Traffic light information processing method, device, medium and product

Abstract

The application provides a traffic light information processing method and device, medium and product. The method comprises the following steps: receiving traffic light signal data of a target intersection, recording a traffic light signal receiving data time stamp received by a vehicle end and a traffic light signal generation data time stamp sent by a server; compensating the signal generation data time stamp based on the signal receiving data time stamp to obtain a communication time compensation amount; and outputting a light color state and / or light color countdown of the traffic light based on the communication time compensation amount and the traffic light signal data. The application can deduce and output the corresponding light color state and / or light color countdown based on the non-continuous traffic light signal data issued by the server, thereby reducing the communication burden of the server and enabling the vehicle end to obtain continuous and reliable light states in the time dimension.

Description

Technical Field

[0001] This application relates to the field of vehicle intelligent control technology, specifically to a traffic light information processing method, device, medium, and product. Background Technology

[0002] With the continuous development of vehicle-road-cloud integrated systems, the digitalization and networking of traffic lights are constantly improving. Utilizing roadside equipment, signal controllers, or traffic management platforms to obtain the operational status of traffic lights and provide relevant light data to vehicles has become an important technological direction in intelligent driving and driver assistance systems.

[0003] Currently, in actual engineering deployments, service equipment and vehicles are typically connected via cellular communication or vehicle-to-infrastructure (V2I) communication links, with vehicles relying on continuous delivery of lighting data from the server. However, due to limitations in communication bandwidth, system architecture, and the cost of large-scale deployment, once communication is delayed or interrupted, vehicles will be unable to continue receiving continuous lighting data, and consequently, vehicles will be unable to display reliable lighting status (including light color and countdown timer), making it difficult for vehicles to obtain continuous and reliable lighting status information over time. Summary of the Invention

[0004] In view of this, this application aims to provide a traffic light information processing method, device, medium and product to solve the problem in traditional related technologies that once communication is delayed or interrupted, vehicles will not be able to continue to obtain continuous light data, and thus vehicles will not be able to display reliable light status (including light color and countdown, etc.), making it difficult for vehicles to obtain continuous and reliable light status information in the time dimension.

[0005] The first aspect of this application provides a traffic light information processing method applied to a vehicle, comprising: receiving traffic light signal data from a target intersection, and recording the timestamp of the traffic light signal reception data received by the vehicle and the timestamp of the traffic light signal generation data sent by the server. The communication time compensation amount is obtained by compensating the signal generation data timestamp based on the signal reception data timestamp; Based on the communication time compensation amount and the traffic light signal data, output the traffic light color status and / or color countdown.

[0006] In one possible implementation of this application, the step of compensating the signal generation data timestamp based on the signal reception data timestamp to obtain a communication time compensation amount includes: The difference between the timestamp of the received signal data and the timestamp of the generated signal data is determined as the communication time compensation amount.

[0007] In one possible implementation of this application, the step of outputting the traffic light color status and / or color countdown based on the communication time compensation amount and the traffic light signal data includes: If the traffic light control mode is determined to be a fixed timing control mode based on the traffic light signal data, then the remaining time of the target light color status and the light color change rules are obtained from the traffic light signal data. Based on the communication time compensation amount, the remaining time of the target light color status is corrected to obtain the corrected remaining time of the target light color status. The remaining time of the corrected target light color state is deduced according to preset rules to obtain a real-time light color countdown; based on the real-time light color countdown, the target light color state, and the light color change rules, the corresponding light color state and light color countdown are output.

[0008] In one possible implementation of this application, the step of extrapolating the remaining time of the corrected target light color state according to a preset rule to obtain a real-time light color countdown; and outputting the corresponding light color state and light color countdown based on the real-time light color countdown, the target light color state, and the light color change rules, includes: The simulation steps are calculated using a preset time interval, and the real-time timestamps of the simulation are continuously recorded on the vehicle side. Based on the real-time timestamp of the simulation and the timestamp of the received signal data, a relative real-time simulation time is generated; Based on the corrected remaining time of the target light color state and the relative real-time time, a real-time light color countdown is obtained; When the real-time light color countdown is greater than 0, the corresponding light color status and corresponding light color countdown are output based on the target light color status; When the real-time light color countdown is less than or equal to 0, the system switches to the next light color state corresponding to the target light color state according to the light color change rules, and outputs the corresponding light color state and light color countdown based on the next light color state.

