CN111666894A - Traffic light and vehicle light detection method and sensing system thereof, and vehicle - Google Patents
Traffic light and vehicle light detection method and sensing system thereof, and vehicle Download PDFInfo
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- CN111666894A CN111666894A CN202010514156.7A CN202010514156A CN111666894A CN 111666894 A CN111666894 A CN 111666894A CN 202010514156 A CN202010514156 A CN 202010514156A CN 111666894 A CN111666894 A CN 111666894A
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- 238000000034 method Methods 0.000 claims abstract description 42
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- 238000004891 communication Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
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- 239000004065 semiconductor Substances 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
The invention provides a method for detecting a traffic light and a vehicle light, which comprises the following steps: acquiring a first image by using a first camera device arranged on a vehicle, wherein the shooting parameters of the first camera device are kept unchanged; acquiring a second image by using a second camera device arranged on the vehicle, wherein the shooting parameters of the second camera device dynamically change according to the change of the surrounding environment; identifying a traffic light or a vehicle light according to the first image; or identifying a traffic light or a vehicle light from the first image and the second image. In addition, the invention also provides a vehicle and a sensing system of the traffic light and the vehicle light. The technical scheme of the invention effectively solves the problem of detecting the traffic lights and the car lights by the automatic driving vehicle, so that the vehicle can drive according to the correct indication of the traffic lights or the car lights, thereby ensuring the driving safety.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a detection method of a traffic light and a vehicle light, a sensing system of the detection method and the sensing system, and a vehicle.
Background
In the field of autonomous driving, there is a need for autonomous vehicles to be able to identify the traffic lights of the current road and the specific conditions of the lights of surrounding vehicles by themselves, so that the autonomous vehicles drive according to the traffic regulations.
In the prior art, a camera on an automatic driving automobile can shoot a current road so as to identify the specific display conditions of a traffic light and a car lamp. However, most of cameras for detecting traffic lights and vehicle lights on an automatic driving automobile adopt a camera with shooting parameters automatically adjusted according to environmental parameters. For example, when shooting in different situations such as rainy day, evening, cloudy day, etc., the camera often adjusts the shooting parameters according to different environmental parameters to obtain a clearer picture. Thus, when images of traffic lights and vehicle lights are photographed, the brightness, color temperature, and gray scale of the images are often inconsistent with the parameters of the real environment. Therefore, the real conditions of the traffic light and the vehicle light can not be identified, so that the automatic driving automobile is difficult to drive according to the correct indication of the traffic light or the vehicle light, and the driving safety is difficult to ensure.
Therefore, the accurate detection of the traffic lights and the lamps of the automatic driving automobile is an urgent problem to be solved.
Disclosure of Invention
In view of the above, it is desirable to provide a method for detecting a traffic light and a vehicle light, a sensing system thereof, and a vehicle, which can achieve accurate detection of the traffic light and the vehicle light by an autonomous vehicle.
In a first aspect, an embodiment of the present invention provides a method for detecting a traffic light and a vehicle light, where the method for detecting a traffic light and a vehicle light includes:
acquiring a first image by using a first camera device arranged on a vehicle, wherein the shooting parameters of the first camera device are kept unchanged;
acquiring a second image by using a second camera device arranged on the vehicle, wherein the shooting parameters of the second camera device dynamically change according to the change of the surrounding environment;
identifying a traffic light or a vehicle light according to the first image;
or identifying a traffic light or a car light according to the first image and the second image.
In some possible embodiments, the shooting parameters of the first camera are set according to the light intensity of the traffic light and/or street light.
In some possible embodiments, identifying the traffic light or the vehicle light from the first image specifically comprises:
comparing the image data of the first image with preset image data;
if the image data of the first image is matched with preset image data, identifying a traffic light or a car light in the first image;
or sensing image data of the first image to identify a traffic light or a car light in the first image.
In some possible embodiments, the method for detecting traffic lights and vehicle lights further comprises:
acquiring the positioning information of the traffic light, and judging whether the traffic light enters the camera shooting range of the first camera shooting device according to the current position of the vehicle;
and when the traffic light enters the shooting range of the first shooting device, sending a starting instruction to the first shooting device to control the first shooting device to acquire the first image.
