CN115985123A

CN115985123A - Traffic signal lamp data processing method and device, electronic equipment and storage medium

Info

Publication number: CN115985123A
Application number: CN202211506211.3A
Authority: CN
Inventors: 刘楠科; 张珠华; 谭业辉
Original assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd; Apollo Zhixing Technology Guangzhou Co Ltd
Priority date: 2022-11-28
Filing date: 2022-11-28
Publication date: 2023-04-18

Abstract

The disclosure provides a traffic signal lamp data processing method and device, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the fields of intelligent traffic and automatic driving. The specific implementation scheme is as follows: the method comprises the steps of responding to a target vehicle receiving signal lamp data of a traffic signal lamp, identifying the driving direction of the target vehicle, determining a target road from roads controlled by the traffic signal lamp based on position information of the target vehicle, judging whether the target vehicle is in the control range of the traffic signal lamp based on the driving direction and the road passing direction of the target road, obtaining a judgment result, responding to the judgment result and indicating that the target vehicle is not in the control range of the traffic signal lamp, and ignoring the signal lamp data. The scheme can improve the driving safety of the vehicle.

Description

Traffic signal lamp data processing method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of artificial intelligence technologies, and in particular, to a method and an apparatus for processing traffic signal data, an electronic device, and a storage medium.

Background

In the field of autonomous driving, a signal light controller periodically transmits signal light data to vehicles in the surrounding environment in the form of a broadcast, and the vehicles can receive the signal light data when passing through an intersection having signal lights.

In the related art, when the vehicle receives signal lamp data, the lane where the vehicle is located can be judged according to the position of the vehicle, and the corresponding signal lamp data is matched according to the information of the lane, so that the subsequent driving strategy is adjusted.

Disclosure of Invention

The disclosure provides a traffic signal lamp data processing method and device, electronic equipment and a storage medium.

According to a first aspect of the present disclosure, there is provided a method for processing traffic signal data, including:

identifying a direction of travel of a target vehicle in response to the target vehicle receiving signal light data of a traffic signal light;

determining a target road from roads controlled by the traffic signal lamp based on the position information of the target vehicle; the target road is positioned by using the position information of the target vehicle when the road is positioned;

judging whether the target vehicle is in the control range of the traffic signal lamp or not based on the driving direction and the road passing direction of the target road to obtain a judgment result;

and ignoring the signal lamp data in response to the judgment result indicating that the target vehicle is not in the control range of the traffic signal lamp.

Optionally, the identifying the driving direction of the target vehicle includes:

acquiring a course angle of the target vehicle;

determining the driving direction of the target vehicle based on the course angle of the target vehicle and each course angle range;

wherein each course angle range corresponds to a direction of travel.

Optionally, the determining the driving direction of the target vehicle based on the heading angle of the target vehicle and each heading angle range includes:

determining a target course angle range in which the course angle of the target vehicle is positioned from each course angle range;

and determining the driving direction corresponding to the target course angle range to obtain the driving direction of the target vehicle.

Optionally, the determining, based on the driving direction and the road passing direction of the target road, whether the target vehicle is in the control range of the traffic signal lamp, to obtain a determination result, includes:

detecting whether an included angle between the driving direction and the road passing direction of the target road is smaller than a preset threshold value or not;

if the traffic signal light is smaller than the preset traffic signal light, judging that the target vehicle is in the control range of the traffic signal light to obtain a judgment result;

otherwise, judging that the target vehicle is not in the control range of the traffic signal lamp, and obtaining a judgment result.

Optionally, the method further comprises:

and in response to the judgment result, the target vehicle is in the control range of the traffic signal lamp, determining the lane of the target vehicle in the target road according to the position information of the target vehicle, determining target signal lamp data corresponding to the lane of the target vehicle in the target road from the signal lamp data, and executing a corresponding driving strategy according to the target signal lamp data.

According to a second aspect of the present disclosure, there is provided a traffic signal data processing apparatus, comprising:

the identification module is used for responding to the target vehicle receiving the signal lamp data of the traffic signal lamp and identifying the driving direction of the target vehicle;

the determining module is used for determining a target road from roads controlled by the traffic signal lamp based on the position information of the target vehicle; the target road is positioned by using the position information of the target vehicle when the road is positioned;

the judging module is used for judging whether the target vehicle is in the control range of the traffic signal lamp or not based on the driving direction and the road passing direction of the target road to obtain a judging result;

and the response module is used for responding to the judgment result that the target vehicle is not in the control range of the traffic signal lamp and ignoring the signal lamp data.

Optionally, the identification module includes:

the identification submodule is used for acquiring the course angle of the target vehicle;

the determining submodule is used for determining the driving direction of the target vehicle based on the course angle of the target vehicle and each course angle range;

wherein each course angle range corresponds to a direction of travel.