[0009] In one possible implementation of this application, generating the relative real-time simulation based on the simulation real-time timestamp and the signal reception data timestamp includes: When the real-time timestamp of the simulation is greater than or equal to the timestamp of the signal received data, the difference between the real-time timestamp of the simulation and the timestamp of the signal received data is determined as the relative real-time simulation time.

[0010] In one possible implementation of this application, obtaining the real-time light countdown based on the remaining time of the corrected target light color state and the relative extrapolated real-time time includes: The difference between the remaining time of the corrected target light color state and the relative real-time time is used to obtain the real-time light color countdown.

[0011] In one possible implementation of this application, the light color change rule includes a set of light color phases, a light color phase transition rule, and a duration corresponding to each light color phase; Accordingly, when the real-time light color countdown is less than or equal to 0, according to the light color change rules, the system switches to the next light color state corresponding to the target light color state, and outputs the corresponding light color state and / or light color countdown based on the next light color state, including: Obtain the light color phase set, wherein the light color phase set includes the state of each light color; The target light color state is input into the light color phase transition rule to obtain the next light color state; Determine the duration of the next light color state; Based on the duration of the next light color state, generate the corresponding light color state and / or light color countdown for the next light color state.

[0012] In one possible implementation of this application, the method further includes: Receive new traffic light signal data; Determine the remaining time of the new corrected light color state corresponding to the new traffic light signal data; The absolute value of the difference between the real-time light countdown and the remaining time of the corrected light status is calculated to obtain the cumulative communication error value. If the cumulative communication error value exceeds a preset threshold or the light control mode changes in the new traffic light signal data, the output light color status and / or light color countdown will be corrected.

[0013] In one possible implementation of this application, the step of outputting the traffic light color status and / or color countdown based on the communication time compensation amount and the traffic light signal data includes: If the traffic light control mode is determined to be a non-fixed timing control mode based on the traffic light signal data, then the target light color status is obtained from the traffic light signal data. Based on the target light color state and the communication time compensation amount, output the light color state corresponding to the target light color state.

[0014] In one possible implementation of this application, the output of the corresponding light color status and / or light color countdown is stopped when one or more of the following conditions are detected: Received a termination command from the server; Receive traffic light signal data from intersections other than the target intersection sent by the server; The vehicle was detected leaving the target intersection.

[0015] A second aspect of this application provides an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform a traffic light information processing method as described in the first aspect and possible implementations thereof.

[0016] A third aspect of this application provides a computer storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement a traffic light information processing method as described in the first aspect and possible implementations thereof.

[0017] The fourth aspect of this application provides a computer program product comprising: a computer program that, when executed by a processor, implements a traffic light information processing method as described in the first aspect and possible implementations thereof.

[0018] The traffic light information processing method, device, medium, and product provided in this application involve receiving traffic light signal data from a target intersection via a vehicle, recording the timestamp of the received traffic light signal data and the timestamp of the generated traffic light signal data sent by the server, compensating the timestamp of the generated traffic light signal data based on the received data timestamp to obtain a communication time compensation amount, and outputting the traffic light color status and / or countdown based on the communication time compensation amount and the traffic light signal data. This application can deduce and output the corresponding color status and / or countdown based on discontinuous traffic light signal data sent by the server, reducing the communication burden on the server and enabling the vehicle to obtain continuous and reliable light status information in the time dimension. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of this application, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram illustrating an application scenario for traffic light information processing provided in an embodiment of this application.

[0021] Figure 2 A flowchart illustrating the traffic light information processing method provided in this application embodiment. Figure 1 .

[0022] Figure 3 A flowchart illustrating the traffic light information processing method provided in this application embodiment. Figure 2 .

[0023] Figure 4 This is a schematic diagram of the traffic light information processing device provided in an embodiment of this application.

[0024] Figure 5 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] In the field of intelligent connected vehicles and vehicle-road-cloud integration technology, in order to improve vehicles' ability to perceive traffic light status in order to support assisted driving or autonomous driving decisions, the industry is generally committed to providing vehicles with earlier and more stable traffic light information through digital means.

