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

Abstract

The embodiment of the invention relates to a method and device for controlling a vehicle based on a vehicle position, electronic equipment and a medium. The method comprises the following steps: acquiring state data of a vehicle, wherein the state data of the vehicle at least comprises the position of the vehicle; determining a set of traffic lights within a predetermined range around the location of the vehicle from a traffic database; identifying effective traffic lights for controlling the vehicle from the group of traffic lights based on the state data of the group of traffic lights and the state data of the vehicle; and controlling the traffic state of the vehicle passing through the target intersection based on the state data of the effective traffic lights. In this way, the traffic signal lamp can be conveniently and quickly detected and recognized based on the traffic database, recognition errors caused by environmental reasons can be avoided, and the accuracy of detection and recognition results can be improved. Furthermore, the traffic state of the vehicle is controlled based on the detection and recognition result of the traffic signal lamp, and the traffic safety is ensured.

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 vehicle position. 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 vehicle position is provided. The method comprises: obtaining status data of the vehicle, the status data of the vehicle at least including the location of the vehicle; determining a group of traffic lights within a predetermined range around the location of the vehicle from a traffic database; identifying an effective traffic light for controlling the vehicle from a group of traffic lights based on the status data of the group of traffic lights and the status data of the vehicle; and controlling the traffic state of the vehicle passing through a target intersection based on the status data of the effective traffic light.

[0004] According to a second aspect of the present disclosure, a device for controlling a vehicle based on a vehicle position is provided. The device includes: a state data acquisition module configured to acquire state data of the vehicle, the state data of the vehicle at least including the position of the vehicle; a signal light determination module configured to determine a group of traffic lights within a predetermined range around the position of the vehicle from a traffic database; a signal light identification module configured to identify a valid traffic light for controlling the vehicle from a group of traffic lights based on the state data of the group of traffic lights and the state data of the vehicle; and a traffic state control module configured to control the traffic state of the vehicle passing through a target intersection based on the state data of the valid traffic lights.

[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 vehicle position according to some embodiments of the present disclosure;

[0012] FIG. 3A to FIG. 3C A schematic diagram of determining a traffic light 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 schematic diagram showing a method of determining a traffic status according to some embodiments of the present disclosure is shown;

[0015] Figure 6 A block diagram showing an apparatus for controlling a vehicle based on a vehicle position according to some embodiments of the present disclosure; and

[0016] Figure 7 A block diagram of an electronic device is shown in which one or more embodiments of the present disclosure may be implemented. DETAILED DESCRIPTION

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] An embodiment of the present disclosure proposes a scheme for controlling a vehicle based on the vehicle position. According to various embodiments of the present disclosure, the status data of the vehicle including at least the location of the vehicle is obtained. Based on the status data of the vehicle, a group of traffic lights are determined from a traffic database, that is, candidate traffic lights that may be located on the driving route of the vehicle. Based on the status data of a group of traffic lights and the status data of the vehicle, an effective traffic light for controlling the vehicle is identified from a group of traffic lights. Here, the effective traffic light may represent a traffic light for controlling the next target intersection that the vehicle is to pass. The traffic status of the vehicle passing through the target intersection is controlled based on the status data of the effective traffic light.

[0024] In this way, traffic lights can be detected and identified conveniently and quickly based on the traffic database, which can avoid identification errors caused by environmental reasons, thereby helping to improve the accuracy of the detection and identification results. Furthermore, the traffic status of vehicles can be controlled based on the detection and identification results of traffic lights, which helps to ensure traffic safety.

[0025] 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 Figure 1, 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 and a stop line 103. Stop line 103 may indicate the location of an intersection. When traffic light 102 indicates that passage is not allowed (for example, when traffic light 102 is a red light), vehicle 101 may not cross stop line 103, and vehicle 101 must be located behind stop line 103 (i.e., away from the direction of the intersection). In some embodiments, the distance between vehicle 101 and stop line 103 can be regarded as the intersection distance between 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 speed measurement unit 124, an execution unit 125 and a bus 126.

[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 recognition of traffic lights, the positioning unit 122 can use a differential positioning (RTK) algorithm. The positioning unit 122 supporting the RTK algorithm can provide more accurate location information. The network communication unit 123 can be used to communicate with the cloud server. The speed measurement unit 124 can be used to detect the current driving speed of the vehicle 101.

[0029] The execution unit 125 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 125 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 speed measurement unit 124, etc. and control the execution unit 125. The processing unit 121, the positioning unit 122, the network communication unit 123, the speed measurement unit 124 and the execution unit 125 can be controlled and exchange information data through the bus 126. The bus 126 includes but is not limited to a serial port, SPI, CAN, etc.

