Traffic light operation state determination method and device, and electronic equipment

Abstract

The present disclosure provides a method and device for determining the operating state of a traffic light, and an electronic device, which can be applied to the field of intelligent driving technology. The method for determining the operating state of a traffic light comprises: determining at least one stop line that the vehicle navigation path passes through among all the stop lines in the current intersection where the vehicle is located as a target stop line; reading at least one traffic light group bound to at least one target stop line from a high-precision map as the target traffic light group, wherein one target stop line is associated with one traffic light group, and one traffic light group includes at least one traffic light; determining the operating state of at least one target traffic light group, so that after sending the operating state to a decision system, the decision system guides the vehicle to pass according to the operating state.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent driving technology, and in particular to a method, device, equipment, medium and program product for determining the operating status of a traffic light. Background Art

[0002] Traffic light state perception is an important part of autonomous driving. The complexity of traffic order at intersections and the uncertainty of traffic light distribution greatly increase the difficulty of traffic light perception. Most existing traffic light perception technologies are based on traffic light attention strategies associated with a single stop line. Due to the limitation of scene understanding in local areas, there are some disadvantages. For example, it is limited to the change of the route of the unmanned vehicle at the intersection and the corresponding switching of the traffic lights it pays attention to, which easily leads to the problem of inconsistency between the traffic light perception state expected by the downstream module; for another example, due to insufficient global scene understanding, it fails to more comprehensively promote the downstream module to make decisions based on the perception results of the entire intersection, resulting in inaccurate downstream decision results. Summary of the invention

[0003] In view of the above problems, the present disclosure provides a method, apparatus, device, medium and program product for determining the operating status of a traffic light.

[0004] In one aspect of the present disclosure, a method for determining an operating state of a traffic light is provided, comprising:

[0005] Determine at least one stop line that the vehicle navigation path passes through among all stop lines in the current intersection where the vehicle is located as a target stop line;

[0006] Reading at least one traffic light group bound to at least one target stop line from the high-precision map as the target traffic light group, wherein one target stop line is associated with one traffic light group, and one traffic light group includes at least one traffic light;

[0007] The operating state of at least one target traffic signal light group is determined so that after the operating state is sent to the decision system, the decision system guides the vehicle to pass according to the operating state.

[0008] According to an embodiment of the present disclosure, determining the operating state of at least one target traffic signal light group includes:

[0009] determining a priority of at least one target traffic light group based on the current position of the vehicle;

[0010] An operating state of at least one target traffic signal light group is determined according to a priority of at least one target traffic signal light group.

[0011] According to an embodiment of the present disclosure, determining the priority of at least one target traffic light group according to the current position of the vehicle includes:

[0012] In a case where at least one target stop line includes a first stop line and a second stop line, and the current position of the vehicle is located in the area between the first stop line and the second stop line, determine that in at least one target traffic light group, the priority of the first light group and the second light group is higher than the priority of other target traffic light groups, wherein the first stop line and the second stop line are: in the at least one target stop line, the two stop lines that the vehicle navigation path passes continuously, the first light group is the traffic light group bound to the first stop line, and the second light group is the traffic light group bound to the second stop line.

[0013] According to an embodiment of the present disclosure, determining the priority of at least one target traffic light group according to the current position of the vehicle further includes:

[0014] When at least one target stop line includes a first stop line and a second stop line, and the current position of the vehicle is located in an area between the first stop line and the second stop line, calculating a first distance between the current position of the vehicle and the first stop line, and a second distance between the current position of the vehicle and the second stop line;

[0015] The priorities of the first light group and the second light group are determined according to the first distance and the second distance.

[0016] According to an embodiment of the present disclosure, determining the priority of the first light group and the second light group according to the first distance and the second distance includes:

[0017] When the first distance is less than or equal to the second distance, it is determined that the priority of the first light group is greater than the priority of the second light group.

[0018] According to an embodiment of the present disclosure, determining the priority of the first light group and the second light group according to the first distance and the second distance includes:

[0019] When the first distance is greater than the second distance, it is determined that the priority of the second light group is greater than the priority of the first light group.

[0020] According to an embodiment of the present disclosure, determining the priority of at least one target traffic light group according to the current position of the vehicle includes:

[0021] When the current position of the vehicle is located in the entry lane of the head stop line, determine that in at least one target traffic light group, the priority of the head light group is higher than the priority of other target traffic light groups, wherein the head stop line is: the first stop line passed by the vehicle navigation path in at least one target stop line, and the head light group is the traffic light group bound to the head stop line.

[0022] According to an embodiment of the present disclosure, determining the priority of at least one target traffic light group according to the current position of the vehicle includes:

[0023] When the current position of the vehicle is located in the exit lane of the rear stop line, determine that in at least one target traffic light group, the priority of the rear light group is higher than the priority of other target traffic light groups, wherein the rear stop line is: in the at least one target stop line, the last stop line passed by the vehicle navigation path, and the rear light group is the traffic light group bound to the rear stop line.

[0024] Another aspect of the present disclosure provides a device for determining an operating state of a traffic light, including a first determining module, a reading module, and a second determining module.

[0025] The first determination module is used to determine at least one stop line passed by the vehicle navigation path among all stop lines in the current intersection where the vehicle is located as the target stop line;

[0026] A reading module, used for reading at least one traffic light group bound to at least one target stop line from the high-precision map as the target traffic light group, wherein one target stop line is associated with one traffic light group, and one traffic light group includes at least one traffic light;

[0027] The second determination module is used to determine the operating status of at least one target traffic light group, so that after the operating status is sent to the decision system, the decision system guides the vehicle to pass according to the operating status.

