CN114333380A - Traffic light identification method and system based on camera and V2x, and vehicle - Google Patents
Traffic light identification method and system based on camera and V2x, and vehicle Download PDFInfo
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- CN114333380A CN114333380A CN202111520959.4A CN202111520959A CN114333380A CN 114333380 A CN114333380 A CN 114333380A CN 202111520959 A CN202111520959 A CN 202111520959A CN 114333380 A CN114333380 A CN 114333380A
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Abstract
The invention discloses a traffic light identification method based on a camera and V2x, which comprises the following steps: the method comprises the steps that traffic light information is obtained through a camera and a V2x receiving terminal, screening is carried out according to the type of traffic light signals, unconventional vehicle driving indication traffic lights are filtered, and the conventional vehicle driving indication traffic lights are reserved; acquiring driving direction signs of a road surface through a camera, and judging the driving direction type of a lane where the vehicle is located by combining vehicle positioning navigation information and vehicle driving information provided by map positioning navigation, wherein the driving direction type of the lane where the vehicle is located comprises straight running, left turning, right turning and turning around; and judging the effective traffic lights matched with the lane where the vehicle is located according to the reserved normal vehicle running indication traffic lights and the running direction type of the lane where the vehicle is located. By the traffic light identification method based on the camera and the V2x, the accuracy of traffic light identification is effectively improved, and an important floor is laid for realizing urban automatic driving.
Description
Technical Field
The invention relates to the technical field of urban road auxiliary intelligent driving, in particular to a traffic light identification method and system based on a camera and V2x and a vehicle.
Background
The traditional traffic light identification scheme is based on single or multiple cameras or only depends on V2x to acquire signals, the former can increase the identification accuracy rate by improving the performance of the cameras or increasing the number of the cameras, but cannot solve the problem that the traffic light is physically shielded; the traffic light is perfectly shielded by the latter, but due to the defects of low universality, low popularization speed, high popularization cost and the like of V2x equipment, the traffic light identification of all traffic intersections is difficult to cover.
Disclosure of Invention
The invention aims to provide a traffic light identification method and system based on a camera and V2x and a vehicle, wherein the accuracy of traffic light identification is effectively improved by identifying and judging intersection traffic lights based on the camera and V2x and adding real-time map positioning information, and an important floor is laid for realizing urban automatic driving.
In order to achieve the above object, the present invention provides a traffic light identification method based on a camera and V2x, comprising the steps of:
the method comprises the steps that traffic light information is obtained through a camera and a V2x receiving terminal, screening is carried out according to the type of traffic light signals, unconventional vehicle driving indication traffic lights are filtered, and the conventional vehicle driving indication traffic lights are reserved; wherein the non-conventional vehicle driving indicating traffic light comprises a sidewalk light, a non-motor vehicle light and a slow-down and slow-moving prompting light; conventional vehicle travel indicating traffic lights include traffic lights;
acquiring driving direction signs of a road surface through a camera, and judging the driving direction type of a lane where the vehicle is located by combining vehicle positioning navigation information and vehicle driving information provided by map positioning navigation, wherein the driving direction type of the lane where the vehicle is located comprises straight running, left turning, right turning and turning around;
and judging the effective traffic lights matched with the lane where the vehicle is located according to the reserved normal vehicle running indication traffic lights and the running direction type of the lane where the vehicle is located.
Further, the traffic information is obtained through the camera and the V2x, the unconventional vehicle running indicating traffic lights are screened and filtered according to the types of the traffic light signals, and the conventional vehicle running indicating traffic lights are reserved; the following steps are specifically executed:
(S01) acquiring traffic light and road type signals;
(S02) judging whether a traffic light exists, if yes, turning to the step (S03); otherwise, go to execute step (S01);
(S03) judging whether an unconventional traffic light exists, if so, screening and filtering the unconventional vehicle driving indicating traffic light, and turning to the step (S04); otherwise, go to execute step (S04);
(S04) the normal vehicle running indication traffic light is retained.
