Signal processing method and device, computer equipment and storage medium

Abstract

The invention relates to a signal processing method and device, computer equipment and a storage medium, relates to the technical field of signal communication, and can be applied to the technical field of automatic driving. The method comprises the following steps: acquiring a traffic indication signal set of at least one candidate traffic indication lamp at the current moment through at least two antennas deployed on a target vehicle, and determining a target traffic indication lamp of the target vehicle at the current intersection from the at least one candidate traffic indication lamp according to the at least one traffic indication signal set, and determining a target traffic indication signal of the target vehicle at the current intersection according to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic indication lamp. By adopting the method, the accuracy and speed of signal determination can be improved.

Description

Technical Field

[0001] The present application relates to the field of signal communication technology, and in particular to a signal processing method, apparatus, computer equipment and storage medium, which can be applied to the field of autonomous driving technology. Background Art

[0002] With the development of intelligent connected vehicle technology, V2X (Vehicle-to-Everything, information exchange between vehicles and the outside world) as an important technical branch has received more and more attention from all parties. Among them, the processing of traffic indicator signals (for example, traffic lights) is an important use scenario in V2X.

[0003] At present, the base station, vehicles and traffic lights are interactively connected. The base station performs unified calculations on the collected driving information of each vehicle and the traffic light signals. After the required signals are received by each vehicle, the traffic indicator signals are fed back to each vehicle.

[0004] However, using the current signal processing method, when there are many vehicles on the road, it will not only increase the computing pressure of the base station and increase the hardware cost, but also reduce the accuracy and efficiency of signal determination. Summary of the invention

[0005] Based on this, it is necessary to provide a signal processing method, device, computer equipment and storage medium that can improve the accuracy and efficiency of signal determination in response to the above technical problems.

[0006] In a first aspect, the present application provides a signal processing method. The method comprises:

[0007] Obtaining a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a traffic indication signal group of the candidate traffic indicator light collected by each antenna;

[0008] Determining a target traffic light for the target vehicle at a current intersection from at least one candidate traffic light according to at least one traffic signal set;

[0009] According to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light, the target traffic indication signal of the target vehicle at the current intersection is determined.

[0010] In one embodiment, determining a target traffic light for a target vehicle at a current intersection from at least one candidate traffic light according to at least one traffic indication signal set includes:

[0011] According to the deployment position of each antenna on the target vehicle and the traffic indicator signal set of each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined; according to the direction information of each candidate traffic light relative to the target vehicle, the target traffic light of the target vehicle at the current intersection is determined from the candidate traffic lights.

[0012] In one embodiment, determining the direction information of each candidate traffic light relative to the target vehicle based on the deployment position of each antenna on the target vehicle and the traffic indicator signal set of each candidate traffic light includes:

[0013] For each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined according to the deployment position of each antenna on the target vehicle and the acquisition time difference of each traffic signal group in the traffic signal set of the candidate traffic light.

[0014] In one embodiment, determining a target traffic light for the target vehicle at a current intersection from each candidate traffic light according to direction information of each candidate traffic light relative to the target vehicle includes:

[0015] According to the direction information of each candidate traffic light relative to the target vehicle, a preliminary traffic light located in the vehicle travel direction of the target vehicle is selected from each candidate traffic light; according to the traffic indicator signal set of each preliminary traffic light, the signal strength of each preliminary traffic light at the current moment is determined; and the preliminary traffic light with the largest signal strength is used as the target traffic light for the target vehicle at the current intersection.

[0016] In one embodiment, determining the signal strength of each of the preliminary selected traffic lights at the current moment according to the traffic indication signal set of each of the preliminary selected traffic lights comprises:

[0017] For each initial traffic light, the signal strength of each traffic signal group in the traffic signal set of the initial traffic light is determined; and the average of the signal strengths is used as the signal strength of the preliminary selected traffic light at the current moment.

[0018] In one embodiment, the vehicle driving data includes the vehicle heading angle and the vehicle driving direction, and the target traffic indicator signal of the target vehicle at the current intersection is determined according to the vehicle driving data of the target vehicle and the traffic indicator signal set of the target traffic indicator, including:

[0019] A traffic signal group is extracted from the traffic signal set of the target traffic light; an alternative traffic signal is selected from the extracted traffic signal group according to the vehicle heading angle of the target vehicle at the current moment; and a target traffic signal of the target vehicle at the current intersection is selected from the alternative traffic signal according to the vehicle driving direction of the target vehicle at the current moment.

[0020] In one embodiment, the method further comprises:

[0021] The target traffic signal is displayed in a visual way.

[0022] In a second aspect, the present application further provides a signal processing device. The device comprises:

[0023] A signal acquisition module, used to acquire a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a group of traffic indication signals of the candidate traffic indicator light collected by each antenna;

[0024] A light indicator determination module, used to determine a target traffic light for a target vehicle at a current intersection from at least one candidate traffic light according to at least one traffic indicator signal set;

[0025] The signal determination module is used to determine the target traffic indication signal of the target vehicle at the current intersection according to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light.