[0028] According to an embodiment of the present disclosure, the second determination module includes a first determination submodule and a second determination submodule.

[0029] Wherein, the first determination submodule is used to determine the priority of at least one target traffic light group according to the current position of the vehicle;

[0030] The second determining submodule is used to determine the operating state of at least one target traffic light group according to the priority of at least one target traffic light group.

[0031] According to an embodiment of the present disclosure, the first determination submodule includes a first determination unit, which is used to determine that the priority of the first light group and the second light group in at least one target traffic light group is higher than the priority of other target traffic light groups when at least one target stop line includes a first stop line and a second stop line and the current position of the vehicle is located in the area between the first stop line and the second stop line, wherein the first stop line and the second stop line are: in at least one target stop line, two stop lines that the vehicle navigation path passes continuously, the first light group is the traffic light group bound to the first stop line, and the second light group is the traffic light group bound to the second stop line.

[0032] According to an embodiment of the present disclosure, the first determining submodule further includes a calculating unit and a second determining unit.

[0033] The calculation unit is used to calculate a first distance between the current position of the vehicle and the first stop line, and a second distance between the current position of the vehicle and the second stop line when at least one target stop line includes a first stop line and a second stop line and the current position of the vehicle is located in an area between the first stop line and the second stop line;

[0034] The second determining unit is used to determine the priority of the first light group and the second light group according to the first distance and the second distance.

[0035] According to an embodiment of the present disclosure, the second determining unit includes a first determining subunit, which is used to determine that the priority of the first light group is greater than the priority of the second light group when the first distance is less than or equal to the second distance.

[0036] According to an embodiment of the present disclosure, the second determining unit includes a second determining subunit, which is used to determine that the priority of the second light group is greater than the priority of the first light group when the first distance is greater than the second distance.

[0037] According to an embodiment of the present disclosure, the first determination submodule includes a third determination unit, which is used to determine that, in at least one target traffic light group, the priority of the head light group is higher than the priority of other target traffic light groups when the current position of the vehicle is located in the entry lane of the head stop line, wherein the head stop line is: the first stop line passed by the vehicle navigation path in at least one target stop line, and the head light group is the traffic light group bound to the head stop line.

[0038] According to an embodiment of the present disclosure, the first determination submodule includes a fourth determination unit, which is used to determine that, in at least one target traffic light group, the priority of the tail light group is higher than the priority of other target traffic light groups when the current position of the vehicle is located in the exit lane of the tail stop line, wherein the tail stop line is: the last stop line passed by the vehicle navigation path in at least one target stop line, and the tail light group is the traffic light group bound to the tail stop line.

[0039] Another aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the above-mentioned method for determining the operating status of a traffic light.

[0040] Another aspect of the present disclosure further provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the above-mentioned method for determining the operating status of a traffic light.

[0041] Another aspect of the present disclosure further provides a computer program product, including a computer program, which implements the above-mentioned method for determining the operating status of a traffic light when executed by a processor.

[0042] The above method of the disclosed embodiment pays attention to all stop lines passed by the navigation path in the intersection, and further pays attention to the traffic light groups associated therewith. Compared with the traffic light attention strategy based on a single stop line, it can improve the unmanned vehicle's global scene understanding ability and continuously perceive the traffic lights of the entire scene in the intersection within the perception range of the intersection. Therefore, the traffic light state information sent by the traffic light state perception module to the downstream module is not changed by the change of the position of the unmanned vehicle in the intersection, and is decoupled from the behavior of the unmanned vehicle in the intersection, and the problem of inconsistency with the traffic light perception state expected by the downstream module will not occur. At the same time, during the driving process, the unmanned vehicle will continue to pay attention to multiple groups of traffic lights, perceive and accumulate states within the perception field of view, which can improve the unmanned vehicle's global scene understanding ability, accumulate the traffic light states such as the duration in advance, and promote the downstream decision module to make more accurate and comprehensive decisions based on the traffic light perception results of the entire scene of the intersection, thereby improving the safety of unmanned driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above contents and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0044] Figure 1A diagram schematically illustrates an application scenario of a method, apparatus, device, medium, and program product for determining an operating state of a traffic light according to an embodiment of the present disclosure;

[0045] Figure 2 A flow chart schematically shows a method for determining the operating state of a traffic light according to an embodiment of the present disclosure;

[0046] Figure 3 A schematic diagram schematically illustrates a scenario in which the method for determining the operating state of a traffic light according to an embodiment of the present disclosure may be executed;

[0047] Figure 4 A flow chart schematically shows a method for determining the operating state of a traffic light according to another embodiment of the present disclosure;

[0048] Figure 5 A schematic diagram showing a structural block diagram of a device for determining the operating state of a traffic light according to an embodiment of the present disclosure; and

[0049] Figure 6 A block diagram of an electronic device suitable for implementing a method for determining the operating state of a traffic light according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0050] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0051] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0052] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0053] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0054] An embodiment of the present disclosure provides a method for determining an operating state of a traffic light, comprising:

[0055] Determine at least one stop line that the vehicle navigation path passes through among all stop lines in the current intersection where the vehicle is located as a target stop line;

[0056] Reading at least one traffic light group bound to at least one target stop line from the high-precision map as the target traffic light group, wherein one target stop line is associated with one traffic light group, and one traffic light group includes at least one traffic light;

[0057] The operating state of at least one target traffic signal light group is determined so that after the operating state is sent to the decision system, the decision system guides the vehicle to pass according to the operating state.

