CN112766026B - Traffic light detection method, computer storage medium, vehicle-mounted terminal and vehicle - Google Patents
Traffic light detection method, computer storage medium, vehicle-mounted terminal and vehicle Download PDFInfo
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- 238000012706 support-vector machine Methods 0.000 claims description 5
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- 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
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
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Abstract
The application discloses a detection method of a traffic light, a computer storage medium, a vehicle-mounted terminal and a vehicle, wherein the detection method comprises the steps of controlling a camera to shoot a first image and a second image, and the exposure degree of the second image is smaller than that of the first image; extracting a light source corresponding to the first preset position from the second image; determining a second preset position corresponding to the first preset position from the first image, and judging whether the second preset position comprises a traffic light or not; if yes, determining traffic information of the traffic light according to the light source. The traffic light detection method can rapidly identify the traffic light in the current picture and acquire traffic light information, and improves detection efficiency.
Description
Technical Field
The present application relates to the field of intelligent driving, and in particular, to a method for detecting a traffic light, a computer storage medium, a vehicle-mounted terminal, and a vehicle.
Background
With the continuous development of science and technology, automobiles, which are indispensable vehicles in life, are becoming more and more intelligent.
Currently, advanced driving assistance systems (advanced driving assistant system, ADAS) may be installed in automobiles to help users to better explore road conditions, so that users can grasp surrounding environments in time to make corresponding operation behaviors in advance.
However, the advanced driving assistance system in the prior art can detect the content of the whole picture, so that the speed of detecting the traffic light is slower, and the requirement of a user cannot be met.
Disclosure of Invention
The application provides a traffic light detection method, a computer storage medium, a vehicle-mounted terminal and a vehicle, which can rapidly and accurately identify the traffic light in a picture, so that drivers or vehicles can make corresponding measures in time, and the driving safety is improved.
In order to solve the above technical problems, the present application provides a detection method of a traffic light, the detection method includes: controlling the camera to shoot a first image and a second image, wherein the exposure degree of the second image is smaller than that of the first image; extracting a light source corresponding to the first preset position from the second image; determining a second preset position corresponding to the first preset position from the first image, and judging whether the second preset position comprises a traffic light or not; if yes, determining traffic information of the traffic light according to the light source.
Optionally, the step of extracting the light source corresponding to the first preset position from the second image includes: extracting the position of the light source and the color of the light source from the second image; after extracting the position of the light source and the color of the light source from the second image, the method further comprises: confirming that the color of the light source is a preset color; and confirming that the position in the second image corresponding to the position of the light source is a first preset position. The controller may confirm the first preset position in the second image by the position of the light source and the color of the light source in the second image.
Optionally, the step of determining traffic information of the traffic light according to the light source includes: traffic information of the traffic light is determined according to the light source color. The controller may determine traffic information of the traffic light by the color of the light source in the second image.
Optionally, the step of controlling the camera to capture the first image and the second image includes: and controlling the camera to sequentially enter a first mode to shoot a first image and enter a second mode to shoot a second image, wherein the exposure value of the second mode is smaller than that of the first mode. By controlling parameters of the camera, the controller can sequentially shoot and obtain a first image and a second image.
Optionally, the step after determining the traffic information of the traffic light according to the light source includes: if the traffic light is determined to be a red light or a yellow light, controlling the vehicle to stop advancing at a preset position; and if the traffic light is determined to be green, controlling the vehicle to continue running. By acquiring traffic information, the controller may control the vehicle to travel or stop.
Optionally, the step after determining the traffic information of the traffic light according to the light source includes: and reminding the user of traffic information of the traffic light by means of voice reminding or text displaying on a screen. By acquiring traffic information, the controller may alert the user to the traffic information.
Optionally, the step of determining whether the second preset position includes a traffic light includes: and identifying the second preset position by using a support vector machine or a deep learning method to judge whether the second preset position comprises a traffic light. The controller can quickly detect traffic lights through support vector machines or deep learning.
In order to solve the above technical problems, the present application proposes a computer storage medium, on which a computer program is stored, which when executed by a processor implements the above detection method.