[0027] In related technologies, a mainstream solution involves using a vehicle-road-cloud integrated system. This system allows cloud servers or roadside equipment to acquire real-time traffic light operation data and transmit it digitally to the vehicle. For example, existing technologies typically generate light data containing information such as the current light color and remaining time based on signal timing schemes, and then periodically or event-triggeredly send this data to the vehicle terminal via a communication network. The vehicle terminal then directly displays or performs simple applications on the received data. However, this type of technology has inherent limitations in engineering practice: First, to maintain the continuity of light information at the vehicle end, it often relies on high-frequency or near-continuous data pushes from the cloud, which puts significant pressure on the cloud's computing, communication resources, and system scalability. Second, due to communication latency, network jitter, or limited update frequency, the signal data received by the vehicle is discontinuous in the time dimension. The vehicle itself typically acts as a passive receiving terminal, lacking the ability to autonomously and continuously predict the future state of the lights based on known information. This makes it difficult for the vehicle to obtain continuous and reliable light status information in the time dimension during periods of unstable network communication or data update intervals.

[0028] Therefore, under the integrated vehicle-road-cloud system architecture, how to enable the vehicle to generate and output continuous and reliable traffic light status information while only discontinuously transmitting traffic light signal data from the cloud has become a pressing technical problem. With the increasing demands for continuity and reliability of perception information from intelligent driving systems, solving this problem has significant practical implications. Therefore, this application provides the following inventive concept: The vehicle receives traffic light signal data from a target intersection and records the timestamp of the received traffic light signal data and the timestamp of the generated traffic light signal data sent by the server. The timestamp of the generated traffic light signal data is compensated based on the received data timestamp to obtain a communication time compensation amount. Based on the communication time compensation amount and the traffic light signal data, the traffic light color status and / or countdown timer are output. This application can deduce and output the corresponding color status and / or countdown timer based on the discontinuous traffic light signal data transmitted by the server, reducing the communication burden on the server and enabling the vehicle to obtain continuous and reliable light status information in the time dimension.

[0029] Figure 1 This is a schematic diagram illustrating an application scenario for traffic light information processing provided in an embodiment of this application. (Reference) Figure 1 This scenario includes: vehicle-side 101 and server-side 102.

[0030] Among them, vehicle-side 101 can be a network device such as a communication module or smart gateway installed in the vehicle.

[0031] The server 102 can be a single server or a cluster of multiple servers. Specifically, the server is a cloud server or a roadside device used to obtain traffic light operation data.

[0032] The vehicle terminal 101 and the server terminal 102 communicate via wireless communication networks such as cellular communication or vehicle-to-infrastructure (V2I) communication links. The vehicle terminal 101 receives traffic light operation data obtained from the server terminal and outputs light color status and / or light color countdown based on the traffic light operation data.

[0033] Exemplary methods Figure 2 A flowchart illustrating the traffic light information processing method provided in this application embodiment. Figure 1 The execution entity in this embodiment can be... Figure 1 The vehicle end in the illustrated embodiment. (As shown) Figure 2 As shown, when a vehicle is detected to have reached any target intersection, the system receives traffic light signal data sent by the server at any target time, and performs the following steps S201 to S203 before receiving new traffic light signal data sent by the server at the next time after any target time: S201: Receive traffic light signal data from the target intersection and record the timestamp of the traffic light signal reception data received by the vehicle and the timestamp of the traffic light signal generation data sent by the server.

[0034] In this embodiment, detecting that a vehicle has traveled to any target intersection can mean either detecting that the vehicle has traveled to a preset range of any target intersection, or detecting that the vehicle has stopped at any target intersection.

[0035] In this embodiment, the server collects traffic light signal data of the target intersection every preset time interval, and sends the collected traffic light signal data to the vehicle through the wireless communication network at the current transmission time, and determines the collection time as the signal generation data timestamp.

[0036] The traffic light signal data includes, but is not limited to, the target light color status at the target intersection, the light control mode, and the signal generation data timestamp.

[0037] The target light color status is the light color status determined at the time of data collection.

[0038] It should be noted that traffic light signal data may also include the intersection identifier of the target route (such as the route number), the intersection name, the intersection location (intersection latitude and longitude coordinates), road signs, and lane information set.

[0039] The traffic light signal data may also include light color change rules, which include information such as light color phase set, light color phase transition rules, and the duration of each light color phase.

[0040] The traffic light signal data sent by the server at each transmission time is a structured signal status data object.