[0058] Figure 1 The application scenario diagram of the traffic light operating status determination method, apparatus, device, medium and program product according to the embodiments of the present disclosure is schematically shown.

[0059] like Figure 1 As shown, the application scenario 100 according to this embodiment may include an unmanned vehicle 101 , a ground traffic sign 102 , and a traffic light 103 .

[0060] The unmanned vehicle 101 is provided with a traffic light sensing module, and the traffic light sensing module and the downstream decision module exchange information and sense through the network to guide the unmanned vehicle 101 to pass. The network may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0061] The ground traffic sign 102 may include a stop line, a zebra crossing, a lane line, a directional arrow, etc. The ground traffic sign 102 and the traffic light 103 at the intersection may be used as a reference to indicate the passage of vehicles.

[0062] In the application scenario of the embodiment of the present disclosure, when the unmanned vehicle 101 travels to the current intersection, it needs to perform information perception and information interaction between the traffic light perception module and the downstream decision module. For example, when the unmanned vehicle travels to the intersection, the traffic light perception module first determines the location of the unmanned vehicle, and then determines the ground traffic signs 102 (mainly stop lines) that need to be concerned about on the route, and the traffic lights 103 associated with the stop lines, starts the perception process, determines the operating status of the traffic lights 103, and then sends the traffic lights 103 to the downstream decision module to realize traffic light information interaction. The decision system guides the vehicle to pass according to the operating status of the traffic lights 103.

[0063] It should be understood that Figure 1 The forms and numbers of the unmanned vehicle 101, the ground traffic sign 102, and the traffic light 103 are merely illustrative. According to implementation requirements, any forms and numbers of the unmanned vehicle 101, the ground traffic sign 102, and the traffic light 103 may be provided.

[0064] The following will be based on Figure 1 The scene described by Figure 2 to Figure 6 The method for determining the operating status of a traffic light in the disclosed embodiment is described in detail.

[0065] Figure 2 The flowchart of the method for determining the operating status of a traffic light according to an embodiment of the present disclosure is schematically shown. Figure 3 The following is a schematic diagram of a scenario in which the method for determining the operating state of a traffic light according to an embodiment of the present disclosure can be executed. Figure 2 , Figure 3 The method of the embodiment of the present disclosure is described.

[0066] like Figure 2 As shown, the method for determining the operating state of a traffic light in this embodiment includes operations S201 to S203.

[0067] In operation S201, at least one stop line passed by the vehicle navigation path among all stop lines in the current intersection where the vehicle is located is determined as a target stop line;

[0068] In operation S202, at least one traffic light group bound to at least one target stop line is read from the high-precision map as the target traffic light group, wherein one target stop line is associated with one traffic light group, and one traffic light group includes at least one traffic light;

[0069] In operation S203, the operating state of at least one target traffic signal light group is determined, so that after the operating state is sent to the decision system, the decision system guides the vehicle to pass according to the operating state.

[0070] The above method of the embodiment of the present disclosure is applied to the scene of unmanned driving, for example, it can be applied to the scene of automatic driving of unmanned delivery vehicles. In the scene of unmanned driving, the perception of the state of traffic lights is an important link, and the state of traffic lights needs to be perceived according to the traffic sequence and the distribution of traffic lights at the intersection. The above method of the embodiment of the present disclosure can be applied to the vehicle-side traffic light state perception module of unmanned vehicles.

[0071] According to an embodiment of the present disclosure, the target stop line is determined through the above operation S201, specifically, the following steps may be performed: first, the current position of the unmanned vehicle is obtained from the positioning system to determine the current intersection. Then, the full amount of stop line information in the current intersection is obtained in combination with the high-precision map. After that, the navigation path of the vehicle is obtained from the navigation system, and all stop lines passed by the navigation path of the vehicle are used as the above target stop lines.

[0072] Among them, in the high-precision map, information such as intersections, lanes, stop lines, and traffic lights (TL) are modeled in advance, so the full amount of stop line information in the current intersection can be obtained based on the high-precision map.

[0073] It should be noted that the stop line described in the embodiment of the present disclosure may be an actual stop line or a virtual stop line. For example, in a high-precision map, a virtual stop line may be set near a zebra crossing at an intersection for vehicles to temporarily stop and wait for vehicles or pedestrians in other directions to pass.

[0074] According to an embodiment of the present disclosure, in the above method, all stop lines that the navigation path of the vehicle passes through are regarded as target stop lines that need attention. Figure 3 In the scenario shown, if the navigation path prompts a left turn, the unmanned delivery vehicle will go through two straight routes in the left turn scenario according to the navigation path (such as Figure 3 The first section and the second section shown in FIG. 1 ) and successively pass through two stop lines (such as Figure 3 If the navigation path indicates that the driverless delivery vehicle is going straight, the navigation path passes through a stop line (such as Figure 3 The target stop line that needs to be paid attention to in the execution scenario is this stop line.

[0075] According to an embodiment of the present disclosure, the high-precision map also includes a binding relationship between traffic lights and stop lines, and each stop line is bound to a traffic light with the same traffic semantic logic. Specifically, the binding relationship between traffic lights and stop lines can be a many-to-many state, each traffic light can be bound to one or more different stop lines, and each stop line can also be bound to one or more different traffic lights.

[0076] Further, after determining the target stop line that needs to be paid attention to in the current driving scenario (left turn, straight, right turn, etc.), at least one traffic light group bound to at least one target stop line is read from the high-precision map through operation S202 as the target traffic light group, wherein one target stop line is associated with one traffic light group, and one traffic light group includes at least one traffic light. For example, it is read from the high-precision map that stop line A is bound to traffic lights 1, 2, and 3, and the traffic light group bound to stop line A is a light group consisting of traffic lights 1, 2, and 3.

