CN114495516A

CN114495516A - Control method and device for traffic identification, medium and electronic equipment

Info

Publication number: CN114495516A
Application number: CN202111682534.3A
Authority: CN
Inventors: 何仕文
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-05-13
Anticipated expiration: 2041-12-30
Also published as: CN114495516B

Abstract

The disclosure provides a control method of a traffic sign, a control device of the traffic sign, a computer readable storage medium and an electronic device, and relates to the technical field of traffic safety. The method comprises the following steps: determining a road intersection region within a preset range from a vehicle as a target region R; according to the actual point cloud data C corresponding to the target area R_RtDetermining the obstacle information O of the target region R at the t-th time point_t(ii) a According to the obstacle information O of the target region R at the t-th time point_tDetermining control reference information corresponding to the tth time point; controlling the display brightness and the display color of the first traffic sign according to the control reference information, and controlling the display brightness and the display color of the second traffic sign according to the control reference information; the second traffic sign is perpendicular to the road and used for indicating the position of the vehicle for parking. The scheme can improve the intelligent degree of traffic management and is favorable for improving traffic safety.

Description

Control method and device for traffic identification, medium and electronic equipment

Technical Field

The present disclosure relates to the field of traffic safety technologies, and in particular, to a method and an apparatus for controlling a traffic identifier, a computer-readable storage medium, and an electronic device.

Background

With the increasing pace of life and the increasing level of industrial production, automobiles have become more and more popular in the present society. Therefore, traffic management intellectualization is an important method for continuously improving urban traffic management. Meanwhile, in intelligent traffic management, the urban traffic road is continuously improved, and meanwhile, the intelligent traffic management system plays an important role in safety of pedestrians and vehicles.

The present disclosure provides a control scheme for traffic signs to promote the intelligent degree of traffic management and be favorable to promoting the security of pedestrians and vehicles.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The present disclosure is directed to a method for controlling a traffic sign, a device for controlling a traffic sign, a computer-readable storage medium, and an electronic device, which can improve the intelligence of traffic management to a certain extent and are beneficial to improving traffic safety.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

According to an aspect of the present disclosure, there is provided a method of controlling a traffic sign, the method including: determining a road intersection region within a preset range from a vehicle as a target region R; according to the actual point cloud data C corresponding to the target area R_RtDetermining the obstacle information O of the target region R at the t-th time point_t(ii) a According to the obstacle information O of the target region R at the t-th time point_tDetermining control reference information corresponding to the tth time point; controlling the display brightness and the display color of the first traffic sign according to the control reference information, and controlling the display brightness and the display color of the second traffic sign according to the control reference information;

the first traffic sign comprises a plurality of mutually parallel sign lines which are parallel to each other in the axial direction of the road and are used for indicating pedestrians to cross the road; the second traffic sign is perpendicular to the road and used for indicating the position of the vehicle for parking.

According to another aspect of the present disclosure, there is provided a control apparatus for traffic sign, the apparatus including: the device comprises a target area determining module, an obstacle information determining module, a control reference information determining module and a display control module.

The target area determining module is used for determining a road intersection area within a preset range from the vehicle as a target area R; the obstacle information determining module is used for determining the actual point cloud data C corresponding to the target area R_RtDetermining the obstacle information O of the target region R at the t-th time point_t(ii) a The control reference information determining module is configured to determine the obstacle information O of the target area R at the t-th time point according to the control reference information_tDetermining control reference information corresponding to the tth time point; the display control module is used for controlling the display brightness and the display color of the first traffic sign according to the control reference information and controlling the display brightness and the display color of the second traffic sign according to the control reference information;

According to yet another aspect of the present disclosure, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method for controlling traffic signs as in the above embodiments when executing the computer program.

According to yet another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, realizes the control method of traffic identification as in the above embodiments.

The control method for the traffic sign, the control device for the traffic sign, the computer-readable storage medium and the electronic device provided by the embodiment of the disclosure have the following technical effects:

in the control scheme for the traffic sign provided by the embodiment of the specification, a road intersection where a vehicle is about to arrive is determined as a target area, and data acquisition is performed on the target area in real time to determine whether obstacles (such as pedestrians, vehicles, small animals and the like passing through the road) exist at the intersection. And further, determining control reference information related to the traffic sign according to the obstacle information, and finally controlling the display brightness and the display color of the traffic sign according to the control reference information. Wherein the traffic signs include a first traffic sign (e.g., a zebra crossing) for indicating that a pedestrian crosses a road, and a second traffic sign for indicating a location at which the vehicle is parked to prevent the vehicle from crossing the zebra crossing. The scheme can improve the intelligent degree of traffic management and is favorable for improving traffic safety.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.

Fig. 1 shows a schematic view of a scenario of a control scheme for traffic identification in an exemplary embodiment of the present disclosure.

Fig. 2 is a flowchart illustrating a method for controlling a traffic sign according to an exemplary embodiment of the disclosure.

Fig. 3 shows a flowchart of a method for determining actual point cloud data of a target area in an exemplary embodiment of the disclosure.

Fig. 4 is a flowchart illustrating a method for acquiring obstacle information according to an exemplary embodiment of the present disclosure.

Fig. 5 shows a schematic diagram of the background height of a target area in an exemplary embodiment of the present disclosure.

Fig. 6 shows a flow chart of a control method for traffic signs in another exemplary embodiment of the present disclosure.

Fig. 7 is a diagram illustrating an increase in display brightness for controlling a traffic sign in an exemplary embodiment of the present disclosure.

Fig. 8 is a schematic diagram illustrating a display color for controlling a traffic sign in an exemplary embodiment of the present disclosure.

Fig. 9a shows a schematic diagram of controlling the display color of traffic signs in another exemplary embodiment of the present disclosure.

Fig. 9b shows a schematic diagram of controlling the display color of traffic signs in yet another exemplary embodiment of the present disclosure.

Fig. 10 is a schematic structural diagram of a control device for traffic signs to which an embodiment of the present disclosure may be applied.

FIG. 11 shows a schematic structural diagram of an electronic device suitable for use in implementing embodiments of the present disclosure.

