state, a green light state, or a yellow light state.
The method mentioned in the above method embodiments may be adopted to identify the signal lamp state from the image, and details are not repeated here.
Step S23, obtaining timing information corresponding to the first signal lamp, where the timing information is generated according to the signal lamp timing information processing method embodiment.
Step S24, generating first monitoring information corresponding to the first signal lamp according to the signal lamp state, the image capturing time, and the timing information.
The first monitoring information may include a prediction of a state of the signal light for a future period of time.
In this embodiment, based on the image taken of the road and the pre-trained timing information, the monitoring information corresponding to the signal lamp is generated, so that the roadside system can predict the state of the signal lamp without accessing a signal lamp control system of a public security traffic administration, and generate the monitoring information corresponding to the signal lamp. Therefore, signal lamp reminding can be provided for a plurality of vehicles at the same time, the recognition error or decision error of the vehicle self recognition signal lamp is avoided, and the traffic safety is improved. In addition, the vehicle does not need to identify the signal lamp, so that the hardware cost and the calculation cost of the vehicle are reduced.
Fig. 4 is a flowchart of a signal lamp monitoring method according to another embodiment of the present application. As shown in fig. 4, the signal lamp monitoring method further includes:
step S31, acquiring the driving information of the vehicle, wherein the driving information comprises a driving route;
step S32, determining a second signal lamp corresponding to the driving route on the road;
and step S33, determining second monitoring information corresponding to the second signal lamp.
In this embodiment, a signal lamp corresponding to the vehicle when the vehicle travels to the road may be determined according to the travel route of the vehicle, and monitoring information corresponding to the signal lamp may be generated. For example, according to the driving route of the vehicle, it can be determined that the vehicle turns left when driving from north to south to the intersection a, the position information of the corresponding signal lamp is located according to the driving route, so that the signal lamp identifier is obtained through query, and the corresponding monitoring information of the signal can be determined according to the signal lamp identifier. Therefore, more accurate and targeted signal lamp state information can be provided for the vehicle, and the driving safety of the vehicle is further improved.
Optionally, the step S33 includes: determining the running time of the vehicle reaching the road according to the running information, wherein the running information also comprises the position information and the running speed of the vehicle; and generating second monitoring information corresponding to a second signal lamp when the vehicle arrives at the road according to the driving time, the current state of the signal lamp, the image shooting time and the timing information.
In this embodiment, when the monitoring information of the second signal lamp is generated, the state of the second signal lamp when the vehicle arrives at the road may be determined, for example, the state of the second signal lamp in a green state or a red state when the vehicle arrives is predicted, the duration time or the next time of the second signal lamp in the state may be analyzed, and the monitoring information may be generated based on these prediction results.
Optionally, the step S33 includes: and selecting second monitoring information corresponding to the second signal lamp from the first monitoring information.
In this embodiment, the corresponding monitoring information may also be determined only according to the current state of the second signal lamp, the image capturing time, and the timing information, that is, the monitoring information corresponding to the second signal lamp is screened from the monitoring information corresponding to all the signal lamps on the road, and only the state change condition of the second signal lamp within a period of time in the future is predicted.
Optionally, the first monitoring information or the second monitoring information includes, but is not limited to, at least one of the following information:
changing the lamp time;
changing the state of the signal lamp before and after the lamp;
the duration of the signal lamp state after the lamp change;
the starting time of the signal lamp state is preset.
For example, the generated monitoring information includes: the current red light has 10 seconds of light changing time, and the green light lasts 40 seconds after the light changing; alternatively, the time for changing to green is still 20 seconds at the present time, and 1 minute is still left for the next green.
Optionally, the method further includes: and when the vehicle meets the preset reminding condition, the first monitoring information and/or the second monitoring information are/is sent to a terminal corresponding to the vehicle.
In this embodiment, when the vehicle is a preset distance away from the road, the monitoring information may be sent to the terminal corresponding to the vehicle, or only the monitoring information is fed back to the terminal requesting the signal lamp state, or the terminal corresponding to the vehicle is subscribed to the service for acquiring the signal lamp state, and then the corresponding signal lamp monitoring information may be sent according to the position or route where the vehicle is located.