[0077] According to an embodiment of the present disclosure, after determining the stop line that needs attention and the traffic light group that is bound to it, in the above operation S203, the operating status of at least one target traffic light group is further determined by the traffic light status perception module, and the operating status is further sent to the decision-making system, and the decision-making system guides the vehicle to pass according to the operating status.

[0078] According to the embodiments of the present disclosure, most of the traffic light perception technologies in the related art are based on the traffic light attention strategy associated with a single stop line. For example, only by determining a single stop line near the location of the unmanned vehicle, the traffic light group associated with it is determined for perception. In this way, when the unmanned vehicle is driving in an area where light cutting occurs, it is impossible to accurately determine at what position the light should be cut in order to be consistent with the traffic light perception state expected by the downstream module. In addition, because only the traffic lights associated with a single stop line are paid attention to, the global scene is not fully understood, and the downstream modules are not able to make decisions based on the perception results of the entire intersection in a more comprehensive manner, resulting in inaccurate downstream decision results.

[0079] The above method of the disclosed embodiment pays attention to all stop lines passed by the navigation path in the intersection, and further pays attention to the traffic light groups associated therewith. Compared with the traffic light attention strategy based on a single stop line, it can improve the unmanned vehicle's global scene understanding ability and continuously perceive the traffic lights of the entire scene in the intersection within the perception range of the intersection. Therefore, the traffic light state information sent by the traffic light state perception module to the downstream module is not changed by the change of the position of the unmanned vehicle in the intersection, and is decoupled from the behavior of the unmanned vehicle in the intersection, and the problem of inconsistency with the traffic light perception state expected by the downstream module will not occur. At the same time, during the driving process, the unmanned vehicle will continue to pay attention to multiple groups of traffic lights, perceive and accumulate states within the perception field of view, which can improve the unmanned vehicle's global scene understanding ability, accumulate the traffic light states such as the duration in advance, and promote the downstream decision module to make more accurate and comprehensive decisions based on the traffic light perception results of the entire scene of the intersection, thereby improving the safety of unmanned driving.

[0080] According to an embodiment of the present disclosure, after determining the traffic light group that needs attention in the current driving scenario, it is further necessary to perform traffic light state perception based on the prior area of ​​the traffic lights in the traffic light group.

[0081] Specifically, determining the operating state of at least one target traffic signal light group includes:

[0082] First, the priority of at least one target traffic light group is determined according to the current position of the vehicle.

[0083] Afterwards, the operating state of at least one target traffic light group is determined based on the priority of at least one target traffic light group. For example, if computing power resources permit, the traffic light state perception is performed on the a priori area of ​​the traffic lights in all target traffic light groups to determine the operating state of the traffic light groups in the light group. For example, if computing power resources are insufficient, the traffic light state perception is performed on the a priori area of ​​the traffic lights in the target traffic light groups with higher priorities to determine the operating state of the traffic light groups in some target traffic light groups.

[0084] According to the embodiments of the present disclosure, through the above-mentioned method for determining the operating status of traffic lights, the unmanned vehicle will maintain all stop lines passed by the local navigation path in the intersection, as well as the bound lights associated therewith. However, due to the limitation of the use of vehicle-side computing resources, it may not be possible to detect the priori areas of all concerned traffic lights in the intersection at the same time. Through the above-mentioned method, according to the position of the unmanned vehicle, the traffic light groups are prioritized according to certain sorting rules, and then the light group that needs the most attention at the current position is selected from the traffic light groups concerned in the intersection. Subsequently, the light groups of concern can be selected in order of priority from high to low for perception based on the number of concerned traffic lights in the intersection, the position arrangement distribution and the number of detection areas. In this way, the efficiency of vehicle-side information processing can be improved while ensuring the accuracy of vehicle-side information.

[0085] According to an embodiment of the present disclosure, when there are multiple target traffic light groups, the priorities of the multiple target traffic light groups can be determined according to the current position of the vehicle; when there is only one target traffic light group, there is no need to determine the priority of the traffic light groups.

[0086] like Figure 3 As shown in the figure, the target stop lines that the unmanned delivery vehicle needs to pay attention to in the left turn scenario are the two stop lines that the navigation passes through ( Figure 3 The current stop line and the next stop line shown in the figure), there are also two groups of traffic light groups that need to be paid attention to (the two groups of traffic light groups are bound to the two stop lines respectively), and the priority of the two groups of traffic light groups can be further determined by the priority algorithm. The target stop line that the unmanned delivery vehicle needs to pay attention to in the straight driving scenario is a stop line that the navigation passes through (such as Figure 3 The current stop line shown), there is only one group of traffic light groups that need to be paid attention to (bound to the current stop line), so there is no need to determine the priority of the traffic light groups.

[0087] According to an embodiment of the present disclosure, further, in each target traffic light group, if the same light group includes multiple traffic lights, the priorities of the multiple traffic lights in the same light group can be further determined. Subsequently, some traffic lights can be selected from the target traffic light group according to the priority for state perception.

[0088] Figure 4 The following schematically shows a flow chart of a method for determining the operating state of a traffic light according to another embodiment of the present disclosure. Figure 4 , Figure 3, the method of the embodiment of the present disclosure is further introduced. It should be noted that when there are two or more target traffic light groups that need attention, the following method of the embodiment of the present disclosure can be used to further determine the priority of the light group. In the case where there is only one target traffic light group that needs attention, there is no need to determine the priority, and the following algorithm is not applicable.