Detailed Description

To make the objects, technical solutions and advantages of the present disclosure more clear, embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings.

When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

Traffic signs refer to devices that transmit guidance, restriction, warning, or indication information through characters or symbols on road surfaces, signs, and the like. In traffic signs, safety, striking, clear and bright traffic signs are generally used as important measures for implementing traffic management and ensuring safety and smoothness of road traffic.

In the related art, the traffic sign needs to be passively viewed by the vehicle driver, and there are cases where the vehicle driver does not notice the relevant traffic sign. This technical scheme is through intelligent local control traffic sign for the traffic sign shows luminance and shows the colour according to actual conditions change, thereby plays the warning effect of initiatively reminding relevant personnel, and then promotes traffic safety more effectively.

The following describes in detail embodiments of the control method for traffic signs provided by the present disclosure with reference to fig. 1 to 9:

fig. 1 is a schematic view illustrating a scenario of a control scheme for traffic sign in an exemplary embodiment of the present disclosure.

Referring to fig. 1, in a control scheme for a traffic sign provided in an embodiment of the present disclosure, after a vehicle is detected to enter a preset range of a road intersection, a target area 100 is determined according to a preset rule. And acquires measurement data by a plurality of sensor devices (e.g., sensors such as laser radars or image pickup devices) 110 provided in the target area. Wherein the measurement data may be transmitted to the data processor 130 via the network 120. Specifically, the data processor 130 determines the obstacle information at that time from the measurement data. Further, the data processor 130 also determines control reference information for controlling the traffic sign according to whether the obstacle 17 exists within the target area 100.

The control reference information has an important influence on the display of the traffic sign, and specifically may include: position information of the obstacle 17, traffic light information from the traffic light 140, and current weather information from the weather forecast device 150.

And further, controlling the display color and the display brightness of the traffic sign according to the determined control reference information. Specifically, the first traffic sign 15 includes a plurality of sign lines parallel to each other and to the road axis for indicating the pedestrian crossing the road; the second traffic sign 16 is perpendicular to the road and indicates the position where the vehicle is parked.

Specifically, controllable lamp belts can be arranged at the first traffic sign and the second traffic sign, so that the traffic signs can be controlled by controlling the display brightness and the display color of the lamp belts.

The data processor 130 may be an electronic device disposed at a road intersection, for example, the measuring device 110. The electronic equipment detects vehicles running on the road and executes the scheme under the condition that the vehicles enter a preset range, so that the intelligent degree of traffic management is improved, and traffic safety is improved.

In an exemplary embodiment, fig. 2 shows a flow chart of a control method for traffic signs in an exemplary embodiment of the disclosure. Referring to fig. 2, the method includes:

s210, determining a road intersection region within a preset range from a vehicle as a target region R;

s220, according to the actual point cloud data C corresponding to the target area R_RtDetermining obstacle information O of the target region R at the t-th time point_t；

S230, according to the obstacle information O of the target region R at the t-th time point_tDetermining control reference information corresponding to the tth time point;

s240, controlling the display brightness and the display color of the first traffic sign according to the control reference information, and controlling the display brightness and the display color of the second traffic sign according to the control reference information;

in the solution provided by the embodiment shown in fig. 2, the first traffic sign comprises a plurality of sign lines parallel to each other and to the road axis, and is used for indicating that the pedestrian crosses the road; the second traffic sign is perpendicular to the road and used for indicating the position of the vehicle for parking. Through the technical scheme that this embodiment provided, can effectively promote traffic management's intelligent degree to, be favorable to promoting traffic safety.

Since the probability that a road intersection crosses the road is relatively high, in this embodiment, the road intersection where the vehicle is to arrive is determined as the target region R according to the navigation information (S210). Furthermore, the control of the relevant traffic sign is determined through the detection of the target area R, so that the warning effect on the vehicle is achieved, and corresponding braking measures are taken, for example, the speed reduction or parking is needed when an obstacle (a pedestrian or a vehicle and the like) crossing the road exists, and the traffic safety is effectively improved.

In an exemplary embodiment, before performing S220, the actual point cloud data C of the target area needs to be acquired_Rt. Fig. 3 is a schematic flow chart illustrating a method for determining actual point cloud data of a target area according to an exemplary embodiment of the present disclosure. Referring to FIG. 3, the embodiment shown includes S310-S350.

In S310, acquiring positioning information of a vehicle, and determining N target sensors corresponding to the positioning information, wherein N is an integer greater than 1; and, in S320, transferring N according to the positioning informationThe target sensor carries out synchronous scanning to obtain scanning point cloud data C corresponding to the tth time point_t。

Illustratively, to achieve accurate positioning of obstacles within a target area, a sufficient number of sensors (e.g., lidar) (such as measurement device 110 shown in fig. 1) are required to be deployed within the target area (i.e., at an intersection). In order to minimize unnecessary laser radars participating in the scanning operation (e.g., laser radars farther from the moving target), the present embodiment needs to acquire the positioning information of the vehicle at the t-th time point, so as to determine the laser radars (denoted as N target sensors) corresponding to the positioning information. Specifically, in this embodiment, General Packet Radio Service (GPRS) information or Global Positioning System (GPS) information of a General Packet Radio Service (GPRS) sent by the moving target object at the t-th time point is obtained to achieve accurate Positioning. A plurality of object sensors (denoted as N) corresponding to the above-mentioned GPRS information or GPS signals are determined based on the located position. Scanning is performed by N template sensors corresponding to GPRS information or GPS signals. The sensor trigger scanning determined based on the positioning information can reduce the energy consumption of the sensor and improve the effectiveness of the sensor scanning.

Meanwhile, in order to ensure the accuracy of the scanned data and further improve the detection precision of the obstacle, scanning operation is required to be synchronously executed by the laser radar equipment so as to accurately acquire point cloud data, so that the sensors corresponding to the GPRS information are called to synchronously scan through the GPRS information, and the scanned point cloud data C corresponding to the t-th time point is obtained_t。

Illustratively, the scanning point of the N radars at the time point is denoted as C_t：

C_t＝{C_t1，C_t2，…，C_tN}

Wherein, C_ti(i ═ 1, …, N) represents the scanning point cloud of the ith laser radar at the t-th time point.