In order to solve the technical problems, the application provides a vehicle-mounted terminal, which comprises a memory and a processor, wherein the memory is connected with the processor, the memory stores a computer program, and the computer program realizes the detection method when being executed by the processor.
In order to solve the technical problem, the application provides a vehicle, and the vehicle comprises a vehicle body and the vehicle-mounted terminal, and the vehicle-mounted terminal is arranged on the vehicle body.
The application discloses a detection method of a traffic light, which is characterized in that a camera is controlled to shoot a first image and a second image, and the exposure of the second image is smaller than that of the first image; extracting a light source corresponding to the first preset position from the second image; determining a second preset position corresponding to the first preset position from the first image, and judging whether the second preset position comprises a traffic light or not; if yes, determining traffic information of the traffic light according to the light source. By the detection method, when the traffic information of the traffic light is detected, only the second preset position in the first image is required to be judged, the whole picture of the first image is not required to be judged, the detection time is saved, and the detection efficiency of the traffic light is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of a traffic light detection method of the present application;
FIG. 2 is a schematic diagram of one embodiment of a traffic light detection method of the present application;
FIG. 3 is a schematic flow chart of another embodiment of a traffic light detection method of the present application;
FIG. 4 is a schematic flow chart of another embodiment of a traffic light detection method of the present application;
FIG. 5 is a schematic diagram of an embodiment of a vehicle-mounted detection device of the present application;
FIG. 6 is a schematic structural diagram of one embodiment of a computer storage medium of the present application;
fig. 7 is a schematic structural diagram of an embodiment of the vehicle-mounted terminal of the present application.
Detailed Description
In order to enable those skilled in the art to better understand the technical solutions of the present application, the following further describes in detail the detection method of the traffic light, the computer storage medium, the vehicle-mounted terminal and the vehicle provided by the present invention with reference to the accompanying drawings and the specific embodiments.
Currently, in an automatic driving or ADAS system, it is necessary to detect a current screen to acquire traffic information. However, in the related art, the detection method is to detect the whole graph, so that the algorithm operation amount is large, the recognition efficiency is low, and a long time is required to obtain the detection result.
Based on the above, the application provides a detection method, which can screen the current picture, and can obtain traffic information only by identifying the local area of the picture, thereby improving the detection speed. The detection method of the application can be applied to an automatic driving or ADAS system, wherein the automatic driving or ADAS system can comprise a camera and a controller, the camera is used for acquiring images, and the controller is used for processing the images and acquiring traffic information.
Referring to fig. 1 and 2, fig. 1 is a schematic flow chart of an embodiment of a traffic light detection method according to the present application, and fig. 2 is a schematic flow chart of an embodiment of a traffic light detection method according to the present application. The detection method of the present embodiment may include the steps of:
s11: and controlling the camera to shoot a first image and a second image, wherein the exposure degree of the second image is smaller than that of the first image.
The controller may control the camera to capture the first image 100 and the second image 200 sequentially. The time interval for capturing the first image 100 and the second image 200 may be preset, for example, the time interval may be set to 1/35 to 1/20 seconds, preferably, may be 1/30 to 1/24 seconds, for example, 1/25 seconds.
Obviously, the shorter the time interval that the controller controls the camera to shoot the first image 100 and the second image 200, the accuracy of the detection effect can be improved.
The controller may obtain the first image 100 and the second image 200 from the camera. Specifically, the camera may transmit the first image 100 and the second image 200 to the controller in a wired or wireless manner, and the wired transmission manner may include transmitting an electrical signal by using a metal wire or transmitting an optical signal by using an optical fiber, where the electrical signal or the optical signal carries information of the first image 100 and the second image 200. The wireless transmission may include microwave transmission, for example, by bluetooth, wireless broadband (wireless fidelity, WIFI) or wireless local area network (wireless local area networks, WLAN).