[0031] In the context of the present disclosure, it is possible to utilize Figure 1A The electronic device 110 at the vehicle end position shown realizes the recognition and detection of the traffic light. Alternatively and / or additionally, the recognition and detection of the traffic light can be realized in the cloud. 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 140. The electronic devices 110 installed in different vehicles 101 can report the real-time location information (e.g., longitude and latitude) and direction information obtained from the positioning unit 122 of the corresponding vehicle 101 to the Internet of Things (IOT) platform 130 through the network communication unit 123. The detection platform 140 can obtain the longitude and latitude information and direction information from the Internet of Things platform 130 in real time. The detection platform 140 can also obtain road network information 150, which can include information of each road section in the road network, for example. The detection platform 140 can also obtain relevant information of traffic lights (e.g., longitude and latitude information, direction information, etc. of traffic lights) from the traffic database 160. The detection platform 140 can judge the state of the traffic lights 102 in front of each vehicle 101 based on the information obtained, identify whether there are dangerous behaviors such as running a red light and potential running a red light, and provide corresponding processing results.

[0032] In the context of the present disclosure, the detection platform 140 can be used in the cloud to realize the recognition and detection of traffic lights. At this time, the detection platform 140 can directly read the real-time information in the traffic database 160 in the cloud to perform processing. For the convenience of description, the following is an exemplary description using the local electronic device 110 at the vehicle end as an example.

[0033] It should be understood that the structure and function of the environment 100 are described for exemplary purposes only, and do not imply any limitation on the scope of the present disclosure. Some exemplary embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0034] Figure 2 A flow chart of a process 200 for controlling a vehicle based on a vehicle position 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 .

[0035] In block 210 , the electronic device 110 acquires status data of the vehicle, where the status data of the vehicle includes at least a location of the vehicle.

[0036] The electronic device 110 can, for example, obtain the status data of the vehicle including the location of the vehicle through a positioning component (e.g., positioning unit 122) installed on the vehicle. In some embodiments, the status data of the vehicle can also include 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), etc. The direction of movement of the vehicle here can be, for example, calculated based on the location of the vehicle. For example, the electronic device 110 can obtain the latitude and longitude of the vehicle in real time, and determine the driving direction of the vehicle based on the changes in the latitude and longitude of the vehicle.

[0037] At block 220 , the electronic device 110 determines from a traffic database a set of traffic lights within a predetermined range around the location of the vehicle.

[0038] The traffic database may be, for example, a traffic database 160. The traffic database may be, for example, a database stored locally on the electronic device 110. The electronic device 110 may directly obtain data from the traffic database stored locally. Whether the local traffic database is the latest version may be detected in real time, and the local traffic database may be updated when necessary. Alternatively or additionally, the traffic database may also be, for example, a database stored in the cloud. The electronic device 110 may obtain data from a database stored in the cloud through a communication connection with the cloud. For example, the electronic device 110 may upload the acquired status data of the vehicle to the cloud, and the cloud queries the traffic database based on the status data of the vehicle and sends the corresponding query results to the electronic device. The query result may, for example, be a group of traffic lights within a predetermined range around the location of the vehicle.

[0039] In some embodiments, the road network information may include information of multiple sections, such as the locations of multiple sections. A section is a traffic route between two nodes on a traffic network, which can generally be understood as a section of a road between two intersections. Alternatively and / or additionally, the section of the road between two intersections may be further subdivided into multiple sections, for example, may be divided according to a predetermined length. If it is determined that the distance between the position of the vehicle and a target section in a plurality of sections satisfies a first threshold condition, the electronic device 110 may determine that the vehicle is located at the target section or near the target section. It is understood that the target section may include at least one section. The electronic device 110 may then determine a group of traffic lights based on at least one traffic light at the end of the target section.

[0040] Regarding the specific method of determining the target road section, in some embodiments, the electronic device 110 can determine the distance between the position of the vehicle and the position of each of the multiple road sections based on the position of the vehicle included in the vehicle status data and the multiple road sections included in the traffic database. The electronic device 110 then compares the determined multiple distances with the first threshold distance (e.g., 3 meters, 5 meters, etc.) indicated by the first threshold condition, and determines the road section whose corresponding distance is less than the first threshold distance as the target road section.

[0041] Alternatively or additionally, in some embodiments, the electronic device 110 may also query multiple road sections included in the traffic database based on the vehicle's position and the first threshold distance. Specifically, the electronic device 110 may draw a circle with the vehicle's position as the center and the first threshold distance as the radius. The electronic device 110 then determines the road section that overlaps with the position of the circle as the target road section.

