Method and device for controlling vehicle based on broadcast signal, electronic equipment and medium

Abstract

The embodiment of the invention relates to a method and device for controlling a vehicle based on a broadcast signal, electronic equipment and a medium. The method comprises the following steps: receiving state data of a traffic signal lamp at a vehicle through a broadcast signal, wherein the traffic signal lamp is used for controlling the traffic state of the vehicle passing through a target intersection; determining whether the traffic signal lamp is an effective traffic signal lamp for controlling the vehicle based on the state data of the traffic signal lamp and the state data of the vehicle; and in response to determining that the traffic lights are valid traffic lights, controlling the vehicle based on the status data of the traffic lights. In this way, the traffic signal lamp can be conveniently and quickly detected and recognized based on the broadcast signal containing the state data of the traffic signal lamp, recognition errors caused by environmental reasons can be avoided, and the accuracy of detection and recognition results can be improved. Furthermore, the vehicle is controlled based on the detection and identification results of the traffic lights, which is helpful for ensuring the traffic safety.

Description

Technical Field

[0001] Various implementations of the present disclosure relate to the field of computers, and more specifically, to a method, an apparatus, an electronic device, and a storage medium for controlling a vehicle based on a broadcast signal. Background Art

[0002] With the rapid development of computer technology, autonomous driving technology has also been widely used in people's lives. In the field of autonomous driving, especially in the field of autonomous driving visual perception, the detection and recognition of traffic lights are of great significance to the realization of autonomous driving. The autonomous driving system can control the traffic status of vehicles based on the results of detection and recognition of traffic lights. Therefore, traffic lights are an important part of the traffic signal system. Improving the accuracy of the detection and recognition results of traffic lights will help improve the intelligence level of the autonomous driving system and improve traffic safety. Summary of the invention

[0003] According to a first aspect of the present disclosure, a method for controlling a vehicle based on a broadcast signal is provided. The method comprises: receiving status data of a traffic light at a vehicle via a broadcast signal, the traffic light being used to control the traffic status of the vehicle passing through a target intersection; determining whether the traffic light is a valid traffic light for controlling the vehicle based on the status data of the traffic light and the status data of the vehicle; and in response to determining that the traffic light is a valid traffic light, controlling the vehicle based on the status data of the traffic light.

[0004] According to a second aspect of the present disclosure, a device for controlling a vehicle based on a broadcast signal is provided. The device includes: a status data receiving module configured to receive status data of a traffic light at a vehicle via a broadcast signal, the traffic light being used to control the traffic status of the vehicle passing through a target intersection; a traffic light determination module configured to determine whether the traffic light is a valid traffic light for controlling the vehicle based on the status data of the traffic light and the status data of the vehicle; and a vehicle control module configured to control the vehicle based on the status data of the traffic light in response to determining that the traffic light is a valid traffic light.

[0005] According to a third aspect of the present disclosure, an electronic device is provided, comprising: a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to the first aspect of the present disclosure.

[0006] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which one or more computer instructions are stored, wherein the one or more computer instructions are executed by a processor to implement the method according to the first aspect of the present disclosure.

[0007] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the method according to the first aspect of the present disclosure is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The features, advantages and other aspects of various implementations of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings, which illustrate several implementations of the present disclosure in an exemplary and non-limiting manner. In the accompanying drawings:

[0009] Figure 1A A schematic diagram showing an example environment in which some embodiments of the present disclosure can be implemented;

[0010] Figure 1B A schematic diagram showing an example detection system of some embodiments of the present disclosure;

[0011] Figure 2 A flow chart showing a process of controlling a vehicle based on a broadcast signal according to some embodiments of the present disclosure;

[0012] Figure 3 A schematic diagram showing receiving a broadcast signal according to some embodiments of the present disclosure is shown;

[0013] Figure 4 A schematic diagram showing a method of determining a valid traffic light according to some embodiments of the present disclosure is shown;

[0014] Figure 5 A block diagram showing an apparatus for controlling a vehicle based on a broadcast signal according to some embodiments of the present disclosure; and

[0015] Figure 6 A block diagram of an electronic device is shown in which one or more embodiments of the present disclosure may be implemented. DETAILED DESCRIPTION

[0016] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0017] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below.

[0018] The term "in response to" means that the corresponding event occurs or the condition is satisfied. It will be understood that the timing of the execution of the subsequent action executed in response to the event or condition is not necessarily strongly related to the time when the event occurs or the condition is satisfied. In some cases, the subsequent action may be executed immediately when the event occurs or the condition is satisfied; in other cases, the subsequent action may be executed some time after the event occurs or the condition is satisfied.

[0019] The embodiments of the present disclosure may involve user data, data acquisition and / or use, etc. These aspects are subject to the corresponding laws, regulations and relevant provisions. In the embodiments of the present disclosure, all data collection, acquisition, processing, processing, forwarding, use, etc. are carried out on the premise that the user knows and confirms. Accordingly, when implementing each embodiment of the present disclosure, the type, scope of use, usage scenario, etc. of the data or information that may be involved should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with the relevant laws and regulations. The specific notification and / or authorization method can vary according to the actual situation and application scenario, and the scope of the present disclosure is not limited in this respect.

[0020] The solutions described in this specification and in the examples, if they involve the processing of personal information, will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0021] As discussed above, the detection and recognition of traffic lights are of great significance to the realization of autonomous driving. Traffic lights can also be referred to as traffic lights for short, and the two are used interchangeably in this article. The autonomous driving system can control the traffic status of the vehicle based on the results of the detection and recognition of traffic lights. Traditionally, the camera installed on the vehicle (also referred to as a mobile carrier) is mainly used to capture the image in front of the vehicle in real time, and the traffic lights are detected and recognized in real time based on the captured image. There are problems such as high cost and difficult maintenance in installing cameras, which will affect the real-time performance, robustness and scalability of the autonomous driving system. In addition, in the case of dense traffic lights, dirty camera lenses or poor light at night, the solution of detecting and identifying traffic lights based on the images captured by the camera may not provide accurate results. Inaccurate detection and recognition results will affect the control of the traffic status of the vehicle by the autonomous driving system, thereby affecting driving safety.

