Vehicle control method, apparatus, device, and storage medium

Abstract

The application discloses a vehicle control method, device, equipment and storage medium, and the vehicle control method comprises the following steps: acquiring the current state of a target traffic light, wherein the current state of the target traffic light comprises at least one of a color state, a flashing state, a countdown state and an unknown state of the target traffic light; determining the passing state of a vehicle based on the current state of the target traffic light; and controlling the vehicle to pass through the target traffic light in response to the passing state of the vehicle being allowed to pass. In this way, when the target traffic light is in the countdown state, the flashing state or the unknown state, the vehicle can pass through the corresponding traffic intersection of the target traffic light as much as possible in the case of allowing the vehicle to pass through the target traffic light, thereby reducing the traffic congestion of the road near the traffic intersection to a certain extent.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle control method, device, equipment and storage medium. BACKGROUND

[0002] When a vehicle is driving on a road near a traffic intersection, if it is judged that the vehicle passing through a traffic light has the possibility of violating traffic rules according to the current state of the traffic light, the vehicle is usually controlled to stop in front of the stop line of the traffic light to wait for the traffic light to be in a green light state, and then the vehicle is controlled to pass through the traffic intersection where the traffic light is located. Thus, traffic congestion is likely to occur on the road near the traffic intersection.

[0003] Therefore, under the premise of ensuring that the vehicle complies with traffic rules, how to reduce traffic congestion of the vehicle on the road near the traffic intersection becomes a problem to be solved. SUMMARY

[0004] The technical problem solved by the present application is to provide a vehicle control method, device, equipment and computer readable storage medium, which can reduce traffic congestion of the vehicle on the road near the traffic intersection.

[0005] To solve the above technical problem, one technical solution adopted by the present application is to provide a vehicle control method, which comprises: acquiring a current state of a target traffic light, the current state of the target traffic light comprising at least one of a color state, a flashing state, a countdown state and an unknown state of the target traffic light; determining a passing state of a vehicle based on the current state of the target traffic light; and in response to the passing state of the vehicle being allowed to pass, controlling the vehicle to pass through the target traffic light.

[0006] In the method, the determination of the passing state of the vehicle based on the current state of the target traffic light comprises: in the case that the current state of the target traffic light is in a red light countdown state, predicting a position of a vehicle head of the vehicle when the red light countdown ends; and in response to the position of the vehicle head not reaching a first reference position, determining the passing state of the vehicle as allowed to pass, the first reference position being located on one side of a stop line of the target traffic light close to a current position of the vehicle head, and a distance between the first reference position and the stop line of the target traffic light being a first redundancy distance; or in the case that the current state of the target traffic light is in a red light countdown state, predicting a first distance corresponding to the vehicle head of the vehicle when the red light countdown ends; and in response to the first distance being less than or equal to a distance between the current position of the vehicle head and the first reference position, determining the passing state of the vehicle as allowed to pass.

[0007] In the method, the passing state of the vehicle is determined based on the current state of the target traffic light, including: in a case where the current state of the target traffic light is a green countdown state, predicting a position of a tail of the vehicle at a time when the green countdown ends; in response to the position of the tail exceeding a second reference position, determining the passing state of the vehicle as allowed to pass, the second reference position being located on a side of a stop line of the target traffic light away from a current position of the tail, and a distance between the second reference position and the stop line of the target traffic light being a second redundancy distance; or in a case where the current state of the target traffic light is a green flashing state, predicting a second distance corresponding to the tail of the vehicle at a time when the green flashing ends; in response to the second distance being greater than or equal to a distance between the current position of the tail and a third reference position, determining the passing state of the vehicle as allowed to pass.

[0008] In the method, the passing state of the vehicle is determined based on the current state of the target traffic light, including: in a case where the current state of the target traffic light is a green countdown state, predicting a position of a tail of the vehicle at a time when the green countdown ends; in response to the position of the tail exceeding a second reference position, determining the passing state of the vehicle as allowed to pass, the second reference position being located on a side of a stop line of the target traffic light away from a current position of the tail, and a distance between the second reference position and the stop line of the target traffic light being a second redundancy distance; or in a case where the current state of the target traffic light is a green flashing state, predicting a second distance corresponding to the tail of the vehicle at a time when the green flashing ends; in response to the second distance being greater than or equal to a distance between the current position of the tail and a third reference position, determining the passing state of the vehicle as allowed to pass.

[0009] In the method, the passing state of the vehicle is determined based on the current state of the target traffic light, including: in a case where the current state of the target traffic light is a yellow light state, first determining the passing state of the vehicle as not allowed to pass; and in response to a duration of the yellow light state being greater than or equal to a first duration threshold, determining the passing state of the vehicle as allowed to pass.

[0010] In the method, the passing state of the vehicle is determined based on the current state of the target traffic light, including: in a case where the current state of the target traffic light is a yellow light state, first determining the passing state of the vehicle as not allowed to pass; and in response to a duration of the yellow light state being greater than or equal to a first duration threshold, determining the passing state of the vehicle as allowed to pass.

[0011] The step of determining the vehicle's passage status based on the current state of the target traffic light includes: when the target traffic light is in an intermittent unknown state, determining the vehicle's passage status based on at least one of the target traffic light's current color state, flashing state, and countdown state; and when the target traffic light is in a continuous unknown state, first determining the vehicle's passage status as non-permitted, and then determining the vehicle's passage status as permitted in response to the duration of the continuous unknown state being greater than or equal to a third duration threshold.

[0012] When the target traffic light is in the countdown state, the method further includes: determining the time difference between obtaining the target traffic light state in the previous frame and obtaining the target traffic light state in the current frame, wherein the time difference is on the order of milliseconds; subtracting the time difference from the countdown time of the target traffic light state in the previous frame to obtain the countdown time of the target traffic light state in the current frame.

[0013] Wherein, when the target traffic light is in the countdown state, the method further includes: in response to a change in the number of seconds corresponding to the countdown time of the target traffic light state in the current frame, obtaining the previous second-level duration of the target traffic light state in the current frame; adjusting the initial value of the current second-level countdown corresponding to the target traffic light state in the current frame based on the previous second-level duration; and performing a millisecond-level countdown based on the adjusted initial value of the current second-level countdown.

[0014] The step of adjusting the initial value of the current second-level countdown corresponding to the target traffic light state in the current frame based on the duration of the previous second-level countdown includes: in response to the previous second-level duration being greater than a preset number of seconds, determining a first time adjustment value and a second time adjustment value corresponding to the current second-level countdown, wherein the first time adjustment value is the time difference between obtaining the target traffic light state in the previous frame and obtaining the target traffic light state in the current frame, and the second time adjustment value is the time by which the previous second-level duration exceeds the preset number of seconds; and subtracting the first time adjustment value and the second time adjustment value from the initial value of the current second-level countdown. The initial value of the current second-level countdown is obtained by adjusting the value; or, in response to the previous second-level duration being less than a preset number of seconds, a third time adjustment value and a fourth time adjustment value corresponding to the current second-level countdown are determined, wherein the third time adjustment value is the time difference between obtaining the target traffic light status of the previous frame and obtaining the target traffic light status of the current frame, and the fourth time adjustment value is the time difference between the previous second-level duration and the preset number of seconds; the initial value of the current second-level countdown is subtracted from the time difference between the third time adjustment value and the fourth time adjustment value to obtain the adjusted initial value of the current second-level countdown.