[0089] According to an embodiment of the present disclosure, the two routes divided by the stop line are respectively referred to as the entry lane (entry lane) and the exit lane (exit lane). Wherein, in the case where the vehicle navigation path passes through at least two stop lines continuously, there are at least two target stop lines that need to be paid attention to. At this time, the entry lane of the head stop line is only used as the entry lane (the head stop line refers to the first stop line passed by the vehicle navigation path in at least one target stop line). The exit lane of the tail stop line is only used as the exit lane (the tail stop line refers to the last stop line passed by the vehicle navigation path in at least one target stop line). The lane between any two consecutive stop lines serves as both the entry lane and the exit lane, and at the same time serves as the exit lane of the preceding stop line and the entry lane of the subsequent stop line.

[0090] like Figure 3 As shown in , the lane where the main vehicle is currently located is the entry lane of the current stop line, and the lane behind the current stop line (the first section) is the exit lane of the current stop line. At the same time, this lane is also the entry lane of the next stop line, and the lane behind the next stop line (the second section) is the exit lane of the next stop line.

[0091] According to the embodiments of the present disclosure, Figure 4 As shown, the method for determining the operating status of a traffic light in an embodiment of the present disclosure uses intersection information as an interaction unit with a high-precision map, and specifically includes the following operations:

[0092] First, the current position of the driverless vehicle is obtained from the positioning system to determine the current intersection. Then, the navigation information and high-precision map (HD Map) are combined to search and record all the information of the intersection of interest, such as the local navigation path within the intersection, all the stop lines (target stop lines) passed by the local navigation path, and the traffic light information associated with it (target traffic light group).

[0093] like Figure 3At the intersection shown in the figure, during the unmanned driving process, the local navigation path in the intersection (indicated by the arrow in the figure) is a left turn route, indicating that the current scene is a left turn scene. The unmanned vehicle will experience two straight routes in the left turn scene (the first section and the second section shown in the figure), and pass through two stop lines in succession (the current stop line and the next stop line shown in the figure, where the next stop line is a virtual stop line). Combined with the high-precision map, the traffic light group bound to the two stop lines is determined, as shown in the binding relationship in the figure. When the intersection of interest is searched for the first time, the two stop lines passed by the above local navigation path and the traffic lights associated with them will be recorded and maintained. This information is not changed by the change of the position of the unmanned vehicle in the intersection, and is decoupled from the behavior of the unmanned vehicle in the intersection. During the driving process, the unmanned vehicle will continue to pay attention to the above two groups of traffic lights, and perform perception and state accumulation within the perception field of view.

[0094] Furthermore, the positioning system is responsible for providing the real-time position of the unmanned vehicle, and then the priority of the above-mentioned multiple target traffic light groups can be determined according to the real-time position of the unmanned vehicle. Specifically, the lane type of the area where the vehicle's current position is located can be first determined according to the vehicle's current position, such as whether it is an entry lane, an exit lane, or both an entry lane and an exit lane. Then, the priority of at least one target traffic light group is determined according to the lane type of the area where the vehicle's current position is located.

[0095] Specifically, when it is determined based on the current position of the vehicle that the lane type of the area where the current position of the vehicle is located is only an entry lane or only an exit lane, the priorities of multiple target traffic signal light groups are determined by the following method.

[0096] like Figure 4 As shown, when the current position of the vehicle is located in the entry lane of the head stop line (the first stop line passed by the vehicle navigation path), the lane type of the area where the current position of the vehicle is located is only the entry lane, and it is determined that in at least one target traffic signal light group, the priority of the head light group is higher than the priority of other target traffic signal light groups, wherein the head light group is the traffic signal light group bound to the head stop line. That is, in this case, priority is given to the light group associated with the preceding stop line.

[0097] like Figure 4 As shown, when the vehicle's current position is located at the exit lane of the rear stop line (the last stop line passed by the vehicle's navigation path), the lane type of the area where the vehicle's current position is located is only the exit lane, and it is determined that among at least one target traffic light group, the priority of the rear light group is higher than the priority of other target traffic light groups, wherein the rear light group is the traffic light group bound to the rear stop line. That is, in this case, priority is given to the light group associated with the subsequent stop line.

[0098] According to the embodiments of the present disclosure, in order to ensure the accuracy of information, when the unmanned vehicle is in the process of entering a lane, it is necessary to focus on the traffic lights associated with the stop line corresponding to the entry lane; when the unmanned vehicle is in the process of exiting a lane, it is necessary to focus on the traffic lights associated with the stop line corresponding to the exit lane. Therefore, when the vehicle is currently located at the entry lane of the head stop line, the head light group has the highest priority; when the vehicle is currently located at the exit lane of the tail stop line, the tail light group has the highest priority.

[0099] According to an embodiment of the present disclosure, when the vehicle navigation path passes through more than or equal to two stop lines, the lane between any two consecutive stop lines serves as both an entry lane and an exit lane, that is, it serves as an exit lane for the preceding stop line and an entry lane for the succeeding stop line. In this scenario, the priorities of multiple target traffic light groups are determined by the following method.

[0100] like Figure 4 As shown, specifically, when at least one target stop line includes two consecutive stop lines: a first stop line and a second stop line, and the current position of the vehicle is located in the area between the first stop line and the second stop line, the area where the current position of the vehicle is located serves as the exit lane of the preceding stop line and the entrance lane of the succeeding stop line. At this time, the following operations are performed:

[0101] First, determine the relative position of the lane where the vehicle is located, that is, determine whether the unmanned vehicle is currently in the front half or the back half of this lane. This can be determined by calculating the first distance between the current position of the vehicle and the first stop line, and the second distance between the current position of the vehicle and the second stop line.