For example, it is considered that although the above N lidar scans synchronously, there may be a problem that the moving target affects the point cloud scanning accuracy at different angles of the lidar scanning. For this problem, in this embodiment, motion compensation is performed according to an actual usage scenario, for example, the motion compensation may be implemented based on a uniform linear motion, or compensation may be performed by using a higher-order motion model.

Continuing to refer to fig. 3, in S330, an ith transformation matrix corresponding to the ith sensor is determined, where i is an integer from 1 to N;

illustratively, the target area is three-dimensionally modeled, and a transformation relation between a local coordinate system used by the laser radar and a map position corresponding to the three-dimensional model can be obtained in a calibration mode, so that the transformation relation between the coordinate position of point cloud data obtained by scanning the laser radar and the local coordinate system position in the map corresponding to the three-dimensional model is realized.

And for the N laser radars, the coordinate system of the scanning point cloud of the laser radar can be converted into the local coordinate system of the airport three-dimensional map in a calibration mode. I.e. for each lidar L_i(i-1, …, N) all have a transformation T_LiAnd the radar scanning point is converted into a local coordinate system of the map.

In S340, the ith point cloud data C corresponding to the ith sensor is processed according to the ith conversion matrix_tiConverting the coordinate information to ith coordinate information in a target coordinate system to obtain coordinate information corresponding to the N sensors respectively;

exemplarily, the ith point cloud data C corresponding to the ith sensor_tiTransformation to ith coordinate information (C) in a target coordinate system_Li)：

C_Li＝T_Li*C_ti

In S350, the coordinate information corresponding to the N sensors is compared with the target region R to obtain actual point cloud data C_Rt。

Exemplarily, in the case of determining the target region R, coordinate information (C) of scanning points of N laser radars at the t-th time point in the map coordinate system is acquired_L1，C_L2，……，C_LN) Whether the coordinate information falls into the range of the target region R or not is judged, and the corresponding relation of the target region R is obtainedActual point cloud data C_Rt:

C_Rt{ P | P falls on R_tMiddle },

visible, actual point cloud data C_RtScanning point cloud data C corresponding to tth time point of laser radar_tA subset of (a).

With continued reference to FIG. 2, the actual point cloud data C corresponding to the target region R is determined_RtThereafter, in S220: according to the actual point cloud data C corresponding to the target region R_RtDetermining obstacle information O of the target region R at the t-th time point_t。

In an exemplary embodiment, fig. 4 is a flowchart illustrating a method for acquiring obstacle information in an exemplary embodiment of the present disclosure, which may be taken as an exemplary implementation manner of S220. Referring to fig. 4, the embodiment shown comprises:

s221, rasterizing the target region R to obtain X × Y grids, X, Y being a positive integer; s222, according to the actual point cloud data C_RtAcquiring measurement height information G (X, Y) of each grid, wherein the value of X is 1,2 …, and the value of X and Y is 1,2 … and Y; and S223, determining the obstacle information O of the target area R at the t-th time point according to the measurement height information G (x, y)_t。

Illustratively, to facilitate data processing, the target region is rasterized to obtain X × Y grids, X, Y being a positive integer.

Illustratively, the target area 100 is modeled for the background: as shown in fig. 5, background height information of the target area is acquired by the laser radar, wherein fig. 5 shows that the gray level of the grid is determined according to the background height information B (x, y) of the grid. For example, the larger the B (x, y) value, the larger the grid gray value.

Further, on one hand, background height information B (X, Y) of each grid is obtained, where B (X, Y) represents the height of the ground point of the grid (X, Y), X takes on the value of 1,2 …, and X, Y takes on the value of 1,2 …, Y. On the other hand, the actual point cloud data C is also used_RtAnd acquiring the measurement height information G (x, y) of each grid. Illustratively, the actual point cloud data C is obtained according to the above_RtZ-axis coordinate determination of (1)The measured height information G (x, y) of the grid.

And calculating the difference between the measurement height information G (x, y) and the background height information B (x, y) aiming at the same grid to obtain the height difference corresponding to the grid. Illustratively, the height difference is: h (x, y) ═ G (x, y) -B (x, y).

And finally, determining the obstacle information according to the corresponding height difference of each grid. Specifically, H (x, y) is compared with a preset length threshold, so as to obtain a foreground grid occupied by the dynamic target, where the foreground grid judgment formula is as follows:

the foreground grid F (x, y) may be determined as an obstacle in the target region R at the t-th time point.

In an exemplary embodiment, fig. 6 shows a flowchart of a method for controlling a traffic sign in another exemplary embodiment of the present disclosure, and the following describes in detail a specific implementation of the relevant steps in the embodiment shown in fig. 2 with reference to fig. 6:

referring to fig. 6, the specific implementation of S210 and S220 has been described in the above embodiments, and will not be described herein again. As a specific embodiment of S230, S231-S234 and S232 'and S233' are performed:

in S231, the obstacle information O at the t-th time point is determined_tIs the presence or absence of an obstacle in the target region R.

In the present embodiment, different control strategies are implemented for the traffic signs in both cases where there is an obstacle and where there is no obstacle in the target area R.

Specifically, in the case where there is an obstacle in the target region R at the t-th time point, which indicates that there may be a pedestrian, a vehicle, or the like crossing the road at present, S232-S243 are executed.

In S232, position information P of the obstacle at the t-th time point is acquired_t(ii) a In S233, the display color D of the traffic signal corresponding to the target region R is acquired_tAnd acquiring the weather information W corresponding to the tth time point_t(ii) a And, in S234, the position information P of the t-th time point_tAnd the display color D of the traffic signal lamp_tAnd/or weather information W corresponding to the tth time point_tAnd determining the control reference information corresponding to the tth time point.

In this embodiment, when an obstacle exists in the target area R, a specific position of the obstacle is obtained, so that accurate control of the traffic sign is realized, for example, when a pedestrian crossing the road is 5 meters away from the roadside, the traffic sign around the pedestrian is displayed in a height warning color, so that the vehicle can obtain the specific position of the obstacle.

