CN114973687A

CN114973687A - Traffic information processing method, device, equipment and medium

Info

Publication number: CN114973687A
Application number: CN202210524588.5A
Authority: CN
Inventors: 余剑锋
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-05-13
Filing date: 2022-05-13
Publication date: 2022-08-30
Anticipated expiration: 2042-05-13
Also published as: CN114973687B

Abstract

The disclosure provides a traffic information processing method, a device, equipment and a medium, which relate to the field of image processing, in particular to the field of intelligent traffic. The specific implementation scheme is as follows: acquiring a road acquisition image and image acquisition information of the road acquisition image; determining signal lamps of a target intersection and direction information of the signal lamps according to the road acquisition image and the image acquisition information of the road acquisition image; acquiring direction information of a lane of the target intersection; and establishing a corresponding relation between the signal lamp and the lane according to the direction information of the signal lamp, the direction information of the lane and the image acquisition information, and updating the map. The embodiment of the disclosure can improve the fineness of the data of the lanes in the map, add the elements of the signal lamp in the map, enrich the map data, and provide data support for subsequent navigation.

Description

Traffic information processing method, device, equipment and medium

Technical Field

The present disclosure relates to the field of image processing, and in particular, to the field of intelligent traffic, and more particularly, to a method, an apparatus, a device, and a medium for processing traffic information.

Background

The vehicles traveling on a road traffic network are numerous, and in order to better regulate the vehicles on the road, lanes and traffic lights are usually arranged on the road.

In the real world, on a multi-lane road, control is generally performed by at least one signal light.

Disclosure of Invention

The present disclosure provides a traffic information processing method, apparatus, device, and medium.

According to an aspect of the present disclosure, there is provided a traffic information processing method including:

acquiring a road acquisition image and image acquisition information of the road acquisition image;

determining signal lamps of a target intersection and direction information of the signal lamps according to the road acquisition image and the image acquisition information of the road acquisition image;

acquiring direction information of a lane of the target intersection;

and establishing a corresponding relation between the signal lamp and the lane according to the direction information of the signal lamp, the direction information of the lane and the image acquisition information, and updating the map.

According to an aspect of the present disclosure, there is provided a traffic information processing apparatus including:

the system comprises an image acquisition module, a data acquisition module and a data processing module, wherein the image acquisition module is used for acquiring a road acquisition image and image acquisition information of the road acquisition image;

the signal lamp determining module is used for determining signal lamps of a target intersection and direction information of the signal lamps according to the road acquisition image and the image acquisition information of the road acquisition image;

the lane information acquisition module is used for acquiring the direction information of a lane of the target intersection;

and the corresponding relation establishing module is used for establishing the corresponding relation between the signal lamp and the lane according to the direction information of the signal lamp, the direction information of the lane and the image acquisition information, and updating the map. According to another aspect of the present disclosure, there is provided an electronic device including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a traffic information processing method according to any one of the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the traffic information processing method according to any one of the embodiments of the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the traffic information processing method according to any one of the embodiments of the present disclosure.

The method and the device can improve the fineness of the data of the lanes in the map, add the elements of the signal lamp in the map, enrich the map data and provide data support for subsequent navigation.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a flow chart of a traffic information processing method disclosed according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of another traffic information processing method disclosed in accordance with an embodiment of the present disclosure;

FIG. 3 is a flow chart of another traffic information processing method disclosed in accordance with an embodiment of the present disclosure;

FIG. 4a is a flow chart of another traffic information processing method disclosed in accordance with an embodiment of the present disclosure;

fig. 4b is a scene diagram of a traffic information processing method according to an embodiment of the disclosure;

fig. 5 is a block diagram of a traffic information processing apparatus disclosed according to an embodiment of the present disclosure;

fig. 6 is a block diagram of an electronic device for implementing a traffic information processing method according to an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Fig. 1 is a flowchart of a traffic information processing method according to an embodiment of the present disclosure, which may be applied to a case where a correspondence between a lane and a signal light is established and updated into a map. The method of the embodiment may be executed by a traffic information processing apparatus, which may be implemented in software and/or hardware and is specifically configured in an electronic device with certain data operation capability. As shown in fig. 1, the method includes:

s101, acquiring a road acquisition image and image acquisition information of the road acquisition image.

The road acquisition image refers to a road environment image along the road direction. Illustratively, the road direction is from south to north, and the road collected image is a road environment image from south to north. The road collection image can be acquired through the image collection equipment, exemplarily, the road collection image can be acquired through the road collection vehicle, and the road collection image can also be acquired through the unmanned aerial vehicle equipment. The road capture image may contain at least one of the following: signal lights, road traffic markings, traffic indicators, buildings, and the like. The image acquisition information refers to information related to the road acquisition image in the acquisition process. The image acquisition information can be directly generated by the image acquisition equipment while acquiring the road acquisition image, and can also be acquired from a map according to the image acquisition equipment. For example, the image capturing information may include an acquisition parameter when the image capturing device captures the road capturing image, and the acquisition parameter may include at least one of the following: the system comprises the following components of acquisition time, acquisition position, acquisition direction, acquisition angle, acquisition camera parameters and the like.