[0041] In one embodiment, traffic light signal data is defined as follows: In the formula, For the first Traffic light signal data transmitted at each transmission time; For target light color status information; Generate data timestamps for the signal; This is the light control mode.

[0042] In the embodiments of this application, the local clock on the vehicle is accessed, and the time of receiving traffic light signal data is recorded as a signal reception data timestamp based on the local clock.

[0043] S202: Compensate the signal generation data timestamp based on the signal reception data timestamp to obtain the communication time compensation amount.

[0044] In one embodiment of this application, the difference between the signal reception data timestamp and the signal generation data timestamp is determined as the communication time compensation amount, and the calculation formula is as follows: In the formula, This is the amount of compensation for communication time. For the timestamp of the received signal data; Generate data timestamps for the signal.

[0045] S203: Based on the communication time compensation amount and traffic light signal data, output the traffic light color status and / or color countdown.

[0046] In the embodiments of the application, the traffic light signal data includes a light control mode.

[0047] In this embodiment, the lamp control modes include fixed timing control mode and non-fixed timing control mode.

[0048] Fixed timing control mode refers to traffic signal light states having fixed timings. For example, red light is 30 seconds, yellow light is 3 seconds, and green light is 60 seconds. In fixed timing control mode, the traffic light signal data also includes the remaining time of the target light state and the light change rules. Under fixed timing control mode, based on the target light state, communication time compensation, and the remaining time of the target light state and the light change rules, the light state and countdown are jointly calculated and output simultaneously.

[0049] In non-fixed timing control mode, the states of traffic lights are not fixed; instead, they change dynamically based on traffic conditions. This dynamic change relies on technologies such as adaptive control algorithms or inductive control algorithms. In non-fixed timing control mode, based on the target light state and communication time compensation, only the light state corresponding to the target light state is deduced and output.

[0050] In this embodiment, the output of the corresponding light color status and / or light color countdown can be displayed on the vehicle's central control display screen.

[0051] As described above, the system receives traffic light signal data from the target intersection via the vehicle-side and records the timestamp of the received traffic light signal data and the timestamp of the generated traffic light signal data sent by the server. The timestamp of the generated traffic light signal data is then compensated based on the received data timestamp to obtain a communication time compensation amount. Based on the communication time compensation amount and the traffic light signal data, the system outputs the traffic light color status and / or color countdown. This application can deduce and output the corresponding color status and / or color countdown based on discontinuous traffic light signal data sent by the server, reducing the communication burden on the server and enabling the vehicle-side to obtain continuous and reliable light status information in the time dimension.

[0052] Figure 3 A flowchart illustrating the traffic light information processing method provided in this application embodiment. Figure 2 This embodiment describes the specific process of one example of step S203, focusing on the specific processing flow when the lamp control mode is a fixed timing control mode. For example... Figure 3 As shown, the method includes: S301: If the traffic light control mode is determined to be a fixed timing control mode based on the traffic light signal data, then the remaining time of the target light color status and the light color change rules are obtained from the traffic light signal data.

[0053] In the embodiments of the application, the traffic light signal data includes light control modes. These light control modes include fixed timing control modes and non-fixed timing control modes.

[0054] In this embodiment, the traffic light signal data is defined as follows: In the formula, For the first Traffic light signal data transmitted at each transmission time; For target light color status information; Generate data timestamps for the signal; This is the light control mode. The remaining time for the target light color status. Rules for changing the color of the lights.

[0055] S302: Based on the communication time compensation amount, the remaining time of the target light color status is corrected to obtain the corrected remaining time of the target light color status.

[0056] In this embodiment, the remaining time of the target light color state is corrected according to the communication time compensation amount. Specifically, the remaining time of the target light color state is subtracted from the communication time compensation amount to obtain the corrected remaining time of the target light color state.

[0057] In one embodiment of this application, the remaining time of the target light color state is corrected according to the communication time compensation amount, and the calculation formula for the corrected remaining time of the target light color state is as follows: In the formula, The remaining time for the corrected target light color status; The remaining time for the target light color status; This is the amount of compensation for communication time.

[0058] S303: Calculate the remaining time of the corrected target light color state according to the preset rules to obtain the real-time light color countdown; based on the real-time light color countdown, the target light color state, and the light color change rules, output the corresponding light color state and light color countdown.