Furthermore, the driving direction signs of the road surface are obtained through the camera, and the driving direction types of the lanes where the vehicle is located are judged by combining the vehicle positioning navigation information and the vehicle driving information provided by map positioning navigation, wherein the driving direction types of the lanes where the vehicle is located comprise straight running, left turning, right turning and turning around; judging the effective traffic lights matched with the lane where the vehicle is located according to the reserved conventional vehicle running indication traffic lights and the running direction category of the lane where the vehicle is located, and specifically executing the following steps:
(S11) judging whether there is only one traffic light in front, if yes, outputting the traffic light as an effective traffic light, and ending the process; otherwise, go to execute step (S12);
(S12) judging whether the vehicle is located in the multidirectional drivable lane according to the driving direction sign of the road surface, if so, turning to the execution step (S13); otherwise, go to execute step (S15);
(S13) determining whether the driving intention can be determined without the driving intention violating the lane in which the host vehicle is located; if yes, go to step (S14); otherwise, outputting all traffic lights corresponding to the multi-directional lane of the lane, and ending the process; the whole vehicle driving information is used for determining the driving intention of a driver;
(S14) determining whether the driving intention is straight and located in a straight lane, or right turn and located in a right turn lane, or left turn and located in a left turn lane, or u-turn and located in a u-turn lane;
if the driving intention is straight and is located in a straight lane, the driving direction of the lane where the vehicle is located is straight, then whether a straight lamp exists in the front is judged, if yes, the straight lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the driving intention is left turn and the vehicle is located in a lane capable of left turn, the driving direction type of the lane where the vehicle is located is left turn, then whether a left turn lamp exists in the front or not is judged, if yes, the left turn lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the driving intention is right turn and the vehicle is located in a right turn lane, the driving direction of the lane where the vehicle is located is right turn, then whether a right turn light exists in front or not is judged, if yes, the right turn light closest to the vehicle in front is output as an effective traffic light matched with the lane where the vehicle is located, and the process is ended; otherwise, outputting a straight running light closest to the vehicle in front as an effective traffic light matched with the lane where the vehicle is located, and ending the process;
if the driving intention is turning around and is positioned in a lane capable of turning around; if so, outputting the turning lamp closest to the vehicle in front as an effective traffic lamp matched with the lane where the vehicle is located, and ending the process; otherwise, the traffic light is not output, and the process is ended;
otherwise, the traffic light is not output, and the process is ended;
(S15) determining whether the type of the host vehicle road is a straight lane only, a u-turn lane only, a left-turn lane only, or a right-turn lane only;
if the type of the road of the vehicle is a straight lane, the driving direction type of the lane where the vehicle is located is straight, then whether a straight lamp exists in the front or not is judged, if yes, the straight lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the type of the road of the vehicle is a left-turn lane, the driving direction type of the lane where the vehicle is located is left-turn, then whether a left-turn lamp exists in the front or not is judged, if yes, the left-turn lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the type of the vehicle road is the turning-around lane, the type of the driving direction of the lane where the vehicle is located is turning around, then whether turning-around lamps exist in the front or not is judged, if yes, the turning-around lamps closest to the vehicle in the front are output as effective traffic lamps matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the type of the road of the vehicle is a right-turn lane, the type of the driving direction of the lane where the vehicle is located is right turn, then whether a right-turn lamp exists in the front or not is judged, if yes, the right-turn lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, outputting a straight running light closest to the vehicle in front as an effective traffic light matched with the lane where the vehicle is located, and ending the process;
otherwise, the traffic light is not output, and the process is ended.
Further, the vehicle driving information includes turn signal information and turn angle information.
Further, the driving direction signs of the road surface comprise lane straight running, left turning, right turning, turning around, straight running plus left turning, straight running plus right turning, straight running plus turning around, stop lines, sidewalk early warning lines and special lane character information.
