Traffic signal lamp detection method and device

Abstract

The invention discloses a traffic signal lamp detection method and device, and unmanned equipment can determine the position information of a target signal lamp according to the position of the unmanned equipment, a planned path for executing a task, and a pre-constructed high-precision map. When the unmanned equipment runs to the position close to the target signal lamp, an angle adjustment parameter of a target camera is determined according to the latest position of the unmanned equipment, preset camera external parameters and the position information of the target signal lamp, and the acquisition direction of the target camera is changed through rotation according to the angle adjustment parameter, so that the target camera collects an image towards the target signal lamp to detect the state information of the target signal lamp. Based on the position information of the target signal lamp, the acquisition angle of the target camera is adjusted, so that the occurrence of signal lamp leak detection is avoided, and the signal lamp detection accuracy is improved.

Description

technical field [0001] The present application relates to the technical field of unmanned driving, in particular to a traffic signal light detection method and device. Background technique [0002] In order to ensure the safe driving of unmanned equipment, during the driving process of unmanned equipment, it is necessary to detect the traffic lights on the road in real time to follow the instructions. Taking the traffic lights as traffic lights as an example, when the unmanned driving device arrives at each traffic intersection, it needs to detect the status of the current traffic lights at the intersection in real time, so as to adjust the driving strategy according to the current status of the traffic lights. [0003] However, due to the differences in the location and height of traffic lights in different regions, for example, some areas use cantilever traffic lights, which are set at a higher position above the road, and some areas use vertical pole traffic lights, which...

AI Technical Summary

Problems solved by technology

[0004] The pose of the camera installed in the unmanned driving equipment is usually fixed, and the forward-looking fixed camera can only collect images within a certain angle of view in front of the road. When the angle of view collected by the camera is narrow, it will lead to the occurrence of traffic lights missed detection, which makes the driving risk of unmanned driving equipment higher.

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