CN114973687B - Traffic information processing method, device, equipment and medium - Google Patents
Traffic information processing method, device, equipment and medium Download PDFInfo
- Publication number
- CN114973687B CN114973687B CN202210524588.5A CN202210524588A CN114973687B CN 114973687 B CN114973687 B CN 114973687B CN 202210524588 A CN202210524588 A CN 202210524588A CN 114973687 B CN114973687 B CN 114973687B
- Authority
- CN
- China
- Prior art keywords
- signal lamp
- image
- acquisition
- information
- lane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000010365 information processing Effects 0.000 title claims abstract description 40
- 238000003672 processing method Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 12
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 10
- 238000004891 communication Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
Abstract
The disclosure provides a traffic information processing method, a device, equipment and a medium, and relates 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 the direction information of the 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 a map. According to the embodiment of the disclosure, the fineness of the data of the lanes in the map can be improved, the elements of the signal lamps are added in the map, the map data are enriched, and meanwhile, the data support is provided for subsequent navigation.
Description
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 traffic information processing method, apparatus, device, and medium.
Background
Vehicles running on a road traffic network are numerous, and lanes and traffic lights are usually arranged on the road in order to better normalize the vehicles on the road.
In the real world, on a multi-lane road, control is typically 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 the direction information of the 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 a map.
According to an aspect of the present disclosure, there is provided a traffic information processing apparatus including:
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 the lanes 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 memory stores instructions executable by the at least one processor to enable the at least one processor 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 non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the traffic information processing method of any 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 of the embodiments of the present disclosure.
According to the embodiment of the disclosure, the fineness of the data of the lanes in the map can be improved, the elements of the signal lamps are added in the map, the map data are enriched, and meanwhile, the data support is provided for subsequent navigation.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a flowchart 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 graph of a traffic information processing method disclosed in accordance with an embodiment of the present disclosure;
fig. 5 is a block diagram of a traffic information processing apparatus 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 of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one 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 applicable to a case where a correspondence between lanes and traffic lights is established and updated into a map. The method of the embodiment can be executed by a traffic information processing device, and the device can be realized by adopting a mode of software and/or hardware and is specifically configured in electronic equipment 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 collection image refers to a road environment image along the road direction. For example, the road direction is from the south to the north, and the road collection image is a road environment image from the south to the north. The road collection image can be obtained through the image collection device, and the road collection image can be obtained through a road collection vehicle or through unmanned aerial vehicle equipment by way of example. The road collection 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 device while acquiring the road acquisition image, and can also be acquired from the map according to the image acquisition device. By way of example, the image acquisition information may include acquisition parameters at the time the image acquisition device acquires the road acquisition image, for example, the acquisition parameters may include at least one of: acquisition time, acquisition position, acquisition direction, acquisition angle, acquisition camera parameters and the like.
Specifically, the image acquisition device acquires a road acquisition image in the process of moving along the road direction, and records the image acquisition information of the road acquisition image.
S102, determining signal lamps of a target intersection and direction information of the signal lamps according to the road collection image and the image collection information of the road collection image.
In reality, there are a plurality of signal lamps 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 for each intersection. The problem that the signal lamp is treated independently, so that the treatment efficiency is low and the signal lamp at the same intersection is treated repeatedly can be avoided. The target intersection may refer to an intersection where a signal lamp is currently being processed. The target intersection can be determined according to the map, and can also be determined by collecting images of the roads. Illustratively, the map at least comprises one intersection, and one intersection in the intersections contained in the map is determined as a target intersection; the intersection identified by one of the road collection images may be used as the target intersection in the road collection image identified by the intersection. The signal light of the target intersection means at least one signal light provided at the target intersection. The direction information of the traffic light means information describing the traveling direction of the traffic light control. The traveling direction of the vehicle passing through the target intersection can be controlled by the direction information of the signal lamp.
Specifically, the road collection image containing the target intersection is screened out through the road collection image and the image collection information of the road collection image, the signal lamps in the image are identified according to the screened road collection 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 collection information of the road collection image.
Optionally, road collection images can be preferentially classified into intersections, road collection images associated with each intersection are screened, and signal lamps of the target intersection and direction information of the signal lamps are determined according to the road collection images of the screened target intersection and the image collection information of the road collection images.
S103, obtaining the direction information of the lanes of the target intersection.
