CN113888875A - Method and device for determining intersection traffic information, terminal equipment and storage medium - Google Patents
Method and device for determining intersection traffic information, terminal equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a method, a device, terminal equipment and a storage medium for determining intersection traffic information, wherein the method comprises the following steps: when the vehicle runs to a target position, starting to detect the indication state of a target signal lamp corresponding to a target intersection; when the vehicle runs to the entrance position of the target intersection and the indication state is the passing state, determining the duration of the passing state; determining the path length from the entrance position to the exit position of the target intersection according to the navigation information and the intersection size of the target intersection; predicting the state duration of the traffic state according to the size of the intersection; and determining the passing information of the vehicle at the target intersection according to the state duration, the path length and the preset vehicle speed. By recording the duration of the passing state in the target signal lamp, calculating the path length corresponding to the access port and predicting the state duration of the passing state, whether the vehicle can pass through the target access port under the preset vehicle speed can be judged, and therefore the safety of driving the vehicle can be improved.
Description
Technical Field
The embodiment of the invention relates to the field of traffic data analysis, in particular to a method and a device for determining intersection traffic information, terminal equipment and a storage medium.
Background
In the prior art, an autonomous vehicle usually judges whether to pass through an intersection based on the color of a signal light detected by a sensor.
In the process of implementing the invention, the inventor finds that at least the following technical problems exist in the prior art: the traffic scheme based on the color of the signal lamp can often cause the condition that the signal lamp turns red just after the vehicle just drives the stop line and is not far away, and a large number of potential safety hazards exist when the vehicle stops at the intersection, so that traffic accidents are easily caused.
Disclosure of Invention
The embodiment of the invention provides a method and a device for determining intersection traffic information, terminal equipment and a storage medium, which can improve the safety of driving vehicles.
In a first aspect, an embodiment of the present invention provides a method for determining intersection traffic information, including:
when the vehicle runs to a target position, starting to detect the indication state of a target signal lamp corresponding to a target intersection;
when the vehicle runs to an entrance position of the target intersection and the indication state is a passing state, determining the duration of the passing state, wherein the duration is the duration of the passing state after the target signal lamp is switched from a non-passing state to the passing state;
determining the path length from the inlet position to the outlet position of the target intersection according to the navigation information and the intersection size of the target intersection;
predicting the state duration of the passing state according to the size of the intersection, wherein the state duration is the full duration of the passing state when the target signal lamp is switched to the passing state from the non-passing state and then is switched to the non-passing state;
and determining the passing information of the vehicle at the target intersection according to the state duration, the path length and a preset vehicle speed.
In a second aspect, an embodiment of the present invention provides an apparatus for determining intersection traffic information, including:
the state detection module is used for starting to detect the indication state of a target signal lamp corresponding to the target intersection when the vehicle runs to the target position;
the duration determining module is used for determining the duration of the passing state when the vehicle runs to the entrance position of the target intersection and the indicating state is the passing state, wherein the duration is the duration of the passing state after the target signal lamp is switched from the non-passing state to the passing state;
the path length determining module is used for determining the path length from the inlet position to the outlet position of the target intersection according to the navigation information and the intersection size of the target intersection;
the state duration determining module is used for predicting the state duration of the passing state according to the size of the intersection, wherein the state duration is the full duration of the passing state when the target signal lamp is switched from the non-passing state to the passing state and then is switched to the non-passing state;
and the traffic information determining module is used for determining the traffic information of the vehicle at the target intersection according to the state duration, the path length and the preset vehicle speed.
In a third aspect, an embodiment of the present invention provides a terminal device, including:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for determining intersection traffic information according to any embodiment of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for determining intersection traffic information according to any embodiment of the present invention.
The embodiment of the invention provides a method, a device, a terminal device and a storage medium for determining intersection traffic information, wherein the determining method comprises the following steps: when the vehicle runs to a target position, starting to detect the indication state of a target signal lamp corresponding to a target intersection; when the vehicle runs to the entrance position of the target intersection and the indication state is the passing state, determining the duration of the passing state, wherein the duration is the duration of the passing state after the target signal lamp is switched from the non-passing state to the passing state; determining the path length from the entrance position to the exit position of the target intersection according to the navigation information and the intersection size of the target intersection; predicting the state duration of a passing state according to the size of the intersection, wherein the state duration is the full duration of the passing state when the target signal lamp is switched from the non-passing state to the passing state and then is switched to the non-passing state; and determining the passing information of the vehicle at the target intersection according to the state duration, the path length and the preset vehicle speed.