[0042] In some embodiments, the electronic device 110 may directly determine at least one signal light at the end of the road section as a group of traffic lights. For example, the electronic device 110 may determine at least one signal light at both ends of the road section as a group of traffic lights. In some embodiments, the electronic device 110 may also determine a group of traffic lights from at least one traffic light at the end of the target road section based on the direction of the vehicle included in the status data of the vehicle. Specifically, the electronic device 110 may determine at least one traffic light at the end of the target road section consistent with the direction of the vehicle as a group of traffic lights. For example, the electronic device 110 may determine at least one traffic light at the end point of the road section in the forward direction of the vehicle as a group of traffic lights.

[0043] See also Figure 3A value Figure 3C Describe in more detail, FIG. 3A to FIG. 3C Schematic diagrams 300A to 300C of determining a traffic light according to some embodiments of the present disclosure are shown. Figure 3A As shown, taking the example of determining that the vehicle is located at any position other than the two ends of the AB section based on the position of the vehicle and multiple sections, the electronic device 110 determines the AB section as the target section. The electronic device 110 can determine at least one traffic light at the end of the AB section, that is, determine at least one traffic light at position A and position B.

[0044] In some embodiments, when the road section involves a section between two intersections, the electronic device 110 can directly determine at least one traffic light located at position A and position B as a group of traffic lights. In some embodiments, the electronic device 110 can also determine a group of traffic lights based on the direction of the vehicle. For example, if the direction of the vehicle is from A to B (also referred to as AB direction), the electronic device 110 can determine at least one traffic light located at position B as a group of traffic lights. If the direction of the vehicle is from B to A (also referred to as BA direction), the electronic device 110 can determine at least one traffic light located at position A as a group of traffic lights. In some embodiments, when the road section involves a subdivided section, if no traffic light is found at the end of a section, the traffic light at the end of the next section can be found along the direction of the section.

[0045] The above describes the case where the target segment contains only one segment. Figure 3A To describe the case where the target road segment includes multiple road segments. Taking the case where the vehicle is located at position B based on the position of the vehicle as an example, the electronic device 110 may draw a circle with the first threshold distance indicated by the first threshold condition as the radius, for example Figure 3A A circle with a radius of r1 is formed in the target road section. If this circle overlaps with the AB section, the BC section, and the BD section, the electronic device 110 can determine that the target road section is the AB section, the BC section, and the BD section. The electronic device 110 can respectively determine at least one traffic light at the end of the AB section, at least one traffic light at the end of the BC section, and at least one traffic light at the end of the BD section. That is, the electronic device 110 can determine at least one traffic light at position A, position B, position C, and position D.

[0046] In some embodiments, the electronic device 110 may further directly determine at least one traffic light at position A, position B, position C, and position D as a group of traffic lights. In some embodiments, the electronic device 110 may also determine a group of traffic lights based on the direction of the vehicle. For example, if the direction of the vehicle is AB, the electronic device 110 may determine at least one traffic light at position B, position C, and position D as a group of traffic lights. If the direction of the vehicle is BA, the electronic device 110 may determine at least one traffic light at position A and position B as a group of traffic lights.

[0047] In addition to the above-mentioned method of determining a group of traffic lights based on the target road section, the electronic device 110 can also determine a group of traffic lights based on the position of the target traffic lights, for example. It can be understood that, similar to the target road section, the target traffic lights can include at least one traffic light. In some embodiments, the traffic database can include the positions of multiple traffic lights. If it is determined that the distance between the position of the vehicle and the position of at least one traffic light among the multiple traffic lights meets the second threshold condition, the electronic device 110 can determine that the at least one traffic light is located near the vehicle. The electronic device 110 can then determine the at least one traffic light as the target traffic light.

[0048] Specifically, the electronic device 110 can, for example, determine the distance between the position of the vehicle and the position of each of the multiple traffic lights based on the position of the vehicle included in the vehicle status data and the positions of the multiple traffic lights included in the traffic database. The electronic device 110 then compares the determined multiple distances with the second threshold distance (e.g., 15 meters, 10 meters, etc.) indicated by the second threshold condition, and determines the traffic lights whose corresponding distances are less than the second threshold distance as the target traffic lights. The electronic device 110 can also query the positions of the multiple traffic lights included in the traffic database based on the position of the vehicle and the second threshold distance. Specifically, the electronic device 110 can make a circle with the position of the vehicle as the center and the second threshold distance as the radius. The electronic device 110 then determines the traffic lights that overlap with the position of this circle as the target traffic lights.

[0049] like Figure 3B As shown, taking the case where the vehicle is located at position B based on the position of the vehicle as an example, the electronic device 110 may draw a circle with the second threshold distance indicated by the second threshold condition as the radius, for example Figure 3B If the circle overlaps with position B, position C and position D, the electronic device 110 may determine at least one traffic light at position B, position C and position D as the target traffic light.