[0022] Embodiments of the present disclosure propose a scheme for controlling a vehicle based on a broadcast signal. According to various embodiments of the present disclosure, the status data of a traffic light is received at the vehicle via a broadcast signal. Based on the status data of the traffic light and the status data of the vehicle, it is determined whether the traffic light is a valid traffic light for controlling the vehicle. Here, the valid traffic light may represent a traffic light for controlling the next intersection that the vehicle is about to pass. The vehicle is controlled based on the status data of the valid traffic light.

[0023] In this way, based on the broadcast signal containing the state data of the traffic light, the traffic light can be detected and identified conveniently and quickly, which can avoid the identification error caused by environmental reasons and help improve the accuracy of the detection and identification results. Furthermore, the vehicle can be controlled based on the detection and identification results of the traffic light, which helps to ensure traffic safety.

[0024] Figure 1AA schematic diagram of an example environment 100A in which an embodiment of the present disclosure can be implemented is shown. As shown in FIG. 1 , the environment 100A may include at least one vehicle 101 (for example, it may include vehicle 101-1, vehicle 101-2, and vehicle 101-3, collectively referred to as vehicle 101), a traffic light 102, a road side unit (RSU) 103, and a stop line 104. The road side unit 103 is a device installed near the road where the vehicle 101 is located, and is usually installed at an intersection. For example, it can be installed on the traffic light 102 or in an area within a certain distance near the traffic light 102. The road side unit 103 can be used to send a broadcast signal containing status data of the traffic light 102, and such a broadcast signal can also be referred to as a road side signal. The broadcast mode of the road side unit 103 can be, for example, PC5 (a device-to-device broadcast mode). Both the road side unit 103 and the electronic device 110 may include a device-to-device direct communication interface. Neighboring devices can send and receive broadcast signals through direct links for data transmission within a short range, without the need for forwarding through a central node (such as a base station) or information transmission through traditional cellular links.

[0025] The stop line 104 may indicate the location of the intersection. When the traffic light 102 indicates that passage is not allowed (e.g., when the traffic light 102 is red), the vehicle 101 may not cross the stop line 104, and the vehicle 101 must be located behind the stop line 104 (i.e., away from the intersection). In some embodiments, the distance between the vehicle 101 and the stop line 104 may be regarded as the intersection distance between the vehicle 101 and the intersection.

[0026] An electronic device 110 is installed on the vehicle 101. For example, the electronic device 110-1 is installed on the vehicle 101-1, the electronic device 110-2 is installed on the vehicle 101-2, and the electronic device 110-3 is installed on the vehicle 101-3. The electronic device 110 may include any computing system with computing capabilities, such as various computing devices / systems, terminal devices, server devices, etc. The electronic device 110 is an electronic device associated with the vehicle 101. In some embodiments, the electronic device 110 may be directly included in the vehicle 101, for example, it may be a device fixedly installed in the vehicle 101. Alternatively or additionally, in some embodiments, the electronic device 110 may also exist independently of the vehicle 101. In some embodiments, the electronic device 110 may, for example, be installed at any appropriate location of the vehicle 101.

[0027] In some embodiments, a detection device 120 is installed in the electronic device 110. The detection device 120 includes a processing unit 121, a positioning unit 122, a network communication unit 123, a broadcast receiving unit 124, a speed measuring unit 125, an execution unit 126 and a bus 127.

[0028] The positioning unit 122 can be used to provide real-time latitude and longitude information and direction information of the vehicle 101. In some embodiments, in order to improve the accuracy of subsequent detection and identification of traffic lights, the positioning unit 122 can use a differential positioning (RTK) algorithm. The positioning unit 122 that supports the RTK algorithm can provide more accurate location information. The network communication unit 123 can be used to communicate with the cloud server over the Internet. The broadcast receiving unit 124 can be used to receive roadside signals in real time. It can be understood that the broadcast signal received by the broadcast receiving unit 124 includes a roadside signal sent by at least one roadside unit 103, or may also include a broadcast signal sent by other vehicles. The speed measurement unit 125 can be used to detect the current driving speed of the vehicle 101.

[0029] The execution unit 126 can be used to control the electronic device 110 to perform related actions based on the recognition result of the traffic light 102. For example, when the traffic light 102 indicates that passage is not allowed and the driving speed of the vehicle 101 itself is non-zero, the electronic device 110 is controlled to issue a voice warning reminder or instruct the vehicle 101 to slow down or brake immediately. Alternatively and / or additionally, in the automatic driving mode, the execution unit 126 can directly control the vehicle 101 to slow down or stop.

[0030] The processing unit 121 is used to process and judge the data between the positioning unit 122, the network communication unit 123, the broadcast receiving unit 124, the speed measuring unit 125, etc. and control the execution unit 126. The processing unit 121, the positioning unit 122, the network communication unit 123, the broadcast receiving unit 124, the speed measuring unit 125 and the execution unit 126 can be controlled and exchange information data through the bus 127. The bus 127 includes but is not limited to a serial port, SPI, CAN, etc.

[0031] In the context of the present disclosure, the following can be used: Figure 1A The electronic device 110 at the vehicle end is shown to control the process of the vehicle based on the broadcast signal. Alternatively and / or additionally, the above process can be performed at a cloud location. Figure 1B Schematic diagram of an example detection system 100B of some embodiments of the present disclosure is shown. Figure 1B As shown, the detection system 100B includes a detection platform 130 (e.g., located in the cloud). The traffic server 140 can transmit a signal to the roadside unit 150, thereby informing the roadside unit 150 of the status of the corresponding traffic light. These roadside units can include, for example, Figure 1A The roadside unit 103 shown. The detection platform 130 can obtain relevant information of the traffic light (such as the latitude and longitude information, direction information, and status information of the traffic light), and then identify whether the vehicle has run a red light and potential red light running and other dangerous behaviors, and provide corresponding processing results.

[0032] For the convenience of description, the following describes the process of controlling the vehicle based on the broadcast signal by taking the electronic device 110 at the vehicle end as an example. It should be understood that the structure and function of the environment 100 are described only for exemplary purposes and do not imply any limitation on the scope of the present disclosure. Some example embodiments of the present disclosure will continue to be described with reference to the accompanying drawings.

[0033] Figure 2 A flow chart of a process 200 for controlling a vehicle based on a broadcast signal according to some embodiments of the present disclosure is shown. The process 200 may be implemented at the electronic device 110. For ease of discussion, the process 200 will be described with reference to the environment 100 of FIG. 1 .

[0034] In block 210 , the electronic device 110 receives state data of a traffic light at a vehicle via a broadcast signal, the traffic light being used to control a traffic state of a vehicle passing through a target intersection.