By recording the duration of the passing state in the target signal lamp, calculating the path length corresponding to the access port and predicting the state duration of the passing state, whether the vehicle can pass through the target access port under the preset vehicle speed can be judged, and therefore the safety of driving the vehicle can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the technical solutions in the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart illustrating a method for determining intersection traffic information according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an intersection in a method for determining intersection traffic information according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a duration of a method for determining intersection traffic information according to an embodiment of the present invention;
fig. 4 shows a flowchart for determining the path length in the method for determining intersection traffic information according to the second embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a path length in a method for determining intersection traffic information according to a second embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a path length in another method for determining intersection traffic information according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram illustrating a device for determining intersection traffic information according to a third embodiment of the present invention;
fig. 8 shows a schematic diagram of a hardware structure of a terminal device according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In the following embodiments, optional features and examples are provided in each embodiment, and various features described in the embodiments may be combined to form a plurality of alternatives, and each numbered embodiment should not be regarded as only one technical solution.
Example one
Fig. 1 shows a flowchart of a method for determining intersection traffic information according to an embodiment of the present invention. The method for determining the intersection traffic information provided by the embodiment of the invention can be suitable for determining whether the vehicle can safely pass through the intersection, for example, in the intersection without displaying the countdown of the signal lamp, determining whether the vehicle can safely pass through the intersection. The method can be executed by a device for determining intersection traffic information (which may be referred to as an information determining device for short), which is implemented in software and/or hardware, and is preferably configured in a terminal device, such as a vehicle-mounted terminal device.
As shown in fig. 1, the method for determining intersection traffic information provided in the embodiment of the present invention includes the following steps:
and S110, when the vehicle runs to the target position, starting to detect the indication state of the target signal lamp corresponding to the target intersection.
In the embodiment of the invention, the target intersection can refer to the intersection closest to the front of the current position in the vehicle navigation route, and can be understood as the intersection through which the vehicle passes. In the vehicle navigation route, the vehicle can pass through the target intersection in the passing modes of straight running, left turning, right turning, turning around and the like. When the intersection is passed through in different modes, the traffic needs to be carried out according with the indication of the corresponding signal lamp, and the target signal lamp in the embodiment can be understood as the signal lamp which needs to be passed through the target intersection and is in accordance with the indication. The indication states of the target signal lamps can include but are not limited to a traffic state and a non-traffic state, and the traffic state can be indicated by a green lamp and the non-traffic state can be indicated by a red lamp.
Fig. 2 schematically illustrates an intersection in a method for determining intersection traffic information according to an embodiment of the present invention. Referring to fig. 2, a solid line with an arrow may represent a vehicle navigation route, a dot may represent a current position of the vehicle, and an intersection a ahead of the vehicle may represent a target intersection. In the navigation route of fig. 2, the vehicle will pass through the intersection a in a left-turn mode, and then the target signal lamp can be determined to be the left-turn signal lamp S in the signal lamps.
In some optional embodiments, before starting to detect the indication state of the target signal lamp corresponding to the target intersection, the method may further include: and determining a target signal lamp corresponding to the target intersection based on the navigation information and the signal lamp information.
The navigation information may include, but is not limited to, a current location of the vehicle, a destination location of the vehicle, and a navigation route of the vehicle, among others. The signal light information may include, but is not limited to, identification information of each signal light corresponding to the intersection, a correspondence relationship with an intersection passing manner, and coordinate information.
In these alternative embodiments, when the vehicle navigation route is determined in the navigation information, the target intersection to be passed is determined, and the passing mode of the target intersection is determined. At this time, the coordinate information of the traffic light corresponding to the passing mode of the target intersection can be determined based on the preloaded information of each traffic light. Furthermore, the method can be used for controlling the acquisition direction of the vehicle image acquisition module so as to accurately acquire the target signal lamp image.
In this embodiment, the target position may be considered as a position where the vehicle meets a requirement of a certain distance from the target intersection before entering the target intersection. Wherein, meeting a certain distance requirement may mean that the time consumed for the vehicle to travel the distance from the target location to the target intersection needs to be longer than the period duration of at least one signal lamp. Wherein the target position may be preset based on experimental or empirical values.
In some implementations, the target location may be determined based on: acquiring the sample period duration of a sample signal lamp; the sample period duration is the sum of the state durations of all indication states of the sample signal lamp; determining a standard period duration according to the sample period duration, and determining a target distance according to the standard period duration; and taking the distance from the entrance position of the target intersection as the position of the target distance as the target position.