In the case of an obstacle in the target region R, the display color D of the traffic signal lamp of the current intersection is also combined_tCurrent weather information W_tAnd determining the control reference information corresponding to the tth time point.

In this embodiment, a specific implementation manner of S240 is provided on the basis of the control reference information:

in S241, according to the weather information W_tAnd controlling the display brightness of the first traffic sign and the second traffic sign to increase.

For example, referring to fig. 7, when bad weather or light conditions such as rainy/haze/night are poor, the display brightness of the first and second traffic signs is increased to improve the visibility of the traffic signs.

Of course, the weather information W cannot be acquired at present_tIn order to improve the visibility of the traffic signs, the display brightness of the first traffic sign and the second traffic sign may be controlled to be increased.

As another alternative, the system may also be controlled according to the system time or a photo-control sensor system integrated with the system itself.

In S242, in the first traffic sign, the position information P is determined_tThe distance between the target identification lines is less than a first preset value, and the target identification lines are displayed according to the display color D of the traffic signal lamp_tAnd controlling the display color of the target identification line.

The distance may be an actual separation distance, or may also be distance information predicted according to a preset rule, which is not limited in this embodiment.

Referring to fig. 8, in the present embodiment, the first traffic sign 15 is described by taking a zebra crossing as an example. In order to increase the degree of accuracy of the control of the traffic sign, the position information P with the obstacle 17 may be determined_tThe distance therebetween is smaller than the target identification line 151 of the first preset value. The above-described target identification line 151 is also dynamically changed following the movement of the pedestrian. Thus, the vehicle can determine the exact position of the obstacle more accurately.

Further, according to the display color D of the traffic signal lamp_tControlling the display color of the target identification line according to the following conditions:

case 1:

for example, in the case that the traffic light is red for the driving direction of the vehicle, the traffic light corresponding to the pedestrian at the zebra crossing is green, that is, the pedestrian crosses the road while complying with the traffic rules. At this time, the display color of the target mark line 151 is red at a first level of brightness, and the display colors of the mark lines other than the target mark line 151 in the first traffic mark 15 are red at a second level of brightness, where the first level of brightness is greater than the second level of brightness. For example, the red at the first level of brightness is a deep red and the red at the first level of brightness is a light red.

In the embodiment, the first traffic signs are all displayed in red to warn the vehicle not to run the red light, and meanwhile, in order to emphasize the position of the pedestrian in the zebra crossing, the target sign lines near the position of the pedestrian are red lightness higher than the red lightness of other sign lines, so that the safety of the pedestrian is ensured more effectively.

The light and shade of a color is brightness, and is also referred to as brightness. Lightness is one of the three elements of color. Different colors have different brightness and darkness, and the same color also has the change of brightness and darkness.

Case 2:

for example, in the case that the traffic light is green for the driving direction of the vehicle, the traffic light corresponding to the pedestrian at the zebra crossing is red, that is, the pedestrian crosses the road against the traffic rule. At this time, the target mark line 151 is displayed in red to warn the vehicle that a pedestrian crosses the road, and the vehicle needs to pay attention to the position of the pedestrian and avoid impacting the pedestrian. And the display color of the other identification lines of the first traffic sign 15 except for the target identification line 151 is green.

In the present embodiment, although the traffic signal light is green for the vehicle, since there is a pedestrian crossing the road, a portion of the zebra crossing where the pedestrian passes is marked red to avoid the vehicle from hitting the pedestrian. Meanwhile, the sign lines of the first traffic sign 15 other than the target sign line 151 are displayed in green, indicating that the vehicle can pass therethrough. Thus, the vehicle can pass through the first traffic sign (zebra crossing) avoiding the area showing the color red.

Case 3:

for example, in the case that the traffic light is yellow for the driving direction of the vehicle, the traffic light corresponding to the pedestrian at the zebra crossing is green, that is, the pedestrian crosses the road while complying with the traffic rules. At this time, the display color of the target marker line 151 is red, and the display colors of the other marker lines except for the target marker line 151 in the first traffic marker 15 are yellow.

In this embodiment, for the vehicle, if the traffic light is yellow, the first traffic sign display color may be controlled to be yellow. But since there are pedestrians crossing the road, the portion of the zebra crossing where there are pedestrians passing is marked red to avoid the vehicle hitting the pedestrian.

With continued reference to fig. 6, in S243, in the second traffic sign, the position information P is determined_tThe distance between the target sections is less than a second preset value, and the target sections display the color D according to the traffic signal lamp_tAnd controlling the display color of the target segment.

Referring to fig. 8, in the present embodiment, the second traffic sign 16 is described by taking a stop line before the vehicle reaches the zebra crossing as an example. To liftThe control precision degree of the traffic sign is high, and the position information P of the barrier 17 can be determined_tThe distance therebetween is smaller than the target section 161 of the second preset value. The target section 161 is also dynamically changed following the movement of the pedestrian. Thus, the vehicle can more accurately determine the exact location of the obstacle.

case 1:

for example, in the case that the traffic light is red for the driving direction of the vehicle, the traffic light corresponding to the pedestrian at the zebra crossing is green, that is, the pedestrian crosses the road while complying with the traffic rules. At this time, the display color of the target segment 161 is red at a first level brightness, and the display color of the other marker lines of the second traffic marker 16 except the target segment 161 is red at a second level brightness, wherein the first level brightness is greater than the second level brightness. For example, the red at the first level of brightness is a deep red and the red at the first level of brightness is a light red.

In the embodiment, the second traffic signs are all displayed in red to warn the vehicle not to run the red light, and meanwhile, in order to emphasize the position of the pedestrian in the zebra crossing, the target section near the position of the pedestrian in the stop line is red lightness which is higher than the red lightness of other sections in the stop line, so that the safety of the pedestrian is effectively ensured.

Case 2:

for example, in the case that the traffic light is green for the driving direction of the vehicle, the traffic light corresponding to the pedestrian at the zebra crossing is red, that is, the pedestrian crosses the road against the traffic rule. At this time, the target segment 161 is displayed in red color, so as to warn the vehicle that a pedestrian crosses the road, and the pedestrian needs to be noticed and prevented from colliding. And the display color of the other marking lines of the second traffic sign 16 except for the target segment 161 is green.