[0102] Afterwards, the priorities of the first light group and the second light group are determined according to the first distance and the second distance.

[0103] When the first distance is less than or equal to the second distance, it is determined that the unmanned vehicle is currently located in the front half of the lane, and the priority of the first light group is determined to be greater than the priority of the second light group. That is, in this case, priority is given to the light group associated with the preceding stop line.

[0104] When the first distance is greater than the second distance, it is determined that the unmanned vehicle is currently in the second half of the lane, and the priority of the second light group is determined to be greater than the priority of the first light group. That is, in this case, priority is given to the light group associated with the subsequent stop line.

[0105] For example, Figure 3 At the intersection shown in the figure, the unmanned delivery vehicle needs to pay attention to two target traffic light groups when turning left: light group A and light group B. Figure 3 The current stop line binding shown, light group B and Figure 3 The next stop line shown is bound. In this scenario, light group A can be used as the first light group, and light group B can be used as the second light group. The above method of the embodiment of the present disclosure can be used to determine the priority of the first light group and the second light group.

[0106] For another example, at some complex intersections, the unmanned delivery vehicle needs to pay attention to three target traffic light groups when crossing the road, namely, light group A, light group B, and light group C, which are bound to stop lines A, stop line B, and stop line C respectively, and the navigation path passes through stop lines A, stop line B, and stop line C in sequence. When the current position of the unmanned vehicle is between stop line A and stop line B, stop line A and stop line B serve as the first stop line and the second stop line, respectively, and light group A and light group B serve as the first light group and the second light group, respectively; when the current position of the unmanned vehicle is between stop line B and stop line C, stop line B and stop line C serve as the first stop line and the second stop line, respectively, and light group B and light group C serve as the first light group and the second light group, respectively. In any of the above scenarios, the above method of the embodiment of the present disclosure can be used to determine the priority of the first light group and the second light group.

[0107] According to the embodiments of the present disclosure, when the area where the vehicle's current position is located serves as both the exit lane of the preceding stop line and the entry lane of the succeeding stop line, the unmanned vehicle will switch lights while driving in the intersection. In the first half of the lane, it may mainly serve as the exit lane, paying the most attention to the traffic lights associated with the previous stop line, and in the second half of the lane, it may mainly serve as the entry lane, paying the most attention to the traffic lights associated with the next stop line. Therefore, the priority of the traffic light group is determined by the above method of the embodiments of the present disclosure, which conforms to the attention logic of the unmanned vehicle's light switching behavior, and the status of the light group that needs the most attention is pushed to the downstream decision-making system first, further avoiding the problem of inconsistency with the traffic light perception state expected by the downstream module.

[0108] The following, combined Figure 3 The scenario shown is an exemplary illustration of the above method of determining the priorities of multiple target traffic light groups based on the real-time position of the unmanned vehicle.

[0109] For example, Figure 3 At the intersection shown in the figure, the unmanned delivery vehicle needs to pay attention to two target traffic light groups when turning left: light group A and light group B. Figure 3 The current stop line binding shown, light group B and Figure 3The next stop line shown is bound. When the unmanned vehicle is in front of the current stop line, the lane it is in is the entry lane. At this time, the main vehicle's attention order for traffic lights is the order of light group A-light group B; when the unmanned vehicle is in the first section after the current stop line and before the next stop line, the lane it is in is both the entry lane and the exit lane. It is necessary to consider the relative position of the main vehicle to the lane in combination with the positioning information. If the main vehicle is in the first half of the lane, it should pay attention to the order of light group A-light group B. If the main vehicle is in the second half of the lane, it should pay attention to the order of light group B-light group A; when the unmanned vehicle is in the second section after the next stop line, the lane it is in is the exit lane. At this time, the main vehicle's attention order for traffic lights is the order of light group B-light group A.

[0110] According to an embodiment of the present disclosure, further, when the vehicle navigation path passes through more than two stop lines and there are more than two target traffic light groups that need attention, the following method of an embodiment of the present disclosure can be used to further determine the priority of the light group.

[0111] According to an embodiment of the present disclosure, specifically, the priority of at least one target traffic light group may be determined according to the current position of the vehicle by using the following method:

[0112] In a case where at least one target stop line includes a first stop line and a second stop line, and the current position of the vehicle is located in the area between the first stop line and the second stop line, determine that in at least one target traffic light group, the priority of the first light group and the second light group is higher than the priority of other target traffic light groups, wherein the first stop line and the second stop line are: in the at least one target stop line, the two stop lines that the vehicle navigation path passes continuously, the first light group is the traffic light group bound to the first stop line, and the second light group is the traffic light group bound to the second stop line.

[0113] According to the embodiments of the present disclosure, the above priority algorithm can be applied in situations where there are more than two target traffic light groups that need attention. For example, at some complex intersections, when crossing the road, the unmanned vehicle may need to stop in the safe navigation area in the middle of the road to sense the status of the traffic light. In some driving scenarios (such as turning), there may be more than two stop lines along the navigation path, and further, there may be more than two traffic light groups that need attention.

[0114] In the above scenario, the first stop line and the second stop line are two stop lines that the vehicle navigation path passes continuously. When the unmanned vehicle is located in the area between the first stop line and the second stop line, the traffic light groups corresponding to the first stop line and the second stop line are the ones that currently need the most attention. Therefore, the priority of the first light group and the second light group is higher than the priority of other target traffic light groups.