The invention also provides a traffic light identification system based on the camera and the V2x, which comprises the following components:
the V2x receiving terminal is used for acquiring traffic light information in real time;
the camera is used for acquiring traffic light information in real time;
map positioning navigation, which is used for providing the positioning navigation information of the vehicle;
the sensing module is used for acquiring the driving information of the whole vehicle;
the intelligent traffic light controller is used for receiving traffic light information, vehicle positioning navigation information and vehicle driving information, screening and filtering the traffic light information and judging effective traffic lights matched with a lane where the vehicle is located;
the V2x receiving terminal, the camera, the map positioning navigation and sensing module are all connected with an intelligent traffic light controller, and the traffic light identification system based on the camera and V2x is configured to execute the steps of the traffic light identification method based on the camera and V2 x.
Furthermore, the V2x receiving terminal, the camera, the map positioning navigation and sensing module are all connected with the intelligent traffic light controller through a bus CAN.
And the display module is used for receiving the effective traffic light matched with the lane where the vehicle is located and carrying out scene reconstruction and image display, and the display module is connected with the intelligent traffic light controller through a CAN bus.
The invention also provides a vehicle comprising the traffic light identification system based on the camera and the V2 x.
Compared with the prior art, the invention has the following advantages:
according to the traffic light identification method and system based on the camera and the V2x and the vehicle, the identification and judgment of the intersection traffic light are carried out by adding the real-time map positioning information based on the camera and the V2x, so that the accuracy of traffic light identification is effectively improved, the method is visual, accurate and efficient, and an important floor is laid for realizing urban automatic driving.
Drawings
FIG. 1 is a flow chart of a traffic light identification method based on a camera and V2x according to the present invention;
FIG. 2 is a front view of FIG. 1;
fig. 3 is a schematic diagram of the traffic light identification system based on the camera and V2 x.
In the figure:
the system comprises a 1-V2x receiving terminal, a 2-camera, a 3-map positioning navigation, a 4-sensing module, a 5-intelligent traffic light controller and a 6-display module.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1 to 3, the present embodiment discloses a traffic light identification method based on a camera and V2x, which includes the following steps:
the method comprises the steps that traffic light information is obtained through a camera and a V2x receiving terminal, screening is carried out according to the type of traffic light signals, unconventional vehicle driving indication traffic lights are filtered, and the conventional vehicle driving indication traffic lights are reserved; the non-conventional vehicle running indicating traffic light comprises a sidewalk light, a non-motor vehicle light and a deceleration and jogging prompting light, and in some embodiments, the non-conventional vehicle running indicating traffic light further comprises a rider light, and the non-conventional vehicle running indicating traffic light is not limited herein; conventional vehicle travel indicating traffic lights include traffic lights;
acquiring driving direction signs of a road surface through a camera, and judging the driving direction type of a lane where the vehicle is located by combining vehicle positioning navigation information and vehicle driving information provided by map positioning navigation, wherein the driving direction type of the lane where the vehicle is located comprises straight running, left turning, right turning and turning around;
and judging the effective traffic lights matched with the lane where the vehicle is located according to the reserved normal vehicle running indication traffic lights and the running direction type of the lane where the vehicle is located.
The V2x receiving terminal is used for carrying out real-time communication on a traffic light signal sending terminal for road paving; to obtain real-time traffic light information, the V2x receiving terminal obtains traffic light information including traffic light color, shape, type, status (e.g., flashing status), location, and countdown.
The camera acquires videos or pictures through image recognition, and the camera further converts the shot videos and pictures into communication signals which can be used for transmission through an image recognition technology; the traffic light information acquired by the camera comprises the color, shape, type, state, position, countdown, the shape and position of the road surface indicating arrow of the current lane and the adjacent lane and the shape and position of the road surface indicating arrow marked by the guideboard.
The map positioning navigation provides navigation positioning information of the vehicle, navigation planning and lane-level navigation path planning of the vehicle; the host vehicle positioning navigation information includes a lane-level navigation path plan of the host vehicle.