In the present embodiment, for the vehicle, although the traffic signal light is green, since there is a pedestrian crossing the road, a portion of the stop line corresponding to the passage of the pedestrian is marked red to avoid the vehicle from hitting the pedestrian. Meanwhile, the sign line of the second traffic sign 16 other than the target section 161 is displayed in green color, indicating that the vehicle can pass therethrough. Thus, the vehicle can pass through the second traffic sign (stop line) avoiding the area displaying the color red.

Case 3:

for example, in the case that the traffic light is yellow for the driving direction of the vehicle, the traffic light corresponding to the pedestrian at the zebra crossing is green, that is, the pedestrian crosses the road while complying with the traffic rules. At this time, the display color of the target segment 161 is red, and the display color of the segments other than the target segment 161 in the second traffic sign 16 is yellow.

In this embodiment, for the vehicle, if the traffic light is yellow, the second traffic sign display color may be controlled to be yellow. But since there is a pedestrian crossing the road, the portion of the stop line corresponding to the passage of the pedestrian is marked red to avoid the vehicle from striking the pedestrian.

The three situations are embodiments in which the display colors of the first traffic sign and the second traffic sign are controlled when the target area R has a corresponding traffic light. In the case that there is no corresponding traffic signal lamp in the target area R, the embodiment of controlling the display colors of the first traffic sign and the second traffic sign is as follows: referring to fig. 8, in the first traffic sign 15, the position information P is determined_tThe distance between the target identification lines 151 is smaller than a first preset value, and the display color of the target identification lines 151 is controlled to be a first-level early warning color; in the second traffic sign 16, the position information P is determined_tThe distance between the target segments 161 is smaller than the second preset value, and the display color of the target segments 161 is controlled to be the second-level warning color.

That is, in the case where it is detected that there is an obstacle crossing the road but there is no traffic light information that can be referred to by the intersection, in order to allow the vehicle to accurately locate the position of the obstacle, the traffic sign that is closer to the obstacle is displayed as an early warning color to remind the vehicle to slow down and avoid the obstacle.

Specifically, in the case where no obstacle is present in the t-th time point target region R, which indicates that there is no pedestrian, vehicle, or the like crossing the road at present, S232 '-S243' is executed.

In S232', the display color D of the traffic signal corresponding to the target region R is obtained_tAnd obtaining the weather information W corresponding to the tth time point_t(ii) a And, in S233', the display color D of the traffic signal lamp_tAnd/or weather information W corresponding to the tth time point_tAnd determining the control reference information corresponding to the tth time point.

In this embodiment, under the condition that no obstacle exists in the target area R, the obstacle information does not need to be considered, and the display color D of the traffic signal lamp at the current intersection can be combined in this embodiment_tCurrent weather information W_tAnd determining the control reference information corresponding to the tth time point. Another specific embodiment of S240 is provided on the basis of the control reference information:

in S241', according to the weather information W_tAnd controlling the display brightness of the first traffic sign and the second traffic sign to increase. For example, when there is bad weather or light conditions such as rainy/haze/night, the brightness of the first and second traffic signs is increased to improve the visibility of the traffic signs.

In S242', the color D is displayed according to the traffic signal lamp_tAnd controlling the display colors of the first traffic sign and the second traffic sign.

In this embodiment, since no obstacle exists in the target area, the display colors of the first traffic sign and the second traffic sign may be determined according to the color of the traffic light. Referring to fig. 9a, in the case where the traffic signal lamp 140 is displayed in red, the first and

second traffic signs

15 and 16 are displayed in red. Similarly, referring to fig. 9b, in the case that the traffic signal lamp 140 displays green, the display colors of the first traffic sign 15 and the second traffic sign 16 are both green correspondingly.

Therefore, the display colors of the first traffic sign and the second traffic sign play a role in amplifying the traffic signal lamp.

At S243', the color D is displayed at the traffic signal lamp_tAnd under the condition that the corresponding information is empty, controlling the display colors of the first traffic sign and the second traffic sign to be reminding colors for slowing down and walking.

In this embodiment, since no obstacle exists in the target area and no traffic light exists in the target area, the display colors of the first traffic sign and the second traffic sign are both controlled to be the reminding colors for slowing down. Thereby avoiding the collision of the vehicle against an actually existing obstacle, which is not detected due to the obstacle detection error.

In the control scheme for the traffic sign provided in the embodiment of the present specification, whether an obstacle exists in a target area is considered first, and the display control is realized by combining weather information and traffic light information when the obstacle exists. Specifically, the target part close to the barrier is determined in the first traffic sign/the second traffic sign, then the position of the barrier can be mastered more accurately by the vehicle through the positioning of the target part and the control of color display according to the display color of the traffic signal lamp control target part, and therefore collision is avoided. And under the condition that no barrier exists, performing display color control according to a traffic signal lamp, or directly displaying the traffic identification as an early warning color to remind the vehicle to slow down in the target area. The scheme can improve the intelligent degree of traffic management and is favorable for improving traffic safety.

It is to be noted that the above-mentioned figures are only schematic illustrations of the processes involved in the method according to an exemplary embodiment of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.

Fig. 10 is a schematic structural diagram of a control device for traffic signs, to which an embodiment of the present disclosure may be applied. Referring to fig. 10, the control device for traffic sign shown in the figure may be implemented as all or part of the electronic device by software, hardware or a combination of both, and may be integrated in the electronic device or on the server as a separate module.

The control device 1000 for traffic sign in the embodiment of the present disclosure includes: a target area determination module 1010, an obstacle information determination module 1020, a control reference information determination module 1030, and a display control module 1040.