Optionally, the determining sub-module is specifically configured to:

determining a target course angle range in which the course angle of the target vehicle is located from each course angle range;

Optionally, the determining module is specifically configured to:

Optionally, the response module is further configured to:

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

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 method of processing the traffic signal data.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to execute the method of processing the traffic signal data.

According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when being executed by a processor, realizes the method of processing traffic signal data.

According to a sixth aspect of the present disclosure, there is provided a vehicle including the electronic apparatus.

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 schematic diagram of a vehicle passing through a traffic light intersection provided by an embodiment of the present disclosure;

FIG. 2 is a flow chart of a method for processing traffic signal data provided by an embodiment of the present disclosure;

FIG. 3 is another flow chart of a method for processing traffic signal data provided by an embodiment of the present disclosure;

FIG. 4 is a schematic diagram illustrating an embodiment of a method for processing traffic signal data according to the present disclosure;

fig. 5 is a schematic diagram illustrating another embodiment of a method for processing traffic signal data according to the present disclosure;

fig. 6 is a schematic structural diagram of a device for processing traffic signal data according to an embodiment of the present disclosure;

fig. 7 is a block diagram of an electronic device used to implement a method of processing traffic signal data of 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 disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The vehicle-road cooperation is the main development trend of future automatic driving and intelligent traffic, cooperative sensing, cooperative computing and cooperative decision control are carried out through the mutual cooperation among vehicles, road sides and cloud control platforms, a series of problems of limited single-vehicle sensing range, insufficient reliability, workshop behavior game and the like can be solved, and the digital and intelligent integrated system of road infrastructure and traffic management can be realized, and the integrated system of deep fusion, high cooperation, safety and high efficiency can be supported and constructed. In an automobile-road coordination system (IVICS), uplink and downlink data interaction among an automobile, a road side and a cloud control platform is generally realized through a V2X (Vehicle to evolution) and LBS (Location Based Service) technology.

At present, a signal light controller at an intersection periodically sends signal light data to the surrounding environment in a broadcasting mode. An intersection schematic diagram as shown in fig. 1, in which a stop line, a plurality of signal lights, and a plurality of vehicles are disposed, and an intersection center is indicated by a star symbol in fig. 1 for ease of understanding; then, for the uplink and downlink data interaction scenario adopting the V2X-LBS technology, that is, the uplink and downlink data interaction scenario adopting the V2X and LBS, when the vehicle a passes through the intersection or the road section having the traffic signal lamp a, the vehicle a may receive the signal lamp data of the intersection or the road section sent by the signal lamp controller, so as to execute the corresponding driving strategy according to the received traffic signal data, for example: straight through signal lights, stop waiting, left turn through signal lights, and the like. The signal light controller may include a road side unit, but is not limited thereto.

However, in some application scenarios, the vehicle need not actually be driven at a nearby traffic light, such as: when a vehicle runs in an underbridge tunnel or a side road, even if the vehicle receives signal lamp data, the vehicle is not actually in the control range of traffic signal lamps, and if a corresponding automatic driving strategy is executed according to the received signal lamp data at the moment, a wrong planning driving strategy of the vehicle is likely to be carried out, so that a traffic accident is caused, and the driving safety of the vehicle is low.

For example, for a road controlled by a traffic light at a traffic light intersection, an under-bridge tunnel exists below the road, and an overpass exists above the road, when a vehicle is located on the overpass or under-bridge tunnel and travels, signal light data sent by a signal light controller can be received, because the signal light data and vehicle position information cannot reflect elevation data, if only the vehicle position information is passed, the control range of the traffic light where the vehicle is located can be identified, that is, the vehicle is located on the road controlled by the traffic light and travels, but actually the vehicle is located on the overpass or under-bridge tunnel and travels, at this moment, it may be mistaken that a traffic light exists ahead, a driving strategy of the vehicle needs to be adjusted according to the signal light data, if a signal represented by the signal light data is a red light, if the vehicle stops traveling according to the traffic signal, a rear-end accident is likely to be caused.

Based on the above problems, the present disclosure provides a method and an apparatus for processing traffic signal data, an electronic device, and a storage medium, so as to improve vehicle driving safety.

The following first introduces a traffic signal data processing method provided by the present disclosure.

The traffic signal lamp data processing method can be applied to electronic equipment. For example, the electronic device may be a vehicle-mounted terminal, and the vehicle-mounted terminal may be installed in a vehicle, so as to implement vehicle driving environment sensing, vehicle running state monitoring, and the like; the vehicle-mounted terminal can also realize the omnibearing connection and information interaction of vehicle-to-vehicle, vehicle-to-roadside infrastructure, vehicle-to-person, vehicle-to-cloud control platform and the like through a V2X technology.