[0050] In some embodiments, the traffic database may include location codes of multiple traffic lights. If the location code of the vehicle's location matches the location code of at least one of the multiple traffic lights, the electronic device 110 may determine the at least one traffic light as a target traffic light, and the location code of the target traffic light's location is the target location code. In some embodiments, the electronic device 110 may obtain a mapping relationship between the location and the location code, and different objects located in the same location area have the same location code.

[0051] like Figure 3C As shown, the electronic device 110 can be based on the position of the vehicle and the mapping relationship between the pre-acquired position and the position code (the mapping relationship can, for example, indicate which grid area the position (x, y) can be mapped to, and the same grid area corresponds to the same position code). For example, the electronic device 110 can determine the position code of the vehicle based on the position of the vehicle and the mapping relationship, and the position code of the vehicle indicates that the vehicle is located in the fourth grid area (for example, grid 301). If the traffic database contains 2 traffic lights, the position code corresponding to traffic light A indicates that traffic light A is located in the fourth grid area, and the position code corresponding to traffic light B indicates that traffic light B is located in the eleventh grid area (for example, grid 302). Since the position codes corresponding to the same grid area are the same, the electronic device 110 can determine that the position code of traffic light A is the same as the position code of the vehicle, and then determine that the position code of traffic light A matches the position code of the vehicle, and determine that traffic light A is the target traffic light.

[0052] Further, after determining the target traffic light, the electronic device 110 may determine a group of traffic lights based on the target traffic light. Figure 3B , the electronic device 110 may determine the target traffic lights (ie, at least one traffic light at position B, position C, and position D) as a group of traffic lights. The electronic device 110 may store the relevant data of the determined group of traffic lights locally.

[0053] At block 230 , the electronic device 110 identifies a valid traffic light for controlling the vehicle from a set of traffic lights based on the state data of the set of traffic lights and the state data of the vehicle.

[0054] Since there are often multiple traffic lights at road intersections (especially crossroads), and these multiple traffic lights are often used to control vehicles with different moving directions, the group of traffic lights determined by the electronic device 110 may include traffic lights located at the same intersection but indicating vehicles in different directions. For vehicles in a specified direction, the electronic device 110 can identify the valid traffic lights for the vehicle from a group of traffic lights. For example, a crossroad may have a transverse direction and a longitudinal direction. Traffic lights with a transverse direction are only used to control vehicles with a transverse direction, and traffic lights with a longitudinal direction are only used to control vehicles with a longitudinal direction. Therefore, taking the example that a group of traffic lights determined by the electronic device 110 includes all traffic lights at the crossroad, and the moving direction of a given vehicle is the transverse direction, the electronic device 110 needs to identify the traffic lights with a transverse direction in the crossroad as valid traffic lights.

[0055] In some embodiments, the status data of the vehicle may include the direction of movement of the vehicle. In some embodiments, the electronic device 110 may obtain the status data of a set of traffic lights from a traffic database. For example, the electronic device 110 may query the traffic database based on a set of traffic lights to obtain the status data of a set of traffic lights. The status data of a set of traffic lights may include, for example, the position and direction of a set of traffic lights. The direction of a set of traffic lights here may also be referred to as the orientation of a set of traffic lights.

[0056] In some embodiments, if a predetermined condition is met, the electronic device 110 may identify a given traffic light in a group of traffic lights as a valid traffic light. That is, the electronic device 110 may identify a traffic light in a group of traffic lights that meets the predetermined condition as a valid traffic light. The predetermined condition may, for example, include that the direction of the traffic light and the direction of motion of the vehicle meet 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 motion 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 motion 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.

[0057] Figure 4 Schematic diagram 400 of effectively determining a traffic light according to some embodiments of the present disclosure is shown. Figure 4As 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.

[0058] 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.

[0059] 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.

[0060] 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 then 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. In response to the vertical distance S being less than the threshold distance, the electronic device 110 identifies the traffic light 102 as a valid traffic light.

[0061] The above describes the situation of marking the traffic lights at the intersection that the vehicle is about to pass (or is passing). In some embodiments, the electronic device 110 can also mark the traffic lights at the next or multiple intersections that the vehicle is about to pass in advance. Figure 3AFor example, the vehicle is located at position B, the vehicle's moving direction is AB, and at least one traffic light at position B, position C, and position D is determined as a group of traffic lights. The electronic device 110 can determine that the vehicle is about to pass (or is passing) the intersection at position B, and the electronic device 110 can determine that the next intersection the vehicle is about to pass is the intersection at position C or position D. That is, the electronic device 110 can determine that the vehicle is about to travel at section BC or section BD. The electronic device 110 can respectively determine the angle θ1 between the straight line where section BC is located and the straight line where section AB is located, and the angle θ2 between the straight line where section BD is located and the straight line where section AB is located, and the electronic device 110 can compare the two angles.

