Traffic signal lamp state identification method, device and equipment and storage medium

Abstract

The invention discloses a traffic signal lamp state recognition method, device and equipment and a storage medium. The method comprises the following steps: determining at least one alternative traffic signal lamp detection result according to an image acquired by a vehicle; determining a target traffic signal lamp matched with the vehicle position information from the alternative traffic signal lamps according to map data; according to the relative position relationship between the target traffic signal lamp and the vehicle, mapping the target traffic signal lamp into the image to obtain a traffic signal lamp mapping result; and determining a traffic signal lamp state according to the traffic signal lamp mapping result and the alternative traffic signal lamp detection result. By using thetechnical scheme of the embodiment of the invention, the state of the traffic signal lamp in front of the vehicle can be accurately identified.

Description

technical field [0001] Embodiments of the present invention relate to data processing technology, and in particular, to a method, device, equipment and storage medium for identifying the state of a traffic signal light. Background technique [0002] The state recognition technology of traffic lights has a wide range of applications in the fields of vehicle automatic driving, assisted driving and driving safety. [0003] The existing recognition method of traffic signal status is mainly based on the positioning and identification of image interest area. This method needs to locate the interest area where the traffic signal appears in the vehicle captured image, and then locate the traffic signal in the interest area for identification. [0004] In the process of implementing the present invention, the inventor found that the prior art has the following defects: due to factors such as vehicle positioning deviation, vehicle camera parameter changes, and changes in the size and ...

AI Technical Summary

Problems solved by technology

[0004] In the process of implementing the present invention, the inventor found that the prior art has the following defects: due to factors such as vehicle positioning deviation, vehicle camera parameter changes, and changes in the size and position of traffic lights in the image while the vehicle is moving, it is easy to locate wrong ones. area of ​​interest

Moreover, the identification method of the state of traffic lights in the prior art cannot eliminate the interference of non-traffic lights or other traffic lights, nor can it accurately identify the state of traffic signals when the resolution of the vehicle-mounted image is low.

Images