[0026] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0027] Obtaining a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a traffic indication signal group of the candidate traffic indicator light collected by each antenna;

[0028] Determining a target traffic light for the target vehicle at a current intersection from at least one candidate traffic light according to at least one traffic signal set;

[0029] According to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light, the target traffic indication signal of the target vehicle at the current intersection is determined.

[0030] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0031] Obtaining a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a traffic indication signal group of the candidate traffic indicator light collected by each antenna;

[0032] Determining a target traffic light for the target vehicle at a current intersection from at least one candidate traffic light according to at least one traffic signal set;

[0033] According to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light, the target traffic indication signal of the target vehicle at the current intersection is determined.

[0034] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0035] Obtaining a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a traffic indication signal group of the candidate traffic indicator light collected by each antenna;

[0036] Determining a target traffic light for the target vehicle at a current intersection from at least one candidate traffic light according to at least one traffic signal set;

[0037] According to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light, the target traffic indication signal of the target vehicle at the current intersection is determined.

[0038] The signal processing method, device, computer equipment and storage medium described above acquire the traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle, and then determine the target traffic indicator light of the target vehicle at the current intersection from at least one candidate traffic indicator light; then, determine the target traffic indication signal of the target vehicle at the current intersection according to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic indicator light. Compared with the related art, which requires a third-party base station to simultaneously acquire the location information of all vehicles and all traffic indication signals for processing, and after the processing is completed, the processed results are sent to each vehicle through the base station. With the above method, the vehicle interacts with the traffic indicator light, and each vehicle processes the received traffic indication signal separately to obtain the required target traffic indication signal. Compared with the unified processing by the base station, on the one hand, it can save the hardware cost and speed up the signal processing speed when there are many vehicles; on the other hand, since the scheme does not need to obtain the map information of the target area and the location information of the target vehicle in advance, it can avoid the location information acquisition error caused by weather, terrain and other reasons, thereby ensuring the accuracy of the traffic indication signal determination. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is an application environment diagram of a signal processing method in an embodiment;

[0040] Figure 2 is a flow chart of a signal processing method in one embodiment;

[0041] Figure 3 A schematic diagram of a process for determining a target traffic light in one embodiment;

[0042] Figure 4 A schematic diagram of a flow chart for determining a target traffic light in another embodiment;

[0043] Figure 5 A schematic diagram of a process for determining a target traffic indication signal in one embodiment;

[0044] Figure 6 is a flow chart of a signal processing method in another embodiment;

[0045] Figure 7 is a structural block diagram of a signal processing device in one embodiment;

[0046] Figure 8 is a structural block diagram of a signal processing device in another embodiment;

[0047] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] The signal processing method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. The candidate traffic lights 104 and the vehicle terminal 102 communicate with each other through UWB (Ultra Wide Band) communication technology. For example, the vehicle terminal 102 obtains the traffic indication signal set of at least one candidate traffic light 104 at the current moment through at least two antennas deployed on the target vehicle, and determines the target traffic light of the target vehicle at the current intersection from at least one candidate traffic light 104; then, according to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light, the target traffic indication signal of the target vehicle at the current intersection is determined.

[0050] With the development of intelligent connected vehicle technology, V2X (Vehicle-to-Everything, information exchange between vehicles and the outside world) as an important technical branch has received more and more attention from all parties. Among them, the signal processing of traffic lights (for example, traffic lights) is an important use scenario in V2X.

[0051] At present, the base station, vehicles and traffic lights are interactively connected. The base station performs unified calculations on the collected driving information of each vehicle and the traffic light signals. After the required signals are received by each vehicle, the traffic indicator signals are fed back to each vehicle.

[0052] However, using the current signal processing method, when there are many vehicles on the road, it will not only increase the computing pressure of the base station and increase the hardware cost, but also reduce the accuracy and efficiency of signal determination.

[0053] Based on this, in one embodiment, Figure 2 As shown, a signal processing method is provided, which is applied to Figure 1 Taking the vehicle-mounted terminal in the example as an example, further, the vehicle-mounted terminal is installed on the target vehicle, specifically including the following steps:

[0054] S201, obtaining a traffic indication signal set of at least one candidate traffic indicator light at a current moment through at least two antennas deployed on a target vehicle.

[0055] It can be understood that in order to ensure that the traffic light can continuously transmit traffic signal to vehicles, for each traffic light, a corresponding signal transmission range can be configured for the traffic light according to the characteristics of the location of the traffic light; then, the traffic light can use UWB communication to continuously send the traffic signal of the traffic light within the signal transmission range, so that all vehicles entering the signal transmission range can receive the traffic signal sent by the traffic light.