[0062] If the angle θ1 is less than the angle θ2, the electronic device 110 can determine that the vehicle is about to travel on the road section BC, and based on the above-mentioned method of identifying the valid traffic lights, identify the valid traffic lights at the position C in advance. Since the position of the vehicle and the driving direction of the vehicle can change in real time, the electronic device 110 can also determine the next intersection to be identified in real time. For example, if the vehicle moves from the position B to the road section BD, that is, the vehicle is not about to travel on the road section BC as predicted by the electronic device 110. The electronic device 110 can delete the valid traffic lights at the position C previously identified, and identify the valid traffic lights at the position D. Thus, the electronic device 110 can identify the valid traffic lights at at least one intersection that the vehicle is about to pass in advance, which can improve the efficiency of controlling the traffic status of the vehicle through the target intersection based on the status data of the valid traffic lights.

[0063] In block 240 , the electronic device 110 controls the traffic status of the vehicle passing through the target intersection based on the status data of the valid traffic light.

[0064] The electronic device 110 determines the status data of the valid traffic light from the acquired set of status data of the traffic light. The status data of the valid traffic light may include the display status, type, etc. of the valid traffic light in addition to the direction and position of the valid traffic light. For example, the type of the traffic light may include a traffic light for controlling pedestrians, a traffic light for controlling non-motorized vehicles, a traffic light for controlling motorized vehicles, etc.

[0065] The display state may be, for example, the color in which the effective traffic light is displayed. For example, taking the effective traffic light as a red, yellow, and green traffic light as an example, 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.

[0066] 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, the electronic device 110 determines that the type of the valid traffic light matches the type of the vehicle in response to the type of the valid traffic light being a traffic light for controlling a motor vehicle and the type of the vehicle being a motor vehicle. The electronic device 110 can then control the vehicle based on the status data of the valid traffic light.

[0067] 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 of the effective traffic light and the intersection distance between the vehicle and the target intersection.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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 responds to determining that the difference between the driving distance and the intersection distance does not meet the safety distance condition, prompting the vehicle to slow down. Exemplarily, when the display state of the effective traffic light is red or yellow, it can, for example, indicate 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 passengers inside the vehicle to prompt the vehicle to slow down, thereby avoiding violations when the display state is not allowed to pass (such as a red light).

[0076] 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.

[0077] 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.

[0078] Similar to the identification of effective traffic lights, in order to improve the efficiency of determining the traffic status, in some embodiments, the electronic device 110 can also determine in advance the traffic status of the intersection after the vehicle passes the current intersection. Figure 5Schematic diagram 500 of determining a traffic status according to some embodiments of the present disclosure is shown. Figure 5 As shown, if the vehicle is currently passing through the intersection at position B, and the electronic device 110 determines that the vehicle is about to travel on section BC or section BD, the electronic device 110 can determine that the traffic light at position C or the traffic light at position D is the traffic light at the next intersection that the vehicle is about to pass.

[0079] If the circle with a radius of r3 at position C and the circle with a radius of r4 at position D respectively indicate the intersection ranges at position C and position D, then the intersection of the circle with a radius of r3 at position C and the road section BC (i.e., position c) indicates the location of the stop line at the intersection at position C, and the intersection of the circle with a radius of r4 at position D and the road section BD (i.e., position d) indicates the location of the stop line at the intersection at position D. The electronic device 110 can then predict in advance the traffic status of the vehicle passing through the intersection at position C or the intersection at position D based on the real-time position of the vehicle, position c, position d, the driving speed of the vehicle, the driving direction of the vehicle, and the display status of the effective traffic lights at positions C and D.

[0080] In one embodiment, the status data of the vehicle may further include the direction and speed of the vehicle. At this time, the predicted position of the vehicle can be determined based on the position, direction and speed of the vehicle and the road network information. For example, the predicted position of the vehicle after a predetermined time interval (e.g., 10 seconds or other time intervals) can be determined. Further, the method described above can be performed in an iterative manner to determine the predicted traffic lights corresponding to the predicted position. Specifically, a group of traffic lights within a predetermined range around the position of the vehicle can be determined from a traffic database according to the method described above. Based on the status data of a group of traffic lights and the predicted position of the vehicle, a predicted traffic light for controlling the vehicle after a predetermined time interval can be identified from a group of traffic lights.

