CN111806357A - Signal acquisition method and acquisition device of traffic signal lamp - Google Patents
Signal acquisition method and acquisition device of traffic signal lamp Download PDFInfo
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- CN111806357A CN111806357A CN202010761955.4A CN202010761955A CN111806357A CN 111806357 A CN111806357 A CN 111806357A CN 202010761955 A CN202010761955 A CN 202010761955A CN 111806357 A CN111806357 A CN 111806357A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0084—Adjustable or movable supports with adjustment by linear movement in their operational position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
Abstract
The invention discloses a signal acquisition method and an acquisition device of a traffic signal lamp. Wherein, the method comprises the following steps: detecting whether a traffic signal lamp in front of a first vehicle is shielded; when the traffic signal lamp is detected to be blocked, the signal acquisition device arranged on the first vehicle is lifted, so that the sight line of the signal detection device for detecting the traffic signal is lifted; and acquiring the signal of the traffic signal lamp by utilizing the lifted signal detection device, and identifying the signal of the traffic signal lamp. The invention solves the technical problem that the traffic signal cannot be collected when the traffic signal lamp is shielded when the unmanned vehicle runs in the prior art.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a signal acquisition method and a signal acquisition device of a traffic signal lamp.
Background
Along with the development of the existing science and technology, the unmanned automobile gradually enters the visual field of people, and the unmanned automobile has the advantages of safer traveling, reduction of environmental pollution, labor saving and the like because human error factors are eliminated. However, since there is no human control, it is difficult to ensure the safety, and in order to ensure the driving safety, when the unmanned vehicle travels on different road sections, it is necessary to obtain traffic signals of the relevant roads in time to ensure the safety of automatic driving. In the related art, there is a scenario in which: that is, the traffic signal light in front of the vehicle is blocked, so that the traffic signal cannot be collected.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a signal acquisition method and a signal acquisition device of a traffic signal lamp, which at least solve the technical problem that the traffic signal cannot be acquired when the traffic signal lamp is shielded when an unmanned vehicle runs in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a signal acquisition method for a traffic signal lamp, including: detecting whether a traffic signal lamp in front of a first vehicle is shielded; when the traffic signal lamp is detected to be blocked, the signal acquisition device arranged on the first vehicle is lifted, so that the sight line of the signal detection device for detecting the traffic signal is lifted; and acquiring the signal of the traffic signal lamp by utilizing the lifted signal detection device, and identifying the signal of the traffic signal lamp.
Optionally, detecting whether a traffic light in front of the first vehicle is obscured comprises: determining the position of a first vehicle; detecting a path to which the position of the first vehicle belongs and a position in the path where a traffic signal lamp exists in the driving direction of the first vehicle, wherein the position where the traffic signal lamp exists is the closest position to the first vehicle; calculating a first distance between the location of the first vehicle and the location of the traffic light; when the first distance is less than a first threshold value and the signal detection device does not detect the traffic signal lamp, determining that the traffic signal lamp is blocked; when the first distance is less than the first threshold and the signal detection device detects the traffic signal, it is determined that the traffic signal is not obstructed.
Optionally, before determining that the traffic signal is occluded, the method further comprises: acquiring the state of a traffic signal lamp from network side equipment; when the state is normal, determining that the traffic signal lamp is shielded; and when the state is the fault, generating prompt information for prompting the fault of the traffic signal lamp.
Optionally, before detecting whether the traffic light in front of the first vehicle is obstructed, the method further comprises: when the first distance is less than the second threshold and greater than the first threshold, determining whether a traffic signal light in front of the first vehicle is blocked.
Optionally, the second threshold is determined in dependence on a current travel speed of the first vehicle.
Optionally, the greater the current travel speed, the greater the second threshold; the smaller the current running speed, the smaller the second threshold value.
Optionally, detecting whether a traffic light in front of the first vehicle is obscured comprises: determining a second distance between the first vehicle and a second vehicle located in front of the first vehicle, as well as a current location of a signal acquisition device on the first vehicle and an elevation angle of a roof of the second vehicle; calculating a height difference between the current position of the signal acquisition device and the top of the second vehicle according to the elevation angle; when the height difference is larger than the height of the view field of the signal acquisition device, the traffic signal lamp is determined to be shielded; and when the height difference is smaller than the height of the field of view of the signal acquisition device, determining that the traffic signal lamp is not shielded.
Optionally, the signal acquisition device is mounted on the top of the first vehicle through an adjustable bracket; elevating a signal acquisition device mounted on a first vehicle, comprising: and controlling the adjustable bracket to gradually raise the signal acquisition device according to the preset step length until the signal of the traffic signal lamp is detected in the field range of the signal acquisition device.
Optionally, controlling the adjustable bracket to gradually raise the signal acquisition device according to a preset step length until the signal of the traffic signal lamp is detected in the field of view of the signal acquisition device, including: acquiring a longitudinal visual range of the signal acquisition device; judging whether the elevation angle of the signal acquisition device falls into the visual range or not, if not, gradually increasing the signal acquisition device according to the preset step length, and detecting whether the elevation angle of the signal acquisition device falls into the visual range or not after increasing the preset step length each time until the elevation angle of the signal acquisition device falls into the visual range.
Optionally, after the signal of the traffic signal is collected by the lifted signal detection device and the signal of the traffic signal is identified, the method further comprises: when the signal identification result of the traffic signal lamp is that the traffic is allowed to pass, acquiring the relative distance between the first vehicle and the traffic signal lamp; acquiring a maximum allowable speed of a first vehicle; determining a first time length for the first vehicle to reach the position of the traffic signal lamp based on the maximum allowable speed and the relative distance; determining a second time length for the first vehicle to reach the position of the traffic signal lamp based on the relative distance and the current speed of the first vehicle; comparing the first duration with the second duration; the running state of the first vehicle is controlled based on the comparison result.