In some possible embodiments, the method for detecting traffic lights and vehicle lights further comprises:
sensing the intensity of ambient light by using a sensor;
and when the ambient light intensity reaches a preset value, sending a starting instruction to the first camera device to control the first camera device to acquire the first image.
In some possible embodiments, the vehicle includes a vehicle body, and the first imaging device is disposed on a front side of the vehicle body.
In some possible embodiments, the second image capturing device is a plurality of second image capturing devices, and the plurality of second image capturing devices are arranged on the vehicle body at intervals.
In some possible embodiments, the second image capturing devices are plural, and the plural second image capturing devices are mounted on a mounting box fixed to the vehicle body, and the second image capturing devices are configured to capture different regions to form the second image.
In a second aspect, an embodiment of the present invention provides a vehicle, where the vehicle includes a vehicle body, the vehicle further includes a first camera device, at least one second camera device, and a sensing device disposed on the vehicle body, the first camera device is disposed on a front side of the vehicle body, a shooting parameter of the first camera device remains unchanged, a shooting parameter of the second camera device changes dynamically according to a change in a surrounding environment, the sensing device includes a processor and a memory, the memory is configured to store a detection program instruction of a traffic light and a vehicle lamp, the processor is configured to execute the detection program instruction of the traffic light and the vehicle lamp to implement a detection method of the traffic light and the vehicle lamp, and the detection method of the traffic light and the vehicle lamp includes:
acquiring a first image by using a first camera device arranged on a vehicle, wherein the shooting parameters of the first camera device are kept unchanged;
acquiring a second image by using a second camera device arranged on the vehicle, wherein the shooting parameters of the second camera device dynamically change according to the change of the surrounding environment;
identifying a traffic light or a vehicle light according to the first image;
or identifying a traffic light or a car light according to the first image and the second image.
In a third aspect, an embodiment of the present invention provides a sensing system for a traffic light and a vehicle light, where the sensing system for a traffic light and a vehicle light includes a first camera, at least one second camera, and a sensing device, where the sensing device includes a processor and a memory, the memory is used to store detection program instructions for the traffic light and the vehicle light, and the processor is used to execute the detection program instructions for the traffic light and the vehicle light to implement a detection method for the traffic light and the vehicle light, and the detection method for the traffic light and the vehicle light includes:
acquiring a first image by using a first camera device arranged on a vehicle, wherein the shooting parameters of the first camera device are kept unchanged;
acquiring a second image by using a second camera device arranged on the vehicle, wherein the shooting parameters of the second camera device dynamically change according to the change of the surrounding environment;
identifying a traffic light or a vehicle light according to the first image;
or identifying a traffic light or a car light according to the first image and the second image.
According to the detection method of the traffic light and the car light, the sensing system of the traffic light and the car, the two camera devices are arranged on the car, wherein the shooting parameters of the first camera device are kept unchanged, the shooting parameters of the second camera device are dynamically changed, and the images shot by the two camera devices are identified to detect the traffic light and the car light, so that the car can run according to the correct indication of the traffic light or the car light, and the running safety is guaranteed.
Drawings
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a flowchart of a detection method according to an embodiment of the present invention.
Fig. 2 is a flowchart of identifying a traffic light or a vehicle light according to an embodiment of the present invention.
Fig. 3 is a flowchart of acquiring a first image according to a first embodiment of the present invention.
Fig. 4 is a flowchart of acquiring a first image according to a second embodiment of the present invention.
Fig. 5 is a schematic structural frame diagram of a sensing system according to an embodiment of the present invention.
Fig. 6 is a schematic view of a vehicle according to a first embodiment of the present invention.
Fig. 7 is a schematic view of a vehicle according to a second embodiment of the present invention.
Fig. 8 is an internal structural view of a mounting box according to a first embodiment of the present invention.
Fig. 9 is a schematic structural framework diagram of a sensing device according to an embodiment of the present invention.