In these optional implementation manners, the sample period durations of the massive sample signal lamps may be counted first, and then the standard period duration may be set according to the counted sample period durations. The standard period duration is set according to the sample period duration, and an average value or a quantile value of each sample period duration can be used as the standard period duration. Wherein, the product of the standard period duration and the preset vehicle speed can be used as the target distance; the preset vehicle speed can be a larger vehicle speed, so that the target distance is slightly larger, the indication state of the target signal lamp is continuously detected when the distance from the vehicle to the entrance position is the target distance, at least one signal lamp period can be passed before the vehicle enters the target intersection, and the switching moment of switching the non-passing state of the target signal lamp to the passing state can be successfully detected.
In this embodiment, when it is determined that the vehicle travels to the target position according to the navigation information, the target signal lamp images continuously acquired by the vehicle image acquisition module may be started, and the real-time indication state of the target signal lamp may be determined based on the image recognition method. By starting to detect the indication state of the target signal lamp at the target position, the duration of the latest traffic state before entering the target intersection can be accurately recorded, and a foundation can be laid for determining safe and reliable traffic information.
And S120, when the vehicle runs to the entrance position of the target intersection and the indication state is the passing state, determining the duration of the passing state.
The entry position of the target intersection is understood to be the position of the entry into the target intersection, for example the position of a stop line. The duration can be understood as the duration of the passing state after the moment that the target signal lamp is switched from the non-passing state to the passing state. In some implementations, determining the duration of the traffic state may include, for example: the duration of the traffic state is determined based on the time at which the indication state was last switched from the non-traffic state to the traffic state prior to the time at which the vehicle was driven to the entrance location, and the time at which the vehicle was driven to the entrance location. For example, the time when the vehicle is driven to the entrance position is taken as a first time, and the time when the indication state of the target signal lamp is switched from the non-passing state to the passing state for the last time before the first time is taken as a second time, and the duration of the passing state may be the second time minus the first time.
For example, fig. 3 is a schematic diagram illustrating a duration in a method for determining intersection traffic information according to an embodiment of the present invention. Referring to fig. 3, the vehicle can travel in the direction indicated by the arrow above the vehicle, and can travel through position a and position B in that order. Where position a may represent a target position and position B may represent an entrance position of the target intersection.
The vehicle can start to detect the indication state of the target signal lamp corresponding to the target intersection when driving to the position A, and the indication state can comprise a non-passing state (namely, a red light) and a passing state (namely, a green light). The indication state of the target signal lamp may be continuously detected during the vehicle driving from the position a to the position B, and the detected indication state may be a state in at least one signal lamp period, which may be simplified to the case 1 and the case 2 as an example.
Referring to case 1, when the vehicle travels to position a, it is detected that the indication state of the target signal lamp is a red lamp. When the vehicle travels to the position D1, it is detected that the indication state is switched from the red light to the green light. When the vehicle runs to the position B, the indicating state can be detected to be kept as the green light, and the time length from the time when the indicating state is switched from the non-passing state to the passing state for the last time before the vehicle runs to the position B to the time when the vehicle runs to the position B can be used as the duration time of the green light detected when the vehicle runs to the position B. That is, the elapsed time between the vehicle traveling from the position D1 to the position B may be taken as the duration of the green light detected traveling to the position B.
Referring to case 2, when the vehicle travels to position a, it is detected that the indication state of the target signal lamp is a green lamp. When the vehicle travels to the position D2, it is detected that the indication state is switched from the green light to the red light. When the vehicle travels to the position D3, it is detected that the indication state is switched from the red light to the green light. When the vehicle runs to the position B, the indicating state can be detected to be kept as the green light, and the time length from the time when the indicating state is switched from the non-passing state to the passing state for the last time before the vehicle runs to the position B to the time when the vehicle runs to the position B can be used as the duration time of the green light detected when the vehicle runs to the position B. That is, the elapsed time between the vehicle traveling from the position D3 to the position B may be taken as the duration of the green light detected traveling to the position B.
In addition, when the vehicle runs to the entrance position of the target intersection and the indication state of the target signal lamp is detected to be the other state except the traffic state, the traffic information can be directly determined as the no-traffic state.
And S130, determining the path length from the entrance position to the exit position of the target intersection according to the navigation information and the intersection size of the target intersection.