[0035] For example, the electronic device 110 can receive a broadcast signal within a certain range around the vehicle in real time through the broadcast receiving unit 124. This broadcast signal can be a broadcast signal sent by a roadside unit (such as the roadside unit 103) on the road where the vehicle is located. In some embodiments, the electronic device 110 can also include a broadcast unit (not shown in FIG. 1). The electronic device 110 can broadcast the status data of the traffic light to other vehicles through the broadcast unit. That is, the electronic device 110 can forward the broadcast signal including the status data of the traffic light through the RSU sending unit.

[0036] Figure 3 Schematic diagram 300 of receiving a broadcast signal according to some embodiments of the present disclosure is shown. Figure 3 As shown in the figure, V1, V2, and V3 represent three different vehicles respectively, and RSU represents the roadside unit on the road where the vehicle is located. If the vehicle is currently located in the AB section, then the RSU in the figure can represent the roadside unit installed at the end of the AB section, that is, at the intersection corresponding to position B. A section is a traffic route between two nodes on a traffic network, which can usually be understood as a section of the road between two intersections. Circle 301 in the figure represents the area that can receive the broadcast signal sent by the RSU. For vehicle V1, if the location of vehicle V1 overlaps with the area included in circle 301, vehicle V1 can receive the broadcast signal sent by the RSU.

[0037] After vehicle V1 parses the broadcast signal it receives to obtain the status data of the traffic light, it can broadcast a broadcast signal containing the status data of the traffic light to other vehicles. In order to distinguish the broadcast signal received by vehicle V1 from the broadcast signal broadcasted externally by the vehicle, the broadcast signal received by vehicle V1 may be referred to as a broadcast signal, and the broadcast signal broadcasted by vehicle V1 may be referred to as broadcast data in this article. The broadcast data broadcasted externally by vehicle V1 may include the same data as the broadcast signal received by vehicle V1, or may include different data (for example, it may be broadcast data generated by the electronic device of vehicle V1 processing the broadcast signal).

[0038] Vehicles within a certain range of vehicle V1 and outside the area where circle 301 is located (that is, vehicles that cannot receive the broadcast signal sent by the RSU) can receive the broadcast data broadcast by vehicle V1. For example, vehicle V2 can receive the broadcast data broadcast by vehicle V1. In some embodiments, a vehicle that receives the broadcast data broadcast by vehicle V1 can further broadcast the broadcast data so that other vehicles can receive the broadcast data. For example, vehicle V2 can secondary forward the received broadcast data broadcast by vehicle V1 so that other vehicles can receive the broadcast data broadcast by vehicle V2. Exemplarily, for vehicle V3, the broadcast data it receives can be the broadcast data directly broadcast by vehicle V1, or it can be the broadcast data secondary forwarded by vehicle V2.

[0039] The state data of the traffic light may include, for example, the direction (i.e., orientation), position, display state, type of the traffic light, etc. The electronic device 110 may parse the state data of the traffic light to obtain information included in the state data. The type of the traffic light may include, for example, a traffic light for controlling pedestrians, a traffic light for controlling non-motorized vehicles, a traffic light for controlling motorized vehicles, etc.

[0040] The display state may indicate, for example, the color of the effective traffic light. For example, taking the effective traffic light as a red, yellow, and green traffic light, the display state may include red, yellow, and green. Different display states may indicate whether the intersection where the effective traffic light is located allows vehicles to pass. For example, when the display state is red or yellow, it indicates that passage is not allowed. When the display state is green, it indicates that passage is allowed.

[0041] At block 220 , the electronic device 110 determines whether the traffic light is a valid traffic light for controlling the vehicle based on the state data of the traffic light and the state data of the vehicle.

[0042] If the broadcast signal received by the electronic device 110 includes only the status data of one traffic light, the electronic device 110 can determine whether the traffic light is a valid traffic light for controlling the vehicle based on the status data of the traffic light and the status data of the vehicle. The status data of the vehicle may include, for example, the direction of the vehicle (also referred to as the orientation of the vehicle), the direction of movement of the vehicle (also referred to as the driving direction of the vehicle), the driving speed of the vehicle, etc. Since there are often multiple traffic lights at road intersections (especially crossroads), and these traffic lights are often used to control vehicles with different directions of movement, the broadcast signal received by the electronic device 110 may also include the status data of multiple traffic lights, and the status data of these traffic lights include the status data of different traffic lights located at the same intersection but indicating vehicles in different directions.

[0043] In the case where the received broadcast signal may include status data of multiple traffic lights, if the road intersection includes only one roadside unit, the broadcast signal received by the electronic device 110 is the broadcast signal of the roadside unit. The electronic device 110 parses the broadcast signal to obtain the status data of multiple traffic lights, and filters the status data of multiple traffic lights included in the broadcast signal based on the status data of the traffic lights and the status data of the vehicle. The electronic device 110 can identify the status data of valid traffic lights from the status data of the traffic lights, that is, determine whether each of the multiple traffic lights corresponding to the status data of the traffic lights is a valid traffic light.

[0044] If the road intersection includes multiple roadside units, the broadcast signal of each of the multiple roadside units may include the status data of a specified traffic light. The broadcast signal acquired by the electronic device 110 may be multiple broadcast signals sent by multiple roadside units. The electronic device 110 may filter the multiple broadcast signals based on the status data of the traffic light and the status data of the vehicle respectively included in these broadcast signals, so as to identify the valid broadcast signals containing the status data of the valid traffic light from these broadcast signals, that is, it can identify whether the traffic lights corresponding to these broadcast signals are respectively valid traffic lights.

[0045] For the convenience of description, the following description will be given by taking the broadcast signal received by the electronic device 110 as an example, in which the broadcast signal includes a broadcast signal broadcast by at least one roadside unit. Here, the broadcast signal broadcast by each roadside unit in the at least one roadside unit includes the status data of a traffic light (that is, one broadcast signal corresponds to the status data of one traffic light).

[0046] For different traffic lights, the electronic device 110 can determine whether it is a valid traffic light for the vehicle based on the state data of the traffic light and the state data of the vehicle. Specifically, if the direction and position of the traffic light parsed from the state data of the traffic light and the movement direction of the vehicle meet a predetermined condition, the electronic device 110 can identify the traffic light as a valid traffic light.