[0056] In the embodiment of the present application, the traffic lights are all lights on the same light pole. For example, if a traffic light is located at an intersection, the traffic light may include lights facing four directions. Optionally, a traffic light may emit a traffic signal group at a time. The so-called traffic signal group may be obtained by splicing the traffic signal of each direction of the traffic light. For example, if there are traffic lights facing east, west, south and north, the traffic signal group may be "V 东 -V 西 -V 南 -V 北 ", where V is the traffic signal.

[0057] In this embodiment, all traffic lights corresponding to the traffic indication signals that the target vehicle can receive are used as candidate traffic lights. The traffic indication signal set of each candidate traffic light includes the traffic indication signal group of the candidate traffic light collected by each antenna.

[0058] For example, two front and rear antennas are deployed on the target vehicle, and the final traffic signal set “E S1 ; E S2 "Among them, E S1 Refers to the traffic signal group sent by the candidate traffic light O at the current time S and received by the antenna located in front of the target vehicle; E S2 It refers to the traffic indication signal group sent by the candidate traffic indicator O at the current time S and received by the antenna located behind the target vehicle.

[0059] S202: Determine, according to at least one traffic indication signal set, a target traffic indicator light for the target vehicle at a current intersection from at least one candidate traffic indicator light.

[0060] The target traffic light refers to the traffic light encountered by the target vehicle at the current intersection.

[0061] Optionally, for each traffic signal set, the traffic signal groups at each moment in the traffic signal set can be input into a trained indicator light determination model, and the indicator light determination model determines whether the candidate traffic signal corresponding to the traffic signal set is the target traffic signal of the target vehicle at the current intersection based on the traffic signal groups at each moment and model parameters. The indicator light determination model can be a trained neural network.

[0062] S203, determining a target traffic signal of the target vehicle at the current intersection according to the vehicle driving data of the target vehicle at the current moment and the traffic signal set of the target traffic light.

[0063] Among them, vehicle driving data refers to relevant data associated with traffic lights during the driving process of the vehicle, including but not limited to the vehicle's heading angle and vehicle driving direction; target traffic signal refers to the traffic signal required by the target vehicle at the current intersection.

[0064] It is understandable that, since the positions of the traffic lights are different, the traffic indication signals sent by the traffic lights also contain different contents. Optionally, when the traffic indication signal set of the target traffic light at the current moment is received, the target traffic indication signal matching the driving path of the target vehicle can be extracted from the traffic indication signal set according to the vehicle driving data of the target vehicle at the current moment.

[0065] Furthermore, in order to effectively prompt the driver of the target vehicle, after determining the target traffic signal of the target vehicle at the current intersection, the target traffic signal can be displayed in a visual manner. For example, the target traffic signal can be displayed in the form of an LED screen display, a HUD display, or an AR-HUD display.

[0066] In the above signal processing method, at least two antennas deployed on the target vehicle are used to obtain a set of traffic indication signals of at least one candidate traffic indicator light at the current moment, and the target traffic indicator light of the target vehicle at the current intersection is determined from at least one candidate traffic indicator light; then, the target traffic indication signal of the target vehicle at the current intersection is determined according to the vehicle driving data of the target vehicle at the current moment and the set of traffic indication signals of the target traffic indicator light. Compared with the related art, which requires a third-party base station to simultaneously obtain the location information of all vehicles and all traffic indication signals for processing, and after the processing is completed, the processed results are sent to each vehicle through the base station, the above method is adopted, through the interaction between the vehicle and the traffic indicator light, each vehicle individually processes the received traffic indication signal to obtain the required target traffic indication signal, compared with the unified processing by the base station, on the one hand, it can save the hardware cost and speed up the signal processing speed when there are many vehicles; on the other hand, since the scheme does not need to obtain the map information of the target area and the location information of the target vehicle in advance, it can avoid the location information acquisition error caused by weather, terrain and other reasons, thereby ensuring the accuracy of signal processing.

[0067] In order to ensure the accuracy of the target traffic light determination, based on the above embodiment, in this embodiment, an optional method for determining the target traffic light is provided, such as Figure 3 As shown, the specific steps include:

[0068] S301, determining direction information of each candidate traffic light relative to the target vehicle according to the deployment position of each antenna on the target vehicle and the traffic indication signal set of each candidate traffic light.

[0069] Optionally, the direction information of each candidate traffic light relative to the target vehicle may be determined based on the deployment position of the antenna on the target vehicle and the difference between the traffic signal groups received by each antenna in the traffic signal set of each candidate traffic light.

[0070] Exemplarily, for each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined based on the deployment position of each antenna on the target vehicle and the acquisition time difference of each traffic signal group in the traffic signal set of the candidate traffic light.

[0071] The acquisition time difference refers to the difference between the time taken by each antenna to receive the same traffic indication signal group.

[0072] Optionally, for each candidate traffic light, the collection time difference between each antenna can be determined according to the time when each antenna receives the traffic signal group sent by the candidate traffic light; then, each antenna can be placed on a two-dimensional coordinate system based on the deployment position of each antenna on the target vehicle; with the position of each antenna as the focus and the product of the time difference and the signal propagation speed as the major axis, a hyperbola corresponding to each antenna is generated, and then the direction information of the candidate traffic light relative to the target vehicle is generated according to the intersection position information of the hyperbola.