Also, the above-mentioned vehicles may include an autonomous vehicle, or a non-autonomous vehicle in which there is a traffic signal light processing demand, or the like. In addition, the traffic light data processing method provided by the disclosure can be applied to any scene in which data processing is performed after the traffic light data is received by the vehicle, and the specific scene is not limited by the disclosure.

In addition, the execution subject of the processing method of traffic signal data provided by the present disclosure may be a processing device of traffic signal data. For example, the traffic signal data processing device may be installed in the vehicle-mounted terminal, and after the vehicle-mounted terminal receives the traffic signal data, the traffic signal data processing method may be executed by the traffic signal data processing device.

The traffic signal light to which the present disclosure relates may be a signal light for traffic control, for example: a traffic light, a signal light indicating slowing down or a signal light limiting the speed of the vehicle, etc. And when the traffic signal lamp is a traffic light, the traffic signal lamp data can include data such as the phase and countdown of the traffic light. The present disclosure is not limited herein to traffic lights and the type of traffic light data.

The method for processing the traffic signal lamp data provided by the embodiment of the disclosure can comprise the following steps:

determining a target road from roads controlled by the traffic signal lamp based on the position information of the target vehicle; the target road is a road positioned by the position information of the target vehicle when the road is positioned;

In the scheme, the target vehicle can be responded to receive signal lamp data of the traffic signal lamp, the driving direction of the target vehicle can be identified, the target road is determined from roads controlled by the traffic signal lamp based on the position information of the target vehicle, whether the target vehicle is in the control range of the traffic signal lamp or not can be judged by utilizing the driving direction and the road passing direction of the target road, a judgment result is obtained, the target vehicle is indicated not to be in the control range of the traffic signal lamp in response to the judgment result, and the signal lamp data are ignored. By applying the embodiment of the disclosure, whether the vehicle is in the control range of the traffic signal lamp or not is judged, and when the vehicle is not in the control range of the traffic signal lamp, the signal lamp data is ignored, so that the error response of the vehicle to the signal lamp data in the driving process is reduced, the vehicle can be guaranteed to be driven according to a correct driving strategy, the occurrence of traffic accidents is reduced, and the driving safety of the vehicle can be improved.

The method for processing traffic signal data provided by the present disclosure is exemplarily described below with reference to the accompanying drawings.

As shown in fig. 2, the method for processing traffic signal data provided by the present disclosure may include the following steps:

s201: identifying a direction of travel of a target vehicle in response to the target vehicle receiving signal light data of a traffic signal light;

in the embodiment of the present disclosure, when a target vehicle passes near a traffic light, signal light data is generally received, the signal light data may be sent by a signal light controller, and the signal light controller may be disposed at any position on a roadside, and the signal light controller may periodically send signal light data to the surroundings in a broadcast manner, for example: the traffic light controller may broadcast the traffic light data to the outside in 0.1s,1s, etc. durations, and in response to the target vehicle receiving the traffic light data of the traffic light, may recognize the driving direction of the target vehicle first, thereby determining whether the traffic light data needs to be processed according to the subsequent steps.

Any manner of recognizing the traveling direction of the target vehicle may be applied to the present embodiment, for example: in addition, the specific manner of identifying the driving direction of the target vehicle will be described in the following embodiments, and details thereof are not repeated herein.

S202: determining a target road from roads controlled by the traffic signal lamp based on the position information of the target vehicle;

the target road is a road positioned by the position information of the target vehicle when the road is positioned;

traffic lights with light data may manage multiple roads, for example: the signal lamps in the crossroads control two crossed roads, and after the target vehicles receive traffic signal lamp data, the target roads can be determined from the roads controlled by the traffic signal lamps in a positioning mode according to vehicle position information. The target vehicle may include a vehicle-mounted positioning device, the vehicle-mounted positioning device may implement a positioning function of the vehicle, and the vehicle-mounted positioning device may acquire position information of the target vehicle, so as to determine the target road.

For example, in one implementation, determining a target road in roads managed by a traffic light may include: determining a road controlled by a traffic signal lamp; and determining a target road from roads controlled by the traffic signal lamp based on the position information of the target vehicle. The mode of determining the road controlled by the traffic signal lamp may be as follows: the road managed by the traffic signal lamp is identified based on the position information of the traffic signal lamp, or the road managed by the traffic signal lamp is identified based on the road information pre-associated with the traffic signal lamp.

After the target vehicle receives the signal lamp data of the traffic signal lamp, the driving direction of the target vehicle can be identified firstly, and then a target road in roads controlled by the traffic signal lamp is determined; or a target road in the roads controlled by the traffic signal lamp may be determined first, and then the driving direction of the target vehicle may be identified. The execution sequence of the steps is not limited in the present disclosure.