[0047] The predetermined condition may, for example, include that the direction of the traffic light and the direction of movement of the vehicle satisfy a predetermined angle condition. Exemplarily, the predetermined angle condition may, for example, indicate a threshold angle, and when the angle between the direction of the traffic light and the direction of movement of the vehicle is less than the threshold angle, the electronic device 110 may identify the traffic light as a valid traffic light. The predetermined angle condition may, for example, also indicate a predetermined angle range. When the angle between the direction of the traffic light and the direction of movement of the vehicle is within a predetermined angle range (e.g., [160°, 200°] or other ranges), the electronic device 110 may identify the traffic light as a valid traffic light. In this way, the accuracy of determining the traffic light may be improved, thereby improving the efficiency of post-processing.

[0048] Figure 4 Schematic diagram 400 of effectively determining a traffic light according to some embodiments of the present disclosure is shown. Figure 4 As shown, the direction of the traffic light 102 is the direction indicated by arrow 401, and the moving direction of the vehicle 101 is the direction indicated by arrow 402. The electronic device 110 can, for example, determine whether the traffic light 102 can be identified as a valid traffic light based on a comparison of the angle between the direction indicated by arrow 401 and the direction indicated by arrow 402 with a threshold angle and / or a predetermined angle range. Exemplarily, if the predetermined angle range is [160°, 200°], then when the angle between the direction indicated by arrow 401 and the direction indicated by arrow 402 is within this predetermined angle range, the electronic device 110 can identify the traffic light 102 as a valid traffic light.

[0049] In some embodiments, the electronic device 110 may determine a straight line that matches the direction of the traffic light 102 and the direction of movement of the vehicle 101, and determine the positional relationship between the two straight lines. Figure 4 As shown, dotted line 403 is a straight line in the direction indicated by arrow 401, and dotted line 404 is a straight line in the direction indicated by arrow 402. If dotted line 401 is parallel to dotted line 404 (ie, the angle is 180°), electronic device 110 can identify traffic light 102 as a valid traffic light.

[0050] Since there are multiple roads that are close to each other, in this case, there is a possibility that the direction of a certain traffic light satisfies the above-mentioned predetermined angle condition, but the traffic light is used to control vehicles on other roads. Therefore, in some embodiments, the predetermined condition may also include, for example, that the vertical distance between the position of the traffic light and the straight line where the direction of movement of the vehicle is located satisfies the predetermined distance condition. The predetermined distance condition may, for example, indicate a threshold distance. The electronic device 110 may, for example, determine the vertical distance between the position of the traffic light and the straight line where the direction of movement of the vehicle is located. The electronic device 110 may then compare the vertical distance with the threshold distance indicated by the predetermined distance condition.

[0051] When the vertical distance is less than the threshold distance, the electronic device 110 may determine that the traffic light is a traffic light on the road where the vehicle is located, and further identify the traffic light as a valid traffic light. Figure 4 , the electronic device 110 may determine a vertical distance S between the location of the traffic light 102 and the dashed line 404. If the vertical distance S is less than a threshold distance, the electronic device 110 identifies the traffic light 102 as a valid traffic light.

[0052] In some embodiments, after the electronic device 110 determines the valid traffic lights, it can generate broadcast data based on the status data of the valid traffic lights and broadcast it to other vehicles. That is, the broadcast data broadcast by the electronic device 110 is broadcast data that only includes the status data of the valid traffic lights rather than the status data of all the traffic lights obtained by parsing. In some embodiments, the electronic device 110 can also directly generate broadcast data based on the status data of all the traffic lights obtained by parsing, and the electronic device 110 can perform special processing on the status data of the valid traffic lights so that other electronic devices 110 that receive the broadcast data can determine which of them are the status data of the valid traffic lights.

[0053] Since the valid traffic lights for different vehicles may be different, in order to facilitate the electronic devices of other vehicles (e.g., the second vehicle) receiving the broadcast data to determine whether the status data of the valid traffic lights included in the broadcast data is the status data of the valid traffic lights used to control their own vehicles, in some embodiments, for a certain traffic light, if the traffic light is determined to be a valid traffic light (i.e., the status data of the traffic light is determined to be the status data of the valid traffic light), the electronic device 110 may obtain the segment identifier of the segment where the vehicle (also referred to as the first vehicle) is located. The segment identifier may, for example, indicate the segment name and / or ID (e.g., AB segment), the segment location, the coded location of the segment, etc. The electronic device 110 may determine the specific segment indicated by the segment identifier based on the segment identifier.

[0054] The electronic device 110 can generate broadcast data based on the road segment identifier and the status data of the valid traffic light, and broadcast the status data of the traffic light and the road segment identifier to other vehicles other than the vehicle via the broadcast data. That is, the electronic device 110 of the first vehicle can broadcast the status data of the traffic light and the road segment identifier to the second vehicle via the broadcast data.

[0055] For the second vehicle that receives the broadcast data, if it is determined that the broadcast signal includes a road segment identifier, the electronic device of the second vehicle can obtain the current road segment identifier of the current road segment where the second vehicle is located, and when it is determined that the road segment identifier matches the current road segment identifier, the electronic device can subsequently control the second vehicle based on the status data of the traffic light. In this case, the electronic device of the second vehicle can directly determine whether the received broadcast signal is a broadcast signal including the status data of a valid traffic light for the second vehicle based on the matching result of the current road segment identifier of the second vehicle and the road segment identifier included in the received broadcast signal. In this way, the efficiency of determining the valid traffic light can be improved, thereby improving the efficiency of the electronic device in subsequently controlling the vehicle based on the status data of the valid traffic light.

[0056] In some embodiments, the broadcast data broadcast by the first vehicle may not include the road segment identifier. The electronic device 110 receiving the broadcast data may determine whether the traffic light included in the broadcast data is a valid verification light for its corresponding vehicle based on the above-mentioned method of determining whether the traffic light is a valid traffic light.

[0057] In some embodiments, the broadcast data sent by the vehicle may include a road segment identifier, alternatively and / or additionally, the broadcast data sent by the vehicle may not include a road segment identifier. Further, the broadcast data sent by the roadside unit may include a road segment identifier, alternatively and / or additionally, the broadcast data sent by the roadside unit may not include a road segment identifier. At this time, after receiving the broadcast data, it may be first determined whether the broadcast data includes a road segment identifier.