The target area determining module 1010 is configured to determine a road intersection area within a preset range from a vehicle as a target area R; the obstacle information determining module 1020 is configured to determine actual point cloud data C corresponding to the target area R_RtDetermining obstacle information O of the target region R at the t-th time point_t(ii) a The control reference information determining module 1030 is configured to determine the obstacle information O of the target area R at the t-th time point according to the control reference information O_tDetermining control reference information corresponding to the tth time point; the display control module 1040 is configured to control the display brightness and the display color of the first traffic sign according to the control reference information, and control the display brightness and the display color of the second traffic sign according to the control reference information;

In an exemplary embodiment, based on the foregoing scheme, the control reference information determining module 1030 is specifically configured to:

obstacle information O at the t-th time point_tAcquiring position information P of the obstacle at the t-th time point under the condition that the obstacle exists in the target area R_t(ii) a Obtaining the display color D of the traffic signal lamp corresponding to the target area R_tAnd acquiring the weather information W corresponding to the tth time point_t(ii) a And, the position information P of the t-th time point_tThe display color D of the traffic signal lamp_tAnd/or weather information W corresponding to the tth time point_tAnd determining the control reference information corresponding to the tth time point.

In an exemplary embodiment, based on the foregoing scheme, the display control module 1040 is specifically configured to:

according to the weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign; in the first traffic sign, the position information P is determined_tThe distance between the target identification lines is less than a first preset value, and the target identification lines are displayed according to the display color D of the traffic signal lamp_tControlling the display color of the target identification line; and determining the position information P in the second traffic sign_tThe distance between the target segments is smaller than a second preset value, and the target segments are displayed according to the display color D of the traffic signal lamp_tControlling a display color of the target segment.

In an exemplary embodiment, based on the foregoing scheme, the display color D of the traffic signal lamp_tThe corresponding information is null; the display control module 1040 is specifically configured to: according to the weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign; in the first traffic sign, the position information P is determined_tThe distance between the target identification lines is smaller than a first preset value, and the display color of the target identification lines is controlled to be a first-level early warning color; and determining the position information P in the second traffic sign_tIs less than the secondAnd controlling the display color of the target section to be a second-level early warning color.

In an exemplary embodiment, based on the foregoing scheme, the control reference information determining module 1030 is further specifically configured to:

obstacle information O at the t-th time point_tAcquiring the display color D of the traffic signal lamp corresponding to the target area R under the condition that no obstacle exists in the target area R_tAnd acquiring the weather information W corresponding to the tth time point_t(ii) a And displaying the color D of the traffic signal lamp_tAnd/or weather information W corresponding to the tth time point_tAnd determining the control reference information corresponding to the tth time point.

according to the weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign; and according to the display color D of the traffic signal lamp_tAnd controlling the display colors of the first traffic sign and the second traffic sign.

In an exemplary embodiment, based on the foregoing scheme, the display color D of the traffic signal lamp_tThe corresponding information is null; the display control module 1040 is specifically configured to:

according to the weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign to increase; and controlling the display colors of the first traffic sign and the second traffic sign to be reminding colors for slowing down and walking.

In an exemplary embodiment, based on the foregoing scheme, the obstacle information determining module 1020 is specifically configured to:

rasterizing the target region R to obtain X X Y grids, wherein X, Y is a positive integer; according to the actual point cloud data C_RtAcquiring measurement height information G (X, Y) of each grid, wherein the value of X is 1,2 …, and the value of X and Y is 1,2 … and Y; and, root ofDetermining obstacle information O of the target region R at the t-th time point according to the measurement height information G (x, y)_t。

In an exemplary embodiment, based on the foregoing solution, the apparatus further includes: and a point cloud determining module.

Wherein, the point cloud determining module is used for: acquiring General Packet Radio Service (GPRS) information or Global Positioning System (GPS) information of the vehicle, and determining N target sensors corresponding to the GPRS information or the GPS information, wherein N is an integer greater than 1; the N target sensors are mobilized to carry out synchronous scanning according to the GPRS information or the GPS information to obtain scanning point cloud data C corresponding to the t-th time point_t(ii) a Determining an ith conversion matrix corresponding to the ith sensor, wherein the value of i is each integer from 1 to N; according to the ith conversion matrix, the ith point cloud data C corresponding to the ith sensor is processed_tiConverting the coordinate information to ith coordinate information in a target coordinate system to obtain coordinate information corresponding to the N sensors respectively; and comparing the coordinate information respectively corresponding to the N sensors with the target area R to obtain the actual point cloud data C_Rt。

It should be noted that, when the control device for a traffic sign according to the foregoing embodiment executes a control method for a traffic sign, the division of each functional module is merely used as an example, and in practical applications, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the functions described above. In addition, the embodiment of the control device for a traffic sign and the embodiment of the control method for a traffic sign provided in the foregoing embodiments belong to the same concept, and therefore, for details that are not disclosed in the embodiments of the device of the present disclosure, please refer to the embodiment of the control method for a traffic sign of the present disclosure, which is not described herein again.

The above-mentioned serial numbers of the embodiments of the present disclosure are merely for description and do not represent the merits of the embodiments.

The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method of any of the preceding embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVDs, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.

The embodiment of the present disclosure further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of any of the above-mentioned embodiments of the method are implemented.

FIG. 11 schematically illustrates a block diagram of an electronic device in an exemplary embodiment according to the present disclosure. Referring to fig. 11, an electronic device 1100 includes: a processor 1101 and a memory 1102.

In the embodiment of the present disclosure, the processor 1101 is a control center of a computer system, and may be a processor of a physical machine or a processor of a virtual machine. Processor 1101 may include one or more processing cores, such as 4-core processors, 11-core processors, etc. The processor 1101 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1101 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in a wake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state.

In the embodiment of the present disclosure, the processor 1101 is specifically configured to:

determining a road intersection region within a preset range from a vehicle as a target region R; according to the actual point cloud data C corresponding to the target region R_RtDetermining obstacle information O of the target region R at the t-th time point_t(ii) a According to the target areaObstacle information O of the domain R at the t-th time point_tDetermining control reference information corresponding to the tth time point; controlling the display brightness and the display color of the first traffic sign according to the control reference information, and controlling the display brightness and the display color of the second traffic sign according to the control reference information;

Further, the obstacle information O at the t-th time point according to the target region R_tDetermining control reference information corresponding to the tth time point, including:

Further, the controlling the display brightness and the display color of the first traffic sign according to the control reference information, and controlling the display brightness and the display color of the second traffic sign according to the control reference information includes: according to the weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign; in the first traffic sign, the position information P is determined_tThe distance between the target identification lines is less than a first preset value, and the target identification lines are displayed according to the display color D of the traffic signal lamp_tControlling the display color of the target identification line; and determining the position information P in the second traffic sign_tThe distance between them is less than a second preset valueTarget section according to the display color D of the traffic signal lamp_tControlling a display color of the target segment.