The target intersection is connected with roads in at least three directions, and it is also understood that a vehicle passing through the target intersection can travel in at least two directions. The road in each direction is composed of at least one lane. The direction information of the lane refers to information of the traveling direction of the lane control. The direction of travel of the vehicle along the lane can be determined from the direction information of the lane. The direction information of the lane can be directly obtained through a map, can be determined through road traffic marks identified in a road acquisition image, and can be determined through the running track of a target intersection. Road traffic markings refer to markings set according to road traffic regulations.
Specifically, lanes contained 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 a map.
The correspondence between the signal lamp and the lane refers to the control relationship between the signal lamp and the lane. The signal lamp is used for controlling the vehicle running in the lane with the corresponding relation. Updating the map refers to adding a corresponding relation between signal lamps and lanes in the map, or adding more accurate lane-level signal lamp information in the corresponding relation between the signal lamps and intersections included in the map according to the corresponding relation between the signal lamps and the lanes.
Specifically, the signal lamps corresponding to the intersections and the lanes of the intersections can be determined according to the image acquisition information, the signal lamps of the same intersection are matched with the lanes, and in the same intersection, the signal lamps which control the same driving direction are matched with the lanes according to the direction information of the signal lamps and the direction information of the lanes, 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 lamp and the lane. In the map, data of signal lamps 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 countdown, for example, in a map, the state of the signal lamp corresponding to the display lane is a red lamp, and the countdown is 35 seconds. The data of the signal lamp can be obtained in real time through networking with traffic departments.
In the prior art, lane-level signal lamp elements in a map are not drawn according to actually existing signal lamps (namely entity signal lamps) included in the real world (for example, on a road of 3 lanes, control is performed through 2 entity signal lamps, but only 1 entity signal lamp is drawn on signal lamp element data expression), so that the lane-level signal lamp elements cannot be subjected to fine management, independent control expression cannot be performed on the lane-level signal lamps, and user experience is poor. When the signal lamp element is identified and the suspected change information is generated, the signal lamp element needs to be manufactured on the lane-level data manually, the data production and manufacturing need to be manually intervened, and the production period is long.
According to the technical scheme, the signal lamp of the target intersection and the direction information of the signal lamp are determined by acquiring the road acquisition image and the image acquisition information of the road acquisition image, the direction information of the lane of the target intersection is acquired, the corresponding relation between the signal lamp and the lane is established by combining the direction information of the signal lamp and the image acquisition information, the map is updated, the independent control expression of the lane-level signal lamp is realized by establishing the corresponding relation between the signal lamp and the lane, the map is updated according to the corresponding relation between the signal lamp and the lane, the manual intervention is reduced, the data production period is shortened, meanwhile, the fineness of the data of the lane in the map is improved, the data of the map is enriched, the data support is provided for the subsequent navigation, and the user experience is improved.
Fig. 2 is a flowchart of another traffic information processing method according to an embodiment of the present disclosure, which is further optimized and expanded based on the above technical solution, and may be combined with the above various alternative 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, wherein the method comprises the following steps of: determining the direction 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 direction with the entering direction, and comparing the indicating direction with the exiting direction to determine corresponding signal lamps 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, determining signal lamps of a target intersection and direction information of the signal lamps according to the road collection image and the image collection information of the road collection image.
S203, acquiring the direction information of the lanes of the target intersection.
S204, determining the direction and the indication direction of the signal lamp according to the direction information of the signal lamp.
The direction refers to the direction in which the traffic light faces, representing the source travel direction of the vehicle, and is the direction in which the light of the traffic light actually faces. It is also understood that the direction of the lane subtended by the traffic light is directed to the traffic light. Illustratively, the signal lamp a is on the north side of the target intersection, the lane to which the light of the signal lamp a is directed is on the south side of the target intersection, the signal lamp a is oriented from the south to the north, and the driving direction of the vehicle driving on the lane on the south side of the target intersection is from the south to the north to the target intersection. For another example, the signal lamp a is located on the north side of the target intersection, the lane on which the light of the signal lamp a is directed is located on the south side of the target intersection, the direction of the signal lamp a is the direction south, and the source driving direction of the vehicle driving on the lane on the south side of the target intersection is the direction south. The indication direction refers to the direction in which the signal lamp controls the vehicle to pass or travel. The direction of indication may be determined according to a corresponding traffic rule. Illustratively, the indication direction of signal lamp a is a left turn direction, the indication direction of signal lamp B is a straight direction, and the indication direction of signal lamp C is a right turn direction. Among the indication directions, the left turn direction, the right turn direction, and the straight direction may be specifically determined as directions of east direction, fang Xiangxi direction, south direction, north direction, and the like according to the direction of the signal lamp. For example, the signal lamp a is oriented in the direction of south and indicates that the direction is left turn, and the vehicle running on the lane on the south side of the target intersection can run in the direction of west through the target intersection, so that the direction indicated by the signal lamp a can be in the direction of west.