[0073] S302: Determine a target traffic light for the target vehicle at the current intersection from among the candidate traffic lights according to the direction information of the candidate traffic lights relative to the target vehicle.

[0074] Optionally, after determining the direction information of each candidate traffic light relative to the target vehicle, the traffic indicator signal set of each candidate traffic light can be referred to, and the candidate traffic light located in the driving direction of the target vehicle can be used as the target traffic light for the target vehicle at the current intersection.

[0075] In this embodiment, the direction information of the candidate traffic light relative to the target vehicle can be accurately determined through the deployment position of the antenna on the target vehicle and the traffic indication signal set of the candidate traffic light, thereby improving the accuracy of determining the target traffic light.

[0076] In practical applications, there may be a situation where there are multiple traffic lights in the direction of the target vehicle. Therefore, in order to ensure the accuracy of determining the target traffic light, based on the above embodiment, in this embodiment, another optional method for determining the target traffic light is provided, such as Figure 4 As shown, the specific steps include:

[0077] S401 , selecting a preliminary traffic light located in a driving direction of the target vehicle from among the candidate traffic lights according to direction information of the candidate traffic lights relative to the target vehicle.

[0078] The primary traffic light refers to a traffic light located in the driving direction of the target vehicle.

[0079] Optionally, since during the driving process of the target vehicle, only the traffic signal sent by the traffic light located in the driving direction of the vehicle is needed, after determining the direction information of the alternative traffic light relative to the target vehicle, each candidate traffic light located in the driving direction of the target vehicle can be used as a preliminary traffic light.

[0080] S402, determining the signal strength of each of the preliminary selected traffic lights at the current time according to the traffic indicator signal set of each of the preliminary selected traffic lights at the target time.

[0081] Optionally, for each preliminary selected traffic light, the maximum amplitude among each traffic signal group in the traffic signal set of the preliminary selected traffic light at the current moment may be used as the signal strength of the preliminary selected traffic light at the current moment.

[0082] Alternatively, to ensure the reliability of signal strength, for each initial traffic light, the signal strength of each traffic signal group in the traffic signal set of the initial traffic light is determined, and the average of each signal strength is used as the signal strength of the preliminary traffic light at the current moment.

[0083] That is, for each initial traffic light, the amplitude of each traffic signal group in the traffic signal set of the preliminary traffic light at the current moment can be used as the signal strength of the traffic signal group; then, the average of the signal strengths of each traffic signal group is calculated, and the average of each signal strength is used as the signal strength of the preliminary traffic light at the current moment.

[0084] S403, taking the initially selected traffic light with the largest signal strength as the target traffic light for the target vehicle at the current intersection.

[0085] It can be understood that since the closer the distance between the target vehicle and the preliminary traffic light, the greater the signal strength of the preliminary traffic light, after determining the signal strength of each preliminary traffic light at the target time, a comparison can be made based on the signal strength, and the preliminary traffic light with the largest signal strength can be used as the target traffic light for the target vehicle at the current intersection.

[0086] For example, there are preliminary traffic lights F1 and F2 in the driving direction of the target vehicle, where the signal strength of the preliminary traffic light F1 is greater than the signal strength of the preliminary traffic light F2. The target vehicle will first pass the preliminary traffic light F1 in the driving direction. At this time, the preliminary traffic light F1 can be used as the target traffic light for the target vehicle at the current intersection.

[0087] In this embodiment, the signal strength is introduced, and by comparing the signal strengths of traffic lights, the target traffic light can be accurately determined when there are multiple traffic lights in the driving direction of the target vehicle.

[0088] In order to ensure the accuracy of the determination of the target traffic indication signal, based on the above embodiment, in this embodiment, an optional method for determining the target traffic indication signal is provided, such as Figure 5 As shown, the specific steps include:

[0089] S501: extract a traffic indication signal group from a traffic indication signal set of a target traffic indicator light.

[0090] Optionally, since the traffic indication signal groups received by the antennas are the same at the same time, a traffic indication signal group may be randomly extracted from the traffic indication signal set of the target traffic light.

[0091] S502: selecting an alternative traffic indicator signal from the extracted traffic indicator signal group of the target traffic indicator light according to the vehicle heading angle of the target vehicle at the current moment.

[0092] It is understandable that, since the positions of the traffic lights are different, the directions of the traffic lights are also different. For example, traffic light A has two different directions, and in this case, the traffic indication signal group sent by traffic light A carries traffic indication information of two different directions; traffic light B has only one direction, and in this case, the traffic indication signal group sent by traffic light B carries traffic indication information of one direction.

[0093] Optionally, the vehicle heading angle of the target vehicle can be determined based on a gyroscope on the target vehicle; then, based on the vehicle heading angle, an alternative traffic indication signal matching the vehicle heading angle is extracted from the traffic indication signal group of the target traffic light at the current moment.