[0081] Then, the state data of the predicted traffic lights can be acquired (e.g., preloaded before the vehicle reaches the predicted location) so that when the distance between the vehicle and the predicted location meets a predetermined condition (e.g., the distance is less than 10 meters or other values), the state data of the predicted traffic lights can be used to control the vehicle. In this way, the future locations that the vehicle may pass through can be continuously predicted based on the location, direction, and speed of the vehicle. Thus, the traffic lights near the future unknown location can be predetermined, and then by acquiring the state of the traffic lights in advance, a more timely and accurate basis for controlling the vehicle can be provided.

[0082] It should be understood that, although the above only describes preloading the state of one subsequent traffic light, alternatively and / or additionally, the states of multiple subsequent traffic lights may be preloaded. For example, when the vehicle speed is faster, the states of a larger number of traffic lights may be preloaded, and when the vehicle speed is slower, the states of a smaller number of traffic lights may be preloaded. In this way, a virtual navigation path may be provided based on the states of traffic lights that the vehicle may pass through in the future. For example, a route where a red light may appear may be avoided, and a route with a green light may be preferentially selected, thereby improving the vehicle's driving efficiency.

[0083] In summary, according to the embodiments of the present disclosure, traffic lights can be detected and identified conveniently and quickly based on the traffic database, which can avoid identification errors caused by environmental reasons, and help improve the accuracy of the detection and identification results. Furthermore, the traffic status of vehicles can be controlled based on the detection and identification results of traffic lights, which helps to ensure traffic safety.

[0084] The above has described the specific details of each step of controlling a vehicle based on the vehicle position, and a method for controlling a vehicle based on the vehicle position is provided. The method includes: obtaining the state data of the vehicle, the state data of the vehicle at least including the position of the vehicle; determining a group of traffic lights within a predetermined range around the position of the vehicle from a traffic database; identifying an effective traffic light for controlling the vehicle from a group of traffic lights based on the state data of the group of traffic lights and the state data of the vehicle; and controlling the traffic state of the vehicle passing through the target intersection based on the state data of the effective traffic light.

[0085] In some embodiments, determining a set of traffic lights includes: in response to determining that a distance between the vehicle's location and a target segment among the acquired multiple segments satisfies a first threshold condition, determining a set of traffic lights based on at least one traffic light at an end of the target segment.

[0086] In some embodiments, the state data of the vehicle further includes a direction of the vehicle, and wherein the end of the target road segment is consistent with the direction of the vehicle.

[0087] In some embodiments, the traffic database includes locations of multiple traffic lights, and determining a group of traffic lights includes: in response to determining that a distance between the location of the vehicle and a location of a target traffic light among the multiple traffic lights satisfies a second threshold condition, determining a group of traffic lights based on the target traffic light.

[0088] In some embodiments, the traffic database includes location codes for the locations of a plurality of traffic lights, and determining a group of traffic lights includes: in response to determining that the location code for the location of the vehicle matches a target location code for a target location of a target traffic light among the plurality of traffic lights, determining a group of traffic lights based on the target traffic lights.

[0089] In some embodiments, the status data of the vehicle further includes the direction of movement of the vehicle, the status data of a set of traffic lights includes the positions and directions of a set of traffic lights, and identifying the effective traffic lights for controlling the vehicle from the set of traffic lights includes: in response to determining that the following conditions are met, identifying a given traffic light in the set of traffic lights as a valid traffic light: a predetermined angle condition is satisfied between the direction of the traffic light and the direction of movement of the vehicle; and a vertical distance between the position of the traffic light and the straight line on which the direction of movement of the vehicle lies satisfies a predetermined distance condition.

[0090] In some embodiments, controlling a vehicle based on status data of a valid traffic light includes: parsing a display status of the valid traffic light from the status data of the valid traffic light; and controlling the vehicle based on the display status of the valid traffic light and an intersection distance between the vehicle and a target intersection.

[0091] 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.

[0092] In some embodiments, the method for controlling a vehicle based on a vehicle position further includes: in response to determining that a difference between the travel distance and the intersection distance does not satisfy a safe distance condition, prompting the vehicle to decelerate.

[0093] 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.

[0094] 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 does not meet a safe distance condition, prompting the vehicle to slow down.

[0095] In some embodiments, controlling a vehicle based on status data of a valid traffic light includes: parsing a type of the valid traffic light from the status data of the valid traffic light; and controlling the vehicle based on the status data of the valid traffic light in response to determining that the type of the valid traffic light matches the type of the vehicle.

[0096] In some embodiments, the vehicle's status data further includes the vehicle's direction and speed, and the method further includes: using the vehicle's position, direction, and speed to determine the vehicle's predicted position based on road network information; determining a predicted traffic light corresponding to the predicted position; and obtaining the status data of the predicted traffic light so as to control the vehicle using the predicted traffic light's status data when the distance between the vehicle and the predicted position meets predetermined conditions.