In an optional embodiment, the vehicle-mounted terminal sends signal lamp state request information in a broadcasting mode, and the request information comprises vehicle position, driving routes and other driving information. And after receiving the request information, the edge computing device on the road selects a corresponding signal lamp according to the driving information, and feeds back the monitoring information of the signal lamp to the vehicle-mounted terminal.
In another optional embodiment, the vehicle-mounted terminal may send the request information to a scheduling center on the network side, and the scheduling center issues the request to the corresponding edge computing device according to the driving information. And the edge computing device selects a corresponding signal lamp according to the request information and feeds back the monitoring information of the signal lamp to the vehicle-mounted terminal.
Alternatively, the edge computing device may send the monitoring information to the vehicle terminal in a communication manner such as 5G, Wi-Fi, TCP, or UDP.
Optionally, the method further includes: and updating the timing information according to the image shooting time and the corresponding signal lamp state.
Because the timing information of the signal lamp is likely to change, the corresponding state of each time point of the signal lamp can be monitored according to the image of the signal lamp on the road collected in real time, so that the timing information can be compared, and the timing information can be updated according to the real-time monitoring result if the actual monitoring result is inconsistent with the timing information. In addition, videos collected ten minutes before each hour during each day may be selected for analysis of the signal light status as matching the timing information.
Therefore, the accuracy of signal lamp reminding provided for the vehicle is ensured by continuously updating the signal lamp timing information, and the driving safety of the vehicle is further improved.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application.
Fig. 5 is a block diagram of a signal timing information processing apparatus, which may be implemented as part of or all of an electronic device by software, hardware, or a combination of the two. As shown in fig. 5, the signal timing information processing apparatus includes:
the acquisition module 51 is used for acquiring signal lamp images and image shooting time;
an identification module 52 configured to identify a signal light state from the signal light image, the signal light state including: a red light state, a green light state, or a yellow light state;
and the generating module 53 is configured to generate the timing information corresponding to the signal lamp according to the image capturing time and the signal lamp state corresponding to the signal lamp image.
Fig. 6 is a block diagram of a signal light monitoring apparatus provided in an embodiment of the present application, which may be implemented as part of or all of an electronic device through software, hardware, or a combination of the two. As shown in fig. 6, the signal lamp monitoring apparatus includes:
the first acquisition module 61 is used for acquiring a road image obtained by shooting a road and image shooting time;
an identifying module 62, configured to identify, according to the road image, a signal lamp state corresponding to a first signal lamp on the road, where the signal lamp state includes: a red light state, a green light state, or a yellow light state;
a second obtaining module 63, configured to obtain timing information corresponding to the first signal lamp, where the timing information is generated according to the signal lamp timing information processing method embodiment;
and the generating module 64 is configured to generate first monitoring information corresponding to the first signal lamp according to the signal lamp state, the image capturing time, and the timing information.
A vehicle-road coordination system provided in the embodiment of the present application is specifically described below.
Fig. 7 and 8 are block diagrams of a vehicle-road coordination system according to an embodiment of the present application, and as shown in fig. 7 and 8, the system includes: an image capture device 10 and a computing device 20. The image pickup device 10 picks up an image of a road and transmits the picked-up road image and the first image pickup time to the calculation device 20. The calculating device 20 is configured to identify, according to the road image, a first signal lamp state corresponding to a first signal lamp on the road, where the first signal lamp state includes: a red light state, a green light state, or a yellow light state; acquiring first timing information corresponding to a first signal lamp, wherein the first timing information is generated according to the signal lamp timing information processing method embodiment; and generating first monitoring information corresponding to the first signal lamp according to the state of the first signal lamp, the image shooting time and the first timing information.
Optionally, the camera device 10 is configured to capture a first signal light, and send the captured signal light image and the second image capturing time to the computing device 20. Computing means 20 for identifying a second signal light state from the signal light image; and generating first timing information corresponding to the first signal lamp according to the second image shooting time corresponding to the signal lamp image and the state of the second signal lamp.
Optionally, the computing device 20 is further configured to identify a third signal lamp state corresponding to the first signal lamp according to the road image, and update the first timing information according to the first image shooting time and the third signal lamp state.
Optionally, the system further comprises: the in-vehicle terminal 30 is located on the vehicle. And the computing device 20 is used for sending the first monitoring information to the vehicle-mounted terminal. And the vehicle-mounted terminal 30 is used for carrying out running control on the vehicle according to the first monitoring information.