Specifically, the road acquisition image is acquired through the image acquisition device in the process of moving along the road direction, and the image acquisition information of the road acquisition image is recorded.

S102, according to the road acquisition image and the image acquisition information of the road acquisition image, determining a signal lamp of a target intersection and direction information of the signal lamp.

In reality, a plurality of signal lamps exist in the real world, the signal lamps can be divided according to intersections to which the signal lamps belong, and the signal lamps are processed aiming at each intersection. The problems that the processing efficiency is low and the same signal lamp at the same intersection is processed repeatedly due to the fact that the signal lamp is processed independently can be solved. The target intersection may refer to the intersection at which the signal light currently being processed is located. The target intersection can be determined according to a map or a road acquisition image. Exemplarily, the map comprises at least one intersection, and one intersection in the intersections contained in the map is determined as a target intersection; in the collected road images of the intersections, the intersection identified by one of the collected road images can be used as the target intersection. The signal lamp of the target crossing is at least one signal lamp arranged at the target crossing. The direction information of the signal lamp means information describing a driving direction controlled by the signal lamp. The driving direction of the vehicle passing through the target intersection can be controlled through the direction information of the signal lamp.

Specifically, the road acquisition image containing the target intersection is screened out through the road acquisition image and the image acquisition information of the road acquisition image, the signal lamps in the image are identified according to the screened road acquisition image, the signal lamps existing at the target intersection are determined, and the direction information of each signal lamp in the target intersection is determined by combining the image acquisition information of the road acquisition image.

Optionally, the road collected images may be preferentially divided into intersections, road collected images associated with each intersection are screened, and the signal lamp of the target intersection and the direction information of the signal lamp are determined according to the screened road collected images of the target intersection and the image collected information of the road collected images.

And S103, acquiring direction information of the lane of the target intersection.

The target intersection is connected with roads in at least three directions, and it can also be understood that a vehicle passing through the target intersection can travel in at least two directions in the past. The road of each direction is composed of at least one lane. The direction information of the lane is information of a driving direction of the lane control. By means of the direction information of the lane, the driving direction in which the vehicle can travel along the lane can be determined. The direction information of the lane can be directly obtained through a map, can also be determined through road traffic marks identified in a road acquisition image, and can also be determined through the running track of a target intersection. The road traffic marking is a marking arranged according to road traffic rules.

Specifically, lanes included in the target intersection are acquired, and direction information of each lane is determined.

And S104, establishing a corresponding relation between the signal lamp and the lane according to the direction information of the signal lamp, the direction information of the lane and the image acquisition information, and updating the map.

The corresponding relation between the signal lights and the lanes refers to the control relation between the signal lights and the lanes. The signal lamp is used for controlling the vehicles in the lanes with the corresponding relation to run. Updating the map means that the correspondence between the signal lights and the lanes is added to the map, or more accurate lane-level signal light information is added to the correspondence between the signal lights and the intersections included in the map according to the correspondence between the signal lights and the lanes.

Specifically, the signal lamps corresponding to each intersection and the lanes of each intersection can be determined according to the image acquisition information, the signal lamps and the lanes of the same intersection are matched, and the signal lamps and the lanes controlling the same driving direction are matched according to the direction information of the signal lamps and the direction information of the lanes in the same intersection, so that the corresponding relation between the signal lamps and the lanes is established.

And updating the map according to the corresponding relation between the signal lamps and the lanes. Illustratively, in the map, data of signal lights corresponding to lanes included in the map are added. The data of the signal lamp at least comprises information such as the state of the signal lamp and the countdown time, for example, in a map, the state of the signal lamp corresponding to the display lane is red light, and the countdown time is 35 seconds. The data of the signal lamp can be acquired in real time through the door networking of the traffic department.

In the prior art, lane-level signal lamp elements in the map are not drawn according to actually existing signal lamps (namely, entity signal lamps) included in the real world (for example, on a 3-lane road, control is performed through 2 entity signal lamps, but only 1 entity signal lamp is drawn in signal lamp element data expression), so that the lane-level signal lamp elements cannot be subjected to fine management, independent control expression on the lane-level signal lamps is not performed, and user experience is poor. After the signal lamp elements are identified, when suspected change information is generated, the lane-level data needs to be manually manufactured, manual intervention is needed in data production and manufacturing, and the production period is long.

According to the technical scheme, the direction information of the signal lamps and the signal lamps of the target intersection is determined by acquiring the image acquisition information of the road acquisition image and the road acquisition image, the direction information of the lanes of the target intersection is acquired, the corresponding relation between the signal lamps and the lanes is established by combining the direction information of the signal lamps and the image acquisition information, the map is updated, the independent control expression of the lane-level signal lamps is realized by establishing the corresponding relation between the signal lamps and the lanes, the map is updated according to the corresponding relation between the signal lamps and the lanes, the manual intervention is reduced, the data production period is shortened, meanwhile, the fineness of the data of the lanes in the map is improved, the data of the map is enriched, data support is provided for subsequent navigation, and the user experience is improved.