S203: judging whether the target vehicle is in the control range of the traffic signal lamp or not based on the driving direction and the road passing direction of the target road to obtain a judgment result;

after the driving direction and the target road are obtained, whether the target vehicle is in the control range of the traffic signal lamp or not can be judged according to the driving direction and the road passing direction of the target road, namely whether the target vehicle is really in the target road or not can be judged.

It can be understood that, when the target vehicle is on the target road, the driving direction of the target vehicle matches with the road passing direction of the target road, and based on this, it may be determined whether the target vehicle is actually on the target road, that is, whether the target vehicle is in the control range of the traffic light.

For example, for a target road for two-way traffic, such as: the south direction and the north direction are traffic directions, if the driving direction of the target vehicle is matched with any one of the south direction and the north direction, the target vehicle can be judged to be in the control range of the traffic signal lamp, otherwise, the target vehicle is judged not to be in the control range of the traffic signal lamp; for one-way roads, for example: the east is the traffic direction, if the driving direction of the target vehicle is matched with the east, the target vehicle can be judged to be in the control range of the traffic signal lamp, otherwise, the target vehicle is judged not to be in the control range of the traffic signal lamp.

It can be understood that, in consideration of errors, a driving direction may generally have a certain included angle with a road passing direction of a target road, and the determining, based on the driving direction and the road passing direction of the target road, whether the target vehicle is within a control range of the traffic signal lamp obtains a determination result, including:

It should be noted that the predetermined threshold may be flexibly adjusted according to the actual scene, and for a straight-line passing road, the predetermined threshold may be smaller, for example: 5 °,10 °; the predetermined threshold for roads traveled in curves may be large, for example: 15 deg., etc., without limitation thereto. Through the mode that sets up predetermined threshold value, the matching relation of the direction of travel and the current direction of target road can be more reasonable definite to whether reasonable definite target vehicle is in traffic signal lamp's management and control scope, thereby follow-up can rational planning vehicle's driving strategy.

For example, after a target road in a road controlled by a designated signal lamp is determined, whether a target vehicle is actually positioned in the target road can be judged through a driving direction and a road passing direction of the target road; for some scenes, the positioning information cannot embody elevation data of the vehicle, and the plane position of the vehicle can be determined only according to longitude and latitude, for example: according to the scene of the viaduct or the tunnel under the viaduct, a tunnel under the viaduct is vertical to the tunnel under the viaduct, the viaduct is a target road in a road controlled by a traffic signal lamp, if the target vehicle is located in a crossing area of the viaduct and the tunnel under the bridge according to the location point, the vehicle is not necessarily located on the viaduct but is located in the tunnel under the bridge, namely the target vehicle is not located in a control range of the traffic signal lamp near the viaduct, whether the target vehicle is located in the control range of the designated signal lamp or not is determined according to the driving direction of the target vehicle and the road passing direction of the viaduct, and if the included angle between the driving direction of the target vehicle and the road passing direction of the target road is larger than a preset threshold value, the target vehicle can be judged to be located in the tunnel under the bridge and not to be located in the control range of the traffic signal lamp.

S204: responding to the judgment result that the target vehicle is not in the control range of the traffic signal lamp, and ignoring the signal lamp data;

and when the judgment result is obtained, the judgment result possibly indicates that the target vehicle is not in the control range of the traffic signal lamp, and the signal lamp data can be ignored, so that the vehicle is ensured to run according to a correct driving strategy.

For example, in an implementation manner, the determination result may further indicate that the target vehicle is in a control range of a traffic light, and then the method further includes:

and responding to a judgment result that the target vehicle is in the control range of the designated signal lamp, determining the lane of the target vehicle in the target road according to the position information of the target vehicle, determining target signal lamp data corresponding to the lane of the target vehicle in the target road from the signal lamp data, and executing a corresponding driving strategy according to the target signal lamp data.

It can be understood that, if the determination result is that the vehicle is in the control range of the traffic light, the vehicle position information may be used to determine the lane where the vehicle is located, and the signal light data of the lane may be determined from the signal light data, so as to implement a corresponding driving strategy, such as: straight-going or parking, etc., thereby ensuring the safe driving of the vehicle and improving the running safety of the vehicle. If the judgment result is that the traffic signal lamp is not in the control range of the traffic signal lamp, the signal lamp data can be ignored, and an error driving strategy is avoided, so that the driving safety of the vehicle is improved.

And because the signal lamp data is sent to the nearby place in a broadcast mode by the signal lamp controller, when the judgment result shows that the target vehicle is not in the control range of the traffic signal lamp, the target vehicle can be controlled not to receive the signal lamp data sent by the traffic signal lamp.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the related signal lamp data all conform to the regulations of related laws and regulations, and do not violate the good custom of the public order.