[0094] For example, the target traffic light C has two different orientations, corresponding to the intersection entry angle of 10 degrees and the intersection entry angle of 190 degrees. The traffic signal group of the target traffic light C at the current moment is "10 degrees - traffic signal C1; 190 degrees - traffic signal C2". At this time, the vehicle orientation angle of the target vehicle can be determined to be 10 degrees according to the gyroscope on the target vehicle. Therefore, it can be determined that the alternative traffic signal of the target vehicle at the current intersection is C1.

[0095] S503: Select a target traffic signal for the target vehicle at the current intersection from the candidate traffic signal according to the vehicle driving direction of the target vehicle at the current moment.

[0096] It is understandable that in the same direction of the traffic light, there may be indicator lights pointing in different directions. For example, in the same direction, there may be indicator lights pointing in three directions: forward, left, and right.

[0097] Optionally, in the automatic driving mode, after determining the alternative traffic sign signals, a target traffic sign signal that matches the vehicle's driving direction may be extracted from the alternative traffic sign signals based on the vehicle's driving direction.

[0098] For example, the candidate traffic signal A1 is "turn left - red light; go straight - red light; turn right - green light". At the current moment, the target vehicle's driving direction is to turn right. At this time, it can be determined that the target traffic signal for the target vehicle at the current intersection is green light.

[0099] In this embodiment, the vehicle heading angle and the vehicle driving direction are introduced, and based on the vehicle heading angle and the vehicle driving direction, the target traffic signal of the target vehicle at the current intersection can be accurately determined from the traffic signal group of the target traffic light at the current moment.

[0100] Figure 6 FIG. 2 is a flow chart of a signal processing method in another embodiment. Based on the above embodiment, this embodiment provides an optional example of a signal processing method. Figure 6 The specific implementation process is as follows:

[0101] S601, obtaining a traffic indication signal set of at least one candidate traffic indicator light at a current moment through at least two antennas deployed on a target vehicle.

[0102] The traffic indication signal set of each candidate traffic indicator light includes a group of traffic indication signals of the candidate traffic indicator light collected by each antenna.

[0103] S602, determining direction information of each candidate traffic light relative to the target vehicle according to the deployment position of each antenna on the target vehicle and the acquisition time difference of each traffic signal group in the traffic signal set of each candidate traffic light.

[0104] S603: Selecting a preliminary traffic light located in the driving direction of the target vehicle from among the candidate traffic lights according to the direction information of each candidate traffic light relative to the target vehicle.

[0105] S604: Determine the signal strength of each of the preliminary selected traffic lights at the current moment according to the traffic indication signal set of each of the preliminary selected traffic lights.

[0106] Optionally, for each initial traffic light, the signal strength of each traffic signal group in the traffic signal set of the initial traffic light is determined, and the average of the signal strengths is used as the signal strength of the preliminary traffic light at the current moment.

[0107] S605: The initially selected traffic light with the largest signal strength is used as the target traffic light for the target vehicle at the current intersection.

[0108] S606: extract a traffic indication signal group from the traffic indication signal set of the target traffic indicator light.

[0109] S607: Select an alternative traffic sign from the extracted traffic sign group according to the vehicle heading angle of the target vehicle at the current moment.

[0110] S608: Select a target traffic signal for the target vehicle at the current intersection from the candidate traffic signal according to the vehicle driving direction of the target vehicle at the current moment.

[0111] S609, displaying the target traffic signal in a visual manner.

[0112] The specific process of the above S601-S609 can refer to the description of the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0113] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0114] Based on the same inventive concept, the embodiment of the present application also provides a signal processing device for implementing the signal processing method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the one or more signal processing device embodiments provided below can refer to the limitations on the signal processing method above, and will not be repeated here.

[0115] In one embodiment, Figure 7 As shown, a signal processing device 1 is provided, comprising: a signal acquisition module 10, an indicator light determination module 20 and a signal determination module 30, wherein:

[0116] The signal acquisition module 10 is used to acquire a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a traffic indication signal group of the candidate traffic indicator light collected by each antenna;

[0117] The indicator light determination module 20 is used to determine the target traffic light for the target vehicle at the current intersection from at least one candidate traffic light according to at least one traffic indication signal set;

[0118] The signal determination module 30 is used to determine the target traffic indication signal of the target vehicle at the current intersection according to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light.

[0119] In one embodiment, Figure 8 As shown, the indicator light determination module 20 includes:

[0120] A direction determination unit 21, configured to determine direction information of each candidate traffic light relative to the target vehicle according to the deployment position of each antenna on the target vehicle and the traffic indication signal set of each candidate traffic light;

[0121] The indicator light determination unit 22 is used to determine the target traffic light for the target vehicle at the current intersection from the candidate traffic lights according to the direction information of each candidate traffic light relative to the target vehicle.