Wherein, each element in the figure is marked as follows:
| 100、200 | vehicle with a |
40 | |
| 300 | |
50、50’ | Sensing apparatus |
| 10 | |
51 | Processor with a memory having a plurality of |
| 20、20’ | |
52 | |
| 30、30’ | Second image pickup device |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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 invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances, in other words that the embodiments described are to be practiced in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and any other variation thereof, may also include other things, such as processes, methods, systems, articles, or apparatus that comprise a list of steps or elements is not necessarily limited to only those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such processes, methods, articles, or apparatus.
It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Please refer to fig. 6 and 8 in combination, which are a schematic diagram of a vehicle and an internal structure diagram of a mounting box according to a first embodiment of the present invention. The vehicle 100 includes a vehicle body 10, a first image pickup device 20, and a second image pickup device 30. Wherein, the first camera device 20 is arranged at the front side of the vehicle body 10, the shooting parameters of the first camera device 20 are kept unchanged, and the first camera device 20 is used for shooting the traffic lights and the vehicle lights to form a first image. The second image capturing device 30 is disposed on the vehicle body 10, and the shooting parameters of the second image capturing device 30 dynamically change according to the change of the surrounding environment, and the second image capturing device 30 is used for capturing different areas to form a second image. The vehicle 100 may be any other transportation equipment such as a van, a truck, a Sport Utility Vehicle (SUV), a Recreational Vehicle (RV), and the like, and is not limited thereto. The front side of the vehicle body 10 includes, but is not limited to, a side of the top of the vehicle body 10 near the vehicle head, a side of the vehicle head away from the bottom of the vehicle body 10, a side of the vehicle head away from the vehicle tail, and the like.
In the present embodiment, the vehicle 100 further includes a mounting box 40, and the mounting box 40 is fixed to the vehicle body 10. Specifically, the mounting box 40 is a flat rectangular parallelepiped box body and is fixedly mounted on the top of the vehicle body 10. In some possible embodiments, the shape of the mounting box 40 may be, but is not limited to, a cylinder, a truncated cone, any irregular shape, and the like.
The first camera device 20 is one and is mounted at one end of the mounting box 40 facing the vehicle head, so that the first camera device 20 is disposed at one side of the top of the vehicle body 10 close to the vehicle head. The first imaging device 20 may be mounted in the mounting box 40, or may be mounted outside the mounting box 40, which is not limited herein. Preferably, the first image pickup device 20 is plural, and the plural first image pickup devices 20 are all mounted in the mounting box 40. In the present embodiment, there are five first imaging devices 20, and the five first imaging devices 20 are respectively mounted on one end of the mounting box 40 facing the vehicle head and one end of the mounting box 40 facing the vehicle tail. Specifically, one first camera device 20 is installed in the middle of one end of the mounting box 40 facing the vehicle head, two first camera devices 20 are respectively installed on two sides of the middle first camera device 20, and the other two first camera devices 20 are respectively installed on two sides of one end of the mounting box 40 facing the vehicle tail. The five first camera devices 20 are all used for shooting car lights, and the first camera devices 20 arranged in the middle of one end, facing the car head, of the mounting box 40 are also used for shooting traffic lights. In some possible embodiments, the number of the first camera devices 20 may be, but is not limited to, two, three, four, six, seven, etc., and the positions where the first camera devices 20 are mounted on the mounting box 40 may be, but is not limited to, two ends of the mounting box 40 facing the side of the vehicle body 10, a side of the mounting box 40 away from the vehicle body 10, etc., which is not limited herein.
The second image pickup device 30 is plural, and the plural second image pickup devices 30 are all mounted in the mounting box 40. Specifically, the number of the second camera devices 30 is three, wherein two second camera devices 30 are respectively mounted at two ends of the mounting box 40 facing the side of the vehicle body 10, two second camera devices 30 are both mounted in the middle of the two ends, and one second camera device 30 is mounted in the middle of one end of the mounting box 40 facing the tail of the vehicle. In some possible embodiments, the number of the second camera devices 30 may be, but is not limited to, two, four, five, six, etc., and the second camera devices 30 may be, but is not limited to, mounted on the mounting box 40 at an end of the mounting box 40 facing the vehicle head, at a side of the mounting box 40 away from the vehicle body 10, etc., which is not limited herein.