As shown in fig. 7, in the present embodiment, the computing device 20 may include: an edge computing device 21 deployed on the road.
The edge calculation device 21 is configured to identify, according to the road image, a first signal lamp state corresponding to a first signal lamp on the road, where the first signal lamp state includes: a red light state, a green light state, or a yellow light state; acquiring first timing information corresponding to a first signal lamp, wherein the first timing information is generated according to the signal lamp timing information processing method embodiment; and generating first monitoring information corresponding to the first signal lamp according to the state of the first signal lamp, the image shooting time and the first timing information.
As shown in fig. 7, the computing device 20 may further include: and the cloud server 22 is deployed on the network side. The camera device 10 is used for shooting a first signal lamp and sending the shot signal lamp image and the shot second image shooting time to the edge calculating device 21; an edge computing device 21 for transmitting the signal light image and the second image capturing time to the cloud server 22; a cloud server 22 for identifying a second signal light state from the signal light image; first timing information corresponding to the first signal lamp is generated according to the second image capturing time corresponding to the signal lamp image and the second signal lamp state, and the first timing information is sent to the edge calculation device 21.
If the timing information corresponding to the signal lamp is already stored in the edge computing device 21, the timing information can be directly called to monitor the state of the subsequent signal lamp. If the timing information corresponding to the signal lamp is not stored in the edge computing device 21, the cloud server 22 may be requested to issue the timing information.
Optionally, the edge computing device 21 is configured to send the road image and the first image capturing time to the cloud server 22; the cloud server 22 is further configured to identify a third signal lamp state corresponding to the first signal lamp according to the road image, update the first timing information according to the first image shooting time and the third signal lamp state, obtain second timing information, and send the second timing information to the edge computing device 21.
Fig. 8 is a block diagram of a vehicle-road coordination system according to another embodiment of the present application, as shown in fig. 8, optionally, the computing device 20 further includes: a central computing device 23 deployed on the road. The edge computing device 21 sends the road image and the first image capturing time sum to the cloud server 22 through the central computing device 23; and/or the edge computing device 21 sends the signal light image and the second image capturing time to the cloud server 22 through the central computing device 23.
An embodiment of the present application further provides an electronic device, as shown in fig. 9, the electronic device may include: the system comprises a processor 1501, a communication interface 1502, a memory 1503 and a communication bus 1504, wherein the processor 1501, the communication interface 1502 and the memory 1503 complete communication with each other through the communication bus 1504.
A memory 1503 for storing a computer program;
the processor 1501, when executing the computer program stored in the memory 1503, implements the steps of the method embodiments described below.
The communication bus mentioned in the electronic device may be a Peripheral component interconnect (pci) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The present application also provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method embodiments described below.
It should be noted that, for the above-mentioned apparatus, electronic device and computer-readable storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiments.
It is further noted that, herein, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (19)
1. A signal lamp timing information processing method is characterized by comprising the following steps:
acquiring a signal lamp image and image shooting time;
identifying signal light conditions from the signal light image, the signal light conditions comprising: a red light state, a green light state, or a yellow light state;
and generating timing information corresponding to the signal lamp according to the image shooting time corresponding to the signal lamp image and the signal lamp state.
2. The method of claim 1, wherein said acquiring a signal light image comprises:
acquiring an image to be detected obtained by shooting a signal lamp;
and identifying the signal lamp from the image to be detected through a pre-trained signal lamp identification model to obtain the signal lamp image.
3. The method of claim 2, further comprising:
generating a signal lamp identifier for the signal lamp;
and associating the signal lamp identification with the timing information.
4. The method of claim 3, wherein generating a signal light identification for the signal light comprises:
acquiring the position information of the signal lamp, wherein the position information comprises: the geographic position information of the signal lamp;
and allocating a unique signal lamp identifier for the signal lamp, wherein the signal lamp identifier is associated with the position information.
5. The method of claim 4, wherein when the image to be tested includes at least two signal lights with the same geographic location information, the location information further includes: the signal lamp orientation information;
when the image to be measured includes at least two signal lamps in the same orientation, the position information further includes: and lane information corresponding to the signal lamp.