Further, the display color D of the traffic signal lamp_tThe corresponding information is null;

the controlling the display brightness and the display color of the first traffic sign according to the control reference information, and controlling the display brightness and the display color of the second traffic sign according to the control reference information, includes:

according to the weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign; in the first traffic sign, the position information P is determined_tThe distance between the target identification lines is smaller than a first preset value, and the display color of the target identification lines is controlled to be a first-level early warning color; and determining the position information P in the second traffic sign_tAnd the distance between the target segments is smaller than a second preset value, and the display color of the target segments is controlled to be a second-level early warning color.

Further, the determining control reference information corresponding to a tth time point according to the obstacle information of the target area R at the tth time point includes: obstacle information O at the t-th time point_tAcquiring the display color D of the traffic signal lamp corresponding to the target area R under the condition that no obstacle exists in the target area R_tAnd acquiring the weather information W corresponding to the tth time point_t(ii) a And displaying the color D of the traffic signal lamp_tAnd/or weather information W corresponding to the tth time point_tAnd determining the control reference information corresponding to the tth time point.

Further, the controlling the display brightness and the display color of the first traffic sign according to the control reference information, and controlling the display brightness and the display color of the second traffic sign according to the control reference information includes:

according to the weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign; and, root ofAccording to the display color D of the traffic signal lamp_tAnd controlling the display colors of the first traffic sign and the second traffic sign.

the controlling the display brightness and the display color of the first traffic sign according to the control reference information, and controlling the display brightness and the display color of the second traffic sign according to the control reference information, includes: according to the weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign to increase; and controlling the display colors of the first traffic sign and the second traffic sign to be reminding colors for slowing down and walking.

Further, the actual point cloud data C corresponding to the target region R_RtDetermining obstacle information O of the target region R at the t-th time point_tThe method comprises the following steps:

rasterizing the target region R to obtain X X Y grids, wherein X, Y is a positive integer; according to the actual point cloud data C_RtAcquiring measurement height information G (X, Y) of each grid, wherein the value of X is 1,2 …, and the value of X and Y is 1,2 … and Y; and determining obstacle information O of the target area R at the t-th time point according to the measurement height information G (x, y)_t。

Further, the processor 1101 is further specifically configured to: acquiring General Packet Radio Service (GPRS) information or Global Positioning System (GPS) information of the vehicle, and determining N target sensors corresponding to the GPRS information or the GPS information, wherein N is an integer greater than 1; the N target sensors are mobilized to carry out synchronous scanning according to the GPRS information or the GPS information to obtain scanning point cloud data C corresponding to the t-th time point_t(ii) a Determining an ith conversion matrix corresponding to the ith sensor, wherein the value of i is each integer from 1 to N; according to the ith conversion matrix, the ith point cloud data C corresponding to the ith sensor is processed_tiConverting the coordinate information to ith coordinate information in a target coordinate system to obtain coordinate information corresponding to the N sensors respectively; and, will beComparing the coordinate information respectively corresponding to the N sensors with the target area R to obtain the actual point cloud data C_Rt。

Memory 1102 may include one or more computer-readable storage media, which may be non-transitory. Memory 1102 can also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments of the present disclosure, a non-transitory computer readable storage medium in memory 1102 is used to store at least one instruction for execution by processor 1101 to implement a method in embodiments of the present disclosure.

In some embodiments, the electronic device 1100 further comprises: a peripheral interface 1103 and at least one peripheral. The processor 1101, memory 1102 and peripheral interface 1103 may be connected by a bus or signal lines. Various peripheral devices may be connected to the peripheral interface 1103 by buses, signal lines, or circuit boards. Specifically, the peripheral device includes: at least one of a display 1104, a camera 1105, and an audio circuit 1106.

The peripheral interface 1103 may be used to connect at least one peripheral associated with I/O (Input/Output) to the processor 1101 and the memory 1102. In some embodiments of the present disclosure, the processor 1101, memory 1102, and peripheral interface 1103 are integrated on the same chip or circuit board; in some other embodiments of the present disclosure, any one or both of the processor 1101, the memory 1102, and the peripheral device interface 1103 may be implemented on separate chips or circuit boards. The embodiments of the present disclosure are not particularly limited in this regard.

The display screen 1104 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1104 is a touch display screen, the display screen 1104 also has the ability to capture touch signals on or over the surface of the display screen 1104. The touch signal may be input to the processor 1101 as a control signal for processing. At this point, the display screen 1104 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments of the present disclosure, the display screen 1104 may be one, providing the front panel of the electronic device 1100; in other embodiments of the present disclosure, the display screen 1104 may be at least two, respectively disposed on different surfaces of the electronic device 1100 or in a folded design; in still other embodiments of the present disclosure, the display 1104 may be a flexible display disposed on a curved surface or on a folded surface of the electronic device 1100. Even further, the display screen 1104 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The Display 1104 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.

The camera 1105 is used to capture images or video. Optionally, the camera 1105 includes a front camera and a rear camera. Generally, a front camera is disposed on a front panel of an electronic apparatus, and a rear camera is disposed on a rear surface of the electronic apparatus. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments of the present disclosure, the camera 1105 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuitry 1106 may include a microphone and a speaker. The microphone is used for collecting sound waves of the user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 1101 for processing. For stereo capture or noise reduction purposes, multiple microphones may be provided, each at a different location of the electronic device 1100. The microphone may also be an array microphone or an omni-directional pick-up microphone.