Specifically, according to the direction information of the signal lamps, the positions of the signal lamps and the lanes facing the light of the signal lamps are determined in the map, so that the directions of the signal lamps in the target intersection are determined. And determining the function of the signal lamp according to the image of the signal lamp, and determining the indication direction of the signal lamp. Alternatively, the traveling direction 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 traveling direction 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 it is also understood that the vehicle is directed in the direction of the target intersection when the vehicle enters the target intersection. The exit direction of the lane refers to the direction in which the vehicle exits the target intersection, and may be understood as the direction in which the vehicle is directed from the target intersection when the vehicle exits the target intersection.
Specifically, according to the direction information of the lane, the entering direction and the exiting direction of the vehicle through the target intersection may be determined, thereby serving as the determination of the entering direction and the exiting direction of the lane in which the vehicle is traveling. For example, according to the direction information of the lane, it may be determined that the vehicle enters the target intersection from the south to the north, and exits the target intersection from the east to the west after turning left, and then the entering direction of the lane is from the south to the north, or the entering direction is from the south, and the exiting direction is from the east to the west, or the exiting direction is from the west.
S206, comparing the direction with the entering direction, and comparing the indicating direction with the exiting direction, and determining corresponding signal lamps and lanes.
The direction is compared with the entering direction, whether the direction matches the entering direction is detected, the direction is compared with the exiting direction, and whether the direction matches the exiting direction is detected. And determining the traffic light corresponding to the traffic light direction information and the lane corresponding to the lane direction information in the matched traffic light direction information and lane direction information as the corresponding traffic light and lane.
Specifically, when the direction information of the signal lamp and the lane direction information meet the condition that the direction is the same as the entering direction and the indicating direction is the same as the exiting direction, the direction information of the signal lamp and the direction information of the lane are determined to be matched. And determining the traffic light corresponding to the direction information of the traffic light and the lane corresponding to the direction information of the lane in the direction information of the matched traffic light and the direction information of the lane as the corresponding traffic light and lane. Illustratively, the direction information of the signal lamp a includes a direction south, the indication direction is a direction south, the direction information of the lane 1 includes an entering direction is a direction south, the exiting direction is a direction west, the direction information of the lane 2 includes a direction south, and the exiting direction is Fang Xiangdong. The direction of the signal lamp a is the same as the entering direction of the lane 1, and the direction of the signal lamp a is the same as the exiting direction of the lane 1, and the direction information of the signal lamp a is matched with the direction information of the lane 1. The direction of the signal lamp A is the same as the entering direction of the lane 2, the indication direction of the signal lamp A is different from the exiting direction of the lane 2, and the direction information of the signal lamp A is not matched with the direction information of the lane 2. Thus, the corresponding traffic light and lane are traffic light a and lane 1.
S207, corresponding signal lamps are associated with the lanes.
The correspondence is used for describing the lane correspondingly controlled by the signal lamp. The same signal lamp can control at least one lane at the same time, and the signal lamp can control the lane when the direction information of two adjacent lanes is the same.
Specifically, when one signal lamp corresponds to one lane, the corresponding relation between the signal lamp and the lanes can be directly determined according to the corresponding signal lamp and the lanes, and when one signal lamp corresponds to a plurality of lanes, the plurality of lanes corresponding to the same signal lamp can be divided into a group, namely, the corresponding relation between the signal lamp and the plurality of lanes is established, so that the corresponding relation between the signal lamp and the lanes is determined.
S208, updating the map.
According to the technical scheme, the direction information of the signal lamp is used for determining the direction of the signal lamp and the indication direction, 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 indication 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 accuracy of determining the corresponding relation between the signal lamp and the lane is improved by respectively comparing the information of the direction information of the signal lamp and the information of the direction information of the lane, meanwhile, the automatic matching of the signal lamp and the lane is realized, and manual intervention is reduced.
Fig. 3 is a flowchart of another traffic information processing method according to an embodiment of the present disclosure, which is further optimized and expanded based on the above technical solution, and may be combined with the above various alternative embodiments. Wherein, the image acquisition information includes: the road image acquisition device comprises an acquisition position of the road acquisition image and an acquisition moving direction of the image acquisition device for acquiring the road acquisition 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 includes: the acquisition position of the road acquisition image and the acquisition moving direction of the image acquisition device for acquiring 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 the direction information of the 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 a map.