Fig. 2 is a flowchart of another traffic information processing method disclosed in an embodiment of the present disclosure, which is further optimized and expanded based on the above technical solution, and can be combined with the above optional embodiments. And establishing a corresponding relation between the signal lamp and the lane according to the direction information of the signal lamp, the direction information of the lane and the image acquisition information, which is embodied as follows: determining the orientation and the indication direction of the signal lamp according to the direction information of the signal lamp; determining the entering direction and the exiting direction of the lane according to the direction information of the lane; comparing the orientation with the entering direction, and comparing the indicating direction with the exiting direction to determine corresponding signal lights and lanes; and establishing a corresponding relation between the corresponding signal lamp and the lane. As shown in fig. 2, the method includes:

s201, acquiring a road acquisition image and image acquisition information of the road acquisition image.

S202, according to the road acquisition image and the image acquisition information of the road acquisition image, determining a signal lamp of a target intersection and direction information of the signal lamp.

S203, acquiring the direction information of the lane of the target intersection.

And S204, determining the orientation and the indication direction of the signal lamp according to the direction information of the signal lamp.

The direction is a direction in which the traffic light faces, represents a direction in which the vehicle is traveling from the source, and is a direction in which the light of the traffic light actually faces. It is also understood that the direction of the roadway which is illuminated by the signal light points to the signal light. Illustratively, signal a is on the north side of the target intersection, the lane opposite to the light of signal a is on the south side of the target intersection, the orientation of signal a is from south to north, and the driving direction of the vehicle driving on the lane on the south side of the target intersection is from south to north to the target intersection. For another example, the signal light a is on the north side of the target intersection, the lane pointed by the light of the signal light a is on the south side of the target intersection, the direction of the signal light a is the south direction, and the source driving direction of the vehicle driving on the lane on the south side of the target intersection is the south direction. The indication direction refers to the direction in which the signal lamp controls the vehicle to pass or to run. The indication direction may be determined according to the corresponding traffic regulations. Illustratively, the indication direction of signal light a is a left turn direction, the indication direction of signal light B is a straight direction, and the indication direction of signal light C is a right turn direction. The left-turn direction, the right-turn direction and the straight direction in the indication directions can be specifically determined as the east direction, the west direction, the south direction or the north direction according to the orientation of the signal lamp. As in the previous example, the direction of the signal light a is the south direction, and the indication direction is a left turn, indicating that a vehicle traveling on a lane on the south side of the target intersection can travel to the west direction through the target intersection, and thus, the indication direction of the signal light a can be the west direction.

Specifically, according to the direction information of the signal lamps, the positions of the signal lamps and the lanes which the light of the signal lamps faces are determined in the map, and therefore the direction of each signal lamp in the target intersection is determined. And determining the function of the signal lamp and the indicating direction of the signal lamp according to the image of the signal lamp. Alternatively, the direction of travel of the vehicle passing through the target intersection may be determined based on the direction information of the signal lamp, and the direction of the signal lamp and the indication direction may be determined based on the direction of travel of the vehicle.

S205, determining the entering direction and the exiting direction of the lane according to the direction information of the lane.

The entering direction of the lane refers to the direction in which the vehicle enters the target intersection, and can also be understood as the direction in which the vehicle points to the target intersection when the vehicle enters the target intersection. The exit direction of the lane is the direction in which the vehicle exits the target intersection, and can also be understood as the direction in which the vehicle is pointed by the target intersection when the vehicle leaves the target intersection.

Specifically, according to the direction information of the lane, the entering direction and the exiting direction of the vehicle passing through the target intersection can be determined, so as to be used for determining the entering direction and the exiting direction of the lane driven by the vehicle. For example, according to the direction information of the lane, it can be determined that the vehicle enters the target intersection from south to north, and exits the target intersection from east to west after turning left, and then the entering direction of the lane is from south to north, or the entering direction is the direction south, the exiting direction is from east to west, or the exiting direction is the direction west.

S206, comparing the orientation with the entering direction, comparing the indicating direction with the exiting direction, and determining a corresponding signal lamp and a corresponding lane.

The direction is compared with the entering direction, whether the direction is matched with the entering direction is detected, the indicating direction is compared with the exiting direction, and whether the indicating direction is matched with the exiting direction is detected. And determining the signal lamp corresponding to the signal lamp direction information and the lane corresponding to the lane direction information as the corresponding signal lamp and lane in the matched signal lamp direction information and lane direction information.