[0058] If the broadcast data includes a road segment identifier, the valid traffic light can be determined based on whether the road segment identifier in the broadcast data is the same as the road segment identifier of the road segment where the vehicle is located. If the broadcast data does not include a road segment identifier, it can be determined whether the traffic light is a valid traffic light for controlling the vehicle based on the state data of the traffic light and the state data of the vehicle. Alternatively and / or additionally, valid traffic lights determined based on different methods can be cross-validated to further improve the accuracy of determining the valid traffic light.

[0059] At block 230 , if it is determined that the traffic light is a valid traffic light, the electronic device 110 controls the vehicle based on the status data of the traffic light.

[0060] In some embodiments, before controlling the traffic state of a vehicle passing through a target intersection based on the status data of a valid traffic light, the electronic device 110 needs to determine whether the type of the valid traffic light matches the type of the vehicle. It is understood that only when the types match can the valid traffic light be used to control the traffic state of the vehicle. Specifically, the electronic device 110 can, for example, parse the type of the valid traffic light from the status data of the valid traffic light, and control the vehicle based on the status data of the valid traffic light when it is determined that the type of the valid traffic light matches the type of the vehicle. For example, if the type of the valid traffic light is a traffic light for controlling a motor vehicle and the type of the vehicle is a motor vehicle, the electronic device 110 determines that the type of the valid traffic light matches the type of the vehicle. The electronic device 110 can then control the vehicle based on the status data of the valid traffic light.

[0061] In addition to the display state, in some embodiments, the electronic device 110 can also control the vehicle in conjunction with the intersection distance between the vehicle and the target intersection. As mentioned above, this intersection distance refers to the distance between the vehicle and the stop line of the target intersection. Specifically, the electronic device 110 can parse the display state of the effective traffic light from the state data of the effective traffic light, and control the vehicle based on the display state and the intersection distance between the vehicle and the target intersection.

[0062] In some embodiments, if it is determined that the display state indicates that passage is allowed, the electronic device 110 can determine the travel distance of the vehicle based on the duration of the display state and the speed of the vehicle. It can be understood that the duration of the display state here corresponds to the current display state of the traffic light. In some embodiments, the traffic database can also include the duration of the display state of the traffic light. In this case, the duration of this display state can be obtained by the electronic device 110 from the traffic database based on the effective traffic light in real time. In some embodiments, the duration of the display state can also be obtained by the electronic device 110 using a machine learning model to predict based on historical data.

[0063] The duration of the display state may refer to, for example, the remaining time for an effective traffic light to switch from the current display state to another display state. For example, for a red, yellow, and green traffic light, if the current display state is red, the display state of the traffic light will switch to yellow after 20 seconds, and the display state duration of the traffic light may be, for example, 20 seconds.

[0064] The electronic device 110 may use the speed-distance formula to determine the distance traveled by the vehicle during the duration of the display state based on the duration of the display state and the speed of the vehicle. Exemplarily, assuming that the vehicle is traveling at a constant speed, the electronic device 110 may, for example, determine the distance traveled by the vehicle as the product of the remaining time of the display state and the speed of the vehicle. Assuming that the vehicle is traveling at a non-uniform speed (e.g., traveling at a uniformly variable speed), the electronic device 110 may also obtain the acceleration of the vehicle and determine the distance traveled by the vehicle based on the acceleration of the vehicle, the speed of the vehicle, and the duration of the display state.

[0065] In some embodiments, when the intersection distance is less than or equal to zero, the electronic device 110 can determine that the stop line is located behind the vehicle's driving direction or coincides with the vehicle's position, and the vehicle is passing through the intersection. The electronic device 110 can then control the vehicle based on the display state of the effective traffic lights and the intersection distance between the vehicle and the target intersection. In some embodiments, when the intersection distance is greater than zero, the electronic device 110 can determine that the stop line is located in front of the vehicle's driving direction, and the vehicle has not passed the intersection. The electronic device 110 can then control the vehicle based on the display state of the effective traffic lights, the vehicle's driving distance, and the intersection distance between the vehicle and the target intersection.

[0066] Some examples of intersection distance being greater than zero are described below. In some embodiments, the electronic device 110 determines the travel distance of the vehicle based on the duration of the display state and the speed of the vehicle in response to determining that the display state indicates that passage is allowed and the intersection distance is greater than zero. The electronic device 110 can then calculate the difference between the travel distance and the intersection distance, and in response to determining that the difference between the travel distance and the intersection distance meets the safety distance condition, allow the vehicle to pass through the intersection.

[0067] Exemplarily, when the display state of the valid traffic light is green, it indicates that the vehicle is allowed to pass the target intersection. Since the electronic device 110 can only allow the vehicle to pass the intersection when the driving distance is greater than the intersection distance, the safety distance condition here can be, for example, that the difference obtained by subtracting the intersection distance from the driving distance is greater than 0. That is, the electronic device 110 instructs the vehicle to pass the target intersection in response to the difference obtained by subtracting the intersection distance from the driving distance being greater than 0. In response to determining that the difference between the driving distance and the intersection distance does not meet the safety distance condition, the electronic device 110 prompts the vehicle to slow down.

[0068] For example, when the driving distance is less than or equal to the intersection distance (i.e., the difference obtained by subtracting the intersection distance from the driving distance is less than or equal to 0), the vehicle cannot pass through the intersection when the display state indicates that passage is allowed (i.e., a green light). The electronic device 110 can present a prompt message to the passengers inside the vehicle (e.g., the driver) to prompt the vehicle to slow down, thereby avoiding violations when the display state switches to not allowing passage (e.g., a red light). The electronic device 110 can present the prompt information by, for example, playing audio, vibrating, playing video, presenting text, and the like.

[0069] In some embodiments, the electronic device 110 determines the driving distance of the vehicle based on the duration of the display state and the speed of the vehicle in response to determining that the display state indicates that passage is prohibited and the intersection distance is greater than zero. The electronic device 110 further prompts the vehicle to slow down in response to determining that the difference between the driving distance and the intersection distance does not meet the safety distance condition.

[0070] Exemplarily, when the display state of the effective traffic light is red or yellow, it can indicate, for example, that the vehicle is prohibited from passing the target intersection. If the safety distance condition is that the difference obtained by subtracting the intersection distance from the driving distance is greater than 0, then when the safety distance condition is met, the electronic device 110 can determine that if the vehicle continues to travel in the current state, the vehicle will exceed the stop line during the duration of the display state, and even pass the intersection illegally. The electronic device 110 then prompts the vehicle to slow down. Similarly, the electronic device 110 can present a prompt message to the personnel inside the vehicle (such as the driver) to prompt the vehicle to slow down, thereby avoiding violations when the display state is that passage is not allowed (such as a red light).