[0115] According to the embodiments of the present disclosure, the above method for determining the priority of traffic lights starts from the perspective of vehicle-side computing resource utilization, and dynamically selects the focus area in order from high to low priority, thereby ensuring that the unmanned vehicle can pay attention to the traffic information that must be taken care of and perform global scene understanding with the maximum capacity when driving at the current position.

[0116] Based on the above-mentioned traffic signal light operation state determination method, the present disclosure also provides a traffic signal light operation state determination device. Figure 5 The device is described in detail.

[0117] Figure 5 The structural block diagram of the device for determining the operating status of a traffic light according to an embodiment of the present disclosure is schematically shown.

[0118] like Figure 5 As shown, the traffic light operating state determination device 500 of this embodiment includes a first determination module 501 , a reading module 502 , and a second determination module 503 .

[0119] The first determination module 501 is used to determine at least one stop line passed by the vehicle navigation path among all stop lines in the current intersection where the vehicle is located as a target stop line;

[0120] A reading module 502 is used to read at least one traffic light group bound to at least one target stop line from the high-precision map as the target traffic light group, wherein one target stop line is associated with one traffic light group, and one traffic light group includes at least one traffic light;

[0121] The second determination module 503 is used to determine the operating status of at least one target traffic light group, so that after the operating status is sent to the decision system, the decision system guides the vehicle to pass according to the operating status.

[0122] By paying attention to all stop lines passed by the navigation path in the intersection through the above-mentioned first determination module 501 of the embodiment of the present disclosure, and further paying attention to the traffic light group associated therewith through the reading module 502, compared with the traffic light attention strategy based on a single stop line, the global scene understanding ability of the unmanned vehicle can be improved, and the traffic lights of the whole scene in the intersection can be continuously perceived within the perception range of the intersection. Therefore, the traffic light status information sent to the downstream module by the second determination module 503 is not changed by the change of the position of the unmanned vehicle in the intersection, and then decoupled from the behavior of the unmanned vehicle in the intersection, and the problem of inconsistent perception state of the traffic lights expected by the downstream module will not occur. At the same time, during the driving process, the unmanned vehicle will continue to pay attention to multiple groups of traffic lights, perceive and accumulate states within the perception field of view, which can improve the global scene understanding ability of the unmanned vehicle, accumulate the traffic light states such as the duration in advance, and promote the downstream decision module to make more accurate and comprehensive decisions based on the perception results of the traffic lights in the whole scene of the intersection, thereby improving the safety of unmanned driving.

[0123] According to an embodiment of the present disclosure, the second determination module 503 includes a first determination submodule and a second determination submodule.

[0124] Wherein, the first determination submodule is used to determine the priority of at least one target traffic light group according to the current position of the vehicle;

[0125] The second determining submodule is used to determine the operating state of at least one target traffic light group according to the priority of at least one target traffic light group.

[0126] According to an embodiment of the present disclosure, the first determination submodule includes a first determination unit, which is used to determine that the priority of the first light group and the second light group in at least one target traffic light group is higher than the priority of other target traffic light groups when at least one target stop line includes a first stop line and a second stop line and the current position of the vehicle is located in the area between the first stop line and the second stop line, wherein the first stop line and the second stop line are: in at least one target stop line, two stop lines that the vehicle navigation path passes continuously, the first light group is the traffic light group bound to the first stop line, and the second light group is the traffic light group bound to the second stop line.

[0127] According to an embodiment of the present disclosure, the first determining submodule further includes a calculating unit and a second determining unit.

[0128] The calculation unit is used to calculate a first distance between the current position of the vehicle and the first stop line, and a second distance between the current position of the vehicle and the second stop line when at least one target stop line includes a first stop line and a second stop line and the current position of the vehicle is located in an area between the first stop line and the second stop line;

[0129] The second determining unit is used to determine the priority of the first light group and the second light group according to the first distance and the second distance.

[0130] According to an embodiment of the present disclosure, the second determining unit includes a first determining subunit, which is used to determine that the priority of the first light group is greater than the priority of the second light group when the first distance is less than or equal to the second distance.

[0131] According to an embodiment of the present disclosure, the second determining unit includes a second determining subunit, which is used to determine that the priority of the second light group is greater than the priority of the first light group when the first distance is greater than the second distance.

[0132] According to an embodiment of the present disclosure, the first determination submodule includes a third determination unit, which is used to determine that, in at least one target traffic light group, the priority of the head light group is higher than the priority of other target traffic light groups when the current position of the vehicle is located in the entry lane of the head stop line, wherein the head stop line is: the first stop line passed by the vehicle navigation path in at least one target stop line, and the head light group is the traffic light group bound to the head stop line.

[0133] According to an embodiment of the present disclosure, the first determination submodule includes a fourth determination unit, which is used to determine that, in at least one target traffic light group, the priority of the tail light group is higher than the priority of other target traffic light groups when the current position of the vehicle is located in the exit lane of the tail stop line, wherein the tail stop line is: the last stop line passed by the vehicle navigation path in at least one target stop line, and the tail light group is the traffic light group bound to the tail stop line.

[0134] According to an embodiment of the present disclosure, any multiple modules in the first determination module 501, the reading module 502, and the second determination module 503 can be combined in one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present disclosure, at least one of the first determination module 501, the reading module 502, and the second determination module 503 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware, and firmware or in any appropriate combination of any of them. Alternatively, at least one of the first determination module 501, the reading module 502, and the second determination module 503 can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function can be executed.

[0135] Figure 6 A block diagram of an electronic device suitable for implementing a method for determining the operating state of a traffic light according to an embodiment of the present disclosure is schematically shown.