[0059] Specifically, step S303 includes S331 to S335: S331: Continuously record the real-time timestamp of the simulation at the vehicle end using a preset time step.

[0060] In this embodiment, the preset time extrapolation step size can be set according to requirements. For example, the preset time extrapolation step size is 1 second.

[0061] In this embodiment, the real-time timestamp of the simulation is recorded as... The real-time timestamp for the simulation is based on the timestamp of the received signal data and changes in real time according to a preset time step.

[0062] S332: Generate relative real-time simulation based on the simulation real-time timestamp and the signal reception data timestamp.

[0063] In one embodiment of this application, a relative real-time simulation is generated based on the simulation real-time timestamp and the signal reception data timestamp, specifically including: When the real-time timestamp of the simulation is greater than or equal to the timestamp of the received signal data, the difference between the real-time timestamp of the simulation and the timestamp of the received signal data is determined as the relative real-time simulation time.

[0064] Among them, when the real-time timestamp of the simulation is greater than or equal to the timestamp of the signal received data ( When the time difference between the real-time timestamp of the simulation and the timestamp of the received signal data is used, the relative real-time simulation time is determined by the following formula: In the formula, This is a relative simulation of real-time time; To simulate real-time timestamps; This is the timestamp for the received signal data.

[0065] S333: Based on the remaining time of the corrected target light color state and the relative real-time time, obtain the real-time light color countdown.

[0066] In one embodiment of this application, a real-time light countdown is obtained based on the modified remaining time of the target light color state and the relative extrapolated real-time time, including: The difference between the remaining time of the corrected target light color status and the relative real-time time is used to obtain the real-time light color countdown.

[0067] The formula for calculating the real-time light countdown is as follows: The difference between the corrected remaining time of the target light color status and the relative real-time time is taken. In the formula, Real-time countdown for light colors; The remaining time for the corrected target light color status; This is a relative projection of real-time.

[0068] S334: When the real-time light color countdown is greater than 0, output the corresponding light color status and the corresponding light color countdown based on the target light color status.

[0069] In the embodiments of this application, when the real-time light color countdown is greater than 0, the corresponding light color status and / or the corresponding light color countdown are output based on the target light color status information, as follows: like Then, the light color state will remain the same as the target light color state and / or the corresponding light color countdown: .in, The countdown timer for the target light color state and / or the corresponding light color state.

[0070] in, The target traffic light at the intersection is currently in a continuous state.

[0071] S335: When the real-time light color countdown is less than or equal to 0, switch to the next light color state corresponding to the target light color state according to the light color change rules, and output the corresponding light color state and light color countdown based on the next light color state.

[0072] In this embodiment, S335 can be represented as: if If so, it will trigger a switch to the next light color state corresponding to the target light color state, based on the light color change rules.

[0073] in, This indicates that the target light color at the target intersection has ended and needs to be switched to the next light color.

[0074] As described in the above embodiments, the communication time compensation amount is obtained by calculating the difference between the signal reception data timestamp and the signal generation data timestamp. Based on the communication time compensation amount, the remaining time of the target light color status is corrected to obtain the corrected remaining time of the target light color status. This avoids network latency caused by network jitter between the server and the vehicle, which could lead to a deviation between the remaining time of the target light color status and the actual situation. This ensures the accuracy of the final real-time light color countdown and improves the reliability of the vehicle on actual roads.

[0075] In addition, a relative real-time time is generated by extrapolating the real-time timestamp and the signal reception data timestamp; a real-time light countdown is obtained based on the corrected remaining time of the target light color state and the relative real-time time; when the real-time light countdown is greater than 0, the output target light color state and / or light countdown are maintained; when the real-time light countdown is less than or equal to 0, the light color state is switched according to the light color change rules; it can both extrapolate the continuation of the light color state and / or light countdown based on discontinuous traffic light signal data, and extrapolate the switching of the light color state and / or light countdown based on discontinuous traffic light signal data.

[0076] In one embodiment of this application, the light color change rule includes a set of light color phases, a light color phase transition rule, and the duration corresponding to each light color phase; specifically, step S335 may include: S401: Obtain the set of light color phases, which includes the state of each light color.

[0077] In this embodiment, the set of light color phases is represented as: ; In the formula, The light color status has a value of , This represents the number of light color states.

[0078] S402: Input the target light color state into the light color phase transfer rule to obtain the next light color state.