[0015] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a vehicle control device, the device comprising: an acquisition module, configured to acquire the current state of a target traffic light, the current state of the target traffic light including at least one of the target traffic light's color state, flashing state, countdown state, and unknown state; a determination module, configured to determine the vehicle's passage state based on the current state of the target traffic light; and a control module, configured to control the vehicle to pass through the target traffic light in response to the vehicle's passage state being permitted to pass.

[0016] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a processing device, including a memory and a processor coupled to each other, wherein the memory stores program instructions; and the processor is used to execute the program instructions stored in the memory to implement the above-mentioned vehicle control method.

[0017] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a computer-readable storage medium for storing program instructions that can be executed to implement the above-mentioned vehicle control method.

[0018] The above scheme determines the vehicle's passage status based on the current state of the target traffic light. The current state of the target traffic light includes at least one of the following: color status, flashing status, countdown status, and unknown status. When the vehicle's passage status is "allowed to pass," the vehicle is controlled to pass through the target traffic light. Thus, when the target traffic light is in a countdown, flashing, or unknown state, vehicles can be allowed to pass through the intersection corresponding to the target traffic light as much as possible, which can reduce traffic congestion near the intersection to some extent. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating an embodiment of the vehicle control method provided in this application;

[0020] Figure 2 This is a schematic flowchart of another embodiment of the vehicle control method provided in this application;

[0021] Figure 3 This is a schematic diagram of the vehicle provided in this application driving at a traffic intersection;

[0022] Figure 4 This is a flowchart illustrating an embodiment of the millisecond-level countdown adjustment method provided in this application;

[0023] Figure 5 This is a schematic diagram of the framework of an embodiment of the vehicle control device provided in this application;

[0024] Figure 6 This is a schematic diagram of the framework of an embodiment of the processing device provided in this application;

[0025] Figure 7 This is a schematic diagram of a framework of an embodiment of the computer-readable storage medium provided in this application. Detailed Implementation

[0026] To make the purpose, technical solution and effects of this application clearer and more explicit, the following describes this application in further detail with reference to the accompanying drawings and embodiments.

[0027] It should be noted that in the embodiments of this application, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0028] Please see Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the vehicle control method provided in this application. The method can be executed by the vehicle's controller, and the vehicle can be an autonomous driving car (ADC). It should be noted that if substantially the same result is achieved, the method of this invention does not necessarily require further explanation. Figure 1 The illustrated process sequence is limited. For example... Figure 1 As shown, the method includes the following steps:

[0029] S101: Obtain the current state of the target traffic light. The current state of the target traffic light includes at least one of the following: color state, flashing state, countdown state, and unknown state.

[0030] In this embodiment, multiple traffic lights may be installed at the intersection. For example, traffic lights are installed in all four directions (front, rear, left, and right) at a crossroads. The target traffic light is the traffic light located in the direction of travel of the vehicle's lane. For example, when the vehicle's lane is traveling straight, the target traffic light is the forward-facing traffic light; when the vehicle's lane is traveling left-turning, the target traffic light is the left-facing traffic light.

[0031] In this embodiment, when a vehicle is detected approaching a traffic intersection, the current state of the target traffic light is determined by acquiring multiple frames of the target traffic light's state. The current state of the target traffic light includes at least one of the following: color state, flashing state, countdown state, and unknown state. The color state includes red, green, yellow, or black light. When the target traffic light is red, its current state may be one of a solid red light, a red countdown state, or a flashing red light. When the target traffic light is green, its current state may be one of a solid green light, a green countdown state, or a flashing green light. When the target traffic light is yellow, its current state may be one of a solid yellow light or a flashing yellow light. A black light state refers to a black light state caused by a malfunction of the target traffic light, such as a lack of power or an internal wiring fault, resulting in the target traffic light being unable to display color and thus exhibiting a black light state. When the vehicle's visual perception module is obscured by an obstacle in front, the target traffic light is in an unknown state.

[0032] S102: Determine the traffic flow status of vehicles based on the current state of the target traffic light.

[0033] When a target traffic light is in a countdown, flashing, or unknown state, to ensure vehicle safety, the vehicle is typically controlled to stop before the stop line corresponding to the target traffic light. In this embodiment, when the target traffic light is in a countdown, flashing, or unknown state, assuming the vehicle complies with traffic rules, the likelihood of the vehicle passing through the target traffic light is first determined based on its current state. If the current state of the target traffic light allows the vehicle to pass, then the vehicle is controlled to pass through the target traffic light.

[0034] Specifically, when the target traffic light is currently in a red countdown state, if the predicted location of the vehicle's front end at the end of the red countdown, or the distance corresponding to the predicted location of the vehicle's front end at the end of the red countdown, meets the set requirements, the vehicle's passage status is determined to be permitted. When the target traffic light is currently in a green countdown state, if the predicted location of the vehicle's rear end at the end of the green countdown, or the distance corresponding to the predicted location of the vehicle's rear end at the end of the green countdown, meets the set requirements, the vehicle's passage status is determined to be permitted. When the target traffic light is currently in a flashing green light state, if the predicted location of the vehicle's rear end at the end of the flashing green light, or the distance corresponding to the predicted location of the vehicle's rear end at the end of the flashing green light, meets the set requirements, the vehicle's passage status is determined to be permitted. When the target traffic light is currently in a yellow light state (yellow light is constantly on or flashing yellow light), the vehicle's passage status is first determined to be non-permitted. When the duration of the yellow light state is greater than or equal to a first duration threshold, the vehicle's passage status is determined to be permitted. When the target traffic light is currently dark, the vehicle's passage status is first determined to be non-permitted. If the duration of the dark state is greater than or equal to a second duration threshold, the vehicle's passage status is determined to be permitted. When the target traffic light is currently in an intermittently unknown state, the vehicle's passage status is determined based on at least one of the target traffic light's current color state, flashing state, and countdown state. When the target traffic light is currently in a persistently unknown state, the vehicle's passage status is first determined to be non-permitted. If the duration of the persistently unknown state is greater than or equal to a third duration threshold, the vehicle's passage status is determined to be permitted.

[0035] S103: In response to the vehicle's passage status being permitted, control the vehicle to pass through the target traffic light.

[0036] In this embodiment, the vehicle's passage status is determined based on the current state of the target traffic light. The current state of the target traffic light includes at least one of the following: color state, flashing state, countdown state, and unknown state. When the vehicle's passage status is "allowed to pass," the vehicle is controlled to pass through the target traffic light. Thus, when the target traffic light is in a countdown state, flashing state, or unknown state, vehicles can be allowed to pass through the intersection corresponding to the target traffic light as much as possible, which can reduce traffic congestion near the intersection to some extent.

[0037] Please see Figure 2 , Figure 2 This is a schematic flowchart of an embodiment of the vehicle control method provided in this application. Figure 2 As shown, the method includes the following steps:

[0038] S201: Obtain the current state of the target traffic light.

[0039] For details regarding the target traffic light and its current status, please refer to step S101 above, which will not be repeated here.