The vehicle travel information is derived from: the vehicle body controller and the steering angle sensor are arranged on the vehicle, and the driving information of the whole vehicle comprises the state of a steering lamp and the steering wheel steering angle state and is used for predicting the steering intention of a driver.
In this embodiment, the traffic information is acquired through the camera and the V2x, the unconventional vehicle driving indicating traffic lights are screened and filtered out according to the types of the traffic light signals, and the conventional vehicle driving indicating traffic lights are reserved; the following steps are specifically executed:
(S01) acquiring traffic light and road type signals;
(S02) judging whether a traffic light exists, if yes, turning to the step (S03); otherwise, go to execute step (S01);
(S03) judging whether an unconventional traffic light exists, if so, screening and filtering the unconventional vehicle driving indicating traffic light, and turning to the step (S04); otherwise, go to execute step (S04);
(S04) the normal vehicle running indication traffic light is retained.
In this embodiment, the driving direction signs of the road surface are acquired through the camera, and the driving direction types of the lanes where the vehicle is located are judged by combining the vehicle positioning navigation information and the vehicle driving information provided by the map positioning navigation, wherein the driving direction types of the lanes where the vehicle is located include straight running, left turning, right turning and turning around; judging the effective traffic lights matched with the lane where the vehicle is located according to the reserved conventional vehicle running indication traffic lights and the running direction category of the lane where the vehicle is located, and specifically executing the following steps:
(S11) judging whether there is only one traffic light in front, if yes, outputting the traffic light as an effective traffic light, and ending the process; otherwise, go to execute step (S12);
(S12) judging whether the vehicle is located in the multidirectional drivable lane according to the driving direction sign of the road surface, if so, turning to the execution step (S13); otherwise, go to execute step (S15);
(S13) determining whether the driving intention can be determined without the driving intention violating the lane in which the host vehicle is located; if yes, go to step (S14); otherwise, outputting all traffic lights corresponding to the multi-directional lane of the lane, and ending the process; the whole vehicle driving information is used for determining the driving intention of a driver; for example, the following steps are carried out: if the driver intention or the driving intention is not contrary to the lane where the vehicle is located, outputting a plurality of matchable traffic lights corresponding to the vehicle lane; such as: and if the vehicle is running straight and turning left, outputting a straight running lamp closest to the vehicle and a left turning lamp closest to the vehicle.
(S14) determining whether the driving intention is straight and located in a straight lane, or right turn and located in a right turn lane, or left turn and located in a left turn lane, or u-turn and located in a u-turn lane;
if the driving intention is straight and is located in a straight lane, the driving direction of the lane where the vehicle is located is straight, then whether a straight lamp exists in the front is judged, if yes, the straight lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the driving intention is left turn and the vehicle is located in a lane capable of left turn, the driving direction type of the lane where the vehicle is located is left turn, then whether a left turn lamp exists in the front or not is judged, if yes, the left turn lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the driving intention is right turn and the vehicle is located in a right turn lane, the driving direction of the lane where the vehicle is located is right turn, then whether a right turn light exists in front or not is judged, if yes, the right turn light closest to the vehicle in front is output as an effective traffic light matched with the lane where the vehicle is located, and the process is ended; otherwise, outputting a straight running light closest to the vehicle in front as an effective traffic light matched with the lane where the vehicle is located, and ending the process;
if the driving intention is turning around and is positioned in a lane capable of turning around; if so, outputting the turning lamp closest to the vehicle in front as an effective traffic lamp matched with the lane where the vehicle is located, and ending the process; otherwise, the traffic light is not output, and the process is ended;
otherwise, the traffic light is not output, and the process is ended;
(S15) determining whether the type of the host vehicle road is a straight lane only, a u-turn lane only, a left-turn lane only, or a right-turn lane only;
if the type of the road of the vehicle is a straight lane, the driving direction of the lane where the vehicle is located is straight, then whether a straight lamp exists in the front is judged, and if yes, the straight lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located; wherein, the straight lamp comprises a round lamp and a front arrow lamp; otherwise, the traffic light is not output, and the process is ended;
if the type of the road of the vehicle is a left-turn lane, the driving direction type of the lane where the vehicle is located is left-turn, then whether a left-turn lamp exists in the front or not is judged, if yes, the left-turn lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the type of the vehicle road is the turning-around lane, the type of the driving direction of the lane where the vehicle is located is turning around, then whether turning-around lamps exist in the front or not is judged, if yes, the turning-around lamps closest to the vehicle in the front are output as effective traffic lamps matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the type of the road of the vehicle is a right-turn lane, the type of the driving direction of the lane where the vehicle is located is right turn, then whether a right-turn lamp exists in the front or not is judged, if yes, the right-turn lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, outputting a straight running light closest to the vehicle in front as an effective traffic light matched with the lane where the vehicle is located, and ending the process;
otherwise, the traffic light is not output, and the process is ended.