Specifically, the direction information of the signal lamp and the direction information of the lane meet the condition that the direction is the same as the entering direction, and the indicating direction is the same as the exiting direction, and the matching of the direction information of the signal lamp and the direction information of the lane is determined. And determining the traffic lights corresponding to the direction information of the traffic lights and the lanes corresponding to the direction information of the lanes in the matched direction information of the traffic lights and the direction information of the lanes as the corresponding traffic lights and lanes. Illustratively, the direction information of the signal light a includes a direction of south, the indication direction of west, the direction information of the lane 1 includes a direction of south for the entering direction, the exiting direction of west, the direction information of the lane 2 includes a direction of south for the entering direction, and the exiting direction of east for the exiting direction. The direction of signal light a is the same as the entering direction of lane 1 and the indicating direction of signal light a is the same as the exiting direction of lane 1, the direction information of signal light a matches the direction information of lane 1. The direction of the signal light A is the same as the entering direction of the lane 2, the indicating direction of the signal light A is different from the exiting direction of the lane 2, and the direction information of the signal light A is not matched with the direction information of the lane 2. Thus, the corresponding traffic lights and lanes are traffic light a and lane 1.

And S207, establishing a corresponding relation between the corresponding signal lamp and the lane.

The corresponding relation is used for describing the lanes correspondingly controlled by the signal lamps. The same signal lamp can control at least one lane at the same time, and for example, the direction information of two adjacent lanes is the same, and the direction information can be controlled by the same signal lamp.

Specifically, when one signal lamp corresponds to one lane, the corresponding relation between the signal lamp and the lane can be directly determined according to the corresponding signal lamp and the corresponding lane, when one signal lamp corresponds to a plurality of lanes, the plurality of lanes corresponding to the same signal lamp can be divided into one group, namely, the corresponding relation between the signal lamp and the plurality of lanes is established, and therefore the corresponding relation between the signal lamp and the lanes is determined.

And S208, updating the map.

According to the technical scheme, the direction and the indicating direction of the signal lamp are determined through the direction information of the signal lamp, the entering direction and the exiting direction of the lane are determined according to the direction information of the lane, the direction is compared with the entering direction, the indicating direction is compared with the exiting direction, and the corresponding signal lamp and the lane are determined, so that the corresponding relation is established, the direction information of the signal lamp and the information of the two aspects in the direction information of the lane are respectively compared, the accuracy of determining the corresponding relation of the signal lamp and the lane is improved, meanwhile, the automatic matching of the signal lamp and the lane is realized, and the manual intervention is reduced.

Fig. 3 is a flowchart of another traffic information processing method disclosed according to an embodiment of the present disclosure, which is further optimized and expanded based on the above technical solution, and can be combined with the above optional embodiments. Wherein the image acquisition information comprises: the collection position of the road collection image and the collection moving direction of the image collection equipment for collecting the road collection image.

Specifically, the method comprises the following steps:

acquiring a road acquisition image and image acquisition information of the road acquisition image; wherein the image acquisition information comprises: the collection position of the road collected image and the collection moving direction of an image collection device for collecting the road collected image;

acquiring direction information of a lane of the target intersection;

The acquisition position of the road acquisition image refers to the position of the image acquisition equipment when the road acquisition image is acquired. The collection moving direction of the image collection device refers to the moving direction of the image collection device in the process of obtaining the road collection image. The moving direction of the image acquisition equipment is parallel to the direction of the road. Illustratively, the direction of the road is a north-south direction, the image capturing device can move from south to north along the road, the image capturing device captures the road captured image during the moving process, the capturing moving direction of the image capturing device for capturing the road captured image is from south to north, the image capturing device can also move from north to south along the road, and correspondingly, the capturing moving direction of the image capturing device for capturing the road captured image is from north to south.

Optionally, the determining, according to the road acquisition image and the image acquisition information of the road acquisition image, a signal lamp of a target intersection and direction information of the signal lamp are embodied as follows: determining a signal lamp acquisition image of a target intersection in the road acquisition image according to the acquisition position of the road acquisition image; and identifying signal lamps and direction information of the signal lamps in the signal lamp collected images according to the collection moving direction of the road collected images. As shown in fig. 3, the method includes:

s301, acquiring a road acquisition image and image acquisition information of the road acquisition image.

S302, according to the acquisition position of the road acquisition image, determining a signal lamp acquisition image of a target intersection in the road acquisition image.

The signal lamp acquisition image refers to an image containing a signal lamp area in the road acquisition image. Specifically, the road acquisition image acquired in the spatial region centered on the target intersection can be determined by the image acquisition information of the road acquisition image. The extent of the spatial region may be determined according to the actual situation. In the space area, at least one acquisition position of the road acquisition image is included. And identifying the road acquisition image acquired in the threshold region to acquire a signal lamp acquisition image of the target intersection.

And S303, identifying signal lamps and direction information of the signal lamps in the signal lamp acquisition images according to the acquisition moving direction of the road acquisition images.

Specifically, at least one signal lamp can be identified according to the signal lamp acquisition image, and the direction information of the signal lamp can be identified by combining the acquisition moving direction of the road acquisition image. For example, in the signal lamp collected image, the signal lamp is a front view of the arrow signal lamp, and the arrow direction of the arrow signal lamp is upward, which indicates that the arrow signal lamp is used to indicate that the vehicle can go straight, and the collection moving direction of the road collected image is from south to north, then the direction information of the signal lamp is that the signal lamp faces from south to north, and the indication direction is a straight direction.