[0040] In this embodiment, when a vehicle is detected approaching a traffic intersection, the current state of the target traffic light is obtained.

[0041] In one implementation, when the distance between the vehicle and the traffic intersection is detected to be less than or equal to a distance threshold, it is determined that the vehicle is approaching the traffic intersection; conversely, when the distance between the vehicle and the traffic intersection is detected to be greater than the distance threshold, it is determined that the vehicle is not approaching the traffic intersection. The distance threshold is set according to the actual situation. For example, the distance threshold is 150 meters or 180 meters, etc.

[0042] In one embodiment, when a traffic intersection is detected on the reference line of the vehicle's lane, it is determined that the vehicle is approaching the traffic intersection; conversely, when no traffic intersection is detected on the reference line of the vehicle's lane, it is determined that the vehicle is not approaching the traffic intersection. The reference line of the lane is the lane centerline fitted based on the lane's side boundaries. For example, a visual perception device (e.g., a camera) is installed in front of the vehicle. The vehicle controller acquires an image of the road ahead captured by the visual perception device. When a traffic intersection is detected on the reference line of the lane in the image of the road ahead, it is determined that the vehicle is approaching the traffic intersection; when no traffic intersection is detected on the reference line of the lane in the image of the road ahead, it is determined that the vehicle is not approaching the traffic intersection.

[0043] When a vehicle is detected approaching an intersection, the current state of the target traffic light is determined by acquiring multiple frames of the target traffic light's status. Each frame includes information such as the target traffic light's color or countdown timer. Specifically, the current state of the target traffic light can be determined by acquiring multiple frames of the target traffic light's status from the vehicle's visual perception device; alternatively, a traffic light status detection device is installed at the intersection, which can acquire the status of each traffic light at the intersection. When a vehicle approaches the intersection, it can establish a network connection with the traffic light status detection device at the intersection and acquire multiple frames of the target traffic light's status from the device. For example, the visual perception device or the traffic light status detection device sends one frame of the target traffic light's status to the vehicle controller at a set period. For example, the set period could be 100 milliseconds.

[0044] In one embodiment, based on the acquired target traffic light states across multiple consecutive frames, it is determined whether the target traffic light is currently in a continuously lit state, such as a continuously lit red light, a continuously lit green light, or a continuously lit yellow light. Specifically, when the target traffic light states for a first set number of consecutive frames all correspond to the same color and the first set number of consecutive frames do not contain countdown numbers, the target traffic light is determined to be in a continuously lit state. Alternatively, when the target traffic light states for multiple frames within a first set time period all correspond to the same color and the first set time period does not contain countdown numbers, the target traffic light is determined to be in a continuously lit state. The first set number of frames and the first set time are set according to actual needs. For example, the first set number of frames is 3 frames, 5 frames, etc., and the first set time is 300 milliseconds, 500 milliseconds, etc.

[0045] In one embodiment, based on the acquired consecutive frames of target traffic light status, it is determined whether the current state of the target traffic light is in a countdown state, such as a red light countdown or a green light countdown. Specifically, when the target traffic light status for a consecutive second set number of frames corresponds to the same color and all of the target traffic light statuses for that consecutive second set number of frames contain countdown numbers, it is determined that the current state of the target traffic light is in a countdown state. Alternatively, when the target traffic light status for multiple frames within a second set time corresponds to the same color and all of the target traffic light statuses for that second set time contain countdown numbers, it is determined that the current state of the target traffic light is in a countdown state. The second set number of frames and the second set time are set according to actual needs. For example, the second set number of frames is 3 frames, 5 frames, etc., and the second set time is 300 milliseconds, 500 milliseconds, etc.

[0046] In one embodiment, based on the acquired target traffic light states across multiple consecutive frames, it is determined whether the current state of the target traffic light is flashing, specifically a flashing red light, a flashing green light, or a flashing yellow light. More specifically, if there are color alternations between the acquired target traffic light states across a third predetermined number of frames, and one of the alternating colors is red, green, or yellow, while the other color is black, the current state of the target traffic light is determined to be flashing. Alternatively, if there are color alternations between the target traffic light states across multiple frames within a third predetermined time period, and one of the alternating colors is red, green, or yellow, while the other color is black, the current state of the target traffic light is determined to be flashing. The third predetermined number of frames and the third predetermined time period are set according to actual needs. For example, the third predetermined number of frames is 5 frames, and the third predetermined time period is 500 milliseconds, etc.

[0047] In one embodiment, based on the acquired consecutive frames of the target traffic light state, it is determined whether the target traffic light is currently in a black state. Specifically, when the number of consecutive black frames corresponding to the target traffic light state is greater than or equal to a fourth preset number of frames, or when the duration of consecutive black frames corresponding to the target traffic light state is greater than or equal to a fourth preset time, the target traffic light is determined to be in a black state. The fourth preset number of frames and the fourth preset time are set according to actual needs; for example, the fourth preset number of frames is 10 frames and the fourth preset time is 1 second. When the number of consecutive black frames corresponding to the target traffic light state is less than the fourth preset number of frames, or when the duration of consecutive black frames corresponding to the target traffic light state is less than the fourth preset time, it may be a brief blackout that occurs during a color change of the target traffic light, such as a brief blackout during the transition from red to green, or a brief blackout that occurs when the target traffic light is flashing. In this case, it is determined that the current state of the target traffic light is not a blackout state.

[0048] In one embodiment, based on the acquired target traffic light states across multiple consecutive frames, it is determined whether the current state of the target traffic light is in an unknown state, such as an intermittent unknown state or a continuous unknown state. When the number of frames in the target traffic light state that do not include the target traffic light is greater than or equal to a fifth preset frame number and less than a sixth preset frame number, the current state of the target traffic light is determined to be an intermittent unknown state; when the number of frames in the target traffic light state that do not include the target traffic light is greater than or equal to a sixth preset frame number, the current state of the target traffic light is determined to be a continuous unknown state. Alternatively, when the duration of the period in the target traffic light state that does not include the target traffic light is greater than or equal to a fifth preset time and less than a sixth preset time, the current state of the target traffic light is determined to be an intermittent unknown state; when the duration of the period in the target traffic light state that does not include the target traffic light is greater than or equal to a sixth preset time, the current state of the target traffic light is determined to be an intermittent unknown state.

[0049] S202: Determine whether the target traffic light is currently red. If the target traffic light is currently red, proceed to step S203; if the target traffic light is not currently red, proceed to step S204.

[0050] S203: Determine the vehicle's passage status based on the current red light status of the target traffic light.

[0051] In this embodiment, the red light state includes one of the following: a constantly lit red light state, a flashing red light state, and a red light countdown state.

[0052] In one embodiment, in order to comply with traffic rules and ensure vehicle safety, if the target traffic light is currently in a red state, the vehicle's passage status is determined to be non-permitted.

[0053] In one embodiment, since the time when the red light ends cannot be obtained when the target traffic light is in a flashing red state, in order to ensure vehicle safety, the vehicle's passage status is determined to be non-permitted when the target traffic light is currently in a flashing red state.

[0054] In one embodiment, when the target traffic light is currently in a red light countdown state, the vehicle's passage status is determined based on whether the vehicle's front position is at the predicted end of the red light countdown or whether the distance corresponding to the vehicle's front position at the predicted end of the red light countdown has reached a set requirement.

[0055] In one example, when the target traffic light is currently in a red countdown state, the position of the vehicle's front end at the end of the countdown is predicted. Specifically, the vehicle's current position can be added to the predicted first distance traveled by the vehicle's front end at the end of the red countdown to obtain the vehicle's position at the end of the countdown. For example, the vehicle's position can be the coordinates of its front end on a reference line (lane center line). For example, the first distance traveled by the vehicle's front end at the end of the red countdown can be calculated using the following formula:

[0056]

[0057] In formula (1), S1 represents the first distance traveled by the vehicle when the red light countdown ends; v1 represents the vehicle speed at its current location, which can be detected by the vehicle's speed sensor; v2 represents the speed limit of the vehicle passing the stop line, which is a set value; t1 represents the remaining time of the red light countdown, which can be obtained by identifying the target traffic light image captured by the aforementioned visual perception device.

[0058] If the vehicle's front position does not reach the first reference position when the red light countdown ends, the vehicle's passage status is determined to be permitted. Alternatively, if the vehicle's front position exceeds the first reference position when the red light countdown ends, the vehicle's passage status is determined to be prohibited. To ensure that there is no risk of the vehicle running a red light when the countdown ends, the first reference position is located on the side of the target traffic light's stop line closest to the vehicle's current position, and the distance between the first reference position and the target traffic light's stop line is a first redundancy distance. For example, the first reference position can be obtained by subtracting the first redundancy distance from the coordinates of the stop line on the reference line. The first redundancy distance is set according to actual needs; for example, the first redundancy distance is 1m.

[0059] In another example, when the target traffic light is currently in a red countdown state, predict the first distance the vehicle will travel when the red countdown ends. Specifically, the first distance the vehicle will travel when the red countdown ends can be obtained using the aforementioned formula (1).

[0060] In response to a first distance traveled being less than or equal to the distance between the current position of the vehicle's front end and a first reference position, the vehicle's passage status is determined to be permitted. Alternatively, in response to a first distance traveled being greater than the distance between the current position of the vehicle's front end and the first reference position, the vehicle's passage status is determined to be prohibited.

[0061] See Figure 3 , Figure 3 This is a schematic diagram of a vehicle traveling at a traffic intersection, as provided in this application. Point A1 represents the current position of the vehicle's front end, and point B is the first reference position. If it is predicted that the vehicle's front end can reach point B when the red light countdown ends, or if it is predicted that the first distance traveled by the vehicle's front end when the red light countdown ends is greater than the distance between points A1 and B, the vehicle's passage status is determined to be non-permitted.

[0062] Since the red light countdown ends when the light turns green, if it is predicted that the vehicle's position at the end of the countdown has not reached the first reference position, or the first distance traveled by the vehicle's front is less than or equal to the distance between the vehicle's current position and the first reference position, it can be assumed that the vehicle does not pose a risk of running a red light. Therefore, the vehicle's passage status can be determined as "permitted to proceed," allowing the vehicle to pass through the intersection where the target traffic light is located. On the one hand, this reduces traffic congestion at intersections near the target traffic light when the red light countdown ends, without violating traffic rules. On the other hand, it reduces the frequency of vehicle braking, improving passenger comfort.

[0063] S204: Determine whether the target traffic light is currently in a green light state. If the target traffic light is currently in a green light state, proceed to step S205; if the target traffic light is not currently in a green light state, proceed to step S206.

[0064] S205: Determine the vehicle's passage status based on the current green light status of the target traffic light.

[0065] The green light status includes one of the following: green light always on, green light countdown, and green light flashing.

[0066] In one embodiment, if the target traffic light is currently in a green light state, the vehicle's passage status is determined to be permitted.

[0067] In one embodiment, when the target traffic light is currently in a green light countdown state, the vehicle's passage status is determined based on the predicted position of the vehicle's rear when the green light countdown ends or based on whether the distance corresponding to the vehicle's rear when the predicted green light countdown ends has reached a set requirement.

[0068] In one example, when the target traffic light is currently in a green light countdown state, the position of the rear of the vehicle at the end of the green light countdown is predicted. Specifically, the position of the rear of the vehicle at the end of the green light countdown can be obtained by adding the current position of the rear of the vehicle to the predicted second distance traveled by the rear of the vehicle at the end of the green light countdown. For example, the position of the rear of the vehicle can be the coordinates of the rear of the vehicle on a reference line. For example, the second distance traveled by the rear of the vehicle at the end of the green light countdown can be calculated using the following formula:

[0069]

[0070] In formula (2), S2 represents the second distance corresponding to the rear of the vehicle when the green light countdown ends; v1 represents the vehicle speed at its current location; v2 represents the speed limit when the vehicle passes the stop line; and t1 represents the remaining time of the green light countdown.

[0071] In response to the vehicle's rear end exceeding the second reference position at the end of the green light countdown, the vehicle's passage status is determined to be permitted; or, in response to the vehicle's rear end failing to reach the second reference position at the end of the green light countdown, the vehicle's passage status is determined to be prohibited. To ensure that the vehicle does not violate traffic rules at the end of the green light countdown, the second reference position is located on the side of the target traffic light's stop line furthest from the vehicle's current rear end position, and the distance between the second reference position and the target traffic light's stop line is a second redundancy distance. For example, the second reference position can be obtained by adding the second redundancy distance to the stop line's position coordinates on the reference line. The second redundancy distance is set according to actual needs; for example, the second redundancy distance is 1m.

[0072] In another example, when the target traffic light is currently in a green light countdown state, the second distance corresponding to the rear of the vehicle when the green light countdown ends is predicted. Specifically, the second distance corresponding to the rear of the vehicle when the green light countdown ends can be obtained using the aforementioned formula (2).

[0073] In response to the second distance being greater than or equal to the distance between the current position of the vehicle's rear and the second reference position, the vehicle's passage status is determined to be permitted. Alternatively, in response to the second distance being less than the distance between the current position of the vehicle and the second reference position, the vehicle's passage status is determined to be prohibited.

[0074] See you again Figure 3In the diagram, point A2 represents the current position of the vehicle's rear, and point C is the second reference position. If it is predicted that the rear of the vehicle will be beyond point C when the green light countdown ends, or if it is predicted that the second distance corresponding to the rear of the vehicle will be greater than or equal to the distance between points A2 and C when the green light countdown ends, the vehicle's passage status is determined to be permitted.

[0075] Since the green light countdown may turn yellow or red when it ends, if it is predicted that the rear of the vehicle will be beyond the second reference position when the green light countdown ends, or if the second distance corresponding to the rear of the vehicle is greater than the distance between the current position of the rear of the vehicle and the second reference position, then the vehicle can be considered to have safely crossed the stop line, and there is no risk of the vehicle violating traffic rules. Therefore, the vehicle's passage status can be determined as permitted. On the one hand, this can reduce traffic congestion at intersections near the target traffic light when the green light countdown ends, without violating traffic rules. On the other hand, it can reduce the frequency of vehicle braking and improve the comfort of passengers.

[0076] In one embodiment, when the target traffic light is currently in a flashing green state, the vehicle's passage status is determined based on the predicted location of the vehicle's rear end when the green light ends or based on whether the distance corresponding to the vehicle's rear end when the green light ends has reached a set requirement.

[0077] In one example, when the target traffic light is currently flashing green, the position of the vehicle's rear end when the green light ends is predicted. Specifically, the position of the vehicle's rear end can be obtained by adding the predicted third distance traveled by the vehicle's rear end to the current position of the vehicle's rear end. For example, the position of the rear end can be the coordinates of the vehicle's rear end on a reference line. For instance, since the green light flashing time is short and the remaining flashing time is difficult to obtain, the third distance traveled by the vehicle's rear end when the green light ends is determined based on the vehicle's current speed and the flashing time. The third distance can be calculated using the following formula:

[0078] S3=v3*t3 (3)

[0079] In formula (3), S3 represents the third distance traveled by the rear of the vehicle when the green light ends; v3 represents the vehicle speed at its current location; and t3 represents the duration of the green light flashing, which is a set value.

[0080] In response to the vehicle's rear end being above the third reference position when the green light ends, the vehicle's passage status is determined to be permitted; conversely, in response to the vehicle's rear end being below the third reference position when the green light ends, the vehicle's passage status is determined to be prohibited. To ensure that the vehicle does not violate traffic rules when the green light ends, the third reference position is located on the side of the target traffic light's stop line furthest from the vehicle's current rear position, and the distance between the third reference position and the target traffic light's stop line is a third redundancy distance. For example, the third reference position can be obtained by adding the third redundancy distance to the stop line's coordinates on the reference line. The third redundancy distance is set according to actual needs; for example, the third redundancy distance is 1 meter.

[0081] In another example, when the target traffic light is currently flashing green, the third distance corresponding to the rear of the vehicle when the flashing ends is predicted. Specifically, the third distance corresponding to the rear of the vehicle when the flashing ends can be obtained using the aforementioned formula (3).

[0082] In response to the third distance being greater than or equal to the distance between the current position of the vehicle's rear and the third reference position, the vehicle's passage status is determined to be permitted. Alternatively, in response to the third distance being less than the distance between the current position of the vehicle and the third reference position, the vehicle's passage status is determined to be prohibited.

[0083] See you again Figure 3 In the diagram, point A2 represents the current position of the vehicle's rear, and point C is the third reference position. If the predicted position of the vehicle's rear when the green light ends exceeds point C, or if the predicted third distance corresponding to the vehicle's rear when the green light ends is greater than or equal to the distance between points A2 and C, the vehicle's passage status is determined to be permitted.

[0084] Since a flashing green light may turn yellow or red when it ends, if it is predicted that the rear of the vehicle will be beyond the third reference position when the green light ends, or if the third distance corresponding to the rear of the vehicle is greater than the distance between the current position of the rear of the vehicle and the third reference position, then the vehicle can be considered to have safely crossed the stop line without the risk of violating traffic rules. Therefore, the vehicle's passage status can be determined as permitted. On the one hand, this can reduce traffic congestion at intersections near the target traffic light when the green light ends, without violating traffic rules. On the other hand, it can reduce the frequency of vehicle braking and improve passenger comfort.

[0085] S206: Determine whether the target traffic light is currently in a yellow light state. If the target traffic light is currently in a yellow light state, proceed to step S207; if the target traffic light is not currently in a yellow light state, proceed to step S208.

[0086] S207: Determine the vehicle's passage status based on the current yellow light status of the target traffic light.

[0087] The yellow light status includes either a continuous yellow light or a flashing yellow light. Since the red light follows the yellow light and the yellow light duration is short, to ensure that vehicles do not violate traffic rules when the yellow light ends, if the target traffic light is currently in a continuous or flashing yellow light state, the vehicle's passage status is initially determined to be non-permitted. In response to the yellow light duration being greater than or equal to a first duration threshold, the vehicle's passage status is determined to be permitted, thus avoiding traffic congestion caused by prolonged waiting times at the intersection and reducing congestion at the target traffic light intersection. The first duration threshold is set according to actual needs; for example, the first duration threshold is 3 seconds.

[0088] S208: Determine whether the target traffic light is currently in a dark state. If the target traffic light is currently in a dark state, proceed to step S209; if the target traffic light is not currently in a dark state, proceed to step S210.

[0089] S209: Determine the vehicle's passage status based on the current blackout state of the target traffic light.

[0090] To ensure vehicle safety, when the target traffic light is dark, the vehicle's passage status is initially determined to be non-permitted. In response to the dark light duration being greater than or equal to a second duration threshold, the vehicle's passage status is determined to be permitted, thus preventing traffic congestion caused by prolonged waiting times at the intersection and reducing congestion at the target traffic light. The second duration threshold is set according to actual needs; for example, it could be 5 seconds.

[0091] S210: Determine the traffic flow status of vehicles based on the current unknown state of the target traffic light.

[0092] Unknown states include intermittent unknown states and persistent unknown states.

[0093] In one embodiment, when the target traffic light is in an intermittent unknown state, the vehicle's passage status is determined based on at least one of the target traffic light's current color state, flashing state, and countdown state. That is, when the target traffic light is in an intermittent unknown state, the vehicle's passage status is determined based on the method described in steps S201 to S209.

[0094] In one embodiment, when the target traffic light is in a persistently unknown state, since the specific details of the current state of the target traffic light are unknown, in order to ensure safe vehicle traffic, the vehicle's passage status is first determined to be non-permitted. In response to the duration of the persistently unknown state being greater than or equal to a third duration threshold, the vehicle's passage status is determined to be permitted, in order to avoid traffic congestion caused by vehicles waiting too long at the intersection, thereby reducing congestion at the intersection corresponding to the target traffic light. The third duration threshold is set according to actual needs; for example, the third duration threshold is 5 seconds, etc.

[0095] It should be noted that in this embodiment, when the vehicle's passage status is determined to be permitted, the vehicle is controlled to pass through the target traffic light. When the vehicle's passage status is determined to be inpermissible, the vehicle is controlled to brake and decelerate, so that the vehicle stops before the stop line corresponding to the target traffic light.

[0096] In this embodiment, when it is detected that a vehicle has not passed the stop line, the method described in steps S201 to S210 is continued to determine the vehicle's passage status.

[0097] In this embodiment, on the one hand, when the target traffic light is currently in a countdown state, flashing state, or unknown state, vehicles can be allowed to pass through the intersection corresponding to the target traffic light as much as possible, which can reduce traffic congestion near the intersection to some extent. On the other hand, when the target traffic light is currently in a red light countdown state, green light countdown state, or green light flashing state, if the vehicle's passage status is determined to be permitted, controlling the vehicle to pass through the target traffic light can reduce the frequency of vehicle braking, improve the comfort of the user, and reduce the vehicle's energy consumption.

[0098] In this embodiment, when the target traffic light is currently in a countdown state, a countdown timer in seconds is typically used. However, if the visual perception device or traffic light status detection device experiences lag or delay in step S201, the vehicle controller may not be able to obtain the remaining time of the target traffic light's current countdown state in a timely manner, thus affecting the real-time performance and accuracy of the vehicle controller's judgment of vehicle traffic status. Therefore, in this embodiment, when the target traffic light is currently in a countdown state, the second-level countdown time corresponding to the target traffic light is further refined to the millisecond level to meet the vehicle controller's operating frequency and improve the real-time performance and accuracy of the vehicle controller's judgment of vehicle traffic status. For example, the operating frequency of the vehicle controller is 10Hz.

[0099] Specifically, in this embodiment, the millisecond-level countdown method includes: determining the time difference between obtaining the target traffic light state in the previous frame and obtaining the target traffic light state in the current frame, where the time difference is in milliseconds; and subtracting the time difference from the countdown time of the target traffic light state in the previous frame to obtain the countdown time of the target traffic light state in the current frame. It should be noted that the countdown time corresponding to the target traffic light state in the first frame is the start time of the target traffic light entering the countdown state. For example, if the red light countdown time is 10 seconds, and the countdown starts from 10 seconds, then the red light countdown time corresponding to the target traffic light in the first frame is 10 seconds.

[0100] Because the visual sensing device or traffic light status detection device sends the target traffic light status to the vehicle controller at a set period, such as 100 milliseconds, the time difference between obtaining the target traffic light status of the previous frame and obtaining the target traffic light status of the current frame is on the order of milliseconds.

[0101] Optionally, in this embodiment, when the millisecond-level countdown condition is met, the above method is used to perform the millisecond-level countdown. Specifically, the millisecond-level countdown condition is that the target traffic light state in the current frame is the same as the target traffic light state in the previous frame in terms of color state, and both the target traffic light state in the current frame and the target traffic light state in the previous frame are in a countdown state with the same number of seconds corresponding to the countdown state.

[0102] Optionally, in this embodiment, in order to further improve the accuracy of the millisecond countdown, the countdown time can be adjusted during the millisecond countdown process.

[0103] Please see Figure 4 , Figure 4 This is a flowchart illustrating an embodiment of the millisecond-level countdown adjustment method provided in this application. Figure 4 As shown, the method includes the following steps:

[0104] S401: In response to a change in the countdown timer for the target traffic light state in the current frame, obtain the previous second-level duration of the target traffic light state in the current frame.

[0105] In this embodiment, when it is determined that the countdown timer for the target traffic light state in the current frame is different from the countdown timer for the target traffic light state in the previous frame, it is determined that the countdown timer for the target traffic light state in the current frame has changed. For example, if the countdown timer for the target traffic light state in the previous frame was 8.03 seconds and the countdown timer for the target traffic light state in the current frame is 7.94 seconds, then the countdown timer of 7 seconds is different from the countdown timer of 8 seconds.

[0106] In this embodiment, the vehicle controller can calculate the duration of the target traffic light's countdown within the same second level based on the time corresponding to the acquired target traffic light states across multiple frames. Due to lag or delays in the visual perception device or traffic light state detection device, the time the vehicle controller acquires for the target traffic light to be in the same second level countdown may be greater than or less than 1 second. The previous second level duration refers to the duration of the countdown within the previous second level corresponding to the current second level countdown of the target traffic light state in the current frame. For example, if the countdown time corresponding to the target traffic light state in the current frame is 7.94 seconds, the previous second level duration refers to the time from 9 seconds to 8 seconds.

[0107] S402: Based on the previous second-level duration, adjust the initial value of the current second-level countdown corresponding to the current frame target traffic light state.

[0108] In one embodiment, in response to the previous second-level duration exceeding a preset number of seconds, a first time adjustment value and a second time adjustment value corresponding to the current second-level countdown are determined; the initial value of the current second-level countdown is obtained by subtracting the first and second time adjustment values ​​from the initial value of the current second-level countdown. The first time adjustment value is the time difference between obtaining the target traffic light state in the previous frame and obtaining the target traffic light state in the current frame, and the second time adjustment value is the time by which the previous second-level duration exceeds the preset number of seconds. For example, the preset number of seconds is 1 second.

[0109] For example, the vehicle controller determines, based on multiple frames of target traffic light states obtained from a visual inspection device or a traffic light state detection device, that the time required for the target traffic light to count down from 9 seconds to 8 seconds is 1.03 seconds, and the time difference between obtaining the target traffic light state in the current frame and obtaining the target traffic light state in the previous frame is 0.1 seconds. Therefore, the initial value of the second-level countdown corresponding to the target traffic light state in the current frame is 8, the first time adjustment value is 0.1 seconds, and the second time adjustment value is 0.03 seconds. The adjusted initial value of the current second-level countdown is 7.87.

[0110] In one embodiment, in response to the previous second-level duration being less than a preset number of seconds, a third time adjustment value and a fourth time adjustment value corresponding to the current second-level countdown are determined; the initial value of the current second-level countdown is obtained by subtracting the time difference between the third and fourth time adjustment values ​​from the initial value of the current second-level countdown. The third time adjustment value is the time difference between obtaining the target traffic light status in the previous frame and obtaining the target traffic light status in the current frame, and the fourth time adjustment value is the time difference between the previous second-level duration and the preset number of seconds. For example, the preset number of seconds is 1 second.

[0111] For example, the vehicle controller determines, based on multiple frames of target traffic light states obtained from a visual inspection device or a traffic light state detection device, that the time required for the target traffic light to count down from 9 seconds to 8 seconds is 0.93 seconds, and the time difference between obtaining the target traffic light state in the current frame and obtaining the target traffic light state in the previous frame is 0.1 seconds. Therefore, the initial value of the second-level countdown corresponding to the target traffic light state in the current frame is 8, the third time adjustment value is 0.1 seconds, and the fourth time adjustment value is 0.07. The adjusted initial value of the current second-level countdown is 7.97.

[0112] S403: Based on the adjusted initial value of the current second-level countdown, start a millisecond-level countdown.

[0113] When the countdown timer for the target traffic light status in the current frame changes, if the initial value of the current second-level countdown is not adjusted, the countdown will be performed in milliseconds based on that initial value, resulting in inaccurate millisecond-level countdowns. Adjusting the initial value of the current second-level countdown will, however, allow for millisecond-level countdowns based on the adjusted initial value, thus improving the accuracy of the millisecond-level countdown. For example, if the adjusted initial value of the current second-level countdown is 7.87, the countdown will be performed based on 7.87; if the adjusted initial value is 7.97, the countdown will be performed in milliseconds based on 7.97.

[0114] Optionally, in this embodiment, a historical traffic light state set during the vehicle's movement at the intersection can also be stored. The historical traffic light state set includes at least one of the following: the color state, flashing state, countdown state, countdown duration, millisecond-level countdown time, start time corresponding to different colored traffic lights, and duration.

[0115] Specifically, the system acquires the current frame target traffic light status sent by the visual sensing device or traffic light status detection device. Based on the lane identifier (e.g., lane identification code, lane number) corresponding to the current frame target traffic light status, it determines whether the current frame target traffic light status is already stored in the historical traffic light status set. If the current frame target traffic light status is not stored in the historical traffic light status set, the lane identifier and start time corresponding to the current frame target traffic light status are updated to the historical traffic light status set. If the current frame target traffic light status is already stored in the historical traffic light status set, it determines whether the color of the current frame target traffic light status is the same as the color of the previous frame target traffic light status in the historical traffic light status set. If the color of the current frame target traffic light status is different from the previous frame target traffic light status, the start time and duration of the target traffic light corresponding to that color are updated to the historical traffic light status set. If the target traffic light state in the current frame has the same color state as the target traffic light state in the previous frame, and the millisecond countdown condition is met, the millisecond countdown time corresponding to the target traffic light state in the current frame is obtained using the aforementioned millisecond countdown method, and the millisecond countdown time corresponding to the target traffic light state in the current frame is updated to the historical traffic light state set.

[0116] Please see Figure 5 , Figure 5 This is a schematic diagram of a vehicle control device according to an embodiment of the present application. In this embodiment, the vehicle control device 50 includes: an acquisition module 51, a determination module 52, and a control module 53.

[0117] The acquisition module 51 acquires the current state of the target traffic light, which includes at least one of the following: color state, flashing state, countdown state, and unknown state. The determination module 52 determines the vehicle's passage status based on the current state of the target traffic light. The control module 53 controls the vehicle to pass through the target traffic light in response to the vehicle's passage status being permitted.

[0118] Optionally, the determining module 52 is used to predict the position of the vehicle's front end when the red light countdown ends, provided that the current state of the target traffic light is a red light countdown; and in response to the vehicle's front end not reaching a first reference position, determine that the vehicle's passage status is permitted, wherein the first reference position is located on the side of the target traffic light's stop line closest to the vehicle's current position, and the distance between the first reference position and the target traffic light's stop line is a first redundancy distance; or, the determining module 52 is used to predict the first distance corresponding to the vehicle's front end when the red light countdown ends, provided that the current state of the target traffic light is a red light countdown; and in response to the first distance being less than or equal to the distance between the vehicle's current position and the first reference position, determine that the vehicle's passage status is permitted.

[0119] Optionally, the determining module 52 is used to predict the position of the rear of the vehicle when the green light countdown ends, provided that the current state of the target traffic light is in a green light countdown state; in response to the rear of the vehicle being located beyond a second reference position, the vehicle's passage status is determined to be permitted, wherein the second reference position is located on the side of the target traffic light's stop line away from the current position of the rear of the vehicle, and the distance between the second reference position and the stop line of the target traffic light is a second redundancy distance; or, the determining module 52 is used to predict the second distance corresponding to the rear of the vehicle when the green light countdown ends, provided that the current state of the target traffic light is in a green light countdown state; in response to the second distance being greater than or equal to the distance between the current position of the rear of the vehicle and the second reference position, the vehicle's passage status is determined to be permitted.

[0120] Optionally, the determining module 52 is used to predict the position of the rear of the vehicle when the target traffic light is currently in a flashing green state; in response to the rear position exceeding a third reference position, the vehicle's passage status is determined to be permitted, the third reference position being located on the side of the target traffic light's stop line away from the current position of the rear, and the distance between the third reference position and the target traffic light's stop line being a third redundancy distance; or, the determining module 52 is used to predict the third distance corresponding to the rear of the vehicle when the target traffic light is currently in a flashing green state; in response to the third distance being greater than or equal to the distance between the current position of the rear and the third reference position, the vehicle's passage status is determined to be permitted.

[0121] Optionally, the determining module 52 is used to first determine that the vehicle's passage status is not permitted when the current state of the target traffic light is yellow; and in response to the duration of the yellow light being greater than or equal to a first duration threshold, determine that the vehicle's passage status is permitted.

[0122] Optionally, the determining module 52 is used to first determine that the vehicle's passage status is not permitted when the target traffic light is in a black state; and in response to the duration of the black state being greater than or equal to a second duration threshold, determine that the vehicle's passage status is permitted.

[0123] Optionally, the determining module 52 is used to determine the vehicle's passage status based on at least one of the target traffic light's current color status, flashing status, and countdown status when the target traffic light is in an intermittent unknown state; and to determine the vehicle's passage status as permitted when the target traffic light is in a continuous unknown state, first determining the vehicle's passage status as non-permitted, and then determining the vehicle's passage status as permitted in response to the duration of the continuous unknown state being greater than or equal to a third duration threshold.

[0124] Optionally, the device further includes a millisecond-level countdown module 54, which is used to determine the time difference between obtaining the target traffic light status of the previous frame and obtaining the target traffic light status of the current frame, wherein the time difference is in milliseconds; and to subtract the time difference from the countdown time of the target traffic light status of the previous frame to obtain the countdown time of the target traffic light status of the current frame.

[0125] Optionally, when the target traffic light is in a countdown state, the millisecond-level countdown module 54 is used to respond to the change in the number of seconds corresponding to the countdown time of the target traffic light state in the current frame, obtain the previous second-level duration of the target traffic light state in the current frame; adjust the initial value of the current second-level countdown corresponding to the target traffic light state in the current frame based on the previous second-level duration; and perform a millisecond-level countdown based on the adjusted initial value of the current second-level countdown.

[0126] Optionally, the millisecond-level countdown module 54 is used to determine a first time adjustment value and a second time adjustment value corresponding to the current second-level countdown in response to the previous second-level duration being greater than a preset number of seconds. The first time adjustment value is the time difference between obtaining the target traffic light status in the previous frame and obtaining the target traffic light status in the current frame, and the second time adjustment value is the time by which the previous second-level duration exceeds the preset number of seconds. The initial value of the current second-level countdown is then subtracted from the first and second time adjustment values ​​to obtain the adjusted initial value of the current second-level countdown. Alternatively, the millisecond-level countdown module 54 is used to determine a third time adjustment value and a fourth time adjustment value corresponding to the current second-level countdown in response to the previous second-level duration being less than a preset number of seconds. The third time adjustment value is the time difference between obtaining the target traffic light status in the previous frame and obtaining the target traffic light status in the current frame, and the fourth time adjustment value is the time difference between the previous second-level duration and the preset number of seconds. The initial value of the current second-level countdown is then subtracted from the time difference between the third and fourth time adjustment values ​​to obtain the adjusted initial value of the current second-level countdown.

[0127] It should be noted that the apparatus of this embodiment can perform the steps in the above method. For detailed descriptions of the relevant content, please refer to the method section above, which will not be repeated here.

[0128] Please see Figure 6 , Figure 6 This is a schematic diagram of a framework of an embodiment of the voice interaction device provided in this application. In this embodiment, the processing device 60 includes a memory 61 and a processor 62.

[0129] Processor 62 can also be referred to as a CPU (Central Processing Unit). Processor 62 may be an integrated circuit chip with signal processing capabilities. Processor 62 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. A general-purpose processor can be a microprocessor, or processor 62 can be any conventional processor 62, etc.

[0130] The memory 61 in the processing device 60 is used to store the program instructions required for the processor 62 to run.

[0131] The processor 62 is used to execute program instructions to implement the vehicle control method of this application.

[0132] Please see Figure 7 , Figure 7 This is a schematic diagram of a framework of an embodiment of the computer-readable storage medium provided in this application. The computer-readable storage medium 70 of this application embodiment stores program instructions 71, which, when executed, implement the vehicle control method provided in this application. The program instructions 71 can be formed into a program file and stored in the aforementioned computer-readable storage medium 70 in the form of a software product, so that a computer device (which may be a personal computer, server, or network device, etc.) can execute all or part of the steps of the methods of various embodiments of this application. The aforementioned computer-readable storage medium 70 includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, or terminal devices such as computers, servers, mobile phones, and tablets.

[0133] The above scheme determines the vehicle's passage status based on the current state of the target traffic light. The current state of the target traffic light includes at least one of the following: color status, flashing status, countdown status, and unknown status. When the vehicle's passage status is "allowed to pass," the vehicle is controlled to pass through the target traffic light. Thus, when the target traffic light is in a countdown, flashing, or unknown state, vehicles can be allowed to pass through the intersection corresponding to the target traffic light as much as possible, which can reduce traffic congestion near the intersection to some extent.

[0134] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0135] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0136] In the several embodiments provided in this application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of apparatuses or units may be electrical, mechanical, or other forms.

[0137] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0138] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0139] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0140] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural or procedural changes made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: obtaining the current state of a target traffic light, wherein the current state of the target traffic light includes at least one of the following: color state, flashing state, countdown state, and unknown state; Based on the current state of the target traffic light, determine the vehicle's passage status; In response to the vehicle's passage status being permitted, the vehicle is controlled to pass through the target traffic light; If the target traffic light is currently in a red light countdown state, predict the position of the vehicle's front end when the red light countdown ends; In response to the fact that the position of the vehicle front has not reached the first reference position, the passage status of the vehicle is determined to be allowed to pass. The first reference position is located on the side of the stop line of the target traffic light that is close to the current position of the vehicle front, and the distance between the first reference position and the stop line of the target traffic light is the first redundancy distance. Alternatively, if the target traffic light is currently in a red light countdown state, predict the first distance corresponding to the front of the vehicle when the red light countdown ends; In response to the first distance being less than or equal to the distance between the current position of the vehicle head and the first reference position, the passage status of the vehicle is determined to be permitted. If the target traffic light is currently in a green light countdown state, predict the position of the rear of the vehicle when the green light countdown ends; In response to the rear of the vehicle being located beyond the second reference position, the passage status of the vehicle is determined to be permitted to pass. The second reference position is located on the side of the stop line of the target traffic light away from the current location of the rear of the vehicle, and the distance between the second reference position and the stop line of the target traffic light is the second redundancy distance. Alternatively, if the target traffic light is currently in a green light countdown state, predict the second distance corresponding to the rear of the vehicle when the green light countdown ends; In response to the second distance being greater than or equal to the distance between the current position of the rear of the vehicle and the second reference position, the passage status of the vehicle is determined to be permitted. Determine the time difference between obtaining the target traffic light status in the previous frame and obtaining the target traffic light status in the current frame, wherein the time difference is on the order of milliseconds; Subtract the time difference from the countdown time of the target traffic light state in the previous frame to obtain the countdown time of the target traffic light state in the current frame; In response to a change in the countdown timer corresponding to the current frame target traffic light state, the previous second-level duration of the current frame target traffic light state is obtained; Based on the duration of the previous second, the initial value of the current second countdown corresponding to the current frame target traffic light state is adjusted; The system stores a set of historical traffic light states during a vehicle's journey through an intersection. The set of historical traffic light states includes at least one of the following: the color state, flashing state, countdown state, countdown duration, millisecond-level countdown time, start time corresponding to different colored traffic lights, and duration. When the current frame target traffic light state has the same color state as the previous frame target traffic light state and meets the millisecond countdown condition, the millisecond countdown time corresponding to the current frame target traffic light state is obtained using the aforementioned millisecond countdown method, and the millisecond countdown time corresponding to the current frame target traffic light state is updated to the historical traffic light state set.

2. The method according to claim 1, characterized in that, Determining the vehicle's passage status based on the current state of the target traffic light includes: predicting the position of the vehicle's rear end when the green light ends, provided that the target traffic light is currently in a flashing green state. In response to the rear of the vehicle being located beyond a third reference position, the vehicle's passage status is determined to be permitted to pass. The third reference position is located on the side of the target traffic light's stop line that is far from the current location of the rear of the vehicle, and the distance between the third reference position and the target traffic light's stop line is a third redundancy distance. Alternatively, if the target traffic light is currently in a flashing green state, predict the third distance corresponding to the rear of the vehicle when the flashing green light ends. In response to the third distance being greater than or equal to the distance between the current position of the rear of the vehicle and the third reference position, the passage status of the vehicle is determined to be permitted.

3. The method according to claim 1, characterized in that, Determining the vehicle's passage status based on the current state of the target traffic light includes: if the target traffic light is currently in a yellow light state, first determining that the vehicle's passage status is not permitted. In response to the duration of the yellow light being greater than or equal to a first duration threshold, the vehicle's passage status is determined to be permitted.

4. The method according to claim 1, characterized in that, Determining the vehicle's passage status based on the current state of the target traffic light includes: when the target traffic light is in a black state, first determining that the vehicle's passage status is not permitted. In response to the duration of the blackout state being greater than or equal to a second duration threshold, the vehicle's passage status is determined to be permitted.

5. The method according to claim 1, characterized in that, Determining the vehicle's passage status based on the current state of the target traffic light includes: when the target traffic light is in an intermittent unknown state, determining the vehicle's passage status based on at least one of the target traffic light's current color state, flashing state, and countdown state. When the target traffic light is in a persistent unknown state, the vehicle's passage status is first determined to be non-permitted. In response to the duration of the persistent unknown state being greater than or equal to a third duration threshold, the vehicle's passage status is determined to be permitted.

6. The method according to claim 1, characterized in that, The step of adjusting the initial value of the current second-level countdown corresponding to the current frame target traffic light state based on the previous second-level duration includes: In response to the previous second-level duration being greater than a preset number of seconds, a first time adjustment value and a second time adjustment value corresponding to the current second-level countdown are determined. The first time adjustment value is the time difference between obtaining the target traffic light status of the previous frame and obtaining the target traffic light status of the current frame. The second time adjustment value is the time by which the previous second-level duration exceeds the preset number of seconds. Subtract the first time adjustment value and the second time adjustment value from the initial value of the current second-level countdown to obtain the adjusted initial value of the current second-level countdown; Alternatively, in response to the previous second-level duration being less than a preset number of seconds, a third time adjustment value and a fourth time adjustment value corresponding to the current second-level countdown are determined. The third time adjustment value is the time difference between obtaining the target traffic light status of the previous frame and obtaining the target traffic light status of the current frame, and the fourth time adjustment value is the time difference between the previous second-level duration and the preset number of seconds. The adjusted initial value of the current second-level countdown is obtained by subtracting the time difference between the third time adjustment value and the fourth time adjustment value from the initial value of the current second-level countdown.

7. A vehicle control device, characterized in that, The device includes: an acquisition module, used to acquire the current state of a target traffic light, wherein the current state of the target traffic light includes at least one of the following: color state, flashing state, countdown state, and unknown state. The determination module is used to determine the traffic status of vehicles based on the current status of the target traffic light; A control module is configured to control the vehicle to pass through the target traffic light in response to the vehicle's passage status being permitted.

8. A processing apparatus, characterized in that, It includes a memory and a processor that are coupled to each other, wherein the memory stores program instructions; The processor is used to execute program instructions stored in the memory to implement the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store program instructions that can be executed to implement the method of any one of claims 1-6.

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