The acquisition position of the road acquisition image refers to the position of the image acquisition device when the road acquisition image is acquired. The acquisition moving direction of the image acquisition device refers to the moving direction of the image acquisition device in the process of acquiring the road acquisition image. The moving direction of the image acquisition device is parallel to the direction of the road. The direction of the road is exemplified as the north-south direction, the image acquisition equipment can move from the south to the north along the road, the image acquisition equipment acquires road acquisition images in the moving process, the acquisition moving direction of the image acquisition equipment of the road acquisition images is from the south to the north, the image acquisition equipment can also move from the north to the south along the road, and the corresponding acquisition moving direction of the image acquisition equipment of the road acquisition images is from the north to the south.
Optionally, the determining, according to the road collection image and the image collection information of the road collection image, a signal lamp of the target intersection and the direction information of the signal lamp are specifically: determining signal lamp acquisition images of target intersections in the road acquisition images according to the acquisition positions of the road acquisition images; and 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. As shown in fig. 3, the method includes:
s301, acquiring a road acquisition image and image acquisition information of the road acquisition image.
S302, determining signal lamp acquisition images of the target intersection in the road acquisition images according to the acquisition positions of the road acquisition images.
The signal lamp collection image refers to an image containing a signal lamp region in the road collection image. Specifically, the road collection image collected in the spatial region centered on the target intersection can be determined by the image collection information of the road collection image. The range of the spatial region can be determined according to practical situations. At least one acquisition position for acquiring an image of a road is contained in the space region. And identifying the road acquisition image acquired in the threshold area to acquire the signal lamp acquisition image of the target intersection.
S303, identifying signal lamps and direction information of the signal lamps in the signal lamp acquisition image according to the acquisition moving direction of the road acquisition image.
Specifically, according to the signal lamp collection image, at least one signal lamp can be identified, and the direction information of the signal lamp can be identified by combining the collection moving direction of the road collection image. In the signal lamp collection image, the signal lamp is a front view of an arrow signal lamp, and the arrow direction of the arrow signal lamp is upward, so that the arrow signal lamp is used for indicating that a vehicle can move straight, the collection moving direction of the road collection image is from the south to the north, the direction information of the signal lamp is that the signal lamp is oriented from the south to the north, and the indication direction is a straight direction.
S304, obtaining the direction information of the lanes of the target intersection.
S305, according to the direction information of the signal lamp, the direction information of the lane and the image acquisition information, establishing a corresponding relation between the signal lamp and the lane, 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 signal lamp and the direction information of the signal lamp are identified in the signal lamp acquisition image according to the acquisition moving direction of the road acquisition image, the automatic acquisition of the signal lamp and the direction information of the signal lamp is realized, 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, in the signal lamp collection image, the signal lamp and the direction information of the signal lamp according to the collection moving direction of the road collection image includes: identifying at least one signal lamp and the type of the signal lamp in the signal lamp acquisition image, wherein the signal lamp acquisition image is a front view of the signal lamp; determining the direction 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 information of the signal lamp as the direction information of the signal lamp.
The front view of the signal lamp refers to the image of the signal lamp as viewed from the front. It can also be understood that the shape of the signal lamp can be accurately determined through the front view of the signal lamp, and the distortion of the signal lamp can be reduced, so that the type of the signal lamp can be accurately determined. The type of signal lamp can be detected from the image of the signal lamp. Specifically, the type of the signal lamp can 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 accordingly, the types of the signal lamps can comprise at least one of arrow signal lamps, round signal lamps and the like. Or the signal lamps can be classified according to the functions of the signal lamps, and correspondingly, the types of the signal lamps can comprise: at least one of the left turn signal lamp, the right turn signal lamp, the straight signal lamp, the turn signal lamp and the like. The collection moving direction of the signal lamp collection image is the same as the collection moving direction of the image collection device of the road collection image.