Optionally, controlling the running state of the first vehicle based on the comparison result includes: and controlling the first vehicle to continuously run according to the current speed when the comparison result indicates that the first time length is longer than the second time length.
Optionally, the method further comprises: acquiring road condition information in the driving direction of the first vehicle when the comparison result indicates that the first time length is less than the second time length; it is determined whether to increase the travel speed of the first vehicle based on the road condition information.
Optionally, determining whether to increase the travel speed of the first vehicle based on the road condition information comprises: when the road condition information indicates that the number of the front vehicles of the first vehicle is larger than a first threshold value and/or the speed of the front vehicles of the first vehicle is smaller than a second threshold value, refusing to increase the running speed of the first vehicle; and determining that the running speed of the first vehicle is allowed to be increased when the road condition information indicates that the number of front vehicles of the first vehicle is less than a first threshold value and/or the front speed of the first vehicle is less than a second threshold value.
Optionally, before determining that the increase of the travel speed of the first vehicle is allowed, the method further comprises: generating prompt information for prompting a user whether to increase the driving speed; receiving a confirmation instruction of a user in a human-computer interaction interface where the prompt information is located, and controlling the first vehicle to increase the running speed when the confirmation instruction allows the running speed to be increased; and when the command is confirmed to refuse to increase the running speed, controlling the first vehicle to continue running according to the current speed of the first vehicle.
According to another aspect of the embodiments of the present invention, there is provided another signal acquisition method for a traffic signal lamp, including: displaying the detected following indication information in the man-machine interaction interface: whether a traffic signal light in front of the first vehicle is blocked; displaying a lifting process of a signal acquisition device installed on a first vehicle when the traffic signal lamp is detected to be shielded in a human-computer interaction interface; displaying the signals of the traffic signal lamp acquired by the lifted signal detection device in a human-computer interaction interface; and displaying the signal type of the identified traffic signal lamp in a man-machine interaction interface.
According to another aspect of the embodiments of the present invention, there is also provided a signal collecting apparatus of a traffic signal lamp, including: the detection module is used for detecting whether a traffic signal lamp in front of the first vehicle is shielded or not; the lifting device is used for lifting the signal acquisition device installed on the first vehicle when the traffic signal lamp is detected to be blocked, so that the sight line of the signal detection device for detecting the traffic signal is lifted; the acquisition module is used for acquiring signals of the traffic signal lamp by utilizing the lifted signal detection device; and the identification module is used for identifying the signal of the traffic signal lamp.
Optionally, the detection module comprises a first determination unit for determining a location where the first vehicle is located; a detection unit configured to detect a route to which a position of the first vehicle belongs, and a position in the route at which a traffic signal lamp exists in a traveling direction of the first vehicle, the position at which the traffic signal lamp exists being a position closest to the first vehicle; a calculation unit for calculating a first distance between a position of the first vehicle and a position of the traffic light; a second determination unit, configured to determine that the traffic signal light is blocked when the first distance is smaller than the first threshold and the signal detection device does not detect the traffic signal light; when the first distance is less than the first threshold and the signal detection device detects the traffic signal, it is determined that the traffic signal is not obstructed.
According to another aspect of the embodiment of the invention, the vehicle comprises a signal acquisition device, a signal processing device and a signal processing device, wherein the signal acquisition device is used for acquiring signals of traffic lights in front of the vehicle; a processor for detecting whether a traffic signal light in front of a first vehicle is obscured; when the traffic signal lamp is detected to be shielded, generating a control signal for lifting a signal acquisition device installed on the first vehicle and identifying a signal acquired by the signal acquisition device; the adjustable structure, its one end is connected with signal pickup assembly, and the other end is connected with the top of vehicle for when receiving control signal, rise the signal pickup assembly of installation on the first vehicle, be used for detecting traffic signal's sight with rising signal detection device.
Optionally, the adjustable structure is further configured to gradually raise the signal acquisition device according to a preset step length until the signal of the traffic light is detected in the field of view of the signal acquisition device.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium including a stored program, wherein the program is executed to control a device in which the storage medium is located to perform any one of the signal acquisition methods of the traffic signal.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes any one of the signal acquisition methods of the traffic signal lamp.
In the embodiment of the invention, the mode of installing the signal acquisition device is adopted, and whether the traffic signal lamp in front of the first vehicle is shielded or not is detected, so that the purposes of acquiring the signal of the traffic signal lamp by utilizing the raised signal detection device and identifying the signal of the traffic signal lamp are achieved, the technical effect of timely and automatically acquiring the signal of the traffic signal lamp by the unmanned vehicle is realized, and the technical problem that the traffic signal cannot be acquired when the traffic signal lamp is shielded when the unmanned vehicle runs in the prior art is further solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1a is a schematic flow chart of a signal acquisition method of a traffic signal lamp according to an embodiment of the present invention;
FIG. 1b is a schematic view of a horizontal viewing angle of a camera according to an embodiment of the present invention;
fig. 1c is a schematic view of an application scenario of a signal acquisition apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of another method for signal acquisition of a traffic signal according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a signal acquisition device of a traffic signal according to an embodiment of the present invention;
FIG. 4 is a schematic frame diagram of a vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an adjustable structure provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of another adjustable structure provided in accordance with an embodiment of the present invention;
wherein the figures include the following reference numerals: 440. a first base; 442. a support bar; 444. an adjustable bolt; 446. a first telescopic rod; 448. a first fixing frame; 460. a second base; 462. a second telescopic rod; 464. a second fixing frame.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above 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 such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided an embodiment of a signal acquisition method for a traffic signal light, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than that presented herein.