[0071] Some examples of intersection distances less than or equal to zero are described below. In some embodiments, the electronic device 110 determines that a vehicle has violated the rules by passing through an intersection in response to determining that the display state of a valid traffic light indicates that passage is prohibited and the intersection distance is less than or equal to zero. The electronic device 110 can prompt that the vehicle has violated the rules by passing through an intersection. Similarly, the electronic device 110 can prompt that the vehicle has violated the rules by presenting a prompt message. The electronic device 110 can present the prompt information, for example, by playing audio, vibrating, playing video, presenting text, and the like.

[0072] It is understandable that, when it is determined that the display state of the valid traffic light indicates that passage is allowed and the intersection distance is less than or equal to zero, the electronic device 110 can determine that the vehicle passes through the intersection normally. The electronic device 110 does not need to present a prompt message.

[0073] In summary, according to the embodiments of the present disclosure, traffic lights can be detected and identified conveniently and quickly based on broadcast signals containing status data of traffic lights, which can avoid identification errors caused by environmental reasons and help improve the accuracy of detection and identification results. Furthermore, vehicles can be controlled based on the results of detection and identification of traffic lights, which helps to ensure traffic safety.

[0074] The above has described the specific details of each step of controlling a vehicle based on a broadcast signal, and a method for controlling a vehicle based on a broadcast signal is provided. The method includes: receiving status data of a traffic light at a vehicle via a broadcast signal, the traffic light being used to control the traffic status of a vehicle passing through a target intersection; determining whether the traffic light is a valid traffic light for controlling the vehicle based on the status data of the traffic light and the status data of the vehicle; and in response to determining that the traffic light is a valid traffic light, controlling the vehicle based on the status data of the traffic light.

[0075] In some embodiments, determining that a traffic light is a valid traffic light for controlling a vehicle includes: parsing the direction and position of the traffic light from status data of the traffic light; and identifying the traffic light as a valid traffic light in response to determining that a predetermined condition is satisfied between the direction and position of the traffic light and the direction of movement of the vehicle.

[0076] In some embodiments, determining that the direction and position of a traffic light and the direction of movement of a vehicle satisfy a predetermined condition includes: determining that the direction of the traffic light and the direction of movement of the vehicle satisfy a predetermined angle condition; and determining that the vertical distance between the position of the traffic light and the straight line of the direction of movement of the vehicle satisfies a predetermined distance condition.

[0077] In some embodiments, controlling a vehicle based on the status data of a traffic light includes: parsing a display status of the traffic light from the status data of the traffic light; and controlling the vehicle based on the display status of the traffic light and an intersection distance between the vehicle and a target intersection.

[0078] In some embodiments, controlling a vehicle based on a display status and an intersection distance includes: in response to determining that the display status indicates that passage is allowed, determining the vehicle's travel distance based on the duration of the display status and the vehicle's speed; and in response to determining that the difference between the travel distance and the intersection distance satisfies a safety distance condition, allowing the vehicle to pass through the intersection.

[0079] In some embodiments, the method of controlling a vehicle based on a broadcast signal further includes: in response to determining that the difference between the travel distance and the intersection distance does not meet the safety distance condition, prompting the vehicle to slow down.

[0080] In some embodiments, controlling the vehicle based on the display status and the intersection distance includes: in response to determining that the display status indicates that no passage is allowed and the intersection distance is less than or equal to zero, prompting that the vehicle has illegally passed through the intersection.

[0081] In some embodiments, controlling a vehicle based on a display status and an intersection distance includes: in response to determining that the display status indicates that no passage is allowed and the intersection distance is greater than zero, determining the vehicle's travel distance based on the duration of the display status and the vehicle's speed; and in response to determining that the difference between the travel distance and the intersection distance meets a safe distance condition, prompting the vehicle to slow down.

[0082] In some embodiments, controlling the vehicle based on the status data of the traffic light includes: parsing the type of the traffic light from the status data of the traffic light; and controlling the vehicle based on the status data of the traffic light in response to determining that the type of the traffic light matches the type of the vehicle.

[0083] In some embodiments, the method of controlling a vehicle based on a broadcast signal further includes broadcasting the status data of the traffic light to other vehicles other than the vehicle via the broadcast data.

[0084] In some embodiments, the method for controlling a vehicle based on a broadcast signal further includes: in response to determining that a traffic light is a valid traffic light, obtaining a segment identifier of a segment of road where the vehicle is located; and broadcasting the status data and segment identifier of the traffic light to other vehicles other than the vehicle via broadcast data.

[0085] In some embodiments, the method further includes: determining whether the broadcast signal includes a road segment identifier; and in response to determining that the broadcast signal does not include the road segment identifier, determining whether the traffic light is a valid traffic light for controlling the vehicle based on the status data of the traffic light and the status data of the vehicle.

[0086] In some embodiments, the method for controlling a vehicle based on a broadcast signal further includes: in response to determining that the broadcast signal includes a segment identifier, obtaining a current segment identifier of a current segment where the vehicle is located; and in response to determining that the segment identifier matches the current segment identifier, controlling the vehicle based on the status data of a traffic light.

[0087] In some embodiments, the broadcast signal comes from at least any one of the following: a roadside unit on the road where the vehicle is located, and other vehicles on the road where the vehicle is located.

[0088] In some embodiments, the method for controlling a vehicle based on a broadcast signal further includes: in response to receiving status data of multiple traffic lights at the vehicle, determining an effective traffic light for controlling the vehicle from among the multiple traffic lights based on a relationship between the status data of the multiple traffic lights and the status data of the vehicle.

[0089] According to some embodiments of the present disclosure, there is also provided an apparatus for controlling a vehicle based on a broadcast signal. Figure 5 The block diagram of the apparatus 500 for controlling a vehicle based on a broadcast signal according to an embodiment of the present disclosure is schematically shown. The apparatus 500 may be implemented as or included in the electronic device 110. Each module / component in the apparatus 500 may be implemented by hardware, software, firmware, or any combination thereof.