Optionally, based on the foregoing embodiment, in another embodiment of the present disclosure, the identifying the driving direction of the target vehicle includes:

acquiring a course angle of the target vehicle;

wherein each course angle range corresponds to a direction of travel.

It should be noted that, on the same road, there may be a deviation in the heading angles of the vehicles, but the driving directions are the same, and each heading angle range representing different driving directions may be set, so as to determine the driving direction of the target vehicle more accurately. The heading angle of the vehicle is an included angle between the driving direction of the vehicle and the north.

Exemplarily, taking a standard crossroad right in the south, east, west and north as an example, 30 degrees can be used as a threshold value for dividing the course angle, 360 degrees of course angles are divided according to the clockwise direction, and 12 course angle ranges can be obtained, namely 0 degree to 30 degrees, 30 degrees to 60 degrees, 60 degrees to 90 degrees, 8230300 degrees to 330 degrees, 330 degrees to 360 degrees. 60-120 degrees are selected from the west to the east, 150-210 degrees are selected from the north to the south, 240-300 degrees are selected from the east to the west, and 330-30 degrees are selected from the south to the north. Similarly, 30-60 degrees are from southwest to northeast, 120-150 degrees are from northwest to southeast, 210-240 degrees are from northeast to southwest, and 300-330 degrees are from southeast to northwest. In addition, the above description of each course angle range is only an example, and the course angle range can be flexibly adjusted according to the types of different traffic signal light intersections, and is not limited herein.

When identifying the driving direction of the target vehicle, a heading angle of the target vehicle may be obtained, and the heading angle may be determined according to the vehicle-mounted positioning device, for example: and acquiring the position of the target vehicle at the moment T and the position of the target vehicle at the moment T +1, wherein the position of the vehicle at the moment T can be used as a starting point, the position of the vehicle at the moment T +1 is used as a terminal point to form a vector, and an included angle formed by the vector and the north is a course angle of the target vehicle. According to the course angle of the target vehicle and each course angle range, the driving direction of the target vehicle can be accurately determined.

When determining the driving direction of the target vehicle based on the heading angle of the target vehicle and each heading angle range, a target heading angle range in which the heading angle of the target vehicle is located may be determined from each heading angle range, for example: if the target vehicle has a heading angle of 10 ° and 10 ° is within a heading angle range of 0 ° to 30 °, the direction of travel characterized by a heading angle range of 0 ° to 30 ° in the direction of travel of the target vehicle can be determined: from the south to the north.

It should be noted that, there may be various ways of identifying the driving direction of the target vehicle, and no limitation is made herein, and the driving direction of the target vehicle can be determined quickly by matching with each course angle range only in the way of course angle.

In order to facilitate understanding of the method for processing traffic signal data, in the following, with reference to another embodiment, the method for processing traffic signal data provided by the present disclosure is described in a process of interaction between a traffic light controller and a vehicle-mounted terminal.

As shown in fig. 3, the interactive process includes:

s301: the traffic light controller sends traffic light data, and the vehicle-mounted terminal receives the traffic light data; the traffic light controller is the signal light controller, and the traffic light data comprises traffic light phase and countdown data, namely the signal light data.

S302: the vehicle-mounted terminal judges whether the vehicle is positioned in a traffic light control range or not according to the vehicle course angle; the vehicle-mounted terminal judges the vehicle running direction according to the vehicle course angle and judges whether the vehicle is in a traffic light control range or not according to the vehicle running direction and the road traffic direction of a target road; the vehicle-mounted terminal can acquire course angle information from the vehicle positioning equipment so as to determine the course angle of the vehicle; determining the running direction of a target vehicle according to the vehicle course angle, determining a target road, and judging whether the target vehicle is in the control range of the traffic signal lamp or not according to the running direction and the passing direction of the target road; if yes, go to step S303; if no, go to step S306.

S303: the vehicle-mounted terminal judges the lane where the vehicle is located according to the position of the vehicle; the vehicle-mounted terminal determines the lane where the vehicle is located according to the position of the vehicle; and determining the lane of the target vehicle in the target road corresponding to the position information of the target vehicle.

S304: the vehicle-mounted terminal acquires traffic light data of a corresponding lane according to the lane where the vehicle is located; the vehicle-mounted terminal acquires traffic light data of a corresponding lane from the traffic light data according to the lane where the vehicle is located; and correspondingly determining target signal lamp data corresponding to the lane of the target vehicle in the target road from the signal lamp data.

S305: the vehicle-mounted terminal adjusts the driving strategy according to the traffic light data; the vehicle-mounted terminal adjusts subsequent driving strategies according to traffic light data corresponding to a lane where the vehicle is located; and executing a corresponding driving strategy according to the target signal lamp data.