[0122] In one embodiment, the direction determination unit 21 is specifically configured to:

[0123] For each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined according to the deployment position of each antenna on the target vehicle and the acquisition time difference of each traffic signal group in the traffic signal set of the candidate traffic light.

[0124] In one embodiment, the indicator light determination unit 22 includes:

[0125] A first determining subunit is used to select a preliminary selected traffic light located in a vehicle driving direction of the target vehicle from each candidate traffic light according to direction information of each candidate traffic light relative to the target vehicle;

[0126] A second determining subunit is used to determine the signal strength of each of the preliminary selected traffic lights at the current moment according to the traffic indication signal set of each of the preliminary selected traffic lights;

[0127] The third determination subunit is used to select the initially selected traffic light with the largest signal strength as the target traffic light for the target vehicle at the current intersection.

[0128] In one embodiment, the second determining subunit is specifically used for:

[0129] For each initial traffic light, the signal strength of each traffic signal group in the traffic signal set of the initial traffic light is determined; and the average of the signal strengths is used as the signal strength of the preliminary selected traffic light at the current moment.

[0130] In one embodiment, the signal determination module 30 is specifically configured to:

[0131] A traffic signal group is extracted from the traffic signal set of the target traffic light; an alternative traffic signal is selected from the extracted traffic signal group according to the vehicle heading angle of the target vehicle at the current moment; and a target traffic signal of the target vehicle at the current intersection is selected from the alternative traffic signal according to the vehicle driving direction of the target vehicle at the current moment.

[0132] In one embodiment, the signal processing device further includes a display module, wherein the display module is specifically used to:

[0133] The target traffic signal is displayed in a visual way.

[0134] Each module in the above signal processing device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0135] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig. 9As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a signal processing method is realized. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0136] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0137] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0138] Obtaining a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a traffic indication signal group of the candidate traffic indicator light collected by each antenna;

[0139] Determining a target traffic light for the target vehicle at a current intersection from at least one candidate traffic light according to at least one traffic signal set;

[0140] According to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light, the target traffic indication signal of the target vehicle at the current intersection is determined.

[0141] In one embodiment, when the processor executes the logic of determining the target traffic light for the target vehicle at the current intersection from at least one candidate traffic light according to at least one traffic indication signal set in the computer program, the following steps are specifically implemented:

[0142] According to the deployment position of each antenna on the target vehicle and the traffic indicator signal set of each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined; according to the direction information of each candidate traffic light relative to the target vehicle, the target traffic light of the target vehicle at the current intersection is determined from the candidate traffic lights.

[0143] In one embodiment, when the processor executes the logic of determining the direction information of each candidate traffic light relative to the target vehicle according to the deployment position of each antenna on the target vehicle and the traffic indication signal set of each candidate traffic light in the computer program, the following steps are specifically implemented:

[0144] For each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined according to the deployment position of each antenna on the target vehicle and the acquisition time difference of each traffic signal group in the traffic signal set of the candidate traffic light.

[0145] In one embodiment, when the processor executes the logic of determining the target traffic light of the target vehicle at the current intersection from each candidate traffic light according to the direction information of each candidate traffic light relative to the target vehicle in the computer program, the following steps are specifically implemented:

[0146] According to the direction information of each candidate traffic light relative to the target vehicle, a preliminary traffic light located in the vehicle travel direction of the target vehicle is selected from each candidate traffic light; according to the traffic indicator signal set of each preliminary traffic light, the signal strength of each preliminary traffic light at the current moment is determined; and the preliminary traffic light with the largest signal strength is used as the target traffic light for the target vehicle at the current intersection.

[0147] In one embodiment, when the processor executes the logic of determining the signal strength of each preliminary selected traffic light at the current moment according to the traffic indication signal set of each preliminary selected traffic light in the computer program, the following steps are specifically implemented:

[0148] For each initial traffic light, the signal strength of each traffic signal group in the traffic signal set of the initial traffic light is determined; and the average of the signal strengths is used as the signal strength of the preliminary selected traffic light at the current moment.

[0149] In one embodiment, when the processor executes the vehicle driving data in the computer program including the vehicle heading angle and the vehicle driving direction, and determines the logic of the target traffic indicator signal of the target vehicle at the current intersection according to the vehicle driving data of the target vehicle and the traffic indicator signal set of the target traffic indicator, the following steps are specifically implemented:

[0150] A traffic signal group is extracted from the traffic signal set of the target traffic light; an alternative traffic signal is selected from the extracted traffic signal group according to the vehicle heading angle of the target vehicle at the current moment; and a target traffic signal of the target vehicle at the current intersection is selected from the alternative traffic signal according to the vehicle driving direction of the target vehicle at the current moment.

[0151] In one embodiment, when the processor executes the logic in the computer program, the following steps are specifically implemented:

[0152] The target traffic signal is displayed in a visual way.

[0153] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0154] Obtaining a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a traffic indication signal group of the candidate traffic indicator light collected by each antenna;

[0155] Determining a target traffic light for the target vehicle at a current intersection from at least one candidate traffic light according to at least one traffic signal set;

[0156] According to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light, the target traffic indication signal of the target vehicle at the current intersection is determined.