Fig. 1a is a signal acquisition method of a traffic signal lamp according to an embodiment of the present invention, as shown in fig. 1a, the method includes the following steps:
step S102, detecting whether a traffic signal lamp in front of a first vehicle is shielded;
step S104, when the traffic signal lamp is detected to be blocked, lifting a signal acquisition device installed on the first vehicle so as to lift the sight line of the signal detection device for detecting the traffic signal;
and S106, acquiring the signal of the traffic signal lamp by using the lifted signal detection device, and identifying the signal of the traffic signal lamp.
In the signal acquisition method of the traffic signal lamp, firstly, whether the traffic signal lamp in front of the first vehicle is shielded or not is detected, secondly, when the traffic signal lamp is detected to be shielded, the signal acquisition device installed on the first vehicle is increased, the sight line of the traffic signal is detected by the increased signal detection device, and finally, the signal of the traffic signal lamp is acquired by the increased signal detection device, and the signal of the traffic signal lamp is identified, so that the technical effects that the unmanned vehicle is timely and the signal of the traffic signal lamp is automatically acquired are realized, and the technical problem that when the unmanned vehicle runs, the traffic signal lamp cannot be acquired when being shielded in the prior art is solved.
It should be noted that the signal detection device may be various radars capable of detecting signals of the traffic signal lamp, such as a laser radar and an infrared radar; of course, various cameras capable of detecting the signal of the traffic signal may be used, such as a monocular camera and a binocular camera. When the traffic signal is collected, the image of the traffic signal lamp can be collected and identified, for example, the traffic signal lamp can be identified by using a neural network learning model.
In an optional embodiment of the present application, when the camera of the signal detection device detects whether the traffic signal lamp in front of the first vehicle is blocked, first, a position where the first vehicle is located, for example, coordinates of the position where the first vehicle is located, may be determined; then, a route to which the position of the first vehicle belongs and a position in the route where a traffic signal lamp exists in the traveling direction of the first vehicle are detected. The traffic light is located at a position closest to the first vehicle.
In some embodiments of the present application, in determining the vehicle position, the vehicle position may be obtained based on a positioning module installed in the vehicle, or may be obtained based on a positioning module in a mobile terminal used by a driver, where the positioning module includes but is not limited to: a Global Positioning System (GPS) module.
The first distance between the position of the first vehicle and the position of the traffic light is calculated, and the first distance may be determined by a navigation map transmitted from the network side or by a computing device of the vehicle-mounted system.
Finally, when the first distance is smaller than the first threshold, the first threshold is a distance at which the camera of the signal detection device can detect the traffic signal, and in this embodiment of the present application, the first threshold is considered to be 200 meters, that is, within 200 meters (including 200 meters) from the position of the camera, and the camera can identify whether there is a traffic signal.
When the distance between the position of the first vehicle and the position of a traffic signal lamp at the nearest position of the first vehicle is less than 200 meters, if the camera of the signal detection device does not detect the traffic signal lamp, the traffic signal lamp is determined to be blocked; and if the signal detection device camera detects the traffic signal lamp, determining that the traffic signal lamp is not shielded.
In other embodiments of the present application, before detecting whether a traffic signal in front of the first vehicle is blocked, it may be further determined whether the traffic signal is a mobile traffic signal, and then, it is determined whether it is necessary to detect whether the traffic signal in front needs to be detected according to the determination result, specifically:
acquiring the type of a traffic signal lamp; determining to prohibit the execution of the detection process when the type of the traffic signal lamp is a mobile traffic signal lamp; when the type of the traffic signal is a conventional traffic signal, it is determined that the above-described detection process is allowed to be performed. The mobile traffic signal lamp is a traffic light which is temporarily arranged, is generally used for construction areas, and is low in height, so that the problem that the vehicle radar is blocked cannot be solved when the vehicle radar is lifted; conventional traffic lights are generally taller than mobile traffic lights.
When the type of the traffic signal lamp is obtained, the type of the traffic signal lamp can be obtained from the traffic information collected by the network side in real time, for example, a construction unit reports the setting time and the position of the mobile traffic signal lamp to the network side, and then the network side sends the setting time and the position to a corresponding vehicle (for example, a vehicle passing through the mobile traffic signal lamp).
It should be noted that, before it is determined that the traffic signal is blocked, the first vehicle may acquire the state of the traffic signal from the network-side device; when the state is normal, determining that the traffic signal lamp is shielded; when the state is a fault, generating prompt information for prompting the fault of the traffic signal lamp, namely when the traffic signal lamp is not identified by the camera of the signal detection device, the situation that the traffic signal lamp has the fault may exist, and the situation is not considered that the traffic signal lamp is blocked. The first vehicle which is automatically driven can further make a judgment according to the prompt message of the fault of the traffic signal lamp, so that the driving safety is further ensured.
In an optional embodiment of the present application, before the camera of the signal detection device detects whether the traffic signal light in front of the first vehicle is blocked, the method further includes:
when the first distance is less than the second threshold and greater than the first threshold, determining whether a traffic signal light in front of the first vehicle is blocked. It should be noted that the second threshold is a fixed value larger than the first threshold, where the first threshold is 200 meters, and the second threshold may be set to 300 meters, and it should be noted that the second threshold is set before the camera of the signal detection device detects whether the traffic signal in front of the first vehicle is blocked, so as to start the traffic signal detection function in advance. For example, when the first vehicle travels 260 meters away from the nearest traffic light, the camera of the signal detection device is triggered to detect whether the traffic light in front of the first vehicle is blocked. The process greatly reduces the possibility of missed detection of the traffic signal lamp, and further ensures the accuracy of detection.
It should be noted that the second threshold is determined according to the current running speed of the first vehicle. The larger the current running speed is, the larger the second threshold value is; the smaller the current running speed, the smaller the second threshold value. For example, when the traveling speed of the first vehicle is 22 m/sec, the second threshold value may be set to 1000 m; the current travel speed of the first vehicle is 4 m/s, and the second threshold value may be set to 220 m.