Please refer to fig. 9, which is a schematic structural framework diagram of a sensing apparatus according to an embodiment of the present invention. The vehicle 100 also includes a sensing device 50 provided to the vehicle body 10. The sensing device 50 is mounted in the mounting box 40. In some possible embodiments, the sensing device 50 may also be mounted in the vehicle body 10, and is not limited herein. Therein, the sensing device 50 comprises a processor 51 and a memory 52. The memory 52 is used for storing the detection program instructions of the traffic light and the vehicle lights, and the processor 51 is used for executing the detection program instructions of the traffic light and the vehicle lights so as to realize the detection method of the traffic light and the vehicle lights. The detection method of the traffic light and the vehicle light will be described in detail below, and will not be described herein again. In this embodiment, the sensing device 50 is a computer device disposed in the vehicle 99, and the sensing device 50 is further installed with programs with other functions, such as a decision-making program, a planning program, a control execution program, and the like, besides the sensing program, which are not described herein again. The sensing device 50 may be installed in the mounting box 40 or may be installed inside the vehicle 99, which is not limited herein.
Among other things, processor 51 may be any custom made or commercially available processor, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an auxiliary processor among several processors associated with sensing device 50, a semiconductor-based microprocessor (in the form of a microchip or chip set), any combination thereof, or generally any device for executing instructions.
The memory 52 includes at least one type of readable storage medium including flash memory, hard disks, multi-media cards, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disks, optical disks, and the like. Memory 52 may be an internal storage unit of sensing device 50 in some embodiments, such as a hard disk of sensing device 50. The memory 51 may also be a storage device of the external sensing device 50 in other embodiments, such as a plug-in hard disk provided on the sensing device 50, a Smart Media Card (SMC), a Secure Digital (SD) Card, a flash memory Card (FlashCard), and so on. Further, memory 52 may also include both internal storage units of sensing device 50 and external storage devices. The memory 52 may be used not only to store application software installed in the sensing device 50 and various kinds of data, such as codes of detection programs of traffic lights and vehicle lights, etc., but also to temporarily store data that has been output or is to be output. Wherein the data includes detection program instructions for the sensing device 50 to control the traffic lights and vehicle lights of the first camera 20 and the second camera 30. The instructions may comprise one or more separate programs, each program comprising an ordered listing of executable instructions for implementing logical functions.
Please refer to fig. 7, which is a schematic diagram of a vehicle according to a second embodiment of the present invention. The vehicle 200 according to the second embodiment differs from the vehicle 100 according to the first embodiment in that a plurality of second imaging devices 30 are provided at intervals on the vehicle body 10. In the present embodiment, the number of the second image capturing devices 30 is three, two second image capturing devices 30 are respectively mounted on both sides of the vehicle body 10, and one second image capturing device 30 is mounted on the rear of the vehicle. Specifically, two second cameras 30 are respectively installed on one side of two front door handles close to the bottom of the vehicle body 10, the two second cameras 30 are embedded in the doors, and one second camera 30 is installed in the middle of one side of the vehicle tail far away from the bottom of the vehicle body 10 and is exposed out of the vehicle body 10. The vehicle body 10 is provided with transparent shielding members at the mounting positions of the two second imaging devices 30 embedded in the vehicle door, so that the two second imaging devices 30 can capture a second image through the transparent shielding members. In some possible embodiments, the number of the second camera devices 30 may be, but is not limited to, two, four, five, six, etc., the positions where the second camera devices 30 are mounted on the vehicle body 10 may be, but is not limited to, the top of the vehicle body 10, other positions on two sides of the vehicle body 10, a side of the vehicle tail away from the vehicle head, two sides of the vehicle tail, etc., and the second camera devices 30 may be mounted inside the vehicle body 10 or exposed to the vehicle body 10, which is not limited herein.