In the present embodiment, the entire vehicle driving information includes turn signal information and turn angle information.
In this embodiment, the driving direction signs of the road surface include lane straight running, left turning, right turning, turning around, straight running + left turning, straight running + right turning, straight running + turning around, stop line, sidewalk early warning line and special lane text information.
Referring to fig. 3, the embodiment further discloses a traffic light identification system based on a camera and V2x, including:
the V2x receiving terminal 1 is used for acquiring traffic light information in real time;
the camera 2 is used for acquiring traffic light information in real time;
the sensing module 4 is used for acquiring the driving information of the whole vehicle; the sensing module 4 comprises a vehicle body controller and a steering angle sensor, and the driving information of the whole vehicle comprises the state of a steering lamp and the steering wheel steering angle state and is used for predicting the steering intention of a driver.
The intelligent traffic light controller 5 is used for receiving the traffic light information, the vehicle positioning navigation information and the vehicle driving information, screening and filtering the traffic light information and judging an effective traffic light matched with a lane where the vehicle is located;
the V2x receiving terminal 1, the camera 2, the map positioning navigation 3 and the sensing module 4 are all connected with the intelligent traffic light controller 5, and the camera and V2 x-based traffic light identification system is configured to execute the steps of the camera and V2 x-based traffic light identification method. The map positioning navigation 3 provides navigation positioning information of the vehicle, provides lane-level navigation path planning of the vehicle according to the navigation planning, and acquires accurate positioning of the vehicle and judgment of the driving direction by combining vehicle driving information (such as a steering lamp, a steering wheel corner and the like) and the identified road driving direction type of the lane where the vehicle is located.
In this embodiment, the V2x receiving terminal 1, the camera 2, the map positioning navigation 3 and the sensing module 4 are all connected with the intelligent traffic light controller 5 through a bus CAN.
In this embodiment, the vehicle-mounted intelligent traffic light control system further comprises a display module 6 for receiving an effective traffic light matched with a lane where the vehicle is located and performing scene reconstruction and image display, wherein the display module 6 is connected with the intelligent traffic light controller 5 through a CAN bus. The display module 6 receives an effective traffic light signal matched with the lane where the vehicle is located on the vehicle-mounted bus through the internal bus transmission module; the display module 6 converts the received signal into image information and performs scene reconstruction on the traffic light image under the rule of UI design thereof. Therefore, a real-time display scheme of the corresponding effective traffic light of the vehicle is realized.
The invention also discloses a vehicle which comprises the traffic light identification system based on the camera and the V2 x.