In some embodiments of the present application, when detecting whether a traffic signal light in front of a first vehicle is blocked, a second distance between the first vehicle and a second vehicle in front of the first vehicle, and a current position of a camera of a signal acquisition device on the first vehicle and an elevation angle of a top of the second vehicle may be determined, for example, when the first vehicle is 10 meters away from the second vehicle in front of the first vehicle, the camera may adjust its elevation angle to 15 degrees, and when the first vehicle is 5 meters away from the second vehicle in front of the first vehicle, the camera may adjust its elevation angle to 45 degrees; the height difference between the current position of the signal acquisition device and the top of the second vehicle can then be calculated again in dependence on the elevation angle.
When the height difference is larger than the height of the view field of the signal acquisition device, the traffic signal lamp is determined to be shielded; when the height difference is smaller than the height of the field of view of the signal acquisition device, it is determined that the traffic signal lamp is not blocked, and it should be noted that the height of the field of view refers to the height of the horizontal plane in the vertical direction relative to the current position of the signal acquisition device in the field of view. For example, according to the above-mentioned 45-degree elevation angle, the height difference between the current position of the signal acquisition device and the top of the second vehicle is calculated to be 1.5 meters, and the height of the field of view of the signal acquisition device is only 1.2 meters, so that the traffic signal lamp is considered to be shielded.
The height of the view field is the maximum height that the signal acquisition device can acquire in the vertical direction, for example, if the view field of the current signal acquisition device is blocked by a barrier vehicle, the maximum height is less than or equal to the height of the barrier vehicle, and if the view field of the signal acquisition device can cross the barrier vehicle to acquire a certain position on the support of the traffic signal lamp, the corresponding maximum height is the certain position on the support.
It should be noted that in other embodiments of the present application, the shade can be a leaf, a branch, a hanging scroll, or other shade.
Therefore, in the embodiment of the present application, when the signal acquisition device is adjusted, the adjustment can be achieved by adjusting two parameters, namely the elevation angle of the signal acquisition device and the height of the signal acquisition device, but it should be noted that the two parameters may also be separately used for adjusting the signal acquisition device.
In some embodiments of the present application, the signal acquisition device is mounted on the roof of the first vehicle by an adjustable bracket; elevating a signal acquisition device mounted on a first vehicle, comprising: and controlling the adjustable bracket to gradually raise the signal acquisition device according to the preset step length until the signal of the traffic signal lamp is detected in the field range of the signal acquisition device.
In an optional embodiment of the present application, after the signal of the traffic signal lamp is collected by using the lifted signal detection device and the signal of the traffic signal lamp is identified, the following steps may be further performed: when the signal identification result of the traffic light is that the traffic light is allowed to pass, a relative distance between the first vehicle and the traffic light may be acquired, for example, the relative distance is 36 meters; secondly, acquiring the maximum allowable speed of the first vehicle, wherein the maximum allowable speed is 12 m/s at the moment; then, determining a first time length for the first vehicle to reach the position of the traffic signal lamp based on the maximum allowable speed and the relative distance, wherein the first time length is 3 seconds; determining a second time length for the first vehicle to reach the position of the traffic signal lamp based on the relative distance and the current speed of the first vehicle, wherein the second time length is 4 seconds if the current speed of the first vehicle is 9 m/s; comparing the first duration with the second duration, wherein the first duration is smaller than the second duration; and finally controlling the running state of the first vehicle based on the comparison result.
In another embodiment, the adjustable support can be controlled to gradually raise the signal acquisition device according to a preset step length by the following method: acquiring a longitudinal visual range of the signal acquisition device; judging whether the elevation angle of the signal acquisition device falls into the visual range or not, if not, gradually increasing the signal acquisition device according to the preset step length, and detecting whether the elevation angle of the signal acquisition device falls into the visual range or not after increasing the preset step length each time until the elevation angle of the signal acquisition device falls into the visual range. The viewing range is determined based on a longitudinal viewing angle of the signal acquisition device, which may be determined based on a ratio of a horizontal viewing angle to a resolution.
Taking the signal acquisition device as a camera as an example, as shown in fig. 1b, it is assumed that the horizontal viewing angle of the camera is 120 degrees, and the resolution is 1280x 768; converting the horizontal visual angle into a longitudinal visual angle, namely taking the ratio of the horizontal visual angle to the resolution as the longitudinal visual angle: 120/1280 × 768, the longitudinal visual range is: [ -120/1280 768/2,120/1280 768/2] is the longitudinal visibility range.
If the current position of the vehicle is within 300 meters of the traffic light position and is occluded, then an adjustment is performed, i.e. the camera is raised, in particular:
and 2, increasing the camera by a certain distance, calculating whether the current elevation angle falls into a visual range, and if not, executing the step 1 to adjust the elevation angle of the camera.
Wherein the visual range can be represented by a target elevation angle a, as shown in FIG. 1c, where d < a < c + d,
wherein, the height of the traffic signal lamp 1 is H, the height of the obstacle vehicle 2 is H, the horizontal distance from the lamp to the current vehicle 3 is S, the horizontal distance from the obstacle vehicle 2 to the current vehicle 3 is S, the vehicle height of the current vehicle is L (understood as the height of the camera), the rising height of the signal acquisition device 4 (for example, the camera) is L (understood as the adjusted height), v1Is the current vehicle speed, v1The relative speed of the current vehicle 3 and the obstacle vehicle is t, the time is t, the target elevation angle is a, the adjustment elevation angle is b (i.e., the difference between the target elevation angle a and the current elevation angle), the maximum natural elevation angle is c (determined by the property of the camera, that is, the field of view in the range of how many degrees the horizontal state is maximally seen, that is, the longitudinal view angle c is 120/1280 × 768), and the minimum elevation angle is d.