The navigation information disclosed in this step is substantially the same as the navigation information disclosed above, and may also include a vehicle navigation route. The intersection size of the target intersection may include, sign line size, size between sign lines, and other sizes not represented by a sign line.
Illustratively, referring again to fig. 2, the intersection dimensions may include a length L1 of the stop line, lengths L2 and L3 between the intersection subtending stop lines (i.e., the lateral length of the intersection and the longitudinal length of the intersection from the perspective of the vehicle driver), an intersection diagonal length L4, and a length L5 of the midpoint of the stop line from the subtending indicator light, and so forth, which are not exhaustive.
When the vehicle navigation route in the navigation information is determined, the intersection size of the target intersection can be determined according to the intersection sizes of the intersections loaded in advance. And the distance that the vehicle needs to travel through the target intersection according to the navigation route can be estimated according to the sizes of all the intersections of the target intersection, namely the path length corresponding to the target intersection is estimated.
And S140, predicting the state duration of the traffic state according to the intersection size.
The state duration can be understood as the full duration of the passing state when the target signal lamp is switched from the non-passing state to the passing state and then switched to the non-passing state. The state duration of the traffic state may be considered to be the maximum duration for which the traffic state may last. For the situation that the target signal lamp does not display the remaining time length, after the duration of the passing state of the target signal lamp is determined, the state time length of the passing state of the target signal lamp can be predicted firstly for predicting the remaining time length of the passing state.
Under the condition of the same quantity of passing vehicles, the passing time length of the vehicles at the intersection is related to the size of the intersection, for example, the more lanes, the wider the intersection, and the shorter the corresponding passing time length. Therefore, the state duration of the traffic state can be predicted according to the size of the intersection. Predicting the state duration of the traffic state according to the intersection size can include: the time length calculation formula of each signal lamp of the intersection is modeled in advance, and the state time length can be calculated according to the size of the intersection based on the modeling formula reaching certain precision. Alternatively, it may include: sampling the intersection sizes of a large number of intersections, marking the state duration of the passing state of each signal lamp of the sample intersections, and training a duration prediction model based on the intersection sizes of the sample intersections and the state duration of the passing state of each signal lamp; wherein the duration prediction model may be a machine learning model. And predicting the state duration of the passing state of the target signal lamp according to the intersection size of the target intersection based on the trained duration prediction model.
In some optional embodiments, predicting the state duration of the traffic state according to the intersection size comprises: and predicting the state duration of the traffic state according to the pedestrian crossing size in the intersection size.
In these alternative embodiments, the time length of the state of the traffic light arrangement of the normal lane is correlated with the time length of the state of the traffic light arrangement of the crosswalk in the same direction (i.e. the longitudinal crosswalk with respect to the driver's view). Under the condition that the pedestrian pace is the same, the state duration of the traffic state of the signal lamp configuration of the pedestrian crossing is positively correlated with the length of the pedestrian crossing. On the basis, the state duration of the passing state of the target signal lamp can be predicted according to the pedestrian crossing size in the same direction as the running direction. Moreover, the state duration of the passing state of the target signal lamp can be predicted according to the pedestrian crossing size in the same direction based on the duration calculation formula or the duration prediction model disclosed above.
S150, determining the passing information of the vehicle at the target intersection according to the state duration, the path length and the preset vehicle speed.
In this embodiment, the preset vehicle speed may be the maximum vehicle speed that can safely pass through the intersection, and the vehicle may adaptively adjust the preset vehicle speed according to the driving condition of the vehicle ahead, for example, when the driving speed of the vehicle ahead is slow, the preset vehicle speed may be reduced in order to maintain a safe vehicle distance. Wherein the steps of determining the path length in S130 and the predicted state duration in S140 may be performed while the determination of the duration of the passage state in S120 is performed. Before the vehicle enters the intersection, the traffic information aiming at the target intersection can be determined according to the state duration, the path length and the preset vehicle speed. The specific step of determining the traffic information may be that the traffic time passing through the target intersection can be estimated according to the path length and the preset vehicle speed, and the time comparison can be performed according to the traffic time, the state time of the traffic state of the target signal lamp and the duration time of the traffic state of the target signal lamp to determine the traffic information for the target intersection. The traffic information may include, but is not limited to, traffic and no traffic. In some optional embodiments, determining the traffic information of the vehicle at the target intersection according to the state duration, the path length and the preset vehicle speed comprises: determining the passing time length of the target intersection according to the path length and the preset vehicle speed; and comparing the difference between the state time length and the passing time length with the duration time length, and determining whether the vehicle passes or not according to the comparison result.