A power supply 1107 is used to power the various components in the electronic device 1100. The power supply 1107 may be alternating current, direct current, disposable or rechargeable. When power supply 1107 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

The block diagram of the electronic device structure shown in the embodiments of the present disclosure does not constitute a limitation on the electronic device 1100, and the electronic device 1100 may include more or fewer components than those shown, or combine some of the components, or adopt a different arrangement of components.

In the description of the present disclosure, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art. Further, in the description of the present disclosure, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Accordingly, equivalents may be resorted to as falling within the scope of the disclosure as claimed.

Claims

1. A method of controlling a traffic sign, the method comprising:

determining a road intersection region within a preset range from a vehicle as a target region R;

according to the target region RActual point cloud data C_RtDetermining obstacle information O of the target region R at the t-th time point_t；

According to the barrier information O of the target region R at the t-th time point_tDetermining control reference information corresponding to the tth time point;

controlling the display brightness and the display color of the first traffic sign according to the control reference information, and controlling the display brightness and the display color of the second traffic sign according to the control reference information;

the first traffic sign comprises a plurality of mutually parallel sign lines which are axially parallel to the road and are used for indicating pedestrians to cross the road; the second traffic sign is perpendicular to the road and used for indicating the position of the vehicle for parking.

2. Method according to claim 1, characterized in that said obstacle information O at the t-th point in time according to said target region R_tDetermining control reference information corresponding to the tth time point, including:

obstacle information O at the t-th time point_tAcquiring position information P of the obstacle at the t-th time point under the condition that the obstacle exists in the target area R_t；

Obtaining the display color D of the traffic signal lamp corresponding to the target area R_tAnd acquiring the weather information W corresponding to the tth time point_t；

The position information P of the t-th time point is obtained_tThe display color D of the traffic signal lamp_tAnd/or weather information W corresponding to the tth time point_tAnd determining the control reference information corresponding to the tth time point.

3. The method of claim 2, wherein the controlling the display brightness and the display color of the first traffic sign according to the control reference information and the controlling the display brightness and the display color of the second traffic sign according to the control reference information comprises:

according to whatThe weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign;

in the first traffic sign, the position information P is determined_tThe distance between the target identification lines is less than a first preset value, and the target identification lines are displayed according to the display color D of the traffic signal lamp_tControlling the display color of the target identification line;

in the second traffic sign, the position information P is determined_tThe distance between the target segments is smaller than a second preset value, and the target segments are displayed according to the display color D of the traffic signal lamp_tControlling a display color of the target segment.

4. The method of claim 2, wherein the traffic signal light displays a color D_tThe corresponding information is null;

according to the weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign;

in the first traffic sign, the position information P is determined_tThe distance between the target identification lines is smaller than a first preset value, and the display color of the target identification lines is controlled to be a first-level early warning color;

in the second traffic sign, the position information P is determined_tAnd the distance between the target segments is smaller than a second preset value, and the display color of the target segments is controlled to be a second-level early warning color.

5. The method according to claim 1, wherein the determining control reference information corresponding to a tth time point according to the obstacle information of the target region R at the tth time point comprises:

obstacle information O at the t-th time point_tAcquiring the display color D of the traffic signal lamp corresponding to the target area R under the condition that no obstacle exists in the target area R_tAnd acquiring the weather information W corresponding to the tth time point_t；

Displaying the color D of the traffic signal lamp_tAnd/or weather information W corresponding to the tth time point_tAnd determining the control reference information corresponding to the tth time point.

6. The method of claim 5, wherein the controlling the display brightness and the display color of the first traffic sign according to the control reference information and the controlling the display brightness and the display color of the second traffic sign according to the control reference information comprises:

according to the display color D of the traffic signal lamp_tAnd controlling the display colors of the first traffic sign and the second traffic sign.

7. The method of claim 5, wherein the traffic signal light displays a color D_tThe corresponding information is null;

according to the weather information W_tControlling the display brightness of the first traffic sign and the second traffic sign to increase;

and controlling the display colors of the first traffic sign and the second traffic sign to be reminding colors for slowing down and walking.

8. The method according to any one of claims 1 to 7, wherein the actual point cloud data C corresponding to the target region R_RtEnsure thatDetermining obstacle information O of the target region R at the t-th time point_tThe method comprises the following steps:

rasterizing the target region R to obtain X X Y grids, wherein X, Y is a positive integer;

according to the actual point cloud data C_RtAcquiring measurement height information G (X, Y) of each grid, wherein the value of X is 1,2 …, and the value of X and Y is 1,2 … and Y;

determining obstacle information O of the target area R at the t-th time point according to the measurement height information G (x, y)_t。

9. The method according to any one of claims 1 to 7, further comprising:

acquiring positioning information of the vehicle, and determining N target sensors corresponding to the positioning information, wherein N is an integer greater than or equal to 1;

the N target sensors are mobilized according to the positioning information to carry out synchronous scanning, and scanning point cloud data C corresponding to the tth time point is obtained_t；

Determining an ith conversion matrix corresponding to the ith sensor, wherein the value of i is each integer from 1 to N;

according to the ith conversion matrix, the ith point cloud data C corresponding to the ith sensor is processed_tiConverting the coordinate information to ith coordinate information in a target coordinate system to obtain coordinate information corresponding to the N sensors respectively;

comparing the coordinate information respectively corresponding to the N sensors with the target area R to obtain the actual point cloud data C_Rt。

10. A control device for traffic signs, the device comprising:

the system comprises a target area determining module, a road intersection area determining module and a road intersection area determining module, wherein the target area determining module is used for determining a road intersection area within a preset range from a vehicle as a target area R;

an obstacle information determination module for determining the actual point cloud data C corresponding to the target region R_RtDetermining the order of the eyeObstacle information O of target region R at t-th time point_t；

A control reference information determining module for determining the obstacle information O of the target region R at the t-th time point_tDetermining control reference information corresponding to the tth time point;

the display control module is used for controlling the display brightness and the display color of the first traffic sign according to the control reference information and controlling the display brightness and the display color of the second traffic sign according to the control reference information;

11. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method of controlling a traffic sign according to any one of claims 1 to 9 when executing the computer program.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling a traffic sign according to any one of claims 1 to 9.