6. A signal lamp monitoring method, comprising:
acquiring a road image obtained by shooting a road and image shooting time;
identifying a signal lamp state corresponding to a first signal lamp on the road according to the road image, wherein the signal lamp state comprises: a red light state, a green light state, or a yellow light state;
acquiring time distribution information corresponding to the first signal lamp, wherein the time distribution information is generated according to the method of any one of claims 1-5;
and generating first monitoring information corresponding to the first signal lamp according to the signal lamp state, the image shooting time and the timing information.
7. The method of claim 6, further comprising:
acquiring running information of a vehicle, wherein the running information comprises a running route;
determining a second signal lamp corresponding to the driving route on the road;
and determining second monitoring information corresponding to the second signal lamp.
8. The method of claim 7, further comprising:
and when the vehicle meets a preset reminding condition, sending the first monitoring information and/or the second monitoring information to a terminal corresponding to the vehicle.
9. The method of claim 8, wherein the first monitoring information or the second monitoring information comprises at least one of:
changing the lamp time;
changing the state of the signal lamp before and after the lamp;
the duration of the signal lamp state after the lamp change;
the starting time of the signal lamp state is preset.
10. The method of claim 7, wherein the determining the second monitoring information corresponding to the second signal lamp comprises:
determining the running time of the vehicle reaching the road according to the running information, wherein the running information also comprises the position information and the running speed of the vehicle;
generating second monitoring information corresponding to the second signal lamp when the vehicle reaches the road according to the running time, the current state of the signal lamp, the image shooting time and the timing information;
and/or the presence of a gas in the gas,
the determining of the second monitoring information corresponding to the second signal lamp includes:
and selecting second monitoring information corresponding to the second signal lamp from the first monitoring information.
11. The method of claim 6, further comprising:
and updating the timing information according to the image shooting time and the corresponding signal lamp state.
12. A signal timing information processing apparatus, comprising:
the acquisition module is used for acquiring the signal lamp image and the image shooting time;
an identification module to identify a signal light status from the signal light image, the signal light status comprising: a red light state, a green light state, or a yellow light state;
and the generating module is used for generating the timing information corresponding to the signal lamp according to the image shooting time corresponding to the signal lamp image and the signal lamp state.
13. A signal light monitoring device, comprising:
the first acquisition module is used for acquiring a road image obtained by shooting a road and image shooting time;
the identification module is used for identifying a signal lamp state corresponding to a first signal lamp on the road according to the road image, wherein the signal lamp state comprises: a red light state, a green light state, or a yellow light state;
a second obtaining module, configured to obtain timing information corresponding to the first signal lamp, where the timing information is generated according to the method of any one of claims 1 to 5;
and the generating module is used for generating first monitoring information corresponding to the first signal lamp according to the signal lamp state, the image shooting time and the timing information.
14. A vehicle-road coordination system, comprising: an image pickup device and a calculation device;
the camera device is used for shooting the road and sending the shot road image and the first image shooting time to the computing device;
the computing device is configured to identify, according to the road image, a first signal lamp state corresponding to a first signal lamp on the road, where the first signal lamp state includes: a red light state, a green light state, or a yellow light state; acquiring first timing information corresponding to the first signal lamp, wherein the first timing information is generated according to the method of any one of claims 1-5; and generating first monitoring information corresponding to the first signal lamp according to the state of the first signal lamp, the image shooting time and the first timing information.
15. The system of claim 14,
the camera device is used for shooting the first signal lamp and sending the shot signal lamp image and the shot second image shooting time to the computing device;
the computing device is further configured to identify a second signal light state from the signal light image; and generating first timing information corresponding to the first signal lamp according to the second image shooting time corresponding to the signal lamp image and the state of the second signal lamp.
16. The system of claim 15,
the computing device is further configured to identify a third signal lamp state corresponding to the first signal lamp according to the road image, and update the first timing information according to the first image shooting time and the third signal lamp state.
17. The system of claim 14, further comprising: an in-vehicle terminal located on a vehicle,
the computing device is used for sending the first monitoring information to the vehicle-mounted terminal;
and the vehicle-mounted terminal is used for controlling the vehicle to run according to the first monitoring information.
18. An electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus;
the memory is used for storing a computer program;
the processor, when executing the computer program, implementing the method steps of any of claims 1-11.
19. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 1 to 11.
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