S306: the vehicle-mounted terminal does not process the traffic light data; namely, the vehicle is not positioned in the traffic light control range, and the vehicle-mounted terminal does not process the traffic light data; and correspondingly responding to the judgment result that the target vehicle is not in the control range of the traffic signal lamp, and ignoring the signal lamp data.

The method for processing traffic signal lamp data comprises the steps that when a vehicle passes through an intersection or a road section with a traffic signal lamp, signal lamp data of the intersection or the road section, including data such as traffic lamp phase and countdown, sent by a signal lamp controller are received, the vehicle can determine the driving direction of the vehicle based on a self course angle, a target road controlled by a designated signal lamp is judged according to self position information, whether the vehicle is in a control range of the designated signal lamp is judged according to the driving direction and the road passing direction of the target road, when the vehicle is in the control range, the received signal lamp data are processed, a responding driving strategy is executed according to the signal lamp data, and when the vehicle is not in the control range, the received signal lamp data are ignored. Aiming at traffic signal lamp intersections such as an under-bridge tunnel, an over-bridge viaduct, an auxiliary road and the like, when a vehicle is positioned on the over-bridge tunnel, the under-bridge tunnel or the auxiliary road, signal lamp data sent by a signal lamp controller is received, and because the signal lamp data and the vehicle position can not reflect elevation data, the method can subsequently judge whether a target vehicle is in the control range of the traffic signal lamp in a course angle mode, and avoid mistakenly considering that a traffic signal lamp is arranged in the front, so that a vehicle driving strategy is influenced, traffic accidents can be avoided, and the vehicle driving safety is improved.

The following describes a method for processing traffic signal data according to an embodiment of the present disclosure in detail.

As shown in fig. 4, for a standard intersection in south-east and north-west, a signal lamp is located at the center of the intersection, a stop line is provided in the intersection, a side road perpendicular to the signal lamp is located below the north road section of the signal lamp (also called tunnel under bridge, where the north road section can be regarded as an overhead bridge of the side road), and the problem road section is a spatially overlapped road section of the north road section controlled by the signal lamp and the side road.

Aiming at the signal lamp intersection, 30 degrees can be used as a threshold value for dividing the course angle, 360 degrees are divided according to the clockwise direction, and 12 course angle ranges can be obtained, wherein the range is 0 degree to 30 degrees, 30 degrees to 60 degrees, 60 degrees to 90 degrees, 823030300 degrees to 330 degrees and 330 degrees to 360 degrees. 60-120 degrees are selected as the direction from west to east, 150-210 degrees are selected as the direction from north to south, 240-300 degrees are selected as the direction from east to west, and 330-30 degrees are selected as the direction from south to north. Similarly, 30-60 degrees are from southwest to northeast, 120-150 degrees are from northwest to southeast, 210-240 degrees are from northeast to southwest, and 300-330 degrees are from southeast to northwest.

It should be noted that the driving direction represented by the heading angle range can also be described by the physical direction corresponding to the angle thereof, for example: the road traffic direction of the target road can be described in the above manner, and when the included angle between the driving direction and the road traffic direction of the target road is determined, the included angle can be determined more conveniently. In addition, the size of the threshold value for dividing the heading angle can be flexibly adjusted according to the actual situation, and is not limited herein.

To this problem highway section, if only judge through vehicle position information whether the vehicle is located the management and control scope of signal lamp, then the vehicle is when the road side is gone, and when the vehicle was gone to this problem highway section department, after receiving the signal lamp data that the signal lamp controller sent, according to the position judgement, the vehicle is located the highway section in the north, then can misunderstand that the vehicle is in the management and control scope of signal lamp, can handle the signal lamp data that receive to wrong adjustment driving strategy causes dangerous emergence, for example: when the traffic light is red, parking is required, and the like.

In the scheme, the vehicle obtains the vehicle course angle information through the vehicle-mounted positioning equipment of the vehicle, compares the course angle information with the course angle range, and determines the driving direction of the vehicle, such as: the vehicle heading angle is 270 degrees, the heading angle range matched with the vehicle heading angle is 240-300 degrees, the driving direction of the vehicle is from east to west, when the target road controlled by the traffic signal lamp is determined to be a north road section according to the position information, the road passing direction of the north road section is from south to north or from north to south, the included angle between the driving direction of the vehicle and the road passing direction is 90 degrees, the preset threshold value of the preset included angle is 10 degrees, at the moment, the vehicle can be judged not to be in the control range of the traffic signal lamp, and the signal lamp data are not processed.