In an alternative embodiment of the present application, the driving state of the first vehicle is controlled based on the comparison result, and when the comparison result indicates that the first duration is longer than the second duration, the first vehicle is controlled to continue to drive at the current speed,
for example, when the signal recognition result of the traffic light is to allow passage, the relative distance between the first vehicle and the traffic light is 36 meters; secondly, acquiring the maximum allowable speed of the first vehicle as 12 m/s; then, determining a first time length for the first vehicle to reach the position of the traffic signal lamp based on the maximum allowable speed and the relative distance, wherein the first time length is 3 seconds; and determining a second time length for the first vehicle to reach the position of the traffic signal lamp based on the relative distance and the current speed of the first vehicle, wherein for example, when the current speed of the first vehicle is 14.4 m/s, the second time length is 2.5 s, namely the first time length is less than the second time length, and the first vehicle is controlled to continue to run according to 14.4 m/s.
In another optional embodiment of the present application, the method further comprises: acquiring road condition information in the driving direction of the first vehicle when the comparison result indicates that the first time length is less than the second time length; it is determined whether to increase the travel speed of the first vehicle based on the road condition information.
For example, when the signal recognition result of the traffic light is to allow passage, the relative distance between the first vehicle and the traffic light is 36 meters; secondly, acquiring the maximum allowable speed of the first vehicle as 12 m/s; then, determining a first time length for the first vehicle to reach the position of the traffic signal lamp based on the maximum allowable speed and the relative distance, wherein the first time length is 3 seconds; and determining a second time period for the first vehicle to reach the position of the traffic signal lamp based on the relative distance and the current speed of the first vehicle, for example, if the current speed of the first vehicle is 9 m/s, the second time period is 4 s, that is, the first time period is shorter than the second time period, in order to ensure the safe driving of the vehicle, acquiring the road condition information in the driving direction of the first vehicle, and then determining whether to increase the driving speed of the first vehicle based on the road condition information.
Specifically, determining whether to increase the travel speed of the first vehicle based on the road condition information includes: when the road condition information indicates that the number of the front vehicles of the first vehicle is larger than a first threshold value and/or the speed of the front vehicles of the first vehicle is smaller than a second threshold value, refusing to increase the running speed of the first vehicle; and determining that the running speed of the first vehicle is allowed to be increased when the road condition information indicates that the number of front vehicles of the first vehicle is less than a first threshold value and/or the front speed of the first vehicle is less than a second threshold value.
To enhance the user experience, before determining that the increase of the travel speed of the first vehicle is allowed, the following steps may also be performed: generating prompt information for prompting a user whether to increase the driving speed; receiving a confirmation instruction of a user in a human-computer interaction interface where the prompt information is located, and controlling the first vehicle to increase the running speed when the confirmation instruction allows the running speed to be increased; and when the command is confirmed to refuse to increase the running speed, controlling the first vehicle to continue running according to the current speed of the first vehicle.
Fig. 2 is another signal acquisition method of a traffic signal lamp according to an embodiment of the present invention, as shown in fig. 2, the method includes the following steps:
s202, displaying the detected following indication information in a human-computer interaction interface: whether a traffic signal light in front of the first vehicle is blocked;
s204, displaying the lifting process of the signal acquisition device arranged on the first vehicle when the traffic signal lamp is detected to be shielded in the human-computer interaction interface;
s206, displaying the signals of the traffic signal lamp acquired by the lifted signal detection device in a human-computer interaction interface;
and S208, displaying the identified signal type of the traffic signal lamp in the man-machine interaction interface.
In the signal acquisition method of the traffic signal lamp, firstly, the following detected indication information is displayed in a human-computer interaction interface: whether a traffic signal light in front of the first vehicle is blocked; secondly, displaying the rising process of a signal acquisition device arranged on the first vehicle when the traffic signal lamp is detected to be shielded in a human-computer interaction interface; then, displaying the traffic signal light signals acquired by the lifted signal detection device in the human-computer interaction interface, wherein it should be noted that only the acquired signals (for example, the signals carrying the status image of the traffic signal light) are displayed here, but the types of the signals are not identified yet; finally, the identified signal types of the traffic signal lamps, such as red lamps, yellow lamps, green lamps and the like, are displayed in the human-computer interaction interface, so that the technical effect that the unmanned vehicle timely and automatically collects the signals of the traffic signal lamps is achieved, and the technical problem that the traffic signals cannot be collected when the traffic signal lamps are shielded when the unmanned vehicle runs in the prior art is solved.
It should be noted that the signal detection device may be various radars capable of detecting signals of the traffic signal lamp, such as a laser radar and an infrared radar; of course, various cameras capable of detecting the signal of the traffic signal may be used, such as a monocular camera and a binocular camera.
Fig. 3 is another signal collecting apparatus of a traffic signal lamp according to an embodiment of the present invention, as shown in fig. 3, the apparatus including:
a detecting module 30, configured to detect whether a traffic signal light in front of a first vehicle is blocked;
the lifting device 32 is used for lifting the signal acquisition device installed on the first vehicle when the traffic signal lamp is detected to be blocked, so as to lift the sight line of the signal detection device for detecting the traffic signal;
the acquisition module 34 is used for acquiring signals of the traffic signal lamp by utilizing the lifted signal detection device;
and the identification module 36 is used for identifying the signal of the traffic signal lamp.
Above-mentioned traffic signal lamp's signal pickup assembly includes: the device comprises a detection module 30, a lifting module 32, an acquisition module 34 and an identification module 36; the detection module 30 is configured to detect whether a traffic signal light in front of a first vehicle is blocked; the lifting device 32 is used for lifting the signal acquisition device installed on the first vehicle when the traffic signal lamp is detected to be blocked, so as to lift the sight line of the signal detection device used for detecting the traffic signal; the acquisition module 34 is used for acquiring signals of the traffic signal lamp by using the lifted signal detection device; the recognition module 36 is used for recognizing the signal of the traffic signal lamp, so that the technical effect that the unmanned vehicle timely and automatically collects the signal of the traffic signal lamp is achieved, and the technical problem that the traffic signal cannot be collected when the traffic signal lamp is shielded when the unmanned vehicle runs in the prior art is solved.