[0136] like Figure 6 As shown, the electronic device 600 according to an embodiment of the present disclosure includes a processor 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 into a random access memory (RAM) 603. The processor 601 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 601 may also include an onboard memory for caching purposes. The processor 601 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0137] In RAM 603, various programs and data required for the operation of electronic device 600 are stored. Processor 601, ROM 602 and RAM 603 are connected to each other via bus 604. Processor 601 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 602 and / or RAM 603. It should be noted that the program can also be stored in one or more memories other than ROM 602 and RAM 603. Processor 601 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0138] According to an embodiment of the present disclosure, the electronic device 600 may further include an input / output (I / O) interface 605, which is also connected to the bus 604. The electronic device 600 may further include one or more of the following components connected to the I / O interface 605: an input portion 606 including a keyboard, a mouse, etc.; an output portion 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 608 including a hard disk, etc.; and a communication portion 609 including a network interface card such as a LAN card, a modem, etc. The communication portion 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage portion 608 as needed.

[0139] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0140] According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device. For example, according to an embodiment of the present disclosure, a computer-readable storage medium may include the ROM 602 and / or RAM 603 described above and / or one or more memories other than ROM 602 and RAM 603.

[0141] The embodiment of the present disclosure also includes a computer program product, which includes a computer program, and the computer program contains program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the traffic signal light operating state determination method provided by the embodiment of the present disclosure.

[0142] The above functions defined in the system / device of the embodiment of the present disclosure are performed when the computer program is executed by the processor 601. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0143] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 609, and / or installed from a removable medium 611. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0144] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the processor 601, the above functions defined in the system of the embodiment of the present disclosure are performed. According to the embodiment of the present disclosure, the system, device, apparatus, module, unit, etc. described above can be implemented by a computer program module.

[0145] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0146] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0147] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0148] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A method for determining the operating state of a traffic light, comprising: Determine at least one stop line that the vehicle navigation path passes through among all stop lines in the current intersection where the vehicle is located as a target stop line; Reading at least one traffic light group bound to at least one of the target stop lines from the high-precision map as the target traffic light group, wherein one of the target stop lines is associated with one traffic light group, and one of the traffic light groups includes at least one traffic light; In the case where at least one of the target stop lines includes a first stop line and a second stop line that the vehicle navigation path passes through continuously, and the current position of the vehicle is located in an area between the first stop line and the second stop line, calculating a first distance between the current position of the vehicle and the first stop line, and a second distance between the current position of the vehicle and the second stop line; Determine the priority of a first light group bound to the first stop line and a second light group bound to the second stop line according to the first distance and the second distance; determining an operating state of at least one of the target traffic signal light groups according to a priority of at least one of the target traffic signal light groups; After the operating status is sent to the decision-making system, the decision-making system guides vehicles to pass according to the operating status of the target traffic light group.

2. The method according to claim 1, further comprising: When at least one of the target stop lines includes a first stop line and a second stop line, and the current position of the vehicle is located in an area between the first stop line and the second stop line, it is determined that in at least one of the target traffic light groups, the priority of the first light group and the second light group is higher than the priority of other target traffic light groups.

3. The method according to claim 1, wherein: The determining the priority of the first light group and the second light group according to the first distance and the second distance comprises: When the first distance is less than or equal to the second distance, it is determined that the priority of the first light group is greater than the priority of the second light group.

4. The method according to claim 1, wherein: The determining the priority of the first light group and the second light group according to the first distance and the second distance comprises: When the first distance is greater than the second distance, it is determined that the priority of the second light group is greater than the priority of the first light group.

5. The method according to claim 1, further comprising: In the case where the current position of the vehicle is located in an entry lane of a head stop line, it is determined that in at least one of the target traffic light groups, the priority of the head light group is higher than the priority of other target traffic light groups, wherein the head stop line is: in at least one of the target stop lines, the first stop line passed by the vehicle navigation path, and the head light group is the traffic light group bound to the head stop line.

6. The method according to claim 1, further comprising: In a case where the current position of the vehicle is located in an exit lane of a rear stop line, it is determined that in at least one of the target traffic light groups, the priority of the rear light group is higher than that of other target traffic light groups, wherein the rear stop line is: in at least one of the target stop lines, the last stop line passed by the vehicle navigation path, and the rear light group is the traffic light group bound to the rear stop line.

7. A device for determining the operating state of a traffic light, comprising: A first determination module is used to determine at least one stop line passed by the vehicle navigation path among all stop lines in the current intersection where the vehicle is located as a target stop line; A reading module, used for reading at least one traffic light group bound to at least one target stop line from a high-precision map as a target traffic light group, wherein one target stop line is associated with one traffic light group, and one traffic light group includes at least one traffic light; a second determination module, configured to determine an operating state of at least one of the target traffic light groups, so that after the operating state is sent to a decision-making system, the decision-making system guides vehicles to pass according to the operating state of the target traffic light group; The second determination module includes: a calculation unit, for calculating a first distance between the current position of the vehicle and the first stop line, and a second distance between the current position of the vehicle and the second stop line, when at least one target stop line includes a first stop line and a second stop line that the vehicle navigation path passes through continuously, and the current position of the vehicle is located in an area between the first stop line and the second stop line; a second determining unit, configured to determine the priority of a first light group bound to the first stop line and a second light group bound to the second stop line according to the first distance and the second distance; The second determining submodule is used to determine the operating state of at least one target traffic light group according to the priority of at least one target traffic light group.

8. An electronic device comprising: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, causes the processor to execute the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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