The first camera device 20 is one and is installed at the middle of the top of the vehicle body 10 near the vehicle head side. Preferably, the first image pickup device 20 is plural. In the present embodiment, the number of the first cameras 20 is five, and the five first cameras 20 are respectively mounted on the head and the tail of the vehicle. Specifically, one first camera device 20 is installed in the middle of one side of the vehicle head far away from the vehicle tail, two first camera devices 20 are respectively installed on two sides of the middle first camera device 20, the three first camera devices 20 are all arranged in the vehicle head, and the other two first camera devices 20 are respectively installed at two ends of one side of the vehicle tail far away from the bottom of the vehicle body 10 and are exposed out of the vehicle body 10. The vehicle body 10 is provided with transparent protection parts at the installation positions of the three first cameras 20 arranged in the vehicle head, so that the first cameras 20 can shoot a first image through the transparent protection parts. The five first camera devices 20 are all used for shooting car lights, and the first camera devices 20 arranged in the middle of one side, far away from the tail, of the car head are also used for shooting traffic lights. In some possible embodiments, the number of the first camera devices 20 may be, but is not limited to, two, three, four, six, seven, etc., the positions where the first camera devices 20 are mounted on the vehicle body 10 may be, but is not limited to, the top of the vehicle body 10, two sides of the vehicle body 10, etc., and the first camera devices 20 may be mounted inside the vehicle body 10 or exposed to the vehicle body 10, which is not limited herein.
The other structures of the vehicle 200 provided in the second embodiment are substantially the same as those of the vehicle 100 provided in the first embodiment, and are not described again here.
Please refer to fig. 1, which is a flowchart illustrating a detection method according to an embodiment of the present invention. The detection method of the traffic light and the vehicle light specifically comprises the following steps.
Step S102, a first image is acquired by a first camera device arranged on the vehicle, and shooting parameters of the first camera device are kept unchanged. The method for acquiring the first image by using the first camera device will be described in detail below, and will not be described in detail herein. The shooting parameters of the first camera device are set according to the light intensity of the street lamp. The shooting parameters include, but are not limited to, sensitivity, aperture size, exposure, and the like. The method for setting the shooting parameters of the first camera device to be unchanged comprises the following steps: the method comprises the steps of setting a first camera device in an environment with street lamp light intensity, shooting a traffic light or a vehicle lamp by the first camera device, continuously adjusting shooting parameters of the first camera device to obtain images with different display brightness of the traffic light or the vehicle lamp, selecting an image with proper display brightness of the traffic light or the vehicle lamp, and fixing the shooting parameters of the first camera device according to the shooting parameters set for shooting the image. The method of setting the shooting parameters of the first imaging device to be constant is not limited thereto, and is not limited thereto. In some possible embodiments, the shooting parameters of the first camera device may be set according to the light intensity of the traffic light, and the shooting parameters of the first camera device may also be set according to the light intensities of the street lamp and the traffic light in a comprehensive manner. Since the light intensity of the street lamp and the traffic light is fixed, the shooting parameters of the first camera device can be kept unchanged. In other possible embodiments, the shooting parameters of the first camera device can also be set according to a compromise light intensity of the comprehensive change of the ambient light intensity. For example, the strongest light intensity on the road in a sunny day is obtained, the weakest light intensity on the road in a night day is obtained, and the two light intensities are comprehensively calculated to obtain a compromise light intensity. Since the compromise light intensity of the environment is fixed, the shooting parameters of the first camera can remain unchanged. The acquisition path of the light intensity in the environment is not limited thereto, and is not limited thereto. In other possible embodiments, the shooting parameters of the first camera device may also be set according to the appropriate light intensity, which is not described herein again.