S304, acquiring the direction information of the lane of the target intersection.

S305, establishing a corresponding relation between the signal lamp and the lane according to the direction information of the signal lamp, the direction information of the lane and the image acquisition information, and updating a map.

The signal lamp acquisition image of the target intersection is determined according to the acquisition position of the road acquisition image, the direction information of the signal lamp and the signal lamp is identified according to the acquisition moving direction of the road acquisition image, the automatic acquisition of the direction information of the signal lamp and the signal lamp is realized in the signal lamp acquisition image, the direction information of the signal lamp is identified according to the acquisition moving direction of the road acquisition image, the acquisition efficiency and the accuracy of the direction information of the signal lamp are improved, and the manufacturing period of signal lamp data is shortened.

Optionally, the identifying, according to the collection moving direction of the road collection image, the signal lamp and the direction information of the signal lamp in the signal lamp collection image includes: identifying at least one signal lamp in the signal lamp acquisition image and the type of the signal lamp, wherein the signal lamp acquisition image is a front view of the signal lamp; determining the orientation of the signal lamp according to the acquisition moving direction of the signal lamp acquisition image; determining the indication direction of the signal lamp according to the type of the signal lamp; and determining the direction and the indication direction of the signal lamp as the direction information of the signal lamp.

The front view of the signal light refers to an image of the signal light viewed from the front. It will also be appreciated that by taking a front view of the signal, the shape of the signal can be accurately determined, distortion of the signal can be reduced, and the type of signal can be accurately determined. The type of signal lamp may be detected from an image of the signal lamp. Specifically, the type of the signal lamp may be determined according to the shape of the signal lamp in the image. The signal lamps can be classified according to the shapes of the signal lamps, and correspondingly, the types of the signal lamps can include at least one of arrow signal lamps, circular signal lamps and the like. Or the signal lamps can be classified according to their functions, and accordingly, the types of the signal lamps may include: at least one of the types of a left turn signal lamp, a right turn signal lamp, a straight traveling signal lamp, a turn signal lamp and the like. The collection moving direction of the signal lamp collected images is the same as the collection moving direction of the image collection equipment for collecting the images on the road.

Specifically, the signal lamp acquisition image comprises at least one signal lamp, the image is acquired through the signal lamp, and all the signal lamps contained in the image and the types of the signal lamps are identified. And determining the acquisition moving direction as the orientation of the signal lamp according to the acquisition moving direction of the signal lamp acquired image. The indication direction of the signal lamp can be determined according to the type of the signal lamp. Illustratively, the signal lamp collected image only contains an arrow signal lamp, when the arrow direction is upward, the indication direction is a straight-going direction, when the arrow direction is leftward, the indication direction is a left-turning direction, and when the arrow direction is rightward, the indication direction is a right-turning direction; when the signal lamp collected image only contains the circular signal lamp, the indicating direction is at least one of a straight direction, a left turning direction and a right turning direction; when the arrow signal lamp and the round signal lamp exist simultaneously in the signal lamp collected image, the indicating direction of the arrow signal lamp is judged preferentially, and the direction which can not be determined is remained and can be driven is determined as the indicating direction of the round signal lamp. For example, three possible driving directions of the target intersection are determined according to the road collection image or the map, specifically, a left-turn direction, a right-turn direction and a straight direction, an arrow signal lamp and a circular signal lamp are identified according to the signal lamp collection image, the indication direction of the arrow signal lamp is the left-turn direction according to the arrow direction of the arrow signal lamp, and the remaining possible driving directions are the right-turn direction and the execution direction, so that the indication direction of the circular signal lamp is determined to be the right-turn direction and the straight direction. And determining the direction and the indication direction corresponding to the same signal lamp as the direction information of the signal lamp.

The type of at least one signal lamp and each signal lamp is identified in the signal lamp collection image, the orientation of the signal lamp is determined according to the collection moving direction, the indicating direction of the signal lamp is determined according to the type of the signal lamp, the orientation and the indicating direction of the signal lamp are determined to be the direction information of the signal lamp, the acquisition of signal lamp data is realized, the manual intervention is reduced, and the manufacturing period of the signal lamp data is prolonged.

According to the technical scheme of the disclosure, the object identified in the image can be positioned by determining the image acquisition information, so that the processing information of the road acquisition image is matched with the map conveniently.

Fig. 4a is a flowchart of another traffic information processing method disclosed according to an embodiment of the present disclosure, which is further optimized and expanded based on the above technical solution, and can be combined with the above various optional embodiments. Wherein, the corresponding relation between the signal lamp and the lane is established, which is embodied as follows: under the condition that the same target signal lamp corresponds to at least two target lanes, generating virtual signal lamps corresponding to the target signal lamp, wherein the sum of the number of the virtual signal lamps and the number of the target signal lamps is the same as the number of the target lanes; and establishing a corresponding relation between the target signal lamp, the virtual signal lamp and the target lane. As shown in fig. 4a, the method comprises:

s401, acquiring a road acquisition image and image acquisition information of the road acquisition image.