In this embodiment, the exposure of the second image 200 is less than the exposure of the first image 100. Thus, the controller may receive the first image 100 and the second image 200 with the same exposure, and then perform parameter adjustment on the first image 100 and the second image 200, for example, adjust the exposure of the second image 200 to be lower so that the exposure of the second image 200 is smaller than the exposure of the first image 100, or the controller may control the parameters of the camera to obtain the first image 100 and the second image 200 with different exposure.
For example, the controller may control the camera to sequentially enter a first mode to capture the first image 100 and a second mode to capture the second image 200, wherein the second mode may have an exposure value less than that of the first mode, e.g., the first mode may be a normal exposure mode and the second mode may be an underexposure mode.
Specifically, the controller may control the shutter time or the aperture size of the camera to control the exposure value of the photographing mode. For example, when the controller controls the camera to enter the underexposure mode, the shutter time of the camera is smaller than that in the normal exposure mode, or the controller may control the aperture size of the camera to be smaller than that in the normal exposure mode, thereby obtaining the normally exposed first image 100 and the underexposed second image 200.
S12: and extracting the light source corresponding to the first preset position from the second image.
The controller extracts the light source from the second image 200 having the smaller exposure. Since the exposure in the second image 200 is smaller than the exposure in the first image 100, most of the details in the image are lost in the second image 200 compared to the first image 100, and only the light source with high brightness remains, so that the controller can extract the light source with high brightness from the second image 200 quickly.
The first preset position 21 is a position corresponding to the light source. The second image 200 may comprise a plurality of light sources therein, i.e. a plurality of first preset positions 21 may be provided in the second image 200.
S13: and determining a second preset position corresponding to the first preset position from the first image, and judging whether the second preset position comprises a traffic light or not.
Since the time interval taken by the camera is relatively short, the images of the first image and the second image obtained by the controller are identical except for the exposure. With continued reference to fig. 2, the controller determines a second preset position 11 from the first image 100 that corresponds to the first preset position 21 in the second image 200. The controller determines whether the second preset position 11 in the first image 100 has a traffic light. If yes, go to step S14; if not, ending the detection.
Alternatively, in order to make the detection result more accurate, the range of the second preset position 11 may be enlarged on the basis of the first preset position 21, so that the controller may obtain more features for detection. Since the exposure degree in the first image 100 is normal, all details in the image are reserved, detecting the second preset position 11 in the first image 100 reduces the range, and more details of the traffic light are reserved, which is beneficial to helping the controller to identify the image.
Alternatively, the controller may identify the second preset position 11 by a support vector machine (support vector machine, SVM) method or a Deep Learning (DL) method to determine whether the second preset position 11 includes a traffic light.
S14: traffic information of the traffic light is determined from the light source.
If the controller determines that the second preset position 11 includes a traffic light, traffic information of the traffic light is further determined according to the light source, so as to assist the user in driving or realize intelligent driving.
According to the traffic light control method and device, the controller controls the camera to shoot the first image and the second image, the exposure degree of the second image is smaller than that of the first image, the controller obtains a light source corresponding to a first preset position from the second image with smaller exposure degree, then obtains a second preset position corresponding to the first preset position from the first image, the first image with normal exposure degree contains more image information, the controller is favorable for further judging whether the traffic light is included in the second preset position, and if yes, traffic information of the traffic light is determined according to the light source. By means of the method, the controller does not need to conduct image recognition on all areas in the first image, and only needs to recognize the second preset position in the first image to recognize whether the current image has traffic lights or not, so that a large number of operations are saved, and the efficiency of traffic light detection is improved.
Referring to fig. 3, fig. 3 is a flow chart of another embodiment of the traffic light detection method of the present application. The detection method of the embodiment comprises the following steps:
s31: and controlling the camera to shoot a first image and a second image, wherein the exposure degree of the second image is smaller than that of the first image.
S32: the position of the light source and the color of the light source are extracted from the second image.
The controller performs image recognition on the second image; because the exposure in the second image is low, details of insufficient brightness in the image can be ignored, and the controller can quickly identify the light source from the second image. Further, the controller may obtain the position of the light source and the color of the light source from the second image.