According to the traffic light identification method and system based on the camera and the V2x and the vehicle, the identification and judgment of the intersection traffic light are carried out by adding the real-time map positioning information based on the camera and the V2x, so that the accuracy of traffic light identification is effectively improved, the method is visual, accurate and efficient, and an important floor is laid for realizing urban automatic driving.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. A traffic light identification method based on a camera and V2x is characterized by comprising the following steps:
the method comprises the steps that traffic light information is obtained through a camera and a V2x receiving terminal, screening is carried out according to the type of traffic light signals, unconventional vehicle driving indication traffic lights are filtered, and the conventional vehicle driving indication traffic lights are reserved; wherein the non-conventional vehicle driving indicating traffic light comprises a sidewalk light, a non-motor vehicle light and a slow-down and slow-moving prompting light; conventional vehicle travel indicating traffic lights include traffic lights;
acquiring driving direction signs of a road surface through a camera, and judging the driving direction type of a lane where the vehicle is located by combining vehicle positioning navigation information and vehicle driving information provided by map positioning navigation, wherein the driving direction type of the lane where the vehicle is located comprises straight running, left turning, right turning and turning around;
and judging the effective traffic lights matched with the lane where the vehicle is located according to the reserved normal vehicle running indication traffic lights and the running direction type of the lane where the vehicle is located.
2. The camera and V2 x-based traffic light recognition method according to claim 1, wherein the camera and V2x are used to obtain traffic information, filter and filter out non-conventional vehicle driving traffic lights according to the type of traffic light signal, and keep the conventional vehicle driving traffic lights; the following steps are specifically executed:
(S01) acquiring traffic light and road type signals;
(S02) judging whether a traffic light exists, if yes, turning to the step (S03); otherwise, go to execute step (S01);
(S03) judging whether an unconventional traffic light exists, if so, screening and filtering the unconventional vehicle driving indicating traffic light, and turning to the step (S04); otherwise, go to execute step (S04);
(S04) the normal vehicle running indication traffic light is retained.
3. The camera and V2 x-based traffic light recognition method according to claim 1 or 2, wherein the camera is used to obtain driving direction signs of a road surface, and the driving direction categories of the lane in which the vehicle is located are determined by combining vehicle positioning navigation information and vehicle driving information provided by map positioning navigation, and the driving direction categories of the lane in which the vehicle is located include straight running, left turning, right turning and turning around; judging the effective traffic lights matched with the lane where the vehicle is located according to the reserved conventional vehicle running indication traffic lights and the running direction category of the lane where the vehicle is located, and specifically executing the following steps:
(S11) judging whether there is only one traffic light in front, if yes, outputting the traffic light as an effective traffic light, and ending the process; otherwise, go to execute step (S12);
(S12) judging whether the vehicle is located in the multidirectional drivable lane according to the driving direction sign of the road surface, if so, turning to the execution step (S13); otherwise, go to execute step (S15);
(S13) determining whether the driving intention can be determined without the driving intention violating the lane in which the host vehicle is located; if yes, go to step (S14); otherwise, outputting all traffic lights corresponding to the multi-directional lane of the lane, and ending the process; the whole vehicle driving information is used for determining the driving intention of a driver;
(S14) determining whether the driving intention is straight and located in a straight lane, or right turn and located in a right turn lane, or left turn and located in a left turn lane, or u-turn and located in a u-turn lane;
if the driving intention is straight and is located in a straight lane, the driving direction of the lane where the vehicle is located is straight, then whether a straight lamp exists in the front is judged, if yes, the straight lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the driving intention is left turn and the vehicle is located in a lane capable of left turn, the driving direction type of the lane where the vehicle is located is left turn, then whether a left turn lamp exists in the front or not is judged, if yes, the left turn lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the driving intention is right turn and the vehicle is located in a right turn lane, the driving direction of the lane where the vehicle is located is right turn, then whether a right turn light exists in front or not is judged, if yes, the right turn light closest to the vehicle in front is output as an effective traffic light matched with the lane where the vehicle is located, and the process is ended; otherwise, outputting a straight running light closest to the vehicle in front as an effective traffic light matched with the lane where the vehicle is located, and ending the process;