S402, according to the road acquisition image and the image acquisition information of the road acquisition image, determining a signal lamp of a target intersection and direction information of the signal lamp.

And S403, acquiring the direction information of the lane of the target intersection.

S404, acquiring the information according to the direction information of the signal lamp, the direction information of the lane and the image acquisition information.

S405, under the condition that the same target signal lamp corresponds to at least two target lanes, generating virtual signal lamps corresponding to the target signal lamps, wherein the sum of the number of the virtual signal lamps and the number of the target signal lamps is the same as the number of the target lanes.

The target signal lamp is a signal lamp which needs to establish a corresponding relation between the signal lamp and the lane. The target lane is a lane corresponding to the target signal lamp. The virtual signal lamp is a virtual signal lamp which can realize the same function of the target signal lamp.

Specifically, the same signal lamp may correspond to one lane or a plurality of lanes. Under the condition that the same target signal lamp corresponds to at least two target lanes, one or more virtual signal lamps with the same function are generated according to the target signal lamps, the number of the virtual signal lamps is determined according to the number of the target lanes and the number of the target signal lamps, and the sum of the number of the virtual signal lamps and the number of the target signal lamps is equal to the number of the target lanes. Illustratively, the number of the target signal lamps is 1, the number of the target lanes is 2, and the number of the virtual signal lamps is 1; the number of the target signal lamps is 1, the number of the target lanes is 3, and then the number of the virtual signal lamps is 2.

S406, establishing a corresponding relation between the target signal lamp, the virtual signal lamp and the target lane.

Specifically, the corresponding relationship is used for describing that one target signal lamp or one virtual signal lamp correspondingly controls one target lane. The corresponding relation between the target signal lamp and the target lane and the corresponding relation between the virtual signal lamp and the target lane can be determined in sequence according to the priorities of the target signal lamp and the virtual signal lamp. The priority can be determined according to actual conditions. The correspondence between the target signal lamp and the virtual signal lamp and the target lane may be determined by setting respective rules.

Fig. 4b is a scene diagram of a traffic information processing method according to an embodiment of the disclosure. As shown in FIG. 4b, arrow signal A-1 corresponds to lane 1, and circular signal A-2 corresponds to lane 2 and lane 3. At the moment, the target signal lamps are circular signal lamps A-2, the number of the circular signal lamps is 1, the target lanes are lane 2 and lane 3, and the number of the target lane is 2. And generating virtual signal lamps according to the target signal lamps, wherein the number of the virtual signal lamps is 1. Establishing a corresponding relation between the target signal lamp and the virtual signal lamp and the target lane, wherein illustratively, the target signal lamp A-2 corresponds to the target lane 1, the virtual signal lamp corresponds to the target lane 2, or the target signal lamp A-2 corresponds to the target lane 2, and the virtual signal lamp corresponds to the target lane 1.

Optionally, the traffic information processing method further includes: under the condition that a vehicle runs along a navigation lane, acquiring data of a navigation signal lamp corresponding to the navigation lane; and generating navigation suggestion information according to the data of the navigation signal lamp, so that the vehicle passes through the intersection connected with the navigation lane according to the navigation suggestion information.

The navigation lane refers to a lane in which a vehicle traveling along a travel track provided by the navigation service is located. The navigation signal lamp is a signal lamp corresponding to the navigation lane. The data of the navigation signal lamp includes information such as the color of the signal lamp and the countdown of the signal lamp. The navigation suggestion information is suggestion information that the vehicle runs on a navigation lane, and can also be understood as suggestion information of green wave speed, wherein the green wave speed means that the vehicle can directly pass through a target intersection according to the speed without waiting. The navigation advice information includes at least one of the following: data of the navigation signal lamp, the current running speed of the vehicle, the recommended running speed, the recommended running state and the like. The recommended travel state may include acceleration travel, deceleration travel, or uniform travel, or the like. And determining according to the current running speed of the vehicle, the current position of the vehicle, the data of the navigation signal lamp, the distance between the current vehicle and the intersection connected with the navigation lane and other information. The navigation suggestion information can be reminded in a voice mode or a screen display mode. Illustratively, the navigation suggestion information is played in a voice mode, namely that a signal lamp of a front intersection is a green lamp, the countdown is 30 seconds, and the current vehicle speed is suggested to be kept to continuously drive through the intersection.

Specifically, the vehicle sets a navigation route through a map, when the vehicle runs along the navigation route, data of navigation signal lamps corresponding to the navigation lane are obtained from the map according to the navigation lane, navigation suggestion information of the vehicle is determined according to the data of the navigation signal lamps, and the vehicle runs according to the navigation suggestion information and passes through intersections connected with the navigation lane.

When the vehicle runs along the navigation lane, the data of the navigation signal lamp corresponding to the navigation lane is acquired, and the navigation suggestion information is generated according to the data of the navigation signal lamp, so that the vehicle passes through the intersection connected with the navigation lane according to the navigation information, the stability of the vehicle when passing through the intersection is improved, the vehicle can conveniently change lanes in advance or control the running speed by providing the navigation suggestion information, and the running safety and the driving comfort are improved.