[0097] According to some embodiments of the present disclosure, there is also provided an apparatus for controlling a vehicle based on a position of the vehicle. Figure 6 A block diagram of an apparatus 600 for controlling a vehicle based on a vehicle position according to an exemplary implementation of the present disclosure is schematically shown. The apparatus 600 may be implemented as or included in the electronic device 110. Each module / component in the apparatus 600 may be implemented by hardware, software, firmware, or any combination thereof.

[0098] like Figure 6 As shown, the device 600 includes: a status data acquisition module 610, configured to acquire status data of the vehicle, the status data of the vehicle including at least the position of the vehicle; a traffic light determination module 620, configured to determine a group of traffic lights within a predetermined range around the position of the vehicle from a traffic database; a traffic light identification module 630, configured to identify effective traffic lights for controlling the vehicle from a group of traffic lights based on the status data of the group of traffic lights and the status data of the vehicle; and a traffic status control module 640, configured to control the traffic status of the vehicle through the target intersection based on the status data of the effective traffic lights.

[0099] In some embodiments, the traffic light determination module 620 includes: a first determination module, configured to determine a set of traffic lights based on at least one traffic light at the end of the target road segment in response to determining that the distance between the vehicle's position and a target road segment among the acquired multiple road segments satisfies a first threshold condition.

[0100] In some embodiments, the state data of the vehicle further includes a direction of the vehicle, and wherein the end of the target road segment is consistent with the direction of the vehicle.

[0101] In some embodiments, the traffic database includes the locations of multiple traffic lights, and the traffic light determination module 620 includes: a second determination module, configured to determine a group of traffic lights based on the target traffic lights in response to determining that the distance between the location of the vehicle and the location of the target traffic lights among the multiple traffic lights satisfies a second threshold condition.

[0102] In some embodiments, the traffic database includes location codes of multiple traffic lights, and the traffic light determination module 620 includes: a third determination module configured to determine a group of traffic lights based on the target traffic lights in response to determining that the location code of the vehicle's location matches the target location code of the target location of the target traffic lights among the multiple traffic lights.

[0103] In some embodiments, the status data of the vehicle further includes the direction of movement of the vehicle, the status data of a set of traffic lights includes the positions and directions of a set of traffic lights, and the traffic light identification module 630 is further configured to: identify a given traffic light in a set of traffic lights as a valid traffic light in response to determining that the following conditions are met: a predetermined angle condition is satisfied between the direction of the traffic light and the direction of movement of the vehicle; and a predetermined distance condition is satisfied between the position of the traffic light and the straight line on which the direction of movement of the vehicle lies.

[0104] In some embodiments, the traffic status control module 640 includes: a display status parsing module, configured to parse the display status of the effective traffic light from the status data of the effective traffic light; and a vehicle control module, configured to control the vehicle based on the display status of the effective traffic light and the intersection distance between the vehicle and the target intersection.

[0105] In some embodiments, the vehicle control module includes: a first driving distance determination module, configured to determine the vehicle's driving 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 driving distance and the intersection distance meets the safety distance condition.

[0106] In some embodiments, the vehicle 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.

[0107] In some embodiments, the vehicle 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.

[0108] In some embodiments, the vehicle control module includes: a second driving distance determination module, configured to determine the vehicle's driving 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 driving distance and the intersection distance meets the safety distance condition.

[0109] In some embodiments, the traffic status control module 640 includes: a type parsing module configured to parse the type of the valid traffic light from the status data of the valid traffic light; and a control module configured to control the vehicle based on the status data of the valid traffic light in response to determining that the type of the valid traffic light matches the type of the vehicle.

[0110] In some embodiments, the vehicle's status data further includes the vehicle's direction and speed, and the device further includes: a position prediction module, configured to use the vehicle's position, direction and speed to determine the vehicle's predicted position based on road network information; a traffic light prediction module, configured to determine a predicted traffic light corresponding to the predicted position; and a status acquisition module, configured to acquire the status data of the predicted traffic light, so as to control the vehicle using the status data of the predicted traffic light when the distance between the vehicle and the predicted position meets predetermined conditions.

[0111] The units and / or modules included in the device 600 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 600 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.

[0112] Figure 7 1 shows a block diagram of an electronic device 700 in which one or more embodiments of the present disclosure may be implemented. It should be understood that Figure 7 The electronic device 700 shown is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein. Figure 7 The electronic device 700 shown may be used to implement the electronic device 110 of FIG. 1 .