It can be seen that, aiming at the scenes that traffic signal lamps exist in an overhead bridge, an underbridge tunnel or a side road on the bridge and the like, the vehicle driving direction is determined through a course angle, a target road controlled by the traffic signal lamps is determined through position information, when the included angle between the driving direction and the passing direction of the target road is larger than a preset threshold value, the situation that the vehicle is not located in the control range of the traffic signal lamps can be judged, the data of the signal lamps are not processed, therefore, wrong driving strategy adjustment can be avoided, and the driving safety of the vehicle can be improved.

The following describes a method for processing traffic signal data according to another embodiment of the present disclosure in detail.

As shown in fig. 5, for an intersection having an entry/exit route section, an arrow in the figure indicates a road passing direction of an entry/exit road entering or exiting from the road 1 to the road 1, the road 1 indicates a road near the intersection where the entry/exit road exits from the intersection, and the stop line is a position of a vehicle stop line when a traffic signal light is red, and a farthest position from the stop line is a position where it is necessary to determine whether or not to process the signal light data after receiving the signal light data, similarly to the problem route section of the above embodiment.

Aiming at the signal lamp intersection, 10 degrees can be used as a threshold value for dividing the heading angle, the heading angle of 360 degrees is divided according to the clockwise direction, and 36 heading angle ranges can be obtained, wherein the ranges are 0 degree to 10 degrees, 10 degrees to 20 degrees, 20 degrees to 30 degrees 8230, 340 degrees to 350 degrees and 350 degrees to 360 degrees. Selecting 80-100 degrees as the direction from west to east, 170-190 degrees as the direction from north to south, 260-280 degrees as the direction from east to west, and 350-10 degrees as the direction from south to north. Each of the remaining ranges of heading angles may be indicative of a direction of travel, such as: the range of angles of 20 deg. -30 deg. characterizes the direction of travel being 20 deg. north to 30 deg. north-east.

When the vehicle is located at the farthest position away from the stop line, the vehicle obtains vehicle heading angle information through the vehicle-mounted positioning device, the heading angle information is compared with a heading angle range, the running direction of the vehicle is determined, the heading angle of the vehicle is 270 degrees, the heading angle range matched with the vehicle is 260-280 degrees, the running direction of the vehicle is from east to west, when the target road controlled by the traffic signal lamp is determined to be the merging road according to the position information (namely the vehicle is located at the farthest position away from the stop line), the merging road passing direction is 20 degrees from north to west, the included angle between the running direction of the vehicle and the road passing direction is 70 degrees, the preset threshold value of the preset included angle is 10 degrees, at the moment, the vehicle can be judged not to be in the control range of the traffic signal lamp, and the signal lamp data are not processed.

When the vehicle is located at the farthest position away from the stop line, the vehicle obtains vehicle heading angle information through the vehicle-mounted positioning device of the vehicle, compares the heading angle information with a heading angle range, determines the driving direction of the vehicle, the heading angle of the vehicle is 345 degrees, the heading angle range matched with the vehicle is 340 degrees to 350 degrees, the driving direction of the vehicle is the driving direction from north to west 10 degrees to north to west 20 degrees represented by 340 degrees to 350 degrees, when the target road controlled by the traffic signal lamp is determined to be the convergent road according to the position information (namely the vehicle is located at the farthest position away from the stop line), the road passing direction of the convergent road is the direction from north to west 20 degrees, the included angle between the driving direction of the vehicle and the road passing direction is 5 degrees, the preset threshold value of the preset included angle is 10 degrees, at this time, the vehicle can be judged to be located in the control range of the traffic signal lamp, and the signal lamp data can be processed, for example: acquiring signal lamp data corresponding to the road to be converged, and adjusting subsequent driving strategies, such as: if the traffic signal lamp is red, the vehicle enters the junction road and stops at the stop line to wait, and if the traffic signal lamp is green, the vehicle enters the junction road and passes through the intersection of the traffic signal lamp.

Therefore, aiming at scenes with traffic signal lamps at junctions of the junction, the junction and the like, the driving direction of the vehicle is determined through the course angle, the target road controlled by the traffic signal lamps is determined through the position information, when the included angle between the driving direction and the passing direction of the target road is larger than a preset threshold value, the situation that the vehicle is not located in the control range of the traffic signal lamps can be judged, the data of the signal lamps are not processed, therefore, the wrong driving strategy adjustment can be avoided, and the driving safety of the vehicle can be improved.

According to an embodiment of the present disclosure, there is also provided an apparatus for processing traffic signal data, as shown in fig. 6, the apparatus including:

an identifying module 610 for identifying a driving direction of a target vehicle in response to the target vehicle receiving signal light data of a traffic signal light;

a determining module 620, configured to determine a target road from roads managed and controlled by the traffic signal lamp based on the position information of the target vehicle; the target road is a road positioned by the position information of the target vehicle when the road is positioned;

the judging module 630 is configured to judge whether the target vehicle is within a control range of the traffic signal lamp based on the driving direction and a road passing direction of the target road, so as to obtain a judgment result;

and the response module 640 is configured to ignore the signal lamp data in response to the determination result indicating that the target vehicle is not in the control range of the traffic signal lamp.