It should be noted that the signal detection device may be various radars capable of detecting signals of the traffic signal lamp, such as a laser radar and an infrared radar; of course, various cameras capable of detecting the signal of the traffic signal may be used, such as a monocular camera and a binocular camera.
In an optional embodiment of the present application, the detection module includes a first determination unit, a detection unit, a calculation unit, and a second determination unit: when the camera of the signal detection device detects whether a traffic signal lamp in front of the first vehicle is shielded, the first determination unit is used for determining the position of the first vehicle, such as the coordinate of the position; the detection unit is configured to detect a route to which the position of the first vehicle belongs and a position in the route where a traffic light exists in a traveling direction of the first vehicle, where the position of the traffic light is a position where one traffic light located closest to the first vehicle is located.
The calculation unit is configured to calculate a first distance between the position of the first vehicle and the position of the traffic light, where the first distance may be determined by a navigation map sent from a network side, or may be determined by a calculation device of the vehicle-mounted system.
The second determining unit is used for determining that the traffic signal lamp is blocked when the first distance is smaller than the first threshold value and the signal detection device does not detect the traffic signal lamp; when the first distance is less than the first threshold and the signal detection device detects the traffic signal, it is determined that the traffic signal is not obstructed.
Specifically, when the first distance is smaller than the first threshold, the first threshold is a distance at which the camera of the signal detection device can detect a traffic signal, and the first threshold is set to be 200 meters, that is, within 200 meters (including 200 meters) from the position of the camera, and the camera can identify whether there is a traffic signal. When the distance between the position of the first vehicle and the position of a traffic signal lamp at the nearest position of the first vehicle is less than 200 meters, if the camera of the signal detection device does not detect the traffic signal lamp, the traffic signal lamp is determined to be blocked; and if the signal detection device camera detects the traffic signal lamp, determining that the traffic signal lamp is not shielded.
Fig. 4 is a schematic frame diagram of a vehicle according to an embodiment of the present invention, as shown in fig. 4, the vehicle including:
the signal acquisition device 40 is used for acquiring signals of traffic lights in front of the vehicle;
a processor 42 for detecting whether a traffic signal light in front of the first vehicle is obscured; when the traffic signal lamp is detected to be shielded, generating a control signal for lifting a signal acquisition device installed on the first vehicle and identifying a signal acquired by the signal acquisition device;
an adjustable structure 44, one end of which is connected to the signal acquisition device and the other end of which is connected to the top of the vehicle, is used to raise the signal acquisition device mounted on the first vehicle upon receiving the control signal, so as to raise the line of sight of the signal detection device for detecting traffic signals.
The adjustable structure 44 is further configured to gradually raise the signal acquisition device according to a preset step length until the signal of the traffic light is detected in the field of view of the signal acquisition device.
Fig. 5 is a schematic structural diagram of an adjustable structure 44 provided according to an embodiment of the present application, as shown in fig. 5:
in the adjustable structure, the first base 440 can be placed on the top of the vehicle, the support rod 442 is used to connect the first base 440 with the adjustable bolt 444, the adjustable bolt 444 is used to adjust the included angle between the first telescopic rod 446 and the horizontal plane, wherein the first telescopic rod 446 is composed of a plurality of sections of cross rods with different radiuses and can freely extend and retract; the first fixing frame 448 is used for fixing the signal collecting device 40, for example, when a first vehicle needs to detect a traffic signal lamp in front, and a certain vehicle in front of the first vehicle blocks the detection view of the signal collecting device on the first vehicle, at this time, the adjustable bolt 444 may control the first telescopic rod 446 to rotate the signal collecting device upwards, so as to expand the detection range, and at the same time, the first telescopic rod 446 may extend its telescopic length according to actual conditions, so as to further expand the detection range.
FIG. 6 is a schematic structural diagram of another adjustable structure 46 provided in accordance with an embodiment of the present application, as shown in FIG. 6:
in the adjustable structure, the second base 460 is placed on the top of the vehicle, the second telescopic rod 462 can adjust the height of the signal acquisition device, wherein the second telescopic rod 462 is composed of a plurality of vertical rods with different radiuses and can freely extend and retract, the second fixing frame 464 is used for fixing the signal acquisition device, for example, when the first vehicle runs on a downhill road section, the traffic signal lamp is at a lower position relative to the first vehicle, at the moment, the second telescopic rod 462 can reduce the height of the signal device, and further the purpose of more accurately identifying the traffic signal lamp is achieved.
In the embodiment of the application, the signal acquisition device is used for acquiring signals of a traffic signal lamp in front of a vehicle, and the processor is used for detecting whether the traffic signal lamp in front of a first vehicle is shielded; when the traffic signal lamp is detected to be shielded, generating a control signal for lifting a signal acquisition device installed on the first vehicle and identifying a signal acquired by the signal acquisition device; the adjustable structure, its one end is connected with signal pickup assembly, and the other end is connected with the top of vehicle for when receiving control signal, rise the signal pickup assembly of installation on the first vehicle, be used for detecting traffic signal's sight with rising signal detection device.
In some embodiments of the present application, when detecting whether a traffic light in front of a first vehicle is blocked, the processor may first determine a second distance between the first vehicle and a second vehicle located in front of the first vehicle, and a current position of a camera of a signal acquisition device on the first vehicle and an elevation angle of a top of the second vehicle, for example, when the first vehicle is 10 meters away from the second vehicle in front of the first vehicle, the camera may adjust its elevation angle to 15 degrees, and when the first vehicle is 5 meters away from the second vehicle in front of the first vehicle, the camera may adjust its elevation angle to 45 degrees; the height difference between the current position of the signal acquisition device and the top of the second vehicle can then be calculated again in dependence on the elevation angle.