[0079] In this embodiment, the functional form of the lamp color phase transition rule is expressed as follows: ; In the formula, This is the phase transition rule function for light colors; The target light color status; This will be the next light color state.

[0080] S403: Determine the duration of the next light color state.

[0081] In one embodiment of this application, determining the duration of the next light color state specifically includes: inputting the next light color state into a duration function to obtain the duration of the next light color state.

[0082] The formula for calculating the duration of the next light color state is as follows: (The next light color state is input into the duration function.) D ( ) In the formula, The duration of the next light color state; D () represents the duration function; This will be the next light color state.

[0083] S404: Based on the duration of the next light color state, generate the corresponding light color state and / or light color countdown for the next light color state.

[0084] In this embodiment, the light color state and / or light color countdown for switching to the next light color state are represented as follows: In the formula, Sets the countdown for the next light color state and / or light color state.

[0085] As can be seen from the above embodiments, by obtaining the light color phase set, light color phase transition rule, and duration corresponding to each light color phase from the light color change rules of traffic light signal data, and by determining the inference and switching of light color state through the light color phase set, light color phase transition rule, and duration corresponding to each light color phase, the vehicle end does not need to understand the control logic of traffic light signal data to complete the inference and switching of light color state, thereby improving the processing efficiency and reliability of the vehicle end for light color state switching.

[0086] In one embodiment of this application, for the fixed timing control mode, based on the above embodiments, it further includes: S501: Receive new traffic light signal data.

[0087] The new traffic light signal data refers to the new traffic light signal data sent by the receiving server at the next transmission time of any target time.

[0088] In this embodiment, the traffic light signal data at any target time is denoted as... The new traffic light signal data transmitted at the next transmission time after any target time is denoted as... .

[0089] S502: Determine the remaining time of the new corrected light color status corresponding to the new traffic light signal data.

[0090] In this embodiment, the remaining time of the new, corrected light color state is denoted as... .

[0091] S503: Calculate the absolute value of the difference between the real-time light countdown and the remaining time of the corrected light status to obtain the cumulative communication error value.

[0092] In this embodiment, the absolute value of the difference between the real-time light countdown and the remaining time of the corrected light state is calculated to obtain the cumulative communication error value. The calculation formula is as follows: In the formula, This represents the cumulative communication error value. Real-time countdown of light colors for any target moment; The remaining time for the new, revised light color status.

[0093] Among them, the absolute value of the difference between the real-time light countdown at any target time and the remaining time of the new corrected light state is used to characterize the cumulative error of the communication delay between the real-time light countdown inferred from the vehicle and the new traffic light signal data.

[0094] S504: If the cumulative communication error value exceeds the preset threshold or the light control mode in the new traffic light signal data changes, the output light color status and / or light color countdown will be corrected.

[0095] In this embodiment, the preset threshold is denoted as It can be configured according to your needs.

[0096] In one embodiment, when the cumulative communication error value exceeds a preset threshold, the current light color state and / or light color countdown is adjusted to the light color state and / or light color countdown of the next light color state. The adjustment of the current light color state and / or light color countdown to the light color state and / or light color countdown of the next light color state is expressed as follows: In another embodiment, if the light control mode changes in the new traffic light signal data, the corresponding light color status and / or light color countdown are re-determined and output according to the changed light control mode.

[0097] As can be seen from the above description, after receiving new traffic light signal data, the system redetermines and outputs new light color status and / or light color countdown based on the new traffic light signal data, so as to complete the correction of light color status and / or light color countdown and ensure the accuracy of light color status and / or light color countdown.

[0098] In one embodiment of this application, based on the above embodiments, this embodiment describes the specific process of another embodiment of step S203. This embodiment focuses on describing the specific processing flow when the lamp control mode is a non-fixed timing control mode, including: If the traffic light control mode is determined to be a non-fixed timing control mode based on the traffic light signal data, then the target light color status is obtained from the traffic light signal data; based on the target light color status and the communication time compensation amount, the corresponding light color status is output.

[0099] In this embodiment, if the light control mode is a non-fixed timing control mode, the light color state corresponding to the target light color state is maintained until new traffic light signal data sent by the server at the next moment after any target time is received. Specifically, the light color countdown is set to a preset non-numerical state. (such as null values ​​or specific identifiers), not changing over time. Decreasing: Set the light color status. Maintain the current state Until new traffic light signal data is received.