Specifically, the signal lamp collection image comprises at least one signal lamp, and all signal lamps contained in the image and the types of the signal lamps are identified through the signal lamp collection image. And determining the acquisition moving direction as the direction of the signal lamp according to the acquisition moving direction of the signal lamp acquisition image. The indication direction of the signal lamp can be determined according to the type of the signal lamp. The signal lamp collection image only comprises an arrow signal lamp, wherein the indication direction is a straight direction when the arrow direction is upward, the indication direction is a left turning direction when the arrow direction is leftward, and the indication direction is a right turning direction when the arrow direction is rightward; when the signal lamp acquisition image only comprises a round signal lamp, the indication 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 in the signal lamp acquisition image at the same time, the indication direction of the arrow signal lamp is preferentially judged, and the remaining direction which can not be determined is determined as the indication direction of the round signal lamp. For example, three drivable directions, specifically, a left turn direction, a right turn direction and a straight direction of the target intersection are determined according to the road collection image or the map, an arrow signal lamp and a round signal lamp are recognized according to the signal lamp collection image, the indicated direction of the arrow signal lamp is the left turn direction according to the arrow direction of the arrow signal lamp, and the remaining drivable directions are the right turn direction and the execution direction, so that the indicated direction of the round signal lamp is the right turn direction and the straight direction. And determining the corresponding direction and indication direction of the same signal lamp as the direction information of the signal lamp.
The direction of the signal lamp is determined according to the collection moving direction, the indication direction of the signal lamp is determined according to the type of the signal lamp, and the direction of the signal lamp and the indication direction are determined as the direction information of the signal lamp, so that the acquisition of signal lamp data is realized, manual intervention is reduced, and the manufacturing period of the signal lamp data is prolonged.
According to the technical scheme, 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 can be matched with the map conveniently.
Fig. 4a is a flowchart of another traffic information processing method according to an embodiment of the present disclosure, which is further optimized and expanded based on the above technical solution, and may be combined with the above various alternative embodiments. The establishment of the corresponding relation between the signal lamp and the lane is specifically: 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, wherein the sum of the numbers of the virtual signal lamps and 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 as well as between 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, determining signal lamps of a target intersection and direction information of the signal lamps according to the road collection image and the image collection information of the road collection image.
S403, obtaining the direction information of the lanes of the target intersection.
S404, acquiring information according to the direction information of the signal lamp, the direction information of the lane and the image.
And S405, when 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 numbers of the virtual signal lamps and 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 as the target signal lamp.
Specifically, the same signal lamp may correspond to one lane or multiple 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 ensured to be equal to the number of the target lanes. For example, the number of target signal lamps is 1, the number of target lanes is 2, and the number of virtual signal lamps is 1; the number of the target signal lamps is 1, the number of the target lanes is 3, and the number of the virtual signal lamps is 2.
S406, establishing a corresponding relation between the target signal lamp and the virtual signal lamp as well as between the virtual signal lamp and the target lane.
Specifically, the correspondence is used to describe that one target signal lamp or one virtual signal lamp controls one target lane correspondingly. The corresponding relation between the target signal lamp and 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 may be determined according to the actual situation. The corresponding relation between the target signal lamp and the virtual signal lamp and the target lane can be determined by setting corresponding rules.
Fig. 4b is a scene diagram of a traffic information processing method according to an embodiment of the present disclosure. As shown in FIG. 4b, the arrow signal A-1 corresponds to lane 1, and the circle signal A-2 corresponds to lane 2 and lane 3. At this time, the target signal lamps are round signal lamps A-2, the number of the target signal lamps is 1, the target lanes are lanes 2 and 3, and the number of the target signal lamps is 2. And generating virtual signal lamps according to the target signal lamps, wherein the number of the virtual signal lamps is 1. The corresponding relation between the target signal lamp and the virtual signal lamp and the target lane is established, and 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 crossing connected with the navigation lane according to the navigation suggestion information.
The navigation lane is a lane in which a vehicle traveling along a travel track provided by a navigation service is located. The navigation signal lamp refers to a signal lamp corresponding to the navigation lane. The data of the navigation signal lamp comprises information such as the color of the signal lamp, the countdown of the signal lamp and the like. The navigation advice information refers to advice information of the vehicle driving on a navigation lane, and can be understood as advice information of green wave speed, wherein the green wave speed refers to 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: data of the navigation signal lamp, current running speed and recommended running speed of the vehicle, recommended running state and the like. The recommended driving state may include acceleration driving, deceleration driving, uniform driving, 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 the like. The navigation advice information can be reminded in a voice or screen display mode. For example, the navigation advice information "the front intersection signal is green light, count down is 30 seconds, and advice to keep the current vehicle speed to continue driving through the intersection" is played by voice.