When the height difference is greater than the height of the field of view of the signal acquisition device, the adjustable structure can raise the signal acquisition device mounted on the first vehicle for detecting the line of sight of the traffic signal, and it should be noted that the height of the field of view refers to the height of the horizontal plane in the vertical direction relative to the current position of the signal acquisition device in the field of view. For example, according to the above-mentioned 45-degree elevation angle, the height difference between the current position of the signal acquisition device and the top of the second vehicle is calculated to be 1.5 meters, and the height of the field of view of the signal acquisition device is only 1.2 meters, then the signal acquisition device can be raised step by step according to the preset step until the signal of the traffic signal lamp is detected in the field of view of the signal acquisition device.
It should be noted that in other embodiments of the present application, the shade can be a leaf, a branch, a hanging scroll, or other shade.
The embodiment of the application also provides a storage medium, wherein the storage medium comprises a stored program, and when the program runs, the equipment where the storage medium is located is controlled to execute any traffic signal lamp signal acquisition method.
Specifically, the storage medium is used for storing program instructions for executing the following functions:
detecting whether a traffic signal lamp in front of a first vehicle is shielded; when the traffic signal lamp is detected to be blocked, the signal acquisition device arranged on the first vehicle is lifted, so that the sight line of the signal detection device for detecting the traffic signal is lifted; and acquiring the signal of the traffic signal lamp by utilizing the lifted signal detection device, and identifying the signal of the traffic signal lamp.
The embodiment of the application also provides a processor, wherein the processor is used for operating the program stored in the memory, and the program is used for executing any signal acquisition method of the traffic signal lamp during operation.
Specifically, the processor is configured to call a program instruction in the memory, and implement the following functions:
detecting whether a traffic signal lamp in front of a first vehicle is shielded; when the traffic signal lamp is detected to be blocked, the signal acquisition device arranged on the first vehicle is lifted, so that the sight line of the signal detection device for detecting the traffic signal is lifted; and acquiring the signal of the traffic signal lamp by utilizing the lifted signal detection device, and identifying the signal of the traffic signal lamp.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple 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, units or modules, and may be in an electrical 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 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 invention 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 invention may be embodied in the form of 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 according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (21)
1. A signal acquisition method of a traffic signal lamp is characterized by comprising the following steps:
detecting whether a traffic signal lamp in front of a first vehicle is shielded;
when the traffic signal lamp is detected to be blocked, lifting a signal acquisition device installed on the first vehicle so as to lift the sight line of the signal detection device for detecting the traffic signal;
and acquiring the signal of the traffic signal lamp by utilizing the lifted signal detection device, and identifying the signal of the traffic signal lamp.
2. The method of claim 1, wherein detecting whether a traffic light in front of the first vehicle is obscured comprises:
determining a position of the first vehicle;
detecting a path to which the position of the first vehicle belongs and a position in the path, in which a traffic signal lamp exists in the driving direction of the first vehicle, wherein the position at which the traffic signal lamp exists is the position closest to the first vehicle;
calculating a first distance between the location of the first vehicle and the location of the traffic light;
determining that the traffic signal light is occluded when the first distance is less than a first threshold and the traffic signal light is not detected by the signal detection device; determining that the traffic signal light is unobstructed when the first distance is less than a first threshold and the signal detection device detects the traffic signal light.
3. The method of claim 2, wherein prior to determining that the traffic signal is obscured, the method further comprises:
acquiring the state of the traffic signal lamp from network side equipment;
when the state is normal, determining that the traffic signal lamp is shielded; and when the state is a fault, generating prompt information for prompting the fault of the traffic signal lamp.
4. The method of claim 2, wherein prior to detecting whether a traffic light in front of the first vehicle is obscured, the method further comprises:
determining to trigger detection of whether a traffic signal light in front of the first vehicle is obscured when the first distance is less than a second threshold and greater than the first threshold.
5. The method of claim 4, wherein the second threshold is determined as a function of a current travel speed of the first vehicle.
6. The method according to claim 5, characterized in that the larger the current driving speed, the larger the second threshold value; the smaller the current running speed, the smaller the second threshold value.
7. The method of claim 1, wherein detecting whether a traffic light in front of the first vehicle is obscured comprises:
determining a second distance between the first vehicle and a second vehicle located in front of the first vehicle, and a current location of the signal acquisition device on the first vehicle and an elevation angle of a roof of the second vehicle;
calculating a height difference between a current position of the signal acquisition device and the top of a second vehicle according to the elevation angle;
when the height difference is larger than the height of the view field of the signal acquisition device, determining that the traffic signal lamp is blocked; and when the height difference is smaller than the height of the field of view of the signal acquisition device, determining that the traffic signal lamp is not blocked.
8. The method of claim 7, wherein the signal acquisition device is mounted on top of the first vehicle by an adjustable bracket; elevating a signal acquisition device mounted on the first vehicle, comprising:
and controlling the adjustable bracket to gradually raise the signal acquisition device according to a preset step length until the signal of the traffic signal lamp is detected in the field range of the signal acquisition device.
9. The method of claim 8, wherein controlling the adjustable stand to step up the signal acquisition device in preset steps until the signal of the traffic signal lamp is detected in a field of view of the signal acquisition device comprises:
acquiring a longitudinal visual range of the signal acquisition device;
judging whether the elevation angle of the signal acquisition device falls into the visual range or not, if not, gradually increasing the signal acquisition device according to the preset step length, and detecting whether the elevation angle of the signal acquisition device falls into the visual range or not after increasing the preset step length each time until the elevation angle of the signal acquisition device falls into the visual range.