According to the technical scheme, the virtual signal lamps are generated under the condition that the same target signal lamp corresponds to at least two target lanes, the corresponding relation between the target signal lamps and the virtual signal lamps and the target lanes is established, independent representation of lane-level signal lamps is achieved, one signal lamp only controls one lane, the fineness degree of lane data is improved, and data support is provided for vehicle navigation.

Fig. 5 is a structural diagram of a traffic information processing apparatus in an embodiment of the present disclosure, which is applicable to a case where a traffic information processing method is operated, according to an embodiment of the present disclosure. The device is realized by software and/or hardware and is specifically configured in electronic equipment with certain data operation capacity.

A traffic information processing apparatus 500 as shown in fig. 5 includes: an image acquisition module 501, a signal lamp determination module 502, a lane information acquisition module 503 and a corresponding relation establishment module 504; wherein the content of the first and second substances,

the image acquisition module 501 is configured to acquire a road acquisition image and image acquisition information of the road acquisition image;

a signal lamp determining module 502, configured to determine a signal lamp of a target intersection and direction information of the signal lamp according to the road collected image and image collected information of the road collected image;

a lane information obtaining module 503, configured to obtain direction information of a lane at the target intersection;

a correspondence establishing module 504, configured to establish a correspondence between the signal lamps and the lanes according to the direction information of the signal lamps, the direction information of the lanes, and the image acquisition information, and update the map.

Further, the correspondence relationship establishing module 504 includes: the signal lamp information determining unit is used for determining the direction and the indicating direction of the signal lamp according to the direction information of the signal lamp; the lane information determining unit is used for determining the entering direction and the exiting direction of the lane according to the direction information of the lane; the corresponding relation analysis unit is used for comparing the orientation with the entering direction, comparing the indicating direction with the exiting direction and determining a corresponding signal lamp and a corresponding lane; and the first corresponding relation establishing unit is used for establishing a corresponding relation between the corresponding signal lamp and the lane.

Further, the image acquisition information includes: the collection position of the road collection image and the collection moving direction of the image collection equipment for collecting the road collection image.

Further, the signal lamp determining module 502 includes: the signal lamp image determining unit is used for determining a signal lamp acquisition image of a target intersection in the road acquisition image according to the acquisition position of the road acquisition image; and the signal lamp identification unit is used for identifying the signal lamp and the direction information of the signal lamp in the signal lamp acquisition image according to the acquisition moving direction of the road acquisition image.

Further, the signal light recognition unit includes: a signal lamp identification subunit, configured to identify at least one signal lamp and a type of the signal lamp in the signal lamp collected image, where the signal lamp collected image is a front view of the signal lamp; the orientation determining subunit is used for determining the orientation of the signal lamp according to the acquisition moving direction of the signal lamp acquisition image; the indication direction determining subunit is used for determining the indication direction of the signal lamp according to the type of the signal lamp; and the direction information determining subunit is used for determining the direction and the indication direction of the signal lamp as the direction information of the signal lamp.

Further, the correspondence relationship establishing module 504 includes: the virtual signal lamp generating unit is used for generating virtual signal lamps corresponding to the target signal lamps under the condition that the same target signal lamp corresponds to at least two target lanes, and the sum of the number of the virtual signal lamps and the number of the target signal lamps is the same as the number of the target lanes; and the second corresponding relation establishing unit is used for establishing a corresponding relation between the target signal lamp, the virtual signal lamp and the target lane.

Further, the traffic information processing apparatus further includes: the navigation data acquisition module is used for acquiring data of a navigation signal lamp corresponding to a navigation lane under the condition that a vehicle runs along the navigation lane; and the navigation suggestion generation module is used for generating navigation suggestion information according to the data of the navigation signal lamp so that the vehicle passes through the intersection connected with the navigation lane according to the navigation suggestion information.

The traffic information processing device can execute the traffic information processing method provided by any embodiment of the disclosure, and has corresponding functional modules and beneficial effects for executing the traffic information processing method.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 6 illustrates a schematic area diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 6, the apparatus 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 can also be stored. The calculation unit 601, the ROM602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

A number of components in the device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, a mouse, or the like; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 601 executes the respective methods and processes described above, such as the traffic information processing method. For example, in some embodiments, the traffic information processing method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 600 via the ROM602 and/or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the traffic information processing method described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the traffic information processing method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or area diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A traffic information processing method, comprising:

acquiring direction information of a lane of the target intersection;

2. The method of claim 1, wherein the establishing a correspondence between signal lights and lanes according to the direction information of the signal lights, the direction information of the lanes and the image acquisition information comprises:

determining the orientation and the indication direction of the signal lamp according to the direction information of the signal lamp;

determining an entering direction and an exiting direction of the lane according to the direction information of the lane;

comparing the orientation with the entering direction, and comparing the indicating direction with the exiting direction to determine corresponding signal lights and lanes;

and establishing a corresponding relation between the corresponding signal lamp and the lane.