According to the scheme, the target vehicle can be identified in response to the fact that the target vehicle receives signal lamp data of a traffic signal lamp, the target road is determined from the road controlled by the traffic signal lamp based on the position information of the target vehicle, whether the target vehicle is in the control range of the traffic signal lamp or not can be judged by means of the driving direction and the road passing direction of the target road, a judgment result is obtained, the target vehicle is indicated not to be in the control range of the traffic signal lamp in response to the judgment result, and the signal lamp data are ignored. By applying the embodiment of the disclosure, whether the vehicle is in the control range of the traffic signal lamp or not is judged, and when the vehicle is not in the control range of the traffic signal lamp, the signal lamp data is ignored, so that the error response of the vehicle to the signal lamp data in the driving process is reduced, the vehicle can be guaranteed to be driven according to a correct driving strategy, the occurrence of traffic accidents is reduced, and the driving safety of the vehicle can be improved.

Optionally, the identification module includes:

the identification submodule is used for acquiring a course angle of the target vehicle;

the determining submodule is used for determining the running direction of the target vehicle based on the course angle of the target vehicle and each course angle range;

wherein each course angle range corresponds to a direction of travel.

Optionally, the determining submodule is specifically configured to:

Optionally, the determining module is specifically configured to:

Optionally, the response module is further configured to:

and responding to a judgment result that the target vehicle is in the control range of the traffic signal lamp, determining the lane of the target vehicle in the target road according to the position information of the target vehicle, determining target signal lamp data corresponding to the lane of the target vehicle in the target road from the signal lamp data, and executing a corresponding driving strategy according to the target signal lamp data.

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

An embodiment of the present disclosure provides an electronic device, including:

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 any of the methods of traffic signal data processing.

The disclosed embodiments provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute any one of the traffic signal data processing methods.

The disclosed embodiments provide a computer program product comprising a computer program that, when executed by a processor, implements any of the methods of traffic signal data processing.

The embodiment of the disclosure provides a vehicle comprising the electronic equipment.

FIG. 7 illustrates a schematic block diagram of an example electronic device 700 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. 7, the device 700 comprises a computing unit 701, which may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The calculation unit 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.

A number of components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

Computing unit 701 may be a variety of general purpose and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 701 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 101 executes the respective methods and processes described above, such as the processing method of traffic signal data. For example, in some embodiments, the method of processing traffic signal data may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 708. In some embodiments, part or all of a computer program may be loaded onto and/or installed onto device 700 via ROM 702 and/or communications unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the processing method of traffic signal data described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured by any other suitable means (e.g., by means of firmware) to perform the processing method of the traffic signal data.

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 block 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 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 may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

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 method for processing traffic signal data comprises the following steps:

determining whether the target vehicle is in a control range of the traffic signal lamp or not based on the driving direction and the road passing direction of the target road;

ignoring the signal light data in response to determining that the target vehicle is not within a regulatory range of the traffic signal light.

2. The method of claim 1, wherein the identifying the direction of travel of the target vehicle comprises:

acquiring a course angle of the target vehicle;

wherein each course angle range corresponds to a direction of travel.

3. The method of claim 2, wherein the determining a heading direction of the target vehicle based on the heading angle of the target vehicle and the respective heading angle ranges comprises:

4. The method according to claim 1, wherein the determining whether the target vehicle is in the control range of the traffic signal lamp based on the driving direction and the road passing direction of the target road, and obtaining the determination result comprises:

5. The method of any of claims 1-4, further comprising:

6. A traffic signal data processing apparatus, comprising:

the determining module is used for determining a target road from roads controlled by the traffic signal lamp based on the position information of the target vehicle; the target road is a road positioned by the position information of the target vehicle when the road is positioned;

7. The apparatus of claim 6, wherein the identification module comprises:

wherein each course angle range corresponds to a direction of travel.

8. The apparatus of claim 7, wherein the determination submodule is specifically configured to:

9. The apparatus according to claim 6, wherein the determining module is specifically configured to:

10. The apparatus of claim 9, wherein the response module is further configured to:

and responding to the judgment result that the target vehicle is in the control range of the traffic signal lamp, determining the lane of the target vehicle in the target road according to the position information of the target vehicle, determining target signal lamp data corresponding to the lane of the target vehicle in the target road from the signal lamp data, and executing a corresponding driving strategy according to the target signal lamp data.

11. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.

12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.

13. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-5.

14. A vehicle comprising the electronic device of claim 11.