[0157] In one embodiment, when the code logic of determining the target traffic light for the target vehicle at the current intersection from at least one candidate traffic light according to at least one traffic indication signal set in the computer program is executed by the processor, the following steps are specifically implemented:

[0158] According to the deployment position of each antenna on the target vehicle and the traffic indicator signal set of each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined; according to the direction information of each candidate traffic light relative to the target vehicle, the target traffic light of the target vehicle at the current intersection is determined from the candidate traffic lights.

[0159] In one embodiment, when the code logic of determining the direction information of each candidate traffic light relative to the target vehicle based on the deployment position of each antenna on the target vehicle and the traffic indicator signal set of each candidate traffic light in the computer program is executed by the processor, the following steps are specifically implemented:

[0160] For each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined according to the deployment position of each antenna on the target vehicle and the acquisition time difference of each traffic signal group in the traffic signal set of the candidate traffic light.

[0161] In one embodiment, when the code logic of determining the target traffic light of the target vehicle at the current intersection from each candidate traffic light according to the direction information of each candidate traffic light relative to the target vehicle in the computer program is executed by the processor, the following steps are specifically implemented:

[0162] According to the direction information of each candidate traffic light relative to the target vehicle, a preliminary traffic light located in the vehicle travel direction of the target vehicle is selected from each candidate traffic light; according to the traffic indicator signal set of each preliminary traffic light, the signal strength of each preliminary traffic light at the current moment is determined; and the preliminary traffic light with the largest signal strength is used as the target traffic light for the target vehicle at the current intersection.

[0163] In one embodiment, when the code logic of determining the signal strength of each preliminary selected traffic light at the current moment according to the traffic indication signal set of each preliminary selected traffic light in the computer program is executed by the processor, the following steps are specifically implemented:

[0164] For each initial traffic light, the signal strength of each traffic signal group in the traffic signal set of the initial traffic light is determined; and the average of the signal strengths is used as the signal strength of the preliminary selected traffic light at the current moment.

[0165] In one embodiment, the vehicle driving data in the computer program includes the vehicle heading angle and the vehicle driving direction. When the code logic of determining the target traffic indicator signal of the target vehicle at the current intersection according to the vehicle driving data of the target vehicle and the traffic indicator signal set of the target traffic indicator light at the current moment is executed by the processor, the following steps are specifically implemented:

[0166] A traffic signal group is extracted from the traffic signal set of the target traffic light; an alternative traffic signal is selected from the extracted traffic signal group according to the vehicle heading angle of the target vehicle at the current moment; and a target traffic signal of the target vehicle at the current intersection is selected from the alternative traffic signal according to the vehicle driving direction of the target vehicle at the current moment.

[0167] In one embodiment, when the code logic in the computer program is executed by a processor, the following steps are specifically implemented:

[0168] The target traffic signal is displayed in a visual way.

[0169] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0170] Obtaining a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a traffic indication signal group of the candidate traffic indicator light collected by each antenna;

[0171] Determining a target traffic light for the target vehicle at a current intersection from at least one candidate traffic light according to at least one traffic signal set;

[0172] According to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light, the target traffic indication signal of the target vehicle at the current intersection is determined.

[0173] In one embodiment, when the computer program is executed by a processor to determine the target traffic light for the target vehicle at the current intersection from at least one candidate traffic light according to at least one traffic indication signal set, the following steps are specifically implemented:

[0174] According to the deployment position of each antenna on the target vehicle and the traffic indicator signal set of each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined; according to the direction information of each candidate traffic light relative to the target vehicle, the target traffic light of the target vehicle at the current intersection is determined from the candidate traffic lights.

[0175] In one embodiment, when the computer program is executed by the processor to determine the direction information of each candidate traffic light relative to the target vehicle based on the deployment position of each antenna on the target vehicle and the traffic indication signal set of each candidate traffic light, the following steps are specifically implemented:

[0176] For each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined according to the deployment position of each antenna on the target vehicle and the acquisition time difference of each traffic signal group in the traffic signal set of the candidate traffic light.

[0177] In one embodiment, when the computer program is executed by the processor to determine the target traffic light of the target vehicle at the current intersection from each candidate traffic light according to the direction information of each candidate traffic light relative to the target vehicle, the following steps are specifically implemented:

[0178] According to the direction information of each candidate traffic light relative to the target vehicle, a preliminary traffic light located in the vehicle travel direction of the target vehicle is selected from each candidate traffic light; according to the traffic indicator signal set of each preliminary traffic light, the signal strength of each preliminary traffic light at the current moment is determined; and the preliminary traffic light with the largest signal strength is used as the target traffic light for the target vehicle at the current intersection.