In these alternative embodiments, the passage time period is determined according to the path length and the preset vehicle speed, and may be a time period obtained by dividing the path length by the preset vehicle speed. If the difference value between the state duration and the passing duration is greater than the duration, the passing information can be determined to be passing; if the difference between the state duration and the passing duration is less than or equal to the duration, the passing information can be determined to be no-passing.
In addition, the duration comparison may be performed by comparing a difference between the state duration and the duration with the passage duration. If the difference value between the state duration and the duration is greater than the passing duration, the passing information can be determined to be passing; if the difference between the state duration and the duration is less than or equal to the passing duration, the passing information can be determined to be no-passing.
Illustratively, referring again to fig. 3, the vehicle may also travel past location C, and location C may represent the exit location of the target intersection. The method for determining the intersection traffic information provided in this embodiment is described by taking fig. 3 as an example, and may include:
based on the navigation information and the signal lamp information, a target signal lamp corresponding to the target intersection can be determined; when the vehicle runs to the target position A, images of the target signal lamp can be continuously collected to detect the real-time indication state of the target signal lamp;
when the vehicle runs to an entrance position B of the target intersection and the indication state is the passing state, the time from the moment when the indication state is switched from the non-passing state to the passing state for the last time before the vehicle runs to the position B to the moment when the vehicle runs to the position B, namely the duration of the determination, can be determined and is assumed to be 10 seconds;
according to the navigation information and the intersection size of the target intersection, the path length from the entrance position B to the exit position C of the target intersection is assumed to be 40 meters;
predicting the state duration of the traffic state according to the size of the intersection, and assuming that the state duration is 30 seconds;
from the path length and the preset vehicle speed (say 5m/s), it can be determined that the transit time period is 40 ÷ 5 ÷ 8 seconds; at this time, the difference between the state time length and the passage time length is 30-8 to 22 seconds, which is greater than the duration time length of 10 seconds, so that it can be determined that the passage information is passage.
After the traffic information is determined, the information determination device can also prompt the traffic information through modules such as an instrument panel of the vehicle or a music entertainment system, so as to assist a user in driving the vehicle and improve the user experience. Also, in some embodiments, the determination method of traffic information may also be applied to an autonomous vehicle; correspondingly, after determining the traffic information, the method further comprises: and when the traffic information is traffic, entering the target intersection. And when the traffic information is no traffic, the vehicle can be prevented from entering the target intersection and stop outside the stop line of the entrance of the target intersection. In these embodiments, the traffic information controls whether or not the autonomous vehicle passes through the intersection, and the safety of the autonomous vehicle can be improved.
According to the method for determining the crossing traffic information, provided by the embodiment of the invention, when a vehicle runs to a target position, the indication state of a target signal lamp corresponding to a target crossing is detected; when the vehicle runs to the entrance position of the target intersection and the indication state is the passing state, determining the duration of the passing state, wherein the duration is the duration of the passing state after the target signal lamp is switched from the non-passing state to the passing state; determining the path length from the entrance position to the exit position of the target intersection according to the navigation information and the intersection size of the target intersection; predicting the state duration of a passing state according to the size of the intersection, wherein the state duration is the full duration of the passing state when the target signal lamp is switched from the non-passing state to the passing state and then is switched to the non-passing state; and determining the passing information of the vehicle at the target intersection according to the state duration, the path length and the preset vehicle speed.
By recording the duration of the passing state in the target signal lamp, calculating the path length corresponding to the access port and predicting the state duration of the passing state, whether the vehicle can pass through the target access port under the preset vehicle speed can be judged, and therefore the safety of driving the vehicle can be improved.
Example two
The present embodiment describes in detail the step of determining the path length based on the above-described embodiments. The path length is judged in different modes according to whether the inlet and the outlet of the target intersection in the navigation information are the same, so that the path length determining method is flexible and various, and different driving scenes can be covered.
Fig. 4 shows a flowchart for determining the path length in the method for determining intersection traffic information according to the second embodiment of the present invention. Referring to fig. 4, in this embodiment, determining the path length from the entrance position to the exit position of the target intersection according to the navigation information and the intersection size of the target intersection may include:
s410, judging whether the inlet of the inlet position in the navigation information is the same as the outlet of the outlet position of the target intersection.