[0100] As can be seen from the description of the above embodiments, in the non-fixed timing control mode, the light color countdown is not output. That is, the light color countdown function is only used when reliable preconditions are met, so as to avoid outputting unreliable time information to the vehicle and improve the applicability of the vehicle in various complex light signal control scenarios.

[0101] In one embodiment of this application, based on the above embodiments, the method further includes: stopping the output of the corresponding light color status and / or light color countdown when one or more of the following conditions are detected: Received a termination command from the server; Receive traffic light signal data from intersections other than the target intersection sent by the server; The vehicle was detected leaving the target intersection.

[0102] In this embodiment, the termination command sent by the server can be triggered when the server detects that the traffic lights at the target intersection are in a disabled state.

[0103] In this embodiment, receiving traffic light signal data from intersections other than the target intersection sent by the server indicates that the vehicle has left the target intersection.

[0104] In this embodiment, the vehicle's location is collected by the vehicle's positioning module, and the system determines whether the vehicle has left the target intersection based on the vehicle's location.

[0105] As described above, when traffic lights are off or vehicles are passing through an intersection, the corresponding light color status and / or light color countdown are stopped to prevent invalid light signals from being used, improve the accuracy and safety of signal use, reduce vehicle-side resource consumption, and improve the overall standardization of traffic light control.

[0106] Exemplary device Figure 4 This is a schematic diagram of the traffic light information processing device provided in an embodiment of this application. Figure 4 As shown, this traffic light information processing device, applied to the vehicle end, includes: The receiving module 601 is used to receive traffic light signal data from the target intersection, and record the timestamp of the traffic light signal reception data received by the vehicle and the timestamp of the traffic light signal generation data sent by the server. The compensation module 602 is used to compensate the signal generation data timestamp based on the signal reception data timestamp to obtain the communication time compensation amount; The processing module 603 is used to output the light color status and / or light color countdown of the traffic light based on the communication time compensation amount and the traffic light signal data.

[0107] In one or more embodiments of this application, the compensation module 602 is specifically used to: determine the difference between the signal reception data timestamp and the signal generation data timestamp as the communication time compensation amount.

[0108] In one or more embodiments of this application, the processing module 603 is specifically configured to: if the traffic light control mode is determined to be a fixed timing control mode based on the traffic light signal data, then obtain the remaining time of the target light color status and the light color change rule from the traffic light signal data; correct the remaining time of the target light color status according to the communication time compensation amount to obtain the corrected remaining time of the target light color status; extrapolate the corrected remaining time of the target light color status according to a preset rule to obtain a real-time light color countdown; and output the corresponding light color status and light color countdown based on the real-time light color countdown, the target light color status, and the light color change rule.

[0109] In one or more embodiments of this application, the processing module 603 is specifically configured to: continuously record the real-time timestamp of the vehicle end at a preset time estimation step size; generate a relative real-time estimation time based on the real-time estimation timestamp and the signal reception data timestamp; obtain a real-time light countdown based on the corrected target light color state remaining time and the relative real-time estimation time; when the real-time light countdown is greater than 0, output the corresponding light color state and the corresponding light color countdown based on the target light color state; when the real-time light countdown is less than or equal to 0, switch to the next light color state corresponding to the target light color state according to the light color change rule, and output the corresponding light color state and light color countdown based on the next light color state.

[0110] In one or more embodiments of this application, the processing module 603 is specifically used to: when the real-time timestamp of the deduction is greater than or equal to the timestamp of the signal received data, determine the difference between the real-time timestamp of the deduction and the timestamp of the signal received data as the relative real-time time.

[0111] In one or more embodiments of this application, the processing module 603 is specifically used to: take the difference between the remaining time of the corrected target light color state and the relative extrapolated real-time time to obtain a real-time light color countdown.

[0112] In one or more embodiments of this application, the light color change rule includes a light color phase set, a light color phase transition rule, and a duration corresponding to each light color phase; the processing module 603 is specifically used for: obtaining the light color phase set, wherein the light color phase set includes each light color state; inputting the target light color state into the light color phase transition rule to obtain the next light color state; determining the duration of the next light color state; and generating a light color state and / or light color countdown corresponding to the next light color state based on the duration of the next light color state.