Specifically, the vehicle sets a navigation route through the map, when the vehicle runs along the navigation route, data of a navigation signal lamp corresponding to the navigation lane is obtained from the map according to the navigation lane, navigation advice information of the vehicle is determined according to the data of the navigation signal lamp, the vehicle runs according to the navigation advice information, and an intersection connected through the navigation lane is formed.
The navigation signal lamp data corresponding to the navigation lane are obtained when the vehicle runs along the navigation lane, and the navigation advice information is generated according to the navigation signal lamp data, 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 navigation advice information is provided, the vehicle can conveniently change the lane in advance or control the running speed, and the running safety and the driving comfort are improved.
According to the technical scheme, under the condition that the same target signal lamp corresponds to at least two target lanes, the virtual signal lamp is generated, and the corresponding relation between the target signal lamp and the virtual signal lamp is established with the target lanes, so that independent representation of lane-level signal lamps is realized, one signal lamp only controls one lane, the fineness of lane data is improved, and data support is provided for vehicle navigation.
Fig. 5 is a block diagram of a traffic information processing apparatus in an embodiment of the present disclosure, which is applicable to a case of running a traffic information processing method, according to an embodiment of the present disclosure. The device is realized by software and/or hardware, and is specifically configured in the electronic equipment with certain data operation capability.
A traffic information processing apparatus 500 as shown in fig. 5, comprising: an image acquisition module 501, a signal lamp determination module 502, a lane information acquisition module 503 and a correspondence establishment module 504; wherein,
an image acquisition module 501, configured to acquire a road acquisition image and image acquisition information of the road acquisition image;
the signal lamp determining module 502 is configured to determine a signal lamp of a target intersection and direction information of the signal lamp according to the road collection image and image collection information of the road collection image;
a lane information obtaining module 503, configured to obtain direction information of a lane of the target intersection;
the correspondence establishing module 504 is configured to establish a correspondence 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 update a map.
According to the technical scheme, the signal lamp of the target intersection and the direction information of the signal lamp are determined by acquiring the road acquisition image and the image acquisition information of the road acquisition image, the direction information of the lane of the target intersection is acquired, the corresponding relation between the signal lamp and the lane is established by combining the direction information of the signal lamp and the image acquisition information, the map is updated, the independent control expression of the lane-level signal lamp is realized by establishing the corresponding relation between the signal lamp and the lane, the map is updated according to the corresponding relation between the signal lamp and the lane, the manual intervention is reduced, the data production period is shortened, meanwhile, the fineness of the data of the lane in the map is improved, the data of the map is enriched, the data support is provided for the subsequent navigation, and the user experience is improved.
Further, the correspondence establishing module 504 includes: the signal lamp information determining unit is used for determining the direction and the indication direction of the signal lamp according to the direction information of the signal lamp; a lane information determining unit for determining an entering direction and an 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 and comparing the indicating direction with the exiting direction to determine corresponding signal lamps and lanes; the first corresponding relation establishing unit is used for establishing corresponding relation between the corresponding signal lamp and the lane.
Further, the image acquisition information includes: the road image acquisition device comprises an acquisition position of the road acquisition image and an acquisition moving direction of the image acquisition device for acquiring the road acquisition image.
Further, the signal determination module 502 includes: the signal lamp image determining unit is used for determining signal lamp acquisition images of the target intersection in the road acquisition images according to the acquisition positions of the road acquisition images; 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 lamp recognition unit includes: the signal lamp identification subunit is used for identifying at least one signal lamp and the type of the signal lamp in the signal lamp acquisition image, and the signal lamp acquisition 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 acquired image; an indication direction determining subunit, configured to determine an indication direction of the signal lamp according to a 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 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 numbers of the virtual signal lamps and 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 corresponding relation between the target signal lamp and the virtual signal lamp as well as between 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 crossing 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 the corresponding functional modules and beneficial effects of executing the traffic information processing method.