The entrance to which the entrance position belongs can be regarded as an entrance of a vehicle in the target intersection, and the exit to which the exit position belongs can be regarded as an exit of the vehicle in the target intersection. And when the vehicle navigation route in the navigation information is determined, determining an entrance and an exit through the passing mode of the target intersection. For example, when the traffic manner is turning, the entrance and the exit of the target intersection can be considered to be the same; when the passing mode is straight, left turn and right turn, the entrance and exit of the target intersection can be considered to be different.
S420, predicting the path length from the inlet position to the outlet position according to the target size in the intersection size of the target intersection when the inlet of the inlet position in the navigation information is the same as the outlet of the outlet position of the target intersection.
When the inlet and the outlet are the same, the relevance of the size of each road junction of the target road junction and the path length is low. The path length may be predicted at this time based on a target size that is evaluated in advance to have a relatively highest correlation with the path length. In addition, the corresponding relation between the target size and the path length at each intersection can be determined in advance in a formula modeling mode or a machine learning mode. And then the path length corresponding to the target intersection can be predicted according to the determined corresponding relation and the target size of the target intersection.
Fig. 5 is a schematic diagram illustrating a path length in a method for determining intersection traffic information according to a second embodiment of the present invention. Referring to fig. 5, according to the vehicle navigation route in the navigation information, it is determined that the passing mode of the target intersection is turning, and the entrance and the exit of the target intersection are the same. At this time, the distance between the intersection point P of the stop line of the entrance and the vehicle navigation route and the target signal lamp S may be used as a target size for predicting the path length; alternatively, the path length may be predicted by curve fitting in combination with vehicle parameters (for example, vehicle length, vehicle width, and the like) based on the length L1 of the stop line of the entrance as a target dimension. Other ways of predicting the path length using other target dimensions are also applicable here and are not exhaustive here.
And S430, taking the sum of the sizes of the intersections from the inlet position to the outlet position as the path length when the inlet of the inlet position in the navigation information is different from the outlet of the target intersection.
When the entrance and the exit are different, there is a size having a high correlation with the path in the intersection sizes of the target intersection. In this case, the sum of the lengths of the intersection sizes having a high correlation with the path length may be set as the path length corresponding to the target intersection.
For example, fig. 6 is a schematic diagram illustrating a path length in another method for determining intersection traffic information according to a second embodiment of the present invention. Fig. 6 (a) shows that when the traffic pattern is straight, the entrance and the exit of the target intersection are different, and the distance L1 between the stop line of the entrance and the stop line of the exit can be taken as the path length; fig. 6 (b) shows that when the traffic pattern is left turn, the entrance and exit of the target intersection are different, and the sum of the distance L1 between the stop line of the entrance and the stop line of the opposite intersection and the distance L2 between the stop line of the exit and the stop line of the opposite intersection can be used as the path length.
The embodiment of the present invention describes in detail the step of determining the path length on the basis of the above-described embodiment. The path length is judged in different modes according to whether the inlet and the outlet of the target intersection in the navigation information are the same, so that the path length determining method is flexible and various, and different driving scenes can be covered. In addition, the embodiment of the present invention and the method for determining intersection traffic information provided by the above embodiment belong to the same inventive concept, and the technical details that are not described in detail in the embodiment can be referred to the above embodiment, and the embodiment has the same beneficial effects as the above embodiment.
EXAMPLE III
Fig. 7 is a schematic structural diagram illustrating a device for determining intersection traffic information according to a third embodiment of the present invention. The embodiment of the invention can be suitable for determining whether the vehicle can safely pass through the intersection, for example, the embodiment of the invention is suitable for determining whether the vehicle can safely pass through the intersection in the intersection without displaying the countdown of the signal lamp.
As shown in fig. 7, the apparatus for determining intersection traffic information in the embodiment of the present invention may include:
the state detection module 710 is configured to start detecting an indication state of a target signal lamp corresponding to a target intersection when the vehicle travels to a target position;
the duration determining module 720 is configured to determine a duration of the passing state when the vehicle travels to an entrance position of the target intersection and the indication state is the passing state, where the duration is a duration of the passing state after a time when the target signal lamp is switched from the non-passing state to the passing state;
a path length determining module 730, configured to determine a path length from an entrance position to an exit position of the target intersection according to the navigation information and the intersection size of the target intersection;
the state duration determining module 740 is configured to predict a state duration of a traffic state according to the intersection size, where the state duration is a full duration of the traffic state when the target signal lamp is switched from the non-traffic state to the traffic state and then to the non-traffic state;
and the traffic information determining module 750 is configured to determine the traffic information of the vehicle at the target intersection according to the state duration, the path length and the preset vehicle speed.