And step S104, acquiring a second image by using a second camera device arranged on the vehicle, wherein the shooting parameters of the second camera device are dynamically changed according to the change of the surrounding environment. Specifically, the second image pickup device is kept in a normally open state and photographs the external environment at a fixed frequency. The second camera device can dynamically adjust shooting parameters such as sensitivity, aperture size and exposure according to ambient light intensity under different illumination conditions including but not limited to day, night, evening, sunny day, rainy day and the like. For example, when the ambient light intensity is strong, such as in the daytime and sunny days, the exposure of the second camera device is small; when the ambient light intensity is weak, such as in the dark, rainy day, etc., the exposure level of the second image pickup device is large. The second camera device can clearly shoot vehicles, pedestrians, bicycles, curbs and the like under different illumination conditions through dynamic adjustment.
And step S106, identifying a traffic light or a car light according to the first image. In the present embodiment, the traffic light or the vehicle light is preferentially identified from the first image.
Please refer to fig. 2, which is a flowchart illustrating a method for identifying a traffic light or a vehicle light according to an embodiment of the present invention. Step S106, recognizing the traffic light or the car light according to the first image includes the following steps.
Step S1062 compares the image data of the first image with preset image data. Specifically, the processor extracts image data of the first image, wherein the image data includes, but is not limited to, image brightness and the like. The processor calls the image data stored in the memory in advance and compares the image data of the first image with preset image data. The preset image data comprises image data of traffic lights and image data of vehicle lights.
Step S1064, if the image data of the first image matches with the preset image data, identifying a traffic light or a car light in the first image. Specifically, when it is determined that the image data of the first image is the same as the image data of the preset traffic light or vehicle light, or the image data of the first image is different from the image data of the preset traffic light or vehicle light but the difference is within a preset range, the traffic light or vehicle light in the first image is identified.
In the embodiment, since the shooting parameters of the first camera device are kept unchanged, the brightness of the image of the traffic light in the first image shot by the first camera device is kept unchanged, and the brightness of the image of the vehicle light is in a certain range. The operation amount of detecting the traffic light and the car light is greatly reduced, the detection procedure of the traffic light and the car light is greatly simplified, and the detection time of the traffic light and the car light is greatly shortened.
In some possible embodiments, the image data of the first image may be perceived to identify a traffic light or a vehicular light in the first image. Specifically, operation is performed according to a preset perception algorithm to obtain perception information. And identifying the traffic light or the car light in the first image through the perception information. Perception includes detection, classification, tracking, and semantic segmentation, among others. Detecting a position of an object in an environment; the classification indicates what the exact object is; tracking refers to observing moving objects over time; semantic segmentation refers to matching each pixel in an image with semantic categories, such as roads, automobiles, sky, and the like, which are the prior art and are not described herein again.
Please refer to fig. 3, which is a flowchart illustrating a first image obtaining method according to a first embodiment of the present invention. In step S102, acquiring the first image by using the first imaging device provided in the vehicle specifically includes the following steps.
Step S302, acquiring the positioning information of the traffic light, and judging whether the traffic light enters the shooting range of the first shooting device according to the current position of the vehicle. Specifically, the positioning information of the traffic light is obtained through a high-precision map, the current positioning information of the vehicle is obtained through a positioning system, and calculation and judgment are carried out according to the positioning information of the traffic light and the current positioning information of the vehicle. The positioning system includes, but is not limited to, a global navigation satellite system, a beidou satellite navigation system, and other systems having a positioning function. In some possible embodiments, the traffic light may be detected by a sensor, and whether the traffic light enters the image capturing range of the first image capturing device may be determined according to the detection information. The sensor includes, but is not limited to, a device having a detection function, such as a laser radar, a millimeter wave radar, and an infrared radar. The manner of acquiring the positioning information of the traffic light is not limited thereto, and is not limited thereto.
And step S304, when the traffic light enters the shooting range of the first camera device, sending a starting instruction to the first camera device to control the first camera device to acquire the first image. Specifically, a first camera device for shooting the traffic light is in a normally closed state, and when the traffic light is judged to enter a camera shooting range of the first camera device, a starting instruction is sent to the first camera device. The first camera device starts and acquires a first image, and the first image comprises image data of the traffic light. The image capturing range of the first image capturing device is 100-300 meters. In some possible embodiments, the image capturing range of the first image capturing device is not limited thereto, and is not limited thereto.