10. The method of claim 1, wherein after collecting the signal of the traffic signal with the elevated signal detection device and identifying the signal of the traffic signal, the method further comprises:
when the signal identification result of the traffic signal lamp is that the traffic is allowed to pass, acquiring the relative distance between the first vehicle and the traffic signal lamp;
acquiring a maximum allowable speed of the first vehicle;
determining a first time period for the first vehicle to reach the position of the traffic signal lamp based on the maximum allowable speed and the relative distance;
determining a second time period for the first vehicle to reach the position of the traffic signal lamp based on the relative distance and the current speed of the first vehicle;
comparing the first duration and the second duration;
controlling a running state of the first vehicle based on the comparison result.
11. The method according to claim 10, wherein controlling the travel state of the first vehicle based on the comparison result comprises:
and when the comparison result indicates that the first time length is longer than the second time length, controlling the first vehicle to continuously run according to the current speed.
12. The method of claim 11, further comprising:
when the comparison result indicates that the first time length is less than the second time length, acquiring road condition information in the driving direction of the first vehicle; determining whether to increase the travel speed of the first vehicle based on the road condition information.
13. The method of claim 12, wherein determining whether to increase the travel speed of the first vehicle based on the road condition information comprises:
when the road condition information indicates that the number of the front vehicles of the first vehicle is larger than a first threshold value and/or the speed of the front vehicles of the first vehicle is smaller than a second threshold value, refusing to increase the running speed of the first vehicle; and when the road condition information indicates that the number of front vehicles of the first vehicle is less than a first threshold value and/or the speed of the front vehicles of the first vehicle is less than a second threshold value, determining that the running speed of the first vehicle is allowed to be increased.
14. The method of claim 13, wherein prior to determining to allow the increase in the travel speed of the first vehicle, the method further comprises:
generating prompt information for prompting a user whether to increase the running speed;
receiving a confirmation instruction of a user in a human-computer interaction interface where the prompt information is located, and controlling the first vehicle to increase the running speed when the confirmation instruction allows the running speed to be increased; and when the confirmation instruction is to refuse to increase the running speed, controlling the first vehicle to continue running according to the current speed of the first vehicle.
15. A signal acquisition method of a traffic signal lamp is characterized by comprising the following steps:
displaying the detected following indication information in the man-machine interaction interface: whether a traffic signal light in front of the first vehicle is blocked;
displaying a lifting process of a signal acquisition device installed on the first vehicle when the traffic signal lamp is detected to be shielded in the human-computer interaction interface;
displaying the signals of the traffic signal lamp acquired by the lifted signal detection device in the human-computer interaction interface;
and displaying the identified signal type of the traffic signal lamp in the human-computer interaction interface.
16. A signal acquisition device of a traffic signal lamp is characterized by comprising:
the detection module is used for detecting whether a traffic signal lamp in front of the first vehicle is shielded or not;
the lifting device is used for lifting the signal acquisition device installed on the first vehicle when the traffic signal lamp is detected to be blocked so as to lift the sight of the signal detection device for detecting the traffic signal;
the acquisition module is used for acquiring the signals of the traffic signal lamp by utilizing the lifted signal detection device; and the identification module is used for identifying the signal of the traffic signal lamp.
17. The apparatus of claim 16, wherein the detection module comprises:
the first determining unit is used for determining the position of the first vehicle;
the detection unit is used for detecting a path to which the position of the first vehicle belongs and a position in the path, in which a traffic signal lamp exists, in the traveling direction of the first vehicle, wherein the position at which the traffic signal lamp exists is the position closest to the first vehicle;
a calculation unit for calculating a first distance between the position of the first vehicle and the position of the traffic signal light;
a second determination unit configured to determine that the traffic signal is blocked when the first distance is smaller than a first threshold and the signal detection device does not detect the traffic signal; determining that the traffic signal light is unobstructed when the first distance is less than a first threshold and the signal detection device detects the traffic signal light.
18. A vehicle, characterized by comprising:
the signal acquisition device is used for acquiring signals of traffic signal lamps in front of the vehicle;
a processor for detecting whether a traffic signal light in front of a first vehicle is obscured; when the traffic signal lamp is detected to be shielded, generating a control signal for lifting a signal acquisition device installed on the first vehicle, and identifying the signal acquired by the signal acquisition device;
and the adjustable structure is connected with the signal acquisition device at one end and the top of the vehicle at the other end, and is used for lifting the signal acquisition device installed on the first vehicle when the control signal is received so as to lift the sight of the signal detection device for detecting the traffic signal.
19. The vehicle of claim 18,
the adjustable structure is further used for gradually increasing the signal acquisition device according to a preset step length until the signal of the traffic signal lamp is detected in the field range of the signal acquisition device.
20. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program, when executed, controls a device in which the storage medium is located to execute the signal acquisition method of the traffic signal lamp according to any one of claims 1 to 14.
21. A processor, characterized in that the processor is configured to run a program stored in a memory, wherein the program is configured to execute the signal acquisition method of a traffic signal according to any one of claims 1 to 14 when running.
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| JP2020109559A (en) * | 2019-01-04 | 2020-07-16 | 日産自動車株式会社 | Traffic signal recognition method and traffic signal recognition device |
| CN110390829A (en) * | 2019-07-30 | 2019-10-29 | 北京百度网讯科技有限公司 | The method and device of traffic lights identification |
| CN110827552A (en) * | 2019-11-19 | 2020-02-21 | 北京小马慧行科技有限公司 | Vehicle running control method and device and vehicle |
| CN111444810A (en) * | 2020-03-23 | 2020-07-24 | 东软睿驰汽车技术（沈阳）有限公司 | Traffic light information identification method, device, equipment and storage medium |
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| CN112990002A (en) * | 2021-03-12 | 2021-06-18 | 吉林大学 | Traffic signal lamp identification method and system on downhill road and computer readable medium |
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