In some optional embodiments, the determining device of the traffic information may further include:
a target location determination module for determining a target location based on the steps of:
acquiring the sample period duration of a sample signal lamp; the sample period duration is the sum of the state durations of all indication states of the sample signal lamp;
determining a standard period duration according to the sample period duration, and determining a target distance according to the standard period duration;
and taking the distance from the entrance position of the target intersection as the position of the target distance as the target position.
In some optional embodiments, the duration determining module may be specifically configured to:
the duration of the traffic state is determined based on the time at which the indication state was last switched from the non-traffic state to the traffic state prior to the time at which the vehicle was driven to the entrance location, and the time at which the vehicle was driven to the entrance location.
In some optional embodiments, the path length determining module may be specifically configured to:
predicting the path length from the inlet position to the outlet position according to the target size in the intersection size of the target intersection when the inlet of the inlet position in the navigation information is the same as the outlet of the outlet position of the target intersection;
and when the inlet of the inlet position in the navigation information is different from the outlet of the outlet position of the target intersection, taking the sum of the lengths of the intersection sizes corresponding to the inlet position and the outlet position as the path length.
In some optional embodiments, the state duration determining module may be specifically configured to: and predicting the state duration of the traffic state according to the pedestrian crossing size in the intersection size.
In some optional embodiments, the traffic information determining module may be specifically configured to:
determining the passing time length of the target intersection according to the path length and the preset vehicle speed;
and comparing the difference between the state time length and the passing time length with the duration time length, and determining whether the vehicle passes or not according to the comparison result.
In some optional embodiments, the determining device of the traffic information may further include:
and the target signal lamp determining model is used for determining a target signal lamp corresponding to the target intersection based on the navigation information and the signal lamp information before starting to detect the indication state of the target signal lamp corresponding to the target intersection.
In some alternative embodiments, the traffic information determination device may be applied to an autonomous vehicle; correspondingly, after determining the traffic information, the method further comprises: and when the traffic information is traffic, entering the target intersection.
The device for determining intersection traffic information provided by the embodiment of the invention belongs to the same inventive concept as the method for determining intersection traffic information provided by the embodiment, and technical details which are not described in detail in the embodiment of the invention can be referred to the embodiment, and the embodiment of the invention has the same beneficial effects as the embodiment.
Example four
Fig. 8 shows a schematic diagram of a hardware structure of a terminal device according to a fourth embodiment of the present invention. The terminal device in the embodiments of the present invention may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a vehicle terminal (e.g., a car navigation terminal), and the like, and a fixed terminal such as a digital TV, a desktop computer, and the like. The terminal device shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 8, the terminal device 800 may include a processing means (e.g., a central processing unit, a graphic processor, etc.) 801 that may perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) 802 or a program loaded from a storage means 808 into a Random Access Memory (RAM) 803. In the RAM803, various programs and data necessary for the operation of the terminal apparatus 800 are also stored. The processing apparatus 801, the ROM 802, and the RAM803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
Generally, the following devices may be connected to the I/O interface 805: input devices 806 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 807 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; storage 808 including, for example, magnetic tape, hard disk, etc.; and a communication device 809. The communication means 809 may allow the terminal apparatus 800 to perform wireless or wired communication with other apparatuses to exchange data. While fig. 8 illustrates a terminal apparatus 800 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.
In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication means 809, or installed from the storage means 808, or installed from the ROM 802. When executed by the processing device 801, the computer program performs the above-described functions defined in the method for determining intersection passage information according to the embodiment of the present invention.
The terminal provided by the embodiment of the present invention and the method for determining intersection traffic information provided by the embodiment of the present invention belong to the same inventive concept, and technical details that are not described in detail in the embodiment of the present invention can be referred to the embodiment of the present invention, and the embodiment of the present invention has the same beneficial effects as the embodiment of the present invention.
EXAMPLE five
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for determining intersection traffic information provided in the above-mentioned embodiment.
It should be noted that the computer readable storage medium mentioned above in the embodiments of the present invention may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM) or FLASH Memory (FLASH), an optical fiber, a portable compact disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In yet another embodiment of the invention, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer-readable storage medium may be included in the terminal device or may be separately present without being incorporated in the terminal device.