[0113] like Figure 7As shown, the electronic device 700 is in the form of a general-purpose computing device. The components of the electronic device 700 may include, but are not limited to, one or more processors or processing units 710, a memory 720, a storage device 730, one or more communication units 740, one or more input devices 750, and one or more output devices 760. The processing unit 710 may be an actual or virtual processor and is capable of performing various processes according to a program stored in the memory 720. In a multi-processor system, multiple processing units execute computer executable instructions in parallel to improve the parallel processing capabilities of the electronic device 700.

[0114] The electronic device 700 typically includes a plurality of computer storage media. Such media can be any available media accessible to the electronic device 700, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 720 can be a volatile memory (e.g., register, cache, random access memory (RAM)), a non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory) or some combination thereof. The storage device 730 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 700.

[0115] The electronic device 700 may further include additional removable / non-removable, volatile / non-volatile storage media. Figure 7 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 720 may include a computer program product 725 having one or more program modules that are configured to perform various methods or actions of various implementations of the present disclosure.

[0116] The communication unit 740 implements communication with other computing devices through a communication medium. Additionally, the functions of the components of the electronic device 700 can be implemented with a single computing cluster or multiple computing machines that can communicate through a communication connection. Therefore, the electronic device 700 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.

[0117] The input device 750 may be one or more input devices, such as a mouse, a keyboard, a tracking ball, etc. The output device 760 may be one or more output devices, such as a display, a speaker, a printer, etc. The electronic device 700 may also communicate with one or more external devices (not shown) through the communication unit 740 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 700, or communicate with any device that allows the electronic device 700 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).

[0118] According to an exemplary implementation 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 exemplary implementation 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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 vehicle position, comprising: Acquire status data of a vehicle, wherein the status data of the vehicle at least includes a position of the vehicle; determining from a traffic database a set of traffic lights within a predetermined range around the location of the vehicle; identifying, from the set of traffic lights, a valid traffic light for controlling the vehicle based on the state data of the set of traffic lights and the state data of the vehicle; as well as The traffic status of the vehicle passing through the target intersection is controlled based on the status data of the effective traffic light.

2. The method of claim 1, wherein determining the set of traffic lights comprises: In response to determining that a distance between the position of the vehicle and a target road segment among the acquired plurality of road segments satisfies a first threshold condition, the group of traffic lights is determined based on at least one traffic light at an end of the target road segment. 3 . The method of claim 2 , wherein the state data of the vehicle further includes a direction of the vehicle, and wherein the end of the target road segment is consistent with the direction of the vehicle.

4. The method of claim 1 , wherein the traffic database includes locations of a plurality of traffic lights, and determining the set of traffic lights comprises: In response to determining that a distance between the position of the vehicle and a position of a target traffic light among the plurality of traffic lights satisfies a second threshold condition, the group of traffic lights is determined based on the target traffic light.

5. The method of claim 1 , wherein the traffic database includes location codes for locations of a plurality of traffic lights, and determining the set of traffic lights comprises: In response to determining that the position code of the position of the vehicle matches a target position code of a target position of a target traffic signal among the plurality of traffic signals, the group of traffic signals is determined based on the target traffic signal.

6. The method of claim 1 , wherein the status data of the vehicle further comprises a direction of movement of the vehicle, the status data of the set of traffic lights comprises positions and directions of the set of traffic lights, and identifying a valid traffic light for controlling the vehicle from the set of traffic lights comprises: In response to determining that the following conditions are satisfied, identifying a given traffic signal in the set of traffic signals as the valid traffic signal: The direction of the traffic light and the moving direction of the vehicle satisfy a predetermined angle condition; and 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.

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

8. The method of claim 7, 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.

9. The method according to claim 8, 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.

10. The method of claim 7, 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.

11. The method of claim 7, 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 does not satisfy a safety distance condition, the vehicle is prompted to decelerate.

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

13. The method of claim 1, wherein the status data of the vehicle further includes the direction and speed of the vehicle, and the method further comprises: Determining a predicted position of the vehicle based on road network information using the position, direction, and speed of the vehicle; determining a predicted traffic light corresponding to the predicted location; as well as The state data of the predicted traffic light is acquired so as to control the vehicle using the state data of the predicted traffic light when the distance between the vehicle and the predicted position satisfies a predetermined condition.

14. An apparatus for controlling a vehicle based on a vehicle position, comprising: A status data acquisition module is configured to acquire status data of a vehicle, wherein the status data of the vehicle at least includes a position of the vehicle; a traffic light determination module configured to determine a group of traffic lights within a predetermined range around the position of the vehicle from a traffic database; a signal light identification module configured to identify, from the group of traffic lights, a valid traffic light for controlling the vehicle based on the status data of the group of traffic lights and the status data of the vehicle; as well as The traffic status control module is configured to control the traffic status of the vehicle passing through the target intersection based on the status data of the effective traffic light.

15. 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 13.

16. 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 13.

17. 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 13.

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