In the technical scheme of the disclosure, the related processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the user accord with the regulations of related laws and regulations, and the public order colloquial is not violated.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 6 shows a schematic area diagram of an example electronic device 600 that may 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 telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary 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 that 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 may also be stored. The computing unit 601, ROM 602, and RAM 603 are connected to each other by a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
Various components in the device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, mouse, etc.; 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 computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the respective methods and processes described above, such as a traffic information processing method. For example, in some embodiments, the traffic information processing method may be implemented as a computer software program tangibly embodied on 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 by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code 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 code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or region diagram to be implemented. 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. The 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 pointing device (e.g., a mouse or 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 may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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 a client and a server. The client and server are typically 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 incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (9)
1. A traffic information processing method, comprising:
acquiring a road acquisition image and image acquisition information of the road acquisition image; wherein, the image acquisition information includes: the acquisition position of the road acquisition image and the acquisition moving direction of the image acquisition device for acquiring the road acquisition image;
determining a road collection image collected in a threshold area taking a target intersection as a center through the road collection image and the image collection information of the road collection image;
Acquiring signal lamp acquisition images of the target intersection by identifying road acquisition images acquired in the threshold area; wherein, in the threshold area, at least one acquisition position of the road acquisition image is included;
identifying a signal lamp and direction information of the signal lamp in the signal lamp acquisition image according to the acquisition moving direction of the road acquisition image;
acquiring the direction information of the lane of the target intersection;
according to the direction information of the signal lamp, the direction information of the lane and the image acquisition information, establishing a corresponding relation between the signal lamp and the lane, comprising: determining the direction 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 direction with the entering direction, and comparing the indicating direction with the exiting direction to determine corresponding signal lamps and lanes; establishing a corresponding relation between the corresponding signal lamp and the lane;
updating the map;
the establishing of the correspondence between the signal lamp and the lane comprises the following steps:
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, wherein the sum of the numbers of the virtual signal lamps and 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 as well as between the virtual signal lamp and the target lane.
2. The method of claim 1, wherein the identifying signal lights and direction information of the signal lights in the signal light collection image according to the collection movement direction of the road collection image comprises:
identifying at least one signal lamp and the type of the signal lamp in the signal lamp acquisition image, wherein the signal lamp acquisition image is a front view of the signal lamp;
determining the direction 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 information of the signal lamp as the direction information of the signal lamp.
3. 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 crossing connected with the navigation lane according to the navigation suggestion information.
4. A traffic information processing apparatus comprising:
the image acquisition module is used for acquiring a road acquisition image and image acquisition information of the road acquisition image; wherein, the image acquisition information includes: the acquisition position of the road acquisition image and the acquisition moving direction of the image acquisition device for acquiring the road acquisition image;
a signal lamp determination module comprising:
the signal lamp image determining unit is used for determining a road acquisition image acquired in a threshold area taking a target intersection as a center through the road acquisition image and the image acquisition information of the road acquisition image; acquiring signal lamp acquisition images of the target intersection by identifying road acquisition images acquired in the threshold area; wherein, in the threshold area, at least one acquisition position of the road acquisition image is included;
the signal lamp identification unit is used for identifying a signal lamp and direction information of the signal lamp in the signal lamp acquisition image according to the acquisition moving direction of the road acquisition image;
The lane information acquisition module is used for acquiring the direction information of the lanes of the target intersection;
the corresponding relation establishing module is used for 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;
wherein, the correspondence establishing module includes:
the signal lamp information determining unit is used for determining the direction and the indication direction of the signal lamp according to the direction information of the signal lamp;
a lane information determining unit for determining an entering direction and an 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 and comparing the indicating direction with the exiting direction to determine corresponding signal lamps and lanes;
the first corresponding relation establishing unit is used for establishing a corresponding relation between the corresponding signal lamp and the lane;
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 numbers of the virtual signal lamps and 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 corresponding relation between the target signal lamp and the virtual signal lamp as well as between the target lane.
5. The apparatus of claim 4, wherein the signal lamp recognition unit comprises:
the signal lamp identification subunit is used for identifying at least one signal lamp and the type of the signal lamp in the signal lamp acquisition image, and the signal lamp acquisition 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 acquired image;
an indication direction determining subunit, configured to determine an indication direction of the signal lamp according to a 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.
6. The apparatus of claim 4, 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 crossing connected with the navigation lane according to the navigation suggestion information.
7. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
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 one of claims 1-3.
8. A non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the traffic information processing method according to any one of claims 1 to 3.