The terminal device stores one or more programs, and when the one or more programs are executed by the terminal device, the terminal device is enabled to:
when the vehicle runs to a target position, starting to detect the indication state of a target signal lamp corresponding to a target intersection; when the vehicle runs to the entrance position of the target intersection and the indication state is the passing state, determining the duration of the passing state, wherein the duration is the duration of the passing state after the target signal lamp is switched from the non-passing state to the passing state; determining the path length from the entrance position to the exit position of the target intersection according to the navigation information and the intersection size of the target intersection; predicting the state duration of a passing state according to the size of the intersection, wherein the state duration is the full duration of the passing state when the target signal lamp is switched from the non-passing state to the passing state and then is switched to the non-passing state; and determining the passing information of the vehicle at the target intersection according to the state duration, the path length and the preset vehicle speed.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functional pages noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present invention may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A method for determining intersection traffic information is characterized by comprising the following steps:
when the vehicle runs to a target position, starting to detect the indication state of a target signal lamp corresponding to a target intersection;
when the vehicle runs to an entrance position of the target intersection and the indication state is a passing state, determining the duration of the passing state, wherein the duration is the duration of the passing state after the target signal lamp is switched from a non-passing state to the passing state;
determining the path length from the inlet position to the outlet position of the target intersection according to the navigation information and the intersection size of the target intersection;
predicting the state duration of the passing state according to the size of the intersection, wherein the state duration is the full duration of the passing state when the target signal lamp is switched to the passing state from the non-passing state and then is switched to the non-passing state;
and determining the passing information of the vehicle at the target intersection according to the state duration, the path length and a preset vehicle speed.
2. The method of claim 1, wherein the target location is determined based on the steps of:
acquiring the sample period duration of a sample signal lamp; the sample period duration is the sum of the state durations of all indication states of the sample signal lamp;
determining a standard period duration according to the sample period duration, and determining a target distance according to the standard period duration;
and taking the distance from the entrance position of the target intersection as the position of the target distance as the target position.
3. The method of claim 1, wherein the determining the duration of the traffic state comprises:
determining the duration of the traffic state according to the time when the indication state is switched from the non-traffic state to the traffic state for the last time before the time when the vehicle drives to the entrance position and the time when the vehicle drives to the entrance position.
4. The method of claim 1, wherein said determining a path length from said entrance location to an exit location of said target intersection based on navigation information and an intersection size of said target intersection comprises:
predicting the path length from the inlet position to the outlet position according to the target size in the intersection sizes of the target intersection when the inlet to which the inlet position belongs is the same as the outlet to which the outlet position of the target intersection belongs in the navigation information;
and when the inlet of the inlet position in the navigation information is different from the outlet of the target intersection, taking the sum of the sizes of the intersections from the inlet position to the outlet position as the path length.
5. The method of claim 1, wherein predicting the state duration of the traffic state based on the intersection size comprises: and predicting the state duration of the passing state according to the pedestrian crossing size in the intersection size.
6. The method of claim 1, wherein said determining the traffic information of the vehicle at the target intersection based on the state duration, the path length, and a preset vehicle speed comprises:
determining the passing time length of the target intersection according to the path length and the preset vehicle speed;
and comparing the difference between the state time length and the passing time length with the duration time length, and determining whether the vehicle passes or not according to the comparison result.
7. The method according to claim 1, further comprising, before the starting to detect the indication state of the target signal lamp corresponding to the target intersection: and determining a target signal lamp corresponding to the target intersection based on the navigation information and the signal lamp information.
8. The method according to any one of claims 1-7, applied to an autonomous vehicle; correspondingly, after determining the traffic information, the method further comprises: and when the traffic information is traffic, entering the target intersection.
9. An apparatus for determining intersection traffic information, comprising:
the state detection module is used for starting to detect the indication state of a target signal lamp corresponding to the target intersection when the vehicle runs to the target position;
the duration determining module is used for determining the duration of the passing state when the vehicle runs to the entrance position of the target intersection and the indicating state is the passing state; wherein the duration is a duration from a time of switching to the traffic state to a time of the vehicle traveling to the entrance position;
the path length determining module is used for determining the path length from the inlet position to the outlet position of the target intersection according to the navigation information and the intersection size of the target intersection;
the state duration determining module is used for predicting the state duration of the passing state according to the intersection size; the state duration is the duration from the moment of switching to the passing state to the moment of switching to the next state of the passing state;
and the traffic information determining module is used for determining the traffic information of the vehicle at the target intersection according to the state duration, the path length and the preset vehicle speed.
10. A terminal device, characterized in that the terminal comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the method of determining intersection traffic information of any of claims 1-8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method for determining intersection traffic information according to any one of claims 1 to 8.
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