[0090] like Figure 5 As shown, the device 500 includes: a status data receiving module 510, configured to receive status data of a traffic light at a vehicle via a broadcast signal, the traffic light being used to control the traffic status of the vehicle through a target intersection; a traffic light determination module 520, configured to determine whether the traffic light is a valid traffic light for controlling the vehicle based on the status data of the traffic light and the status data of the vehicle; and a vehicle control module 530, configured to control the vehicle based on the status data of the traffic light in response to determining that the traffic light is a valid traffic light.

[0091] In some embodiments, the traffic light determination module 520 includes: a data parsing module configured to parse the direction and position of the traffic light from the status data of the traffic light; and a condition determination module configured to identify the traffic light as a valid traffic light in response to determining that a predetermined condition is satisfied between the direction and position of the traffic light and the direction of movement of the vehicle.

[0092] In some embodiments, the condition determination module includes: an angle condition determination module, configured to determine whether the direction of the traffic light and the direction of movement of the vehicle satisfy a predetermined angle condition; and a distance condition determination module, configured to determine whether the vertical distance between the position of the traffic light and the straight line of the direction of movement of the vehicle satisfies a predetermined distance condition.

[0093] In some embodiments, the vehicle control module 530 includes: a display status acquisition module configured to parse the display status of the traffic light from the status data of the traffic light; and a first control module configured to control the vehicle based on the display status of the traffic light and the intersection distance between the vehicle and the target intersection.

[0094] In some embodiments, the first control module includes: a first determination module, configured to determine the vehicle's travel distance based on the duration of the display state and the speed of the vehicle in response to determining that the display state indicates that passage is allowed; and a permission module, configured to allow the vehicle to pass through the intersection in response to determining that the difference between the travel distance and the intersection distance meets the safety distance condition.

[0095] In some embodiments, the first control module further includes: a first prompting module configured to prompt the vehicle to slow down in response to determining that the difference between the driving distance and the intersection distance does not meet the safety distance condition.

[0096] In some embodiments, the first control module includes: a second prompt module configured to prompt that the vehicle has illegally passed through the intersection in response to determining that the display status indicates that passage is prohibited and the intersection distance is less than or equal to zero.

[0097] In some embodiments, the first control module includes: a second determination module, configured to determine the vehicle's travel distance based on the duration of the display state and the speed of the vehicle in response to determining that the display state indicates that no passage is allowed and the intersection distance is greater than zero; and a third prompt module, configured to prompt the vehicle to slow down in response to determining that the difference between the travel distance and the intersection distance meets the safety distance condition.

[0098] In some embodiments, the vehicle control module 530 includes: a type parsing module configured to parse the type of the traffic light from the status data of the traffic light; and a second control module configured to control the vehicle based on the status data of the traffic light in response to determining that the type of the traffic light matches the type of the vehicle.

[0099] In some embodiments, the apparatus 500 further comprises: a broadcast module configured to broadcast the status data of the traffic light to other vehicles other than the vehicle via broadcast data.

[0100] In some embodiments, the broadcast module includes: a first acquisition module, configured to acquire a road segment identifier of a road segment where the vehicle is located in response to determining that the traffic light is a valid traffic light; and a first broadcast module, configured to broadcast the status data and road segment identifier of the traffic light to other vehicles other than the vehicle via broadcast data.

[0101] In some embodiments, the device 500 further includes: a judgment module configured to determine whether the broadcast signal includes a road segment identifier; and an effective traffic light determination module configured to determine whether the traffic light is a valid traffic light for controlling the vehicle based on the status data of the traffic light and the status data of the vehicle in response to determining that the broadcast signal does not include the road segment identifier.

[0102] In some embodiments, the device 500 further includes: a second acquisition module, configured to acquire a current segment identifier of a current segment where the vehicle is located in response to determining that the broadcast signal includes a segment identifier; and a third control module, configured to control the vehicle based on the status data of the traffic light in response to determining that the segment identifier matches the current segment identifier.

[0103] In some embodiments, the broadcast signal comes from at least any one of the following: a roadside unit on the road where the vehicle is located, and other vehicles on the road where the vehicle is located.

[0104] In some embodiments, the device 500 further includes: a fourth determination module, configured to determine, in response to receiving status data of multiple traffic lights at the vehicle, an effective traffic light for controlling the vehicle from among the multiple traffic lights based on a relationship between the status data of the multiple traffic lights and the status data of the vehicle.

[0105] The units and / or modules included in the device 500 can be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units and / or modules can be implemented using software and / or firmware, such as machine executable instructions stored on a storage medium. In addition to or as an alternative to machine executable instructions, some or all of the units and / or modules in the device 500 can be implemented at least in part by one or more hardware logic components. As an example and not limitation, exemplary types of hardware logic components that can be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0106] Figure 6 1 shows a block diagram of an electronic device 600 in which one or more embodiments of the present disclosure may be implemented. It should be understood that Figure 6 The electronic device 600 shown is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein. Figure 6 The electronic device 600 shown may be used to implement the electronic device 110 of FIG. 1 .

[0107] like Figure 6As shown, the electronic device 600 is in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to, one or more processors or processing units 610, a memory 620, a storage device 630, one or more communication units 640, one or more input devices 650, and one or more output devices 660. The processing unit 610 may be an actual or virtual processor and is capable of performing various processes according to a program stored in the memory 620. In a multi-processor system, multiple processing units execute computer executable instructions in parallel to improve the parallel processing capabilities of the electronic device 600.

[0108] The electronic device 600 typically includes a plurality of computer storage media. Such media can be any available media accessible to the electronic device 600, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 620 can be a volatile memory (e.g., registers, caches, random access memory (RAM)), a non-volatile memory (e.g., a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), flash memory) or some combination thereof. The storage device 630 can be a removable or non-removable medium, and can include a machine-readable medium, such as a flash drive, a disk, or any other medium, which can be used to store information and / or data and can be accessed within the electronic device 600.

[0109] The electronic device 600 may further include additional removable / non-removable, volatile / non-volatile storage media. Figure 6 As shown in , a disk drive for reading or writing from a removable, non-volatile disk (e.g., a "floppy disk") and an optical drive for reading or writing from a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to the bus (not shown) by one or more data media interfaces. The memory 620 may include a computer program product 625 having one or more program modules that are configured to perform various methods or actions of various implementations of the present disclosure.

[0110] The communication unit 640 implements communication with other computing devices through a communication medium. Additionally, the functions of the components of the electronic device 600 can be implemented in a single computing cluster or multiple computing machines that can communicate through a communication connection. Therefore, the electronic device 600 can operate in a networked environment using a logical connection with one or more other servers, a network personal computer (PC), or another network node.