S33: confirming that the color of the light source is a preset color;
the controller further confirms whether the color of the light source is a preset color, which may be a color on a traffic light, such as red, green, yellow, etc.
S34: and confirming that the position in the second image corresponding to the position of the light source is a first preset position.
When the color of the light source is confirmed to be the preset color, the position of the light source corresponding to the position in the second image is further confirmed to be a first preset position.
S35: and determining a second preset position corresponding to the first preset position from the first image, and judging whether the second preset position comprises a traffic light or not.
S36: traffic information is obtained according to the color of the light source.
Steps S35 to S36 are similar to steps S13 to S14 described above, and are not described herein, and reference is made to the above steps.
According to the method of the embodiment, the first preset position can be screened by acquiring the color of the light source. For example, if the controller detects the first light source and the second light source in the second image, the color of the first light source is red, and the color of the second light source is purple. The controller judges that the color of the first light source is a preset color, further obtains a first preset position of the first light source, performs image recognition at a second preset position of the first image corresponding to the first preset position, and judges whether the traffic light is included or not; the controller judges that the color of the second light source is not in the preset color range, and the first preset position of the second light source is not required to be acquired.
The light source in the second image may be light emitted by a traffic light, sunlight, light emitted by a street lamp, light emitted by a decorative lamp, or the like. A plurality of first preset positions may occur in the second image. The controller can screen the first preset positions in the second image by utilizing the colors of the light sources, and the number of the second preset positions in the first image is reduced, so that the identification of the traffic lights in the first image can be completed more quickly.
Referring to fig. 4, fig. 4 is a flow chart of another embodiment of a traffic light detection method according to the present application, where the detection method includes the following steps:
s41: and controlling the camera to shoot a first image and a second image, wherein the exposure degree of the second image is smaller than that of the first image.
S42: and extracting the light source corresponding to the first preset position from the second image.
S43: and determining a second preset position corresponding to the first preset position from the first image, and judging whether the second preset position comprises a traffic light or not.
S44: traffic information of the traffic light is determined from the light source.
Steps S41 to S44 are the same as steps S11 to S14, and are not described herein, and the embodiments can be referred to herein.
After the controller obtains traffic information from the traffic light, the following step S451 or step S452 may be performed.
S451: if the traffic light is determined to be a red light or a yellow light, controlling the vehicle to stop advancing at a preset position; and if the traffic light is determined to be green, controlling the vehicle to continue running.
When the controller is responsible for controlling the vehicle to run, if the traffic light is determined to be a red light or a yellow light, the vehicle is controlled to stop advancing at a preset position, such as before a zebra crossing, and the vehicle is controlled to advance continuously after the traffic light turns into a green light; if the controller determines that the traffic light is green, the controller can control the vehicle to continue running.
S452: and reminding the user of traffic information of the traffic light by means of voice reminding or text displaying on a screen.
When the controller is responsible for assisting the user, the controller can remind the user of the traffic information of the current traffic light through voice reminding or in a mode of displaying characters on a screen. For example, when the controller detects that the current traffic light is red light, the controller prompts the user with voice to pay attention to parking.
Based on the detection method, the application also provides a vehicle-mounted detection device. Referring to fig. 5, fig. 5 is a schematic diagram of a mechanism of an embodiment of the vehicle-mounted detection device of the present application. The in-vehicle detection device 500 includes an acquisition detection module 151 and a processing module 52 that are connected to each other.
The acquisition detection module 51 is configured to perform the steps related to detection in any of the above embodiments; the processing module 52 is configured to perform the steps described in any of the embodiments above that relate to processing, and the processing module 52 may include a controller that may be configured to perform the steps described in any of the embodiments above that relate to processing.
In some embodiments, the controller may be configured to control the camera to capture the first image and the second image at a time and receive the first image and the second image, wherein an exposure of the second image may be less than an exposure of the first image; extracting a light source from the second image, acquiring a candidate area corresponding to the light source from the first image, judging whether the candidate area has traffic lights or not, and if so, acquiring traffic information from the traffic lights.