9. 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 claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210524588.5A CN114973687B (en) | 2022-05-13 | 2022-05-13 | Traffic information processing method, device, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210524588.5A CN114973687B (en) | 2022-05-13 | 2022-05-13 | Traffic information processing method, device, equipment and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114973687A CN114973687A (en) | 2022-08-30 |
| CN114973687B true CN114973687B (en) | 2024-03-05 |
Family
ID=82983916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210524588.5A Active CN114973687B (en) | 2022-05-13 | 2022-05-13 | Traffic information processing method, device, equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114973687B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115810184B (en) * | 2023-02-14 | 2023-07-28 | 高德软件有限公司 | Method and device for determining traffic signal lamp associated road |
| CN117690115A (en) * | 2024-02-04 | 2024-03-12 | 杭州海康威视系统技术有限公司 | Image processing method, device and equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107992829A (en) * | 2017-12-05 | 2018-05-04 | 武汉中海庭数据技术有限公司 | A kind of traffic lights track level control planning extracting method and device |
| CN109669997A (en) * | 2018-10-31 | 2019-04-23 | 百度在线网络技术（北京）有限公司 | Electronic map processing method, equipment and computer readable storage medium |
| CN112614365A (en) * | 2020-12-14 | 2021-04-06 | 北京三快在线科技有限公司 | Electronic map processing method and device |
| WO2022041942A1 (en) * | 2020-08-28 | 2022-03-03 | 郭荣江 | Method for lane-level positioning and roadside traffic sign and command signal recognition in automatic vehicle driving |
| CN114399916A (en) * | 2022-01-19 | 2022-04-26 | 福建工程学院 | Virtual traffic light control reminding method for digital twin smart city traffic |
-
2022
- 2022-05-13 CN CN202210524588.5A patent/CN114973687B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107992829A (en) * | 2017-12-05 | 2018-05-04 | 武汉中海庭数据技术有限公司 | A kind of traffic lights track level control planning extracting method and device |
| CN109669997A (en) * | 2018-10-31 | 2019-04-23 | 百度在线网络技术（北京）有限公司 | Electronic map processing method, equipment and computer readable storage medium |
| WO2022041942A1 (en) * | 2020-08-28 | 2022-03-03 | 郭荣江 | Method for lane-level positioning and roadside traffic sign and command signal recognition in automatic vehicle driving |
| CN112614365A (en) * | 2020-12-14 | 2021-04-06 | 北京三快在线科技有限公司 | Electronic map processing method and device |
| CN114399916A (en) * | 2022-01-19 | 2022-04-26 | 福建工程学院 | Virtual traffic light control reminding method for digital twin smart city traffic |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114973687A (en) | 2022-08-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114973687B (en) | Traffic information processing method, device, equipment and medium | |
| US20220105961A1 (en) | Method for automatic control of vehicle and method for training lane change intention prediction network | |
| CN111680362B (en) | Automatic driving simulation scene acquisition method, device, equipment and storage medium | |
| CN112102638B (en) | Signal lamp data display method, device, server, terminal, system and medium | |
| CN112634611B (en) | Method, device, equipment and storage medium for identifying road conditions | |
| EP4098975A2 (en) | Vehicle travel control method and apparatus | |
| JP7258938B2 (en) | Method for marking intersection virtual lane, device for marking intersection virtual lane, electronic device, computer readable storage medium and computer program | |
| JP2021168174A (en) | Method and apparatus for identifying vehicle alignment information, electronic device, roadside device, cloud control platform, storage medium, and computer program product | |
| CN113327447B (en) | Navigation reminding method, device, equipment, vehicle and storage medium | |
| US20220204000A1 (en) | Method for determining automatic driving feature, apparatus, device, medium and program product | |
| CN112699773B (en) | Traffic light identification method and device and electronic equipment | |
| CN114413920A (en) | Lane data processing method, navigation method and device | |
| CN113722342A (en) | High-precision map element change detection method, device and equipment and automatic driving vehicle | |
| CN115657684A (en) | Vehicle path information generation method, device, equipment and computer readable medium | |
| CN116264038A (en) | Signal lamp control method and device, electronic equipment and storage medium | |
| CN115273477A (en) | Crossing driving suggestion pushing method, device and system and electronic equipment | |
| CN113762397A (en) | Detection model training and high-precision map updating method, device, medium and product | |
| CN115507866B (en) | Map data processing method and device, electronic equipment and medium | |
| CN114719878B (en) | Vehicle navigation method, device, system, electronic equipment and computer medium | |
| CN115587496B (en) | Test method, device, equipment, system and storage medium based on vehicle-road cooperation | |
| CN114323039B (en) | Data acquisition method and device for high-precision map, vehicle, equipment and storage medium | |
| CN111998861B (en) | Vehicle prompting method, device, equipment and storage medium | |
| CN116704764A (en) | Vehicle control method and device, electronic equipment and automatic driving vehicle | |
| CN117746663A (en) | Traffic signal determining method, device, electronic equipment, vehicle and storage medium | |
| CN116935647A (en) | Data verification method and device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |