Signal lamp identification method and device, electronic equipment and readable storage medium

Abstract

The invention discloses a signal lamp recognition method and device, electronic equipment and a readable storage medium, applied to augmented reality equipment, and the signal lamp recognition method comprises the steps of obtaining a to-be-detected signal lamp image when it is detected that a target user wearing the augmented reality equipment is located in a signal lamp recognition area; according to the to-be-detected signal lamp image, detecting whether a signal lamp identified by the target user is shielded; and if the signal lamp is blocked, displaying signal lamp prompt information corresponding to the signal lamp, so that the target user identifies the signal lamp according to the signal lamp prompt information. The technical problem that the signal lamp cannot be recognized in real time in a driving scene is solved.

Description

Technical Field

[0001] The present application relates to the field of augmented reality technology, and in particular to a signal light recognition method, device, electronic device and readable storage medium. Background Art

[0002] With the continuous development of science and technology, the intelligence level of vehicles has been comprehensively improved, and driving assistance equipment has gradually become an indispensable part of intelligent driving. At present, vehicles are usually equipped with driving assistance equipment such as cameras or radar sensors to help drivers feedback the driving environment around the vehicle. However, in some specific driving scenarios, it still depends on the driver's subjective judgment, and the driving scenario at traffic light intersections is one of them.

[0003] Currently, when a driver drives to a traffic light intersection, the driver usually observes the status of the traffic light with the naked eye and then performs corresponding driving operations. However, due to the limitations of the human eye's field of vision and the uncertainty of the driving environment, it is easy for the driver to be unable to observe the traffic light. Therefore, it is currently impossible to identify the traffic light in real time in driving scenarios. Summary of the invention

[0004] The main purpose of the present application is to provide a signal light recognition method, device, electronic device and readable storage medium, aiming to solve the technical problem in the prior art that signal lights cannot be recognized in real time in driving scenarios.

[0005] To achieve the above object, the present application provides a signal light recognition method, which is applied to an augmented reality device. The signal light recognition method includes:

[0006] When it is detected that the target user wearing the augmented reality device is located in the signal light recognition area, acquiring the signal light image to be detected;

[0007] According to the image of the signal light to be detected, detecting whether the signal light identified by the target user is blocked;

[0008] If the signal light is blocked, signal light prompt information corresponding to the signal light is displayed so that the target user can identify the signal light according to the signal light prompt information.

[0009] Optionally, the step of detecting, based on the image of the signal light to be detected, whether the signal light identified by the target user is blocked comprises:

[0010] Detecting whether the image acquisition time duration in which the signal light logo corresponding to the signal light does not appear in the signal light image to be detected is greater than a preset acquisition time duration threshold;

[0011] If so, determining that the signal light identified by the target user is blocked;

[0012] If not, it is determined that the signal light identified by the target user is not blocked.

[0013] Optionally, the step of detecting, based on the image of the signal light to be detected, whether the signal light identified by the target user is blocked comprises:

[0014] Determining a regional position relationship between a target area and a field of view area in the image of the signal light to be detected;

[0015] According to the area position relationship, matching an occlusion coverage parameter for the target user, wherein the occlusion coverage parameter is used to distinguish whether an occlusion corresponding to the target area blocks the target user from identifying the traffic light;

[0016] According to the obstruction coverage parameter, it is detected whether the signal light identified by the target user is obstructed.

[0017] Optionally, the step of detecting whether the traffic light identified by the target user is blocked according to the blocking coverage parameter includes:

[0018] Obtaining an occlusion coverage parameter between the target area and the field of view area;

[0019] According to the magnitude relationship between the occlusion coverage parameter and the occlusion coverage parameter threshold, it is detected whether the traffic light identified by the target user is occluded.

[0020] Optionally, the step of matching the shielding coverage parameters for the target user according to the area position relationship includes:

[0021] Determining a relative distance between the target user and the signal light according to the first position of the target user and the second position of the signal light;

[0022] According to the relative distance and the area position relationship, an occlusion coverage parameter is matched for the target user.

[0023] Optionally, the step of matching the shielding coverage parameters for the target user according to the area position relationship includes:

[0024] Acquire a first coordinate point of the target user and a second coordinate point of the traffic light in a preset coordinate system, and establish a relative position axis between the target user and the traffic light according to the first coordinate point and the second coordinate point;

[0025] Determine the occlusion coverage angle between the relative position axis and the reference axis in the preset coordinate system;

[0026] According to the occlusion coverage angle, the relative position and the area position relationship, occlusion coverage parameters are matched for the target user.

[0027] Optionally, after the step of displaying the signal light prompt information corresponding to the signal light, the signal light recognition method further includes:

[0028] Determine the stay time of the vehicle carrying the target user in the signal light recognition area;

[0029] Detecting whether the stay time is less than the signal light jump time corresponding to the signal light prompt information;

[0030] If it is less than, then displaying the driving prompt information of the vehicle leaving the signal light recognition area;

[0031] If it is not less than, then vehicle start / stop information is generated at the jump time point of the signal light, and the vehicle start / stop information is sent to the vehicle, so that the vehicle performs corresponding start / stop operations according to the vehicle start / stop information.

[0032] To achieve the above-mentioned purpose, the present application further provides a signal light recognition device, which is applied to an augmented reality device. The signal light recognition device comprises:

[0033] An acquisition module, configured to acquire an image of a signal light to be detected when it is detected that a target user wearing the augmented reality device is located in a signal light recognition area;

[0034] A detection module, configured to detect whether the signal light identified by the target user is blocked according to the image of the signal light to be detected;

[0035] The display module is used to display the signal light prompt information corresponding to the signal light if the signal light is blocked, so that the target user can identify the signal light according to the signal light prompt information.

[0036] Optionally, the detection module is further used for:

[0037] Detecting whether the image acquisition time duration in which the signal light logo corresponding to the signal light does not appear in the signal light image to be detected is greater than a preset acquisition time duration threshold;

[0038] If so, determining that the signal light identified by the target user is blocked;

[0039] If not, it is determined that the signal light identified by the target user is not blocked.

[0040] Optionally, the detection module is further used for:

[0041] Determining a regional position relationship between a target area and a field of view area in the image of the signal light to be detected;

[0042] According to the area position relationship, matching an occlusion coverage parameter for the target user, wherein the occlusion coverage parameter is used to distinguish whether an occlusion corresponding to the target area blocks the target user from identifying the traffic light;

[0043] According to the obstruction coverage parameter, it is detected whether the signal light identified by the target user is obstructed.

[0044] Optionally, the detection module is further used for:

[0045] Obtaining an occlusion coverage parameter between the target area and the field of view area;

[0046] According to the magnitude relationship between the occlusion coverage parameter and the occlusion coverage parameter threshold, it is detected whether the traffic light identified by the target user is occluded.

[0047] Optionally, the detection module is further used for:

[0048] Determining a relative distance between the target user and the signal light according to the first position of the target user and the second position of the signal light;

[0049] According to the relative distance and the area position relationship, an occlusion coverage parameter is matched for the target user.

[0050] Optionally, the detection module is further used for:

[0051] Acquire a first coordinate point of the target user and a second coordinate point of the traffic light in a preset coordinate system, and establish a relative position axis between the target user and the traffic light according to the first coordinate point and the second coordinate point;

[0052] Determine the occlusion coverage angle between the relative position axis and the reference axis in the preset coordinate system;

[0053] According to the occlusion coverage angle, the relative position and the area position relationship, occlusion coverage parameters are matched for the target user.

[0054] Optionally, the signal light recognition device is further used for:

[0055] Determine the stay time of the vehicle carrying the target user in the signal light recognition area;

[0056] Detecting whether the stay time is less than the signal light jump time corresponding to the signal light prompt information;

[0057] If it is less than, then displaying the driving prompt information of the vehicle leaving the signal light recognition area;

[0058] If it is not less than, then vehicle start / stop information is generated at the jump time point of the signal light, and the vehicle start / stop information is sent to the vehicle, so that the vehicle performs corresponding start / stop operations according to the vehicle start / stop information.

[0059] The present application also provides an electronic device, which includes: at least one processor and a memory communicatively connected to the at least one processor, the memory storing instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can perform the steps of the signal light recognition method as described above.

[0060] The present application also provides a computer-readable storage medium, on which is stored a program for implementing the signal light recognition method. When the program for the signal light recognition method is executed by a processor, the steps of the signal light recognition method as described above are implemented.

[0061] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned signal light recognition method when executed by a processor.

[0062] The present application provides a signal light recognition method, device, electronic device and readable storage medium, which are applied to an augmented reality device, that is, when it is detected that a target user wearing the augmented reality device is located in a signal light recognition area, an image of the signal light to be detected is obtained; based on the signal light image to be detected, it is detected whether the signal light recognized by the target user is obstructed; if the signal light is obstructed, signal light prompt information corresponding to the signal light is displayed, so that the target user can identify the signal light according to the signal light prompt information.

[0063] When identifying a traffic light, the present application first detects that a target user wearing an augmented reality device is located in a traffic light identification area, then obtains an image of the traffic light to be detected through the augmented reality device, and then detects whether the traffic light identified by the target user is obstructed based on the image of the traffic light to be detected. If it is detected that the traffic light is obstructed, the traffic light prompt information corresponding to the traffic light is displayed through the augmented reality device. Since the target user wears an augmented reality device, the target user can identify the obstructed traffic light through the signal light prompt information displayed by the augmented reality device.

[0064] Since the augmented reality device can project the traffic light prompt information onto the retina of the target user, it can ensure that the target user receives the traffic light prompt information in real time. When the target user is in the traffic light recognition area, the augmented reality device is first used to detect whether the traffic light recognized by the target user is obstructed. If the traffic light is obstructed, the traffic light recognition information corresponding to the traffic light is displayed on the retina of the target user in real time. Since the traffic light can be easily recognized by the target user when there is no obstruction, the purpose of the target user recognizing the traffic light in real time is achieved.

[0065] Based on this, the present application uses an augmented reality device to obtain the image of the signal light to be detected when the target user is in the signal light recognition area, and then uses the augmented reality device to display the signal light prompt information corresponding to the signal light when it is detected that the signal light is blocked through the image of the signal light to be detected. Finally, the target user identifies the signal light through the signal light prompt information, so that the target user can identify the signal light in real time. Instead of the target user being unable to identify the signal light when the signal light is blocked. That is, it overcomes the technical defect that the driver is easily unable to observe the signal light due to the limitations of the human eye's field of vision and the uncertainty of the driving environment. Therefore, the target user can identify the signal light in real time, thus solving the problem of being unable to identify the signal light in real time in driving scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0067] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0068] Figure 1 A flowchart of a signal light recognition method provided in Example 1 of the present application;

[0069] Figure 2 A schematic diagram of the regional position relationship between the field of view area and the target area of ​​the signal light recognition method provided in Example 1 of the present application;

[0070] Figure 3 A schematic diagram of the regional position relationship in which the target area of ​​the signal light recognition method provided in the first embodiment of the present application is completely located within the field of view area;

[0071] Figure 4 A flowchart of a signal light recognition method provided in Embodiment 2 of the present application;

[0072] Figure 5 A schematic diagram of the occlusion between the target user and the signal light in different lanes of the signal light recognition method provided in the second embodiment of the present application;

[0073] Figure 6 A schematic diagram of a preset coordinate system for the signal light recognition method provided in the second embodiment of the present application;

[0074] Figure 7 A schematic diagram of the structure of a signal light recognition device provided in Embodiment 3 of the present application;

[0075] Figure 8 This is a schematic diagram of the structure of an electronic device provided in Example 4 of the present application.

[0076] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0077] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0078] Embodiment 1

[0079] With the development of science and technology, more and more assisted driving devices are applied to vehicles. Among them, AR (Augmented Reality) devices have become an important vehicle loading target with their immersive interactive experience. However, there is still development prospect for the auxiliary dimension of augmented reality devices for drivers. Taking the driving scene at a traffic light intersection as an example, at present, the driving environment around the vehicle is still monitored by cameras and radars. However, when the driver drives to the traffic light intersection, the camera and radar cannot accurately identify the traffic light. For example, if the vehicle in front of the driver is a large truck, the driver cannot identify the traffic light at the traffic light intersection because his field of vision is blocked. If he rashly follows the vehicle, he may run a red light, that is, driving safety cannot be guaranteed. Therefore, there is an urgent need for a method for the driver to identify the traffic light in real time. The applicant takes this as the fulcrum of the technical conception and combines the characteristics of the augmented reality device to propose a method that relies on the augmented reality device to assist the driver in identifying the traffic light in real time.

[0080] The present application embodiment provides a signal light recognition method, which is applied to an augmented reality device. In the first embodiment of the signal light recognition method of the present application, reference is made to Figure 1 , the signal light recognition method comprises:

[0081] Step S10, when it is detected that the target user wearing the augmented reality device is located in the signal light recognition area, acquiring the signal light image to be detected;

[0082] Step S20, detecting whether the signal light identified by the target user is blocked according to the signal light image to be detected;

[0083] Step S30: If the signal light is blocked, display signal light prompt information corresponding to the signal light, so that the target user can identify the signal light according to the signal light prompt information.

[0084] In this embodiment, it should be noted that although Figure 1A logical sequence is shown, but in some cases, the steps shown or described may be performed in a different order than that described herein. The signal light recognition method is performed in a scenario where a target user wears an augmented reality device and passes a signal light intersection. The scenario may specifically be a scenario where a target user wears an augmented reality device and drives a vehicle through a signal light intersection, such as the target user driving a vehicle and waiting for a red light, etc., or a scenario where a target user wears an augmented reality device and passes a signal light intersection, such as the target user walking to a zebra crossing and waiting for a red light, etc. The augmented reality device may specifically be AR glasses or an AR watch, etc. The target user is used to represent a user who needs to recognize a signal light. For example, in one practicable method, it is assumed that there are four users A, B, C and D in a vehicle, all wearing augmented reality devices, and the vehicle is at a signal light intersection, wherein user A is the driver, Since the driver is responsible for controlling the vehicle, and thus the driver needs to identify the traffic light, the target user is driver A. The traffic light identification area is used to characterize the area where traffic light identification is required. Specifically, whether any area is a traffic light identification area can be determined by the positional relationship between the target user and the traffic light identification area. For example, in one feasible method, the augmented reality device detects the position of the traffic light intersection closest to the current position of the target user, and calculates the current distance between the target user and the traffic light based on the positional relationship. Then, when it is detected that the current distance is not greater than a preset distance threshold, it is determined that the target user is located in the traffic light identification area. The detection method can be either a real-time detection method or a periodic detection method. The current position can be obtained by positioning by GPS (Global Positioning System) of other positioning devices or by positioning by a positioning module carried by the augmented reality device. The preset distance threshold is set by the user according to the detection requirements. The identification scene corresponding to the traffic light identification area can be either a scene of the target user wearing the augmented reality device driving a vehicle or a scene of the target user wearing the augmented device crossing a zebra crossing. The embodiments of the present application do not limit the above.

[0085] In addition, it should be noted that the image of the signal light to be detected is used to represent the image of the identification situation of the signal light to be detected, and can be captured by a camera or a depth camera configured by the augmented reality device, wherein the shooting angle of the camera covers the field of view of the target user, and the signal light can be captured normally in the absence of an obstruction. In the presence of an obstruction, whether the signal light is captured can be determined based on the relative position relationship between the signal light and the target user. The relative angle between the camera and the signal light is determined by the relative position between the camera and the augmented reality device. For example, in an implementable method, the image of the signal light to be detected is an image of the driving environment directly in front of the target user, wherein the visibility of the image is determined by the camera accuracy of the camera. When there is a large truck in front of the vehicle driven by the target user that obstructs the field of view of the target user, the driving environment image captured by the camera is the rear outline of the vehicle directly in front. At this time, the target user cannot know the operation of the signal light in front of the large truck. If the target user easily follows the vehicle to start and stop the vehicle, it is easy to cause unsafe driving behavior.

[0086] In addition, it should be noted that the augmented reality device is equipped with an image recognition algorithm. Due to the particularity of the color of the traffic light and the traffic light installation device (cantilever or column type, etc.), pixel-level image recognition can be used to identify whether the traffic light appears in the traffic light image to be detected, and thus determine whether the traffic light is obstructed. In the detection process, the detection error caused by the difference in spatial position between the camera device and the target user is ignored. If the augmented reality device detects that a traffic light appears in the traffic light image, it is determined that the traffic light identified by the target user is not obstructed, and if the augmented reality device detects that no traffic light appears in the traffic light image, it is determined that the traffic light identified by the target user is obstructed. After the traffic light is obstructed, the traffic light prompt information can be displayed on the preset display interface. The traffic light prompt information is used to characterize the information that prompts the identification of the traffic light, and can specifically be a traffic light countdown carrying prompt text, such as "30 seconds left until the red light ends", wherein the actual distance between the preset display interface and the user's retina is not limited in the embodiment of the present application.

[0087] As an example, steps S10 to S30 include: after detecting that the target user is wearing the augmented reality device, periodically obtaining the current position of the target user and the position of the traffic light closest to the target user, determining whether the target user is located in the traffic light recognition area based on the distance between the current position and the traffic light position, and according to the relationship between the distance and a preset distance threshold, and when it is determined that the target user is located in the traffic light recognition area, capturing an image of the traffic light to be detected based on the camera device of the augmented reality device; detecting whether the traffic light recognized by the target user is obstructed by a preset image recognition algorithm; if it is detected that the traffic light is obstructed, displaying the traffic light countdown corresponding to the traffic light on a preset display interface, so that the target user can identify the traffic light according to the traffic light countdown. When the signal light recognized by the target user is blocked due to external interference, the augmented reality device can display the signal light prompt information corresponding to the signal light in front of the target user's retina, thereby enabling the target user to recognize the signal light under blockage. At the same time, when the signal light is not blocked, the target user can autonomously capture the signal light within the field of vision. Therefore, the target user can recognize the signal light in real time, thereby solving the problem that the target user cannot recognize the blocked signal light during driving.

[0088] Wherein, the step of detecting whether the signal light identified by the target user is blocked according to the signal light image to be detected comprises:

[0089] Step A10, detecting whether the image acquisition time of the signal light image to be detected without the signal light logo corresponding to the signal light is greater than a preset acquisition time threshold;

[0090] Step A20: If yes, determining that the signal light identified by the target user is blocked;

[0091] Step A30: If not, determine that the signal light identified by the target user is not blocked.

[0092] In this embodiment, it should be noted that due to the high algorithm complexity of the preset image recognition algorithm and the high requirements for traffic light recognition efficiency in the target user's driving scenario, if the image recognition algorithm is used to identify whether the traffic light is obstructed, it may lead to a situation where the traffic light recognition cannot meet the needs of the target user. In this way, a simpler occlusion recognition method can be used to identify whether the traffic light is obstructed, that is, the image acquisition time is introduced to determine the traffic light occlusion situation.

[0093] In addition, it should be noted that the image acquisition duration is used to characterize the total duration of acquiring the image of the signal light to be detected, and the signal light identifier is used to identify the signal light, which can specifically be the outline of the signal light or the color of the signal light, etc. For example, in an implementable manner, in a scenario where the target user drives a vehicle to a signal light intersection, if it is detected that the target user is located in the signal light recognition area, the image of the signal light to be detected is acquired by a camera device, and the signal light image timing device is simultaneously started to count the total duration of acquiring the signal light to be detected, and then, based on the total duration in which the signal light identifier corresponding to the signal light does not appear in the image of the signal light to be detected, it is determined whether it is greater than a preset acquisition duration threshold, and if it is greater than, it is determined that the signal light recognized by the target user is obstructed, or if it is less than, it is determined that the signal light recognized by the target user is not obstructed, wherein the preset acquisition duration threshold is specifically set by the user based on the scene requirements, and the image acquisition duration can be either a continuous cumulative duration or an intermittent cumulative duration, which is not limited in the embodiments of the present application.

[0094] As an example, step A10 to step A30 include: obtaining the image acquisition time when the signal light logo corresponding to the signal light does not appear in the signal light image to be detected, and detecting whether the image acquisition time is greater than a preset acquisition time threshold; if it is detected that the image acquisition time is greater than the preset acquisition time threshold, determining that the signal light identified by the target user is blocked; if it is detected that the image acquisition time is not greater than the preset acquisition time threshold, determining that the signal light identified by the target user is not blocked. Since it is only necessary to identify whether there is a signal light logo in the signal light image to be detected when counting the image acquisition time, the purpose of identifying whether there is blockage in the signal light identified by the target user can be achieved. At the same time, since the shooting angle of the camera device of the augmented reality device can objectively feedback the field of view of the target user, a certain degree of blockage determination accuracy can be ensured through the appearance of the signal light logo in the signal light image to be detected, the situation in which the signal light recognition cannot meet the use of the target user in a specific scene is avoided, thereby improving the recognition efficiency of the signal light recognition.

[0095] Wherein, the step of detecting whether the signal light identified by the target user is blocked according to the signal light image to be detected comprises:

[0096] Step B10, determining the regional position relationship between the target area and the field of view area in the image of the signal light to be detected;

[0097] Step B20, matching an occlusion coverage parameter for the target user according to the area position relationship, wherein the occlusion coverage parameter is used to distinguish whether an occlusion corresponding to the target area blocks the target user from identifying the traffic light;

[0098] Step B30: Detecting whether the traffic light identified by the target user is blocked according to the blockage coverage parameter.

[0099] In this embodiment, it should be noted that due to the complex positional relationship between the target user and the traffic light in the driving scenario, if the traffic light is simply determined to be blocked only by statistics of the image acquisition time, and when the field of view of the target user and the blocking range of the target user by the vehicle in front overlap, there will be certain errors, which may easily lead to unsafe driving due to recognition errors. The calculation amount of signal light recognition in dynamic scenarios using a preset image recognition algorithm is too large. Therefore, it is difficult to take into account both the recognition accuracy and recognition efficiency of the signal light. Therefore, special processing is performed on the signal light image to be detected to make it suitable for driving scenarios with high recognition complexity.

[0100] In addition, it should be noted that after the shooting device shoots the image of the signal light to be detected, the field of view area of ​​the target user and the target area in front of the target user are detected based on the edge detection algorithm built into the augmented reality device, wherein the field of view area is used to characterize the area covering the field of view of the target user, which can be specifically the windshield contour area of ​​the vehicle driven by the target user, and the target area is used to characterize the area corresponding to the obstruction in front of the target user, which can be specifically the contour area of ​​the obstruction in the image of the signal light to be detected, wherein the regional position relationship is used to characterize the relative position relationship between the field of view area and the target area, refer to Figure 2 , Figure 2 10 is a schematic diagram showing the regional position relationship between the field of view area and the target area, wherein 10 is the signal light image to be detected, 11 is the field of view area, 12 is the target area, the target area 12 can be completely located inside the field of view area 11, and the target area 12 can also be located on the field of view area 11. Different occlusion coverage parameters can be matched for different regional position relationships. The occlusion coverage parameters are used to determine whether the occlusion corresponding to the target area blocks the target user recognition signal light. Figure 3 , Figure 3 It is a schematic diagram of the regional position relationship in which the target area is completely located inside the field of view area, wherein h1 is the distance between the upper area outline of the target area and the upper area outline of the field of view area, h2 is the distance between the lower area outline of the target area and the lower area outline of the field of view, l1 is the distance between the left area outline of the target area and the left area outline of the field of view area, l2 is the distance between the right area outline of the target area and the right area outline of the field of view area, h1, h2, l1 and l2 are all occlusion coverage parameters. In the matching process, all of the above four can be used as matching occlusion coverage parameters, or one of the above four can be used as matching occlusion coverage parameters.

[0101] As an example, step B10 to step B30 include: detecting the regional position relationship between the occluder region and the visual field region according to the pixel point coverage between the occluder region and the visual field region in the signal light image to be detected; matching the occlusion coverage parameter for the target user according to the regional position relationship, wherein the occlusion coverage parameter is used to distinguish whether the occluder corresponding to the occluder region blocks the target user from identifying the signal light; and detecting whether the signal light identified by the target user is blocked according to the occlusion coverage parameter. Since when the visual range of the target user and the occlusion range of the occluder overlap, the occlusion coverage parameter used to distinguish whether the occluder region blocks the target user from identifying the signal light can be matched through the regional position relationship between the occluder region and the visual field region, and then the occlusion coverage parameter can be used to identify whether the signal light identified by the target user is blocked, that is, the purpose of identifying the occlusion of the signal light by matching the occlusion coverage parameter that meets the regional position relationship between the occluder region and the visual field region in the driving vehicle scene is achieved, so that both recognition accuracy and recognition efficiency are taken into account when performing signal light recognition.

[0102] In one implementable method, the target area may also be an area outside the occlusion area in the overall area constituted by the field of view area and the occlusion area in the image of the signal light to be detected, and then the corresponding occlusion coverage parameters are matched according to the regional position relationship between the target area and the field of view area to determine whether the signal light identified by the target user is obstructed, wherein the occlusion coverage parameters used as the target area by the target area and the occlusion area are different, that is, there are differences in the specific values ​​of h1 used in the target area and h1 used in the occlusion area.

[0103] The step of detecting whether the signal light identified by the target user is blocked according to the blocking coverage parameter comprises:

[0104] Step C10, obtaining an occlusion coverage parameter between the target area and the field of view area;

[0105] Step C20: detecting whether the traffic light identified by the target user is blocked according to the magnitude relationship between the blockage coverage parameter and the blockage coverage parameter threshold.

[0106] As an example, step C10 to step C20 include: obtaining an occlusion coverage parameter between the target area and the field of view area; if it is detected that the occlusion coverage parameter is less than a preset occlusion coverage parameter threshold, determining that the signal light identified by the target user is occluded; if it is detected that the occlusion coverage parameter is not less than the preset occlusion coverage parameter threshold, determining that the signal light identified by the target user is not occluded.

[0107] The step of matching the occlusion coverage parameters for the target user according to the area position relationship includes:

[0108] Step D10, determining a relative distance between the target user and the traffic light according to the first position of the target user and the second position of the traffic light;

[0109] Step D20: Matching occlusion coverage parameters for the target user according to the relative distance and the area position relationship.

[0110] In the present embodiment, it should be noted that the occlusion coverage parameters in the dynamic driving scenario are in dynamic matching, and the influencing factors involved are complex. For example, the relative position difference between the target user and the traffic light will affect the size of the occlusion area in the field of view. For example, in one feasible method, if the positions of the occlusion and the traffic light are fixed, when the target user drives the vehicle close to the occlusion, the relative position between the target user and the traffic light changes, and the occlusion coverage parameters for determining whether the occlusion blocks the target user's recognition of the traffic light also change. Therefore, in the process of matching the occlusion coverage parameters, the relative distance between the target user and the traffic light and the regional position relationship need to be combined.

[0111] As an example, step D10 to step D20 include: respectively obtaining the first position of the target user and the second position of the traffic light, and calculating the relative distance between the target user and the traffic light according to the first position and the second position; using the relative distance and the regional position relationship as indexes, querying the occlusion coverage parameters of the target user in a preset mapping table, wherein the preset mapping table stores a mapping relationship between occlusion coverage parameters and occlusion determination conditions, wherein the occlusion determination conditions may specifically be a regional position relationship, or may be a relative distance and the regional position relationship. By combining the relative distance between the target user and the traffic light when matching the occlusion coverage parameters, it is possible to achieve that the matched occlusion coverage parameters are fully adapted to the scenario where the target user drives the vehicle to the traffic light intersection, that is, the purpose of accurately matching the occlusion coverage parameters based on the relative position of the target user and the traffic light is achieved in a dynamic driving scenario, thereby laying a foundation for improving the accuracy of traffic light recognition.

[0112] Wherein, after the step of displaying the signal light prompt information corresponding to the signal light, the signal light recognition method further includes:

[0113] Step E10, determining the stay time of the vehicle carrying the target user in the signal light recognition area;

[0114] Step E20, detecting whether the stay time is less than the signal light jump time corresponding to the signal light prompt information;

[0115] Step E30: if it is less than, displaying driving prompt information for the vehicle to leave the signal light recognition area;

[0116] Step E40: If it is not less than, then generate vehicle start-stop information at the jump time point of the signal light, and send the vehicle start-stop information to the vehicle, so that the vehicle performs corresponding start-stop operations according to the vehicle start-stop information.

[0117] In the present embodiment, it should be noted that, under normal circumstances, the target user can judge the situation at the traffic light intersection through the traffic light prompt information displayed by the augmented reality device and perform corresponding operations, such as driving away from the traffic light intersection at the current speed or waiting for the next traffic light to show a sign that allows driving away. However, in some extreme cases, the target user is at a critical point and cannot react to changes in the traffic light signs in time, and thus cannot make the most correct judgment quickly. At this time, the user may engage in unsafe driving behavior at the traffic light intersection. Therefore, after displaying the traffic light prompt information, the user can avoid unsafe driving behavior by actively intervening in the starting and stopping of the vehicle.

[0118] In addition, it should be noted that the residence time of the target user's vehicle in the signal light recognition area refers to the absolute value of the difference between the time point when the target user enters the signal light recognition area and the time point when the target user leaves the signal light recognition area, which can be specifically obtained through the timer statistics of the augmented reality device. The signal light jump time is used to represent the remaining time for the signal light to maintain the current state. After the remaining time is over, the signal light will jump to another state, which can be specifically red, green and yellow. The driving prompt information is used to prompt the target user to drive, which can be specifically "Please maintain the current speed and leave the signal light intersection". The vehicle start and stop information is used to represent the start or stop (braking) information of the vehicle, which can specifically trigger the vehicle-machine end to perform corresponding start or braking operations on the target user's vehicle.

[0119] As an example, steps E10 to E40 include: based on the timer of the augmented reality device, counting the stay time of the vehicle carrying the target user in the signal light recognition area; detecting whether the stay time is less than the signal light jump time corresponding to the signal light prompt information; if it is detected that the stay time is less than the signal light jump time corresponding to the signal light prompt information, displaying driving prompt information of the vehicle leaving the signal light recognition area; if it is detected that the stay time is not less than the signal light jump time corresponding to the signal light prompt information, generating vehicle start and stop information at the signal light jump time point, and sending the vehicle start and stop information to the vehicle, so that the vehicle can perform corresponding start and stop operations according to the vehicle start and stop information.

[0120] In one feasible method, assuming that the target user drives into the traffic light recognition area and enters the green light countdown, the time required for the target user to leave the traffic light intersection (i.e., the time the target user's vehicle stays in the traffic light recognition area) can be calculated based on the current vehicle speed and the position of the vehicle from the stop line of the intersection, and compared with the remaining time of the current traffic light countdown (traffic light jump time), and then output whether the current speed can be maintained to leave the traffic light intersection. If it is detected that the current vehicle speed is high and the remaining time for the target user's vehicle to leave the traffic light intersection at this speed is not short enough, in order to avoid problems caused by the driver's untimely response, the augmented reality device can feed back the relevant results (vehicle start and stop information) to the vehicle's on-board terminal, so that the on-board terminal can intervene in the target user's driving behavior, for example, the on-board terminal performs emergency braking.

[0121] The present application provides a signal light recognition method, which is applied to an augmented reality device. That is, when it is detected that a target user wearing the augmented reality device is located in a signal light recognition area, an image of the signal light to be detected is obtained; based on the signal light image to be detected, it is detected whether the signal light recognized by the target user is obstructed; if the signal light is obstructed, signal light prompt information corresponding to the signal light is displayed, so that the target user can identify the signal light according to the signal light prompt information.

[0122] When identifying a traffic light, the embodiment of the present application first detects that a target user wearing an augmented reality device is located in a traffic light identification area, obtains an image of the traffic light to be detected through the augmented reality device, and then detects whether the traffic light identified by the target user is obstructed based on the image of the traffic light to be detected. If it is detected that the traffic light is obstructed, the traffic light prompt information corresponding to the traffic light is displayed through the augmented reality device. Since the target user wears an augmented reality device, the target user can identify the obstructed traffic light through the signal light prompt information displayed by the augmented reality device.

[0123] Since the augmented reality device can project the traffic light prompt information onto the retina of the target user, it can ensure that the target user receives the traffic light prompt information in real time. When the target user is in the traffic light recognition area, the augmented reality device is first used to detect whether the traffic light recognized by the target user is obstructed. If the traffic light is obstructed, the traffic light recognition information corresponding to the traffic light is displayed on the retina of the target user in real time. Since the traffic light can be easily recognized by the target user when there is no obstruction, the purpose of the target user recognizing the traffic light in real time is achieved.

[0124] Based on this, the present application uses an augmented reality device to obtain the image of the signal light to be detected when the target user is in the signal light recognition area, and then uses the augmented reality device to display the signal light prompt information corresponding to the signal light when it is detected that the signal light is blocked through the image of the signal light to be detected. Finally, the target user identifies the signal light through the signal light prompt information, so that the target user can identify the signal light in real time. Instead of the target user being unable to identify the signal light when the signal light is blocked. That is, it overcomes the technical defect that the driver is easily unable to observe the signal light due to the limitations of the human eye's field of vision and the uncertainty of the driving environment. Therefore, the target user can identify the signal light in real time, thus solving the problem of being unable to identify the signal light in real time in driving scenarios.

[0125] Embodiment 2

[0126] Further, refer to Figure 4 In another embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above description and will not be described in detail later. On this basis, the step of matching the occlusion coverage parameters for the target user according to the regional position relationship includes:

[0127] Step F10, acquiring a first coordinate point of the target user and a second coordinate point of the traffic light in a preset coordinate system, and establishing a relative position axis between the target user and the traffic light according to the first coordinate point and the second coordinate point;

[0128] Step F20, determining the shielding coverage angle between the relative position axis and the reference axis in the preset coordinate system;

[0129] Step F30, matching occlusion and coverage parameters for the target user according to the occlusion and coverage angle, the relative position and the area position relationship.

[0130] In this embodiment, it should be noted that, since the longitudinal distance between the signal light and the vehicle driven by the target user in the driving scene can be represented by a relative distance, that is, the size of the field of view covered by the obstruction area can reflect the distance between the vehicle driven by the target user and the obstruction to a certain extent, and since the positional relationship between the lane and the signal light is also involved in the driving scene, it will also affect the determination of the signal light obstruction situation. For example, in one practicable manner, referring to Figure 5 , Figure 5 The following is a schematic diagram showing the obstruction between the target user and the traffic light in different lanes. Since the position of the traffic light is fixed, if the target user is in the lane opposite the traffic light, the target user will not be able to recognize the traffic light due to obstruction. If the target user is not in the lane opposite the traffic light, the target user shown in Figure (a) and Figure (d) will not be able to recognize the traffic light due to obstruction. The target user shown in Figure (b) and Figure (c) can recognize the traffic light normally when the traffic light is not obstructed.

[0131] In addition, it should be noted that in order to dynamically match the occlusion coverage parameters of different lanes at the same lateral position, the target user can be used as the reference point, the horizontal direction of the target user is the X-axis, and the longitudinal direction between the target user and the traffic light is the Y-axis to establish a preset coordinate system, wherein the reference axis can be either the X-axis or the Y-axis. Figure 6 , Figure 6 It is a schematic diagram representing the preset coordinate system, wherein p is the occlusion coverage angle, and the line between the target user 21 and the traffic light 22 is the relative position axis. The occlusion coverage parameters can then be dynamically matched by combining the occlusion coverage angle, relative position and regional position relationship.

[0132] As an example, steps F10 to F30 include: obtaining a first coordinate point of the target user and a second coordinate point of the traffic light in a preset coordinate system, and establishing a relative position axis between the target user and the traffic light based on the first coordinate point and the second coordinate point; determining an occlusion coverage angle between the relative position axis and a reference axis in the preset coordinate system; and using the occlusion coverage angle, the relative position, and the regional position relationship as indexes to query the preset mapping table to obtain the occlusion coverage parameters of the target user.

[0133] The embodiment of the present application provides a method for matching occlusion coverage parameters, that is, obtaining the first coordinate point of the target user and the second coordinate point of the traffic light in a preset coordinate system, and establishing a relative position axis between the target user and the traffic light based on the first coordinate point and the second coordinate point; determining the occlusion coverage angle between the relative position axis and the reference axis in the preset coordinate system; and matching occlusion coverage parameters for the target user based on the occlusion coverage angle, the relative position, and the regional position relationship. In the process of matching occlusion coverage parameters, the embodiment of the present application establishes a preset coordinate system and determines the occlusion coverage angle in the preset coordinate system, and then matches the occlusion coverage parameters of the target user through the occlusion coverage angle, the relative position, and the regional position relationship. That is, in the process of matching occlusion coverage parameters, the influence of different lanes on the obstruction of the target user's recognition of the traffic light is taken into account, thereby laying a foundation for improving the accuracy of traffic light recognition.

[0134] Embodiment 3

[0135] The present application also provides a signal light recognition device for use in an augmented reality device. Figure 7 , the signal light recognition device comprises:

[0136] An acquisition module 101 is used to acquire a signal light image to be detected when it is detected that a target user wearing the augmented reality device is located in a signal light recognition area;

[0137] A detection module 102, configured to detect whether the signal light identified by the target user is blocked according to the signal light image to be detected;

[0138] The display module 103 is configured to display signal light prompt information corresponding to the signal light if the signal light is blocked, so that the target user can identify the signal light according to the signal light prompt information.

[0139] Optionally, the detection module 102 is further configured to:

[0140] Detecting whether the image acquisition time duration in which the signal light logo corresponding to the signal light does not appear in the signal light image to be detected is greater than a preset acquisition time duration threshold;

[0141] If so, determining that the signal light identified by the target user is blocked;

[0142] If not, it is determined that the signal light identified by the target user is not blocked.

[0143] Optionally, the detection module 102 is further configured to:

[0144] Determining a regional position relationship between a target area and a field of view area in the image of the signal light to be detected;

[0145] According to the area position relationship, matching an occlusion coverage parameter for the target user, wherein the occlusion coverage parameter is used to distinguish whether an occlusion corresponding to the target area blocks the target user from identifying the traffic light;

[0146] According to the obstruction coverage parameter, it is detected whether the signal light identified by the target user is obstructed.

[0147] Optionally, the detection module 102 is further configured to:

[0148] Obtaining an occlusion coverage parameter between the target area and the field of view area;

[0149] According to the magnitude relationship between the occlusion coverage parameter and the occlusion coverage parameter threshold, it is detected whether the traffic light identified by the target user is occluded.

[0150] Optionally, the detection module 102 is further configured to:

[0151] Determining a relative distance between the target user and the signal light according to the first position of the target user and the second position of the signal light;

[0152] According to the relative distance and the area position relationship, an occlusion coverage parameter is matched for the target user.

[0153] Optionally, the detection module 102 is further configured to:

[0154] Acquire a first coordinate point of the target user and a second coordinate point of the traffic light in a preset coordinate system, and establish a relative position axis between the target user and the traffic light according to the first coordinate point and the second coordinate point;

[0155] Determine the occlusion coverage angle between the relative position axis and the reference axis in the preset coordinate system;

[0156] According to the occlusion coverage angle, the relative position and the area position relationship, occlusion coverage parameters are matched for the target user.

[0157] Optionally, the signal light recognition device is further used for:

[0158] Determine the stay time of the vehicle carrying the target user in the signal light recognition area;

[0159] Detecting whether the stay time is less than the signal light jump time corresponding to the signal light prompt information;

[0160] If it is less than, then displaying the driving prompt information of the vehicle leaving the signal light recognition area;

[0161] If it is not less than, then vehicle start / stop information is generated at the jump time point of the signal light, and the vehicle start / stop information is sent to the vehicle, so that the vehicle performs corresponding start / stop operations according to the vehicle start / stop information.

[0162] The signal light recognition device provided by the present invention adopts the signal light recognition method in the above embodiment, and solves the technical problem that the signal light cannot be recognized in real time in the driving scene. Compared with the prior art, the beneficial effects of the signal light recognition device provided by the embodiment of the present invention are the same as the beneficial effects of the signal light recognition method provided by the above embodiment, and other technical features in the signal light recognition device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0163] Embodiment 4

[0164] An embodiment of the present invention provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the signal light recognition method in the above-mentioned embodiment 1.

[0165] Reference below Figure 8 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure. The electronic device in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0166] like Figure 8 As shown, the electronic device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM) 1004. Various programs and data required for the operation of the electronic device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus.

[0167] Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device can allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an electronic device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0168] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 1009, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0169] The electronic device provided by the present invention adopts the signal light recognition method in the above embodiment to solve the technical problem that the signal light cannot be recognized in real time in the driving scene. Compared with the prior art, the beneficial effects of the electronic device provided by the embodiment of the present invention are the same as the beneficial effects of the signal light recognition method provided by the above embodiment, and other technical features in the electronic device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0170] It should be understood that the various parts of the present disclosure can be implemented with hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0171] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0172] Embodiment 5

[0173] This embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon, and the computer-readable program instructions are used to execute the signal light recognition method in the above embodiment.

[0174] The computer-readable storage medium provided in the embodiment of the present invention may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, 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), an optical fiber, 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 embodiment, the 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, system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0175] The computer-readable storage medium may be included in the electronic device, or may exist independently without being installed in the electronic device.

[0176] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by an electronic device, the electronic device: when it is detected that the target user wearing the augmented reality device is located in the signal light recognition area, obtains the image of the signal light to be detected; based on the signal light image to be detected, detects whether the signal light recognized by the target user is obstructed; if the signal light is obstructed, displays the signal light prompt information corresponding to the signal light, so that the target user can identify the signal light according to the signal light prompt information.

[0177] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0178] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the 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 square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square 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 square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0179] The modules involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0180] The computer-readable storage medium provided by the present invention stores computer-readable program instructions for executing the above-mentioned signal light recognition method, which solves the technical problem that signal lights cannot be recognized in real time in driving scenarios. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the embodiment of the present invention are the same as the beneficial effects of the signal light recognition method provided by the above-mentioned embodiment, and will not be elaborated here.

[0181] Embodiment 6

[0182] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned signal light recognition method when executed by a processor.

[0183] The computer program product provided by the present application solves the technical problem that the signal light cannot be recognized in real time in the driving scene. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present invention are the same as the beneficial effects of the signal light recognition method provided by the above embodiment, which will not be repeated here.

[0184] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A signal light recognition method, characterized in that: Applied to augmented reality equipment, the signal light recognition method includes: When it is detected that the target user wearing the augmented reality device is located in the signal light recognition area, acquiring the signal light image to be detected; According to the image of the signal light to be detected, detecting whether the signal light identified by the target user is blocked; If the signal light is blocked, signal light prompt information corresponding to the signal light is displayed so that the target user can identify the signal light according to the signal light prompt information.

2. The signal light recognition method according to claim 1, characterized in that: The step of detecting whether the signal light identified by the target user is blocked according to the signal light image to be detected comprises: Detecting whether the image acquisition time duration in which the signal light logo corresponding to the signal light does not appear in the signal light image to be detected is greater than a preset acquisition time duration threshold; If so, determining that the signal light identified by the target user is blocked; If not, it is determined that the signal light identified by the target user is not blocked.

3. The signal light recognition method according to claim 1, characterized in that: The step of detecting whether the signal light identified by the target user is blocked according to the signal light image to be detected comprises: Determining a regional position relationship between a target area and a field of view area in the image of the signal light to be detected; According to the area position relationship, matching an occlusion coverage parameter for the target user, wherein the occlusion coverage parameter is used to distinguish whether an occlusion corresponding to the target area blocks the target user from identifying the traffic light; According to the obstruction coverage parameter, it is detected whether the signal light identified by the target user is obstructed.

4. The signal light recognition method according to claim 3, characterized in that: The step of detecting whether the signal light identified by the target user is blocked according to the blocking coverage parameter comprises: Obtaining an occlusion coverage parameter between the target area and the field of view area; According to the magnitude relationship between the occlusion coverage parameter and the occlusion coverage parameter threshold, it is detected whether the traffic light identified by the target user is occluded.

5. The signal light recognition method according to claim 3, characterized in that: The step of matching the shielding coverage parameters for the target user according to the area position relationship comprises: Determining a relative distance between the target user and the signal light according to the first position of the target user and the second position of the signal light; According to the relative distance and the area position relationship, an occlusion coverage parameter is matched for the target user.

6. The signal light recognition method according to claim 3, characterized in that: The step of matching the shielding coverage parameters for the target user according to the area position relationship comprises: Acquire a first coordinate point of the target user and a second coordinate point of the traffic light in a preset coordinate system, and establish a relative position axis between the target user and the traffic light according to the first coordinate point and the second coordinate point; Determine the occlusion coverage angle between the relative position axis and the reference axis in the preset coordinate system; According to the occlusion coverage angle, the relative position and the area position relationship, occlusion coverage parameters are matched for the target user.

7. The signal light recognition method according to any one of claims 1, characterized in that: After the step of displaying the signal light prompt information corresponding to the signal light, the signal light recognition method further includes: Determine the stay time of the vehicle carrying the target user in the signal light recognition area; Detecting whether the stay time is less than the signal light jump time corresponding to the signal light prompt information; If it is less than, then displaying the driving prompt information of the vehicle leaving the signal light recognition area; If it is not less than, then vehicle start / stop information is generated at the jump time point of the signal light, and the vehicle start / stop information is sent to the vehicle, so that the vehicle performs corresponding start / stop operations according to the vehicle start / stop information.

8. A signal light recognition device, characterized in that: Applied to augmented reality equipment, the signal light recognition device comprises: An acquisition module, configured to acquire an image of a signal light to be detected when it is detected that a target user wearing the augmented reality device is located in a signal light recognition area; A detection module, configured to detect whether the signal light identified by the target user is blocked according to the image of the signal light to be detected; The display module is used to display the signal light prompt information corresponding to the signal light if the signal light is blocked, so that the target user can identify the signal light according to the signal light prompt information.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; a memory communicatively coupled to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the signal light recognition method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program for implementing the signal light recognition method, and the program for implementing the signal light recognition method is executed by a processor to implement the steps of the signal light recognition method according to any one of claims 1 to 7.

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