Based on the above detection method, the present application also proposes a computer storage medium. Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of a computer storage medium of the present application. The computer storage medium 600 has stored thereon a computer program 61, which when executed by a processor implements the method of any of the embodiments described above. The steps and principles of the detection method are described in detail in the above description, and are not described in detail herein.
Further, the computer storage medium 600 may be a usb disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic tape, or an optical disk, etc. various media capable of storing program codes.
Based on the detection method, the application also provides a vehicle-mounted terminal. Referring to fig. 7, fig. 7 is a schematic diagram of a mechanism of an embodiment of a vehicle-mounted terminal of the present application. The in-vehicle terminal 700 includes a memory 71, a processor 72, and a camera 73, the camera 73 may be connected to the processor 72, the memory 71 may be connected to the processor 72, and the memory 71 stores a computer program that when executed by the processor 72 implements the method of any of the above embodiments. The steps and principles of the detection method are described in detail in the above description, and are not described in detail herein.
In the present embodiment, the processor 72 may also be referred to as a CPU (central processing unit ). The processor 72 may be an integrated circuit chip having signal processing capabilities. Processor 72 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Based on the detection method, the application also provides a vehicle. The vehicle comprises a vehicle body and the vehicle-mounted terminal, and the vehicle-mounted terminal can be mounted on the vehicle body.
It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not limiting. Further, for ease of description, only some, but not all, of the structures associated with this application are shown in the drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The terms "first," "second," and the like in this application are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the patent application, and all equivalent structures or equivalent processes using the descriptions and the contents of the present application or other related technical fields are included in the scope of the patent application.
Claims (10)
1. A method of detecting a traffic light, the method comprising:
controlling a camera to shoot a first image and a second image, wherein the exposure degree of the second image is smaller than that of the first image;
extracting a light source corresponding to a first preset position from the second image;
determining a second preset position corresponding to the first preset position from the first image, and judging whether the second preset position comprises a traffic light or not;
if yes, determining traffic information of the traffic light according to the light source.
2. The method according to claim 1, wherein the step of extracting the light source corresponding to the first preset position from the second image includes:
extracting the position of the light source and the color of the light source from the second image;
after the position of the light source and the color of the light source are extracted from the second image, the method further comprises:
determining the color of the light source to be a preset color;
and confirming that the position in the second image corresponding to the position of the light source is the first preset position.
3. The method of detecting according to claim 2, wherein the step of determining traffic information of the traffic light from the light source includes:
and determining traffic information of the traffic light according to the color of the light source.
4. A detection method according to any one of claims 1 to 3, wherein the step of controlling the camera to take the first image and the second image comprises:
and controlling the camera to sequentially enter a first mode to shoot the first image and enter a second mode to shoot the second image, wherein the exposure value of the second mode is smaller than that of the first mode.
5. A detection method according to any one of claims 1 to 3, wherein the step after determining traffic information of the traffic light from the light source further comprises:
if the traffic light is determined to be a red light or a yellow light, controlling the vehicle to stop advancing at a preset position;
and if the traffic light is determined to be green, controlling the vehicle to continue running.
6. A detection method according to any one of claims 1 to 3, wherein the step after determining traffic information of the traffic light from the light source further comprises:
and reminding the user of the traffic information of the traffic light by means of voice reminding or text displaying on a screen.
7. A detection method according to any one of claims 1 to 3, wherein the step of determining whether the second preset position includes a traffic light comprises:
and identifying the second preset position by a support vector machine method or a deep learning method to judge whether the second preset position comprises the traffic light.
8. A computer storage medium, characterized in that the computer storage medium has stored thereon a computer program which, when executed by a processor, implements the detection method according to any of claims 1-7.
9. A vehicle terminal comprising a memory and a processor, the memory being connected to the processor, the memory storing a computer program which, when executed by the processor, implements the detection method according to any one of claims 1-7.
10. A vehicle characterized in that it comprises a vehicle body and the in-vehicle terminal according to claim 9, the in-vehicle terminal being mounted on the vehicle body.
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