[0111] The input device 650 may be one or more input devices, such as a mouse, a keyboard, a tracking ball, etc. The output device 660 may be one or more output devices, such as a display, a speaker, a printer, etc. The electronic device 600 may also communicate with one or more external devices (not shown) through the communication unit 640 as needed, such as a storage device, a display device, etc., communicate with one or more devices that allow a user to interact with the electronic device 600, or communicate with any device that allows the electronic device 600 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface (not shown).

[0112] According to an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer-executable instructions are stored, wherein the computer-executable instructions are executed by a processor to implement the method described above. According to an embodiment of the present disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method described above.

[0113] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products implemented according to the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0114] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0115] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0116] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple implementations of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some implementations as replacements, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse 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 realized by a special hardware-based system that performs the function or action of the specification, or can be realized by a combination of special hardware and computer instructions.

[0117] The above descriptions of various implementations of the present disclosure are exemplary, non-exhaustive, and not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The selection of terms used herein is intended to best explain the principles of the implementations, practical applications, or improvements to the technology in the marketplace, or to enable other persons of ordinary skill in the art to understand the implementations disclosed herein.

Claims

1. A method for controlling a vehicle based on a broadcast signal, comprising: receiving, at a vehicle via a broadcast signal, status data of a traffic light, the traffic light being used to control a traffic status of a vehicle passing through a target intersection; determining, based on the status data of the traffic light and the status data of the vehicle, whether the traffic light is a valid traffic light for controlling the vehicle; as well as In response to determining that the traffic signal is an active traffic signal, the vehicle is controlled based on the status data of the traffic signal.

2. The method of claim 1 , wherein determining that the traffic signal is a valid traffic signal for controlling the vehicle comprises: parsing the direction and position of the traffic light from the status data of the traffic light; as well as In response to determining that a predetermined condition is satisfied between the direction and the position of the traffic light and the direction of movement of the vehicle, the traffic light is identified as a valid traffic light.

3. The method according to claim 2, wherein determining that the direction and the position of the traffic light and the moving direction of the vehicle satisfy the predetermined condition comprises: Determining that a predetermined angle condition is satisfied between the direction of the traffic light and the moving direction of the vehicle; as well as It is determined that a vertical distance between the position of the traffic light and a straight line on which the moving direction of the vehicle lies satisfies a predetermined distance condition.

4. The method of claim 1 , wherein controlling the vehicle based on the status data of the traffic light comprises: parsing a display state of the traffic light from the state data of the traffic light; as well as The vehicle is controlled based on the display state of the traffic light and an intersection distance between the vehicle and the target intersection.

5. The method of claim 4, wherein controlling the vehicle based on the display state and the intersection distance comprises: In response to determining that the display state indicates that passage is permitted, determining a travel distance of the vehicle based on a duration of the display state and a speed of the vehicle; as well as In response to determining that the difference between the travel distance and the intersection distance satisfies a safe distance condition, the vehicle is allowed to pass through the intersection.

6. The method according to claim 5, further comprising: In response to determining that the difference between the travel distance and the intersection distance does not satisfy the safety distance condition, the vehicle is prompted to decelerate.

7. The method of claim 4, wherein controlling the vehicle based on the display state and the intersection distance comprises: In response to determining that the display status indicates that passage is prohibited and the intersection distance is less than or equal to zero, it is prompted that the vehicle has illegally passed through the intersection.

8. The method of claim 4, wherein controlling the vehicle based on the display state and the intersection distance comprises: In response to determining that the display state indicates that passage is prohibited and the intersection distance is greater than zero, determining a travel distance of the vehicle based on a duration of the display state and a speed of the vehicle; as well as In response to determining that the difference between the travel distance and the intersection distance satisfies a safety distance condition, the vehicle is prompted to decelerate.

9. The method of claim 1 , wherein controlling the vehicle based on the status data of the traffic light comprises: parsing the type of the traffic light from the status data of the traffic light; as well as In response to determining that the type of the traffic light matches the type of the vehicle, the vehicle is controlled based on the status data of the traffic light.

10. The method according to claim 1, further comprising: The status data of the traffic light is broadcast to other vehicles other than the vehicle via broadcast data.

11. The method according to claim 1, further comprising: In response to determining that the traffic light is a valid traffic light, obtaining a road segment identifier of the road segment where the vehicle is located; as well as The status data of the traffic light and the road segment identifier are broadcasted to other vehicles other than the vehicle via broadcast data.

12. The method according to claim 1, further comprising: determining whether the broadcast signal includes a road segment identifier; as well as In response to determining that the broadcast signal does not include a road segment identifier, determining whether the traffic signal is a valid traffic signal for controlling the vehicle based on the status data of the traffic signal and the status data of the vehicle.

13. The method according to claim 12, further comprising: In response to determining that the broadcast signal includes a road segment identifier, obtaining a current road segment identifier of a current road segment where the vehicle is located; as well as In response to determining that the road segment identifier matches the current road segment identifier, the vehicle is controlled based on the status data of the traffic light.

14. The method according to claim 1, wherein the broadcast signal comes from at least any one of the following: a roadside unit on the road where the vehicle is located, or other vehicles on the road where the vehicle is located.

15. The method according to claim 1, further comprising: In response to receiving status data of a plurality of traffic lights at the vehicle, determining to identify an effective traffic light from the plurality of traffic lights for controlling the vehicle based on a relationship between the status data of the plurality of traffic lights and the status data of the vehicle.

16. An apparatus for controlling a vehicle based on a broadcast signal, comprising: a status data receiving module configured to receive status data of a traffic light at the vehicle via a broadcast signal, the traffic light being used to control the traffic status of the vehicle passing through the target intersection; a traffic light determination module configured to determine whether the traffic light is a valid traffic light for controlling the vehicle based on the status data of the traffic light and the status data of the vehicle; as well as A vehicle control module is configured to control the vehicle based on the status data of the traffic light in response to determining that the traffic light is an effective traffic light.

17. An electronic device comprising: Memory and processor; The memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to any one of claims 1 to 15.

18. A computer-readable storage medium having one or more computer instructions stored thereon, wherein the one or more computer instructions are executed by a processor to implement the method according to any one of claims 1 to 15.

19. A computer program product comprising a computer program / instructions, wherein the computer program / instructions, when executed by a processor, implements the method according to any one of claims 1 to 15.

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