[0179] In one embodiment, when the computer program is executed by the processor to determine the signal strength of each preliminary selected traffic light at the current moment according to the traffic indication signal set of each preliminary selected traffic light, the following steps are specifically implemented:

[0180] For each initial traffic light, the signal strength of each traffic signal group in the traffic signal set of the initial traffic light is determined; and the average of the signal strengths is used as the signal strength of the preliminary selected traffic light at the current moment.

[0181] In one embodiment, the computer program is executed by a processor, wherein the vehicle driving data includes a vehicle heading angle and a vehicle driving direction, and when determining the operation of the target traffic indicator signal of the target vehicle at the current intersection according to the vehicle driving data of the target vehicle and the traffic indicator signal set of the target traffic indicator, the following steps are specifically implemented:

[0182] A traffic signal group is extracted from the traffic signal set of the target traffic light; an alternative traffic signal is selected from the extracted traffic signal group according to the vehicle heading angle of the target vehicle at the current moment; and a target traffic signal of the target vehicle at the current intersection is selected from the alternative traffic signal according to the vehicle driving direction of the target vehicle at the current moment.

[0183] In one embodiment, when the computer program is executed by a processor, the following steps are specifically implemented:

[0184] The target traffic signal is displayed in a visual way.

[0185] It should be noted that the data involved in this application (including but not limited to traffic signal sets, etc.) are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0186] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0187] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0188] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A signal processing method, characterized in that: Applied to a vehicle-mounted terminal, the method comprises: Obtaining a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a traffic indication signal group of the candidate traffic indicator light collected by each antenna; Determining a target traffic light for the target vehicle at the current intersection from the at least one candidate traffic light according to at least one traffic indication signal set; According to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light, the target traffic indication signal of the target vehicle at the current intersection is determined.

2. The method according to claim 1, characterized in that The step of determining the target traffic light for the target vehicle at the current intersection from the at least one candidate traffic light according to the at least one traffic indication signal set comprises: Determine direction information of each candidate traffic light relative to the target vehicle according to the deployment position of each antenna on the target vehicle and the traffic indication signal set of each candidate traffic light; According to the direction information of each candidate traffic light relative to the target vehicle, a target traffic light for the target vehicle at the current intersection is determined from each candidate traffic light.

3. The method according to claim 2, characterized in that The step of determining the direction information of each candidate traffic light relative to the target vehicle according to the deployment position of each antenna on the target vehicle and the traffic indication signal set of each candidate traffic light comprises: For each candidate traffic light, the direction information of each candidate traffic light relative to the target vehicle is determined according to the deployment position of each antenna on the target vehicle and the acquisition time difference of each traffic signal group in the traffic signal set of the candidate traffic light.

4. The method according to claim 2, characterized in that: The step of determining the target traffic light for the target vehicle at the current intersection from the candidate traffic lights according to the direction information of the candidate traffic lights relative to the target vehicle includes: Selecting a preliminary traffic light located in the vehicle travel direction of the target vehicle from among the candidate traffic lights according to the direction information of each candidate traffic light relative to the target vehicle; Determine the signal strength of each of the preliminary selected traffic lights at the current moment according to the traffic indicator signal set of each of the preliminary selected traffic lights; The initially selected traffic light with the largest signal strength is used as the target traffic light for the target vehicle at the current intersection.

5. The method according to claim 4, characterized in that The step of determining the signal strength of each of the initially selected traffic lights at the current moment according to the traffic indication signal set of each of the initially selected traffic lights comprises: For each initial traffic light, determining the signal strength of each traffic signal group in the traffic signal set of the initial traffic light; The average of the signal strengths is used as the signal strength of the primary traffic light at the current moment.

6. The method according to claim 1, characterized in that The vehicle driving data includes a vehicle heading angle and a vehicle driving direction, and determining a target traffic indicator signal of the target vehicle at the current intersection according to the vehicle driving data of the target vehicle at the current moment and a traffic indicator signal set of the target traffic indicator light includes: Extracting a traffic signal group from the traffic signal set of the target traffic light; Selecting an alternative traffic signal from the extracted traffic signal group according to the vehicle heading angle of the target vehicle at the current moment; According to the vehicle driving direction of the target vehicle at the current moment, a target traffic indication signal for the target vehicle at the current intersection is selected from the alternative traffic indication signals.

7. The method according to claim 1, characterized in that The method further comprises: The target traffic indication signal is displayed in a visual manner.

8. A signal processing device, characterized in that: The device comprises: A signal acquisition module, used to acquire a traffic indication signal set of at least one candidate traffic indicator light at the current moment through at least two antennas deployed on the target vehicle; wherein the traffic indication signal set of each candidate traffic indicator light includes a group of traffic indication signals of the candidate traffic indicator light collected by each antenna; A light indicator determination module, configured to determine a target traffic light for a target vehicle at a current intersection from the at least one candidate traffic light according to at least one traffic indicator signal set; The signal determination module is used to determine the target traffic indication signal of the target vehicle at the current intersection according to the vehicle driving data of the target vehicle at the current moment and the traffic indication signal set of the target traffic light.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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