3. The method of claim 1, wherein the image acquisition information comprises: the collection position of the road collection image and the collection moving direction of the image collection equipment for collecting the road collection image.

4. The method of claim 3, wherein the determining a signal light of a target intersection and direction information of the signal light according to the image acquisition information of the road acquisition image and the road acquisition image comprises:

determining a signal lamp acquisition image of a target intersection in the road acquisition image according to the acquisition position of the road acquisition image;

and identifying signal lamps and direction information of the signal lamps in the signal lamp collected images according to the collection moving direction of the road collected images.

5. The method of claim 4, wherein the identifying, in the signal light captured image, a signal light and direction information of the signal light according to the capturing movement direction of the road captured image comprises:

identifying at least one signal lamp in the signal lamp acquisition image and the type of the signal lamp, wherein the signal lamp acquisition image is a front view of the signal lamp;

determining the orientation of the signal lamp according to the acquisition moving direction of the signal lamp acquisition image;

determining the indication direction of the signal lamp according to the type of the signal lamp;

and determining the direction and the indication direction of the signal lamp as the direction information of the signal lamp.

6. The method of claim 1, the establishing correspondence between signal lights and lanes, comprising:

under the condition that the same target signal lamp corresponds to at least two target lanes, generating virtual signal lamps corresponding to the target signal lamps, wherein the sum of the number of the virtual signal lamps and the number of the target signal lamps is the same as the number of the target lanes;

and establishing a corresponding relation between the target signal lamp and the virtual signal lamp and the target lane.

7. The method of claim 1, further comprising:

under the condition that a vehicle runs along a navigation lane, acquiring data of a navigation signal lamp corresponding to the navigation lane;

and generating navigation suggestion information according to the data of the navigation signal lamp, so that the vehicle passes through the intersection connected with the navigation lane according to the navigation suggestion information.

8. A traffic information processing apparatus comprising:

and the corresponding relation establishing module is used for establishing the corresponding relation between the signal lamp and the lane according to the direction information of the signal lamp, the direction information of the lane and the image acquisition information, and updating the map.

9. The apparatus of claim 8, wherein the correspondence establishing module comprises:

the signal lamp information determining unit is used for determining the orientation and the indicating direction of the signal lamp according to the direction information of the signal lamp;

the lane information determining unit is used for determining the entering direction and the exiting direction of the lane according to the direction information of the lane;

the corresponding relation analysis unit is used for comparing the orientation with the entering direction, comparing the indicating direction with the exiting direction and determining a corresponding signal lamp and a corresponding lane;

and the first corresponding relation establishing unit is used for establishing corresponding relation between the corresponding signal lamp and the lane.

10. The apparatus of claim 8, wherein the image acquisition information comprises: the collection position of the road collection image and the collection moving direction of the image collection equipment for collecting the road collection image.

11. The apparatus of claim 10, wherein the signal light determination module comprises:

the signal lamp image determining unit is used for determining a signal lamp acquisition image of a target intersection in the road acquisition image according to the acquisition position of the road acquisition image;

and the signal lamp identification unit is used for identifying the signal lamp and the direction information of the signal lamp in the signal lamp acquisition image according to the acquisition moving direction of the road acquisition image.

12. The apparatus of claim 11, wherein the signal light recognition unit comprises:

a signal lamp identification subunit, configured to identify at least one signal lamp and a type of the signal lamp in the signal lamp collected image, where the signal lamp collected image is a front view of the signal lamp;

the orientation determining subunit is used for determining the orientation of the signal lamp according to the acquisition moving direction of the signal lamp acquisition image;

the indication direction determining subunit is used for determining the indication direction of the signal lamp according to the type of the signal lamp;

and the direction information determining subunit is used for determining the direction and the indication direction of the signal lamp as the direction information of the signal lamp.

13. The apparatus of claim 8, wherein the correspondence establishing module comprises:

the virtual signal lamp generating unit is used for generating virtual signal lamps corresponding to the target signal lamps under the condition that the same target signal lamp corresponds to at least two target lanes, and the sum of the number of the virtual signal lamps and the number of the target signal lamps is the same as the number of the target lanes;

and the second corresponding relation establishing unit is used for establishing a corresponding relation between the target signal lamp, the virtual signal lamp and the target lane.

14. The apparatus of claim 8, further comprising:

the navigation data acquisition module is used for acquiring data of a navigation signal lamp corresponding to a navigation lane under the condition that a vehicle runs along the navigation lane;

and the navigation suggestion generation module is used for generating navigation suggestion information according to the data of the navigation signal lamp so that the vehicle passes through the intersection connected with the navigation lane according to the navigation suggestion information.

15. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the traffic information processing method of any of claims 1-7.

16. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the traffic information processing method according to any one of claims 1 to 7.

17. A computer program product comprising a computer program which, when executed by a processor, implements a traffic information processing method according to any one of claims 1-7.