if the driving intention is turning around and is positioned in a lane capable of turning around; if so, outputting the turning lamp closest to the vehicle in front as an effective traffic lamp matched with the lane where the vehicle is located, and ending the process; otherwise, the traffic light is not output, and the process is ended;
otherwise, the traffic light is not output, and the process is ended;
(S15) determining whether the type of the host vehicle road is a straight lane only, a u-turn lane only, a left-turn lane only, or a right-turn lane only;
if the type of the road of the vehicle is a straight lane, the driving direction type of the lane where the vehicle is located is straight, then whether a straight lamp exists in the front or not is judged, if yes, the straight lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the type of the road of the vehicle is a left-turn lane, the driving direction type of the lane where the vehicle is located is left-turn, then whether a left-turn lamp exists in the front or not is judged, if yes, the left-turn lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the type of the vehicle road is the turning-around lane, the type of the driving direction of the lane where the vehicle is located is turning around, then whether turning-around lamps exist in the front or not is judged, if yes, the turning-around lamps closest to the vehicle in the front are output as effective traffic lamps matched with the lane where the vehicle is located, and the process is ended; otherwise, the traffic light is not output, and the process is ended;
if the type of the road of the vehicle is a right-turn lane, the type of the driving direction of the lane where the vehicle is located is right turn, then whether a right-turn lamp exists in the front or not is judged, if yes, the right-turn lamp closest to the vehicle in the front is output as an effective traffic lamp matched with the lane where the vehicle is located, and the process is ended; otherwise, outputting a straight running light closest to the vehicle in front as an effective traffic light matched with the lane where the vehicle is located, and ending the process;
otherwise, the traffic light is not output, and the process is ended.
4. The camera and V2 x-based traffic light identification method according to claim 3, wherein the entire vehicle driving information includes turn signal information and turn angle information.
5. The camera and V2 x-based traffic light recognition method according to claim 1, 2 or 4, wherein the driving direction signs of the road surface comprise lane straight running, left turning, right turning, u-turn, straight running + left turning, straight running + right turning, straight running + u-turn, stop line, sidewalk precaution line and special lane text information.
6. A camera and V2 x-based traffic light identification system, comprising:
the V2x receiving terminal (1) is used for acquiring traffic light information in real time;
the camera (2) is used for acquiring traffic light information in real time;
a map positioning navigation (3) for providing the vehicle positioning navigation information;
the sensing module (4) is used for acquiring the driving information of the whole vehicle;
the intelligent traffic light controller (5) is used for receiving the traffic light information, the vehicle positioning navigation information and the vehicle driving information, screening and filtering the traffic light information and judging an effective traffic light matched with a lane where the vehicle is located;
the V2x receiving terminal (1), the camera (2), the map positioning navigation (3) and the sensing module (4) are all connected with an intelligent traffic light controller (5), and the camera and V2 x-based traffic light identification system is configured to execute the steps of the camera and V2 x-based traffic light identification method according to any one of claims 1 to 5.
7. The camera and V2 x-based traffic light recognition system according to claim 6, wherein the V2x receiving terminal (1), camera (2), map positioning navigation (3) and sensing module (4) are all connected with an intelligent traffic light controller (5) through a bus CAN.
8. The camera and V2 x-based traffic light recognition system according to claim 6 or 7, further comprising a display module (6) for receiving valid traffic lights matched with the lane where the vehicle is located, performing scene reconstruction and image display, wherein the display module (6) is connected with the intelligent traffic light controller (5) through a CAN bus.
9. A vehicle comprising a camera and V2 x-based traffic light identification system according to any one of claims 6 to 8.
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| CN202111520959.4A CN114333380A (en) | 2021-12-13 | 2021-12-13 | Traffic light identification method and system based on camera and V2x, and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116824895A (en) * | 2023-08-29 | 2023-09-29 | 成都通广网联科技有限公司 | Network connection system and method for controlling automatic driving vehicle to enter intersection waiting area |
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