In some possible embodiments, the first camera device for shooting the car light is also in a normally-off state. When the sensor detects that other automobiles exist around the vehicle, a starting instruction is sent to the first camera device. The first camera device starts and acquires a first image, and the first image comprises image data of the vehicle lamp. The automobiles around the vehicle include, but are not limited to, automobiles located on the front, rear, left and right of two lanes adjacent to the vehicle. The sensor includes, but is not limited to, a laser radar, a millimeter wave radar, an infrared radar, and the like having a detection function.
Please refer to fig. 4, which is a flowchart illustrating a first image capturing process according to a second embodiment of the present invention. In step S102, acquiring the first image by using the first imaging device provided in the vehicle specifically includes the following steps.
In step S402, the ambient light intensity is sensed by a sensor. Specifically, the light intensity in the current vehicle running environment is sensed with a sensor. The sensor includes, but is not limited to, a photo sensor.
Step S404, when the ambient light intensity reaches a preset value, a starting instruction is sent to the first camera device to control the first camera device to acquire a first image. Specifically, the first image pickup device is in a normally closed state. And comparing the sensed ambient light intensity with the preset light intensity, and when the sensed ambient light intensity is greater than the preset light intensity, namely the light intensity in the current driving environment is too high, such as the noon time period of a fine day, or the ambient light intensity is less than the preset light intensity, namely the light intensity in the current driving environment is too low, such as a road section without a street lamp at night, sending a starting instruction to the first camera device. The first camera device starts and acquires a first image, and the first image comprises image data of a traffic light or a vehicle lamp. Wherein the preset value is an intensity value range. In some possible embodiments, the preset value is a determined value, and is not limited herein. The manner of determining the ambient light intensity from the preset value is not limited thereto, and is not limited herein.
In some possible embodiments, the first camera device may remain in a normally open state and take pictures of the external environment at a fixed frequency. For the first image obtained by shooting, operation can be performed according to a preset perception algorithm to obtain perception information, and the outline of the traffic light or the vehicle light is identified through the perception information. And executing step S106 on the image with the outline of the traffic light or the vehicle lamp, and identifying the traffic light or the vehicle lamp according to the image, thereby realizing the accurate detection of the traffic light and the vehicle lamp. The method for identifying the traffic light or the car light in the first image is not limited to this, and is not limited to this.
When the first image shot by the first camera device has image data missing, the traffic light or the car light can be identified according to the first image and the second image. For example, when the vehicle acquires positioning information of a traffic light through a high-precision map, or senses that the current ambient light intensity reaches a preset value by using a sensor, a first camera device is started to shoot a first image. However, the captured first image does not include or partially includes the traffic light or the car light, and the image data of the first image and the second image can be comprehensively sensed to identify the traffic light or the car light. The image data of the first image and the second image are integrated to be used for detecting the traffic light or the car light, and the situation that the traffic light or the car light cannot be detected when the first image shot by the first camera device is in a problem is avoided.
In the above embodiment, the first camera device whose shooting parameters are kept unchanged and the second camera device whose shooting parameters are dynamically changed are set in the vehicle, so that the traffic light and the vehicle lamp can be accurately detected, the vehicle can drive according to the correct indication of the traffic light or the vehicle lamp, and the driving safety is ensured. Since the light intensity of the traffic light, the street lamp or the environment is fixed, and the shooting parameters of the first camera device are also fixed, no matter how the light intensity of the environment changes, the image data of the traffic light and the vehicle lamp in the first image obtained by the first camera device is determined. The method greatly reduces the difficulty of detecting and identifying the traffic lights and the car lights by computer vision, greatly reduces the operation amount of detecting the traffic lights and the car lights, greatly simplifies the detection procedures of the traffic lights and the car lights, greatly shortens the detection time of the traffic lights and the car lights, and simultaneously improves the reaction speed of the vehicle to the traffic lights or the car lights. In addition, the second camera device is used for shooting different areas, and recognition of other objects is guaranteed. Through the cooperation of two kinds of different camera devices, reach and both can realize the accurate detection and the discernment to traffic light and car light, also can be under different ambient light to the accurate discernment of objects such as vehicle, pedestrian, traffic light.
Please refer to fig. 5, which is a schematic structural framework diagram of a sensing system according to an embodiment of the present invention. The sensing system 300 is used to detect traffic lights and vehicle lights. The sensing system 300 of traffic lights and vehicle lights comprises a first camera 20 ', at least one second camera 30 ', and a sensing device 50 '. The first camera 20 ' is the same as the first camera 20, the second camera 30 ' is the same as the second camera 30, and the sensing device 50 ' is the same as the sensing device 50, which is not described herein again.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the invention are brought about in whole or in part when the computer program instructions are loaded and executed on a computer. The computer apparatus may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the unit is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that the above-mentioned numbers of the embodiments of the present invention are merely for description, and do not represent the merits of the embodiments. And the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method 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, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or method that includes the element.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for detecting a traffic light and a vehicle light is characterized by comprising the following steps:
acquiring a first image by using a first camera device arranged on a vehicle, wherein the shooting parameters of the first camera device are kept unchanged;
acquiring a second image by using a second camera device arranged on the vehicle, wherein the shooting parameters of the second camera device dynamically change according to the change of the surrounding environment;
identifying a traffic light or a vehicle light according to the first image;
or identifying a traffic light or a car light according to the first image and the second image.
2. The method for detecting traffic lights and vehicle lights according to claim 1, wherein the photographing parameters of the first photographing device are set according to the light intensity of the traffic lights and/or the street lights.
3. The method of detecting traffic lights and vehicular lights according to claim 1, wherein identifying traffic lights or vehicular lights from the first image specifically comprises:
comparing the image data of the first image with preset image data;
if the image data of the first image is matched with preset image data, identifying a traffic light or a car light in the first image;
or sensing image data of the first image to identify a traffic light or a car light in the first image.
4. The method of detecting a traffic light and a vehicular lamp according to claim 1, further comprising:
acquiring the positioning information of the traffic light, and judging whether the traffic light enters the camera shooting range of the first camera shooting device according to the current position of the vehicle;
and when the traffic light enters the shooting range of the first shooting device, sending a starting instruction to the first shooting device to control the first shooting device to acquire the first image.
5. The method of detecting a traffic light and a vehicular lamp according to claim 1, further comprising:
sensing the intensity of ambient light by using a sensor;
and when the ambient light intensity reaches a preset value, sending a starting instruction to the first camera device to control the first camera device to acquire the first image.
6. The method of detecting a traffic light and a vehicle light according to claim 1, wherein the vehicle includes a vehicle body, and the first imaging device is provided on a front side of the vehicle body.
7. The method as claimed in claim 6, wherein the number of the second cameras is plural, and the plural second cameras are disposed at intervals on the vehicle body.
8. The method as claimed in claim 6, wherein the number of the second cameras is plural, the plural second cameras are mounted on a mounting box fixed to the vehicle body, and the second cameras are used for photographing different areas to form the second image.
9. A vehicle, which comprises a vehicle body, and is characterized in that the vehicle further comprises a first camera device, at least one second camera device and a sensing device arranged on the vehicle body, wherein the first camera device is arranged on the front side of the vehicle body, the shooting parameters of the first camera device are kept unchanged, the shooting parameters of the second camera device are dynamically changed according to the change of the surrounding environment, the sensing device comprises a processor and a memory, the memory is used for storing the detection program instructions of the traffic light and the vehicle lamp, and the processor is used for executing the detection program instructions of the traffic light and the vehicle lamp to realize the detection method of the traffic light and the vehicle lamp according to any one of claims 1-8.
10. A sensing system for traffic lights and vehicle lights, comprising a first camera, at least one second camera, and a sensing device, the sensing device comprising a processor and a memory, the memory for storing detection program instructions for the traffic lights and vehicle lights, the processor for executing the detection program instructions for the traffic lights and vehicle lights to implement the detection method for the traffic lights and vehicle lights of any one of claims 1-8.
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