[0113] In one or more embodiments of this application, the device further includes: a correction module 604, configured to: receive new traffic light signal data; determine the remaining time of the new corrected light color state corresponding to the new traffic light signal data; calculate the absolute value of the difference between the real-time light color countdown and the remaining time of the corrected light color state to obtain a communication cumulative error value; if the communication cumulative error value is greater than a preset threshold or the light control mode in the new traffic light signal data changes, then correct the output light color state and / or light color countdown.

[0114] In one or more embodiments of this application, the processing module 603 is further configured to: if it is determined based on the traffic light signal data that the light control mode of the traffic light is a non-fixed timing control mode, then obtain the target light color state from the traffic light signal data; and output the light color state corresponding to the target light color state based on the target light color state and the communication time compensation amount.

[0115] In one or more embodiments of this application, the output of the corresponding light color status and / or light color countdown is stopped when one or more of the following conditions are detected: Received a termination command from the server; Receive traffic light signal data from intersections other than the target intersection sent by the server; The vehicle was detected leaving the target intersection.

[0116] The apparatus provided in this application embodiment can be used to execute the technical solutions of the above method embodiments. Its implementation principle and technical effect are similar, and will not be repeated here.

[0117] Exemplary devices and vehicles Figure 5 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device of this embodiment includes a processor 701 and a memory 702.

[0118] The memory 702 stores computer execution instructions; the processor 701 executes the computer execution instructions stored in the memory to implement the various steps performed by the electronic device in the above embodiments. For details, please refer to the relevant descriptions in the foregoing method embodiments.

[0119] Alternatively, the memory 702 can be either standalone or integrated with the processor 701.

[0120] When the memory 702 is set up independently, the electronic device also includes a bus 703 for connecting the memory 702 and the processor 701.

[0121] This application embodiment also provides a vehicle, which includes: a vehicle body, the vehicle body being equipped with a vehicle terminal, the vehicle terminal being used to perform the above-described traffic light information processing method.

[0122] Exemplary media and products This application also provides a computer storage medium storing computer execution instructions. When the processor executes the computer execution instructions, the above-described traffic light information processing method is implemented.

[0123] This application also provides a computer program product, including a computer program, which, when executed by a processor, implements the above-described traffic light information processing method.

[0124] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0125] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0126] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0127] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this application.

[0128] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0129] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0130] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0131] The aforementioned storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0132] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0133] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for processing traffic light information, characterized in that, Applied to the vehicle end, the method includes: Receive traffic light signal data from the target intersection and record the timestamp of the traffic light signal reception data received by the vehicle and the timestamp of the traffic light signal generation data sent by the server. The communication time compensation amount is obtained by compensating the signal generation data timestamp based on the signal reception data timestamp; Based on the communication time compensation amount and the traffic light signal data, output the traffic light color status and / or color countdown.

2. The method according to claim 1, characterized in that, The step of compensating the signal generation data timestamp based on the signal reception data timestamp to obtain the communication time compensation amount includes: The difference between the timestamp of the received signal data and the timestamp of the generated signal data is determined as the communication time compensation amount.

3. The method according to claim 1, characterized in that, The step of outputting the traffic light color status and / or color countdown based on the communication time compensation amount and the traffic light signal data includes: If the traffic light control mode is determined to be a fixed timing control mode based on the traffic light signal data, then the remaining time of the target light color status and the light color change rules are obtained from the traffic light signal data. Based on the communication time compensation amount, the remaining time of the target light color status is corrected to obtain the corrected remaining time of the target light color status. The remaining time of the corrected target light color state is deduced according to preset rules to obtain a real-time light color countdown; based on the real-time light color countdown, the target light color state, and the light color change rules, the corresponding light color state and light color countdown are output.

4. The method according to claim 3, characterized in that, The remaining time of the corrected target light color state is deduced according to preset rules to obtain a real-time light color countdown; based on the real-time light color countdown, the target light color state, and the light color change rules, the corresponding light color state and light color countdown are output, including: The simulation steps are calculated using a preset time interval, and the real-time timestamps of the simulation are continuously recorded on the vehicle side. Based on the real-time timestamp of the simulation and the timestamp of the received signal data, a relative real-time simulation time is generated; Based on the corrected remaining time of the target light color state and the relative real-time time, a real-time light color countdown is obtained; When the real-time light color countdown is greater than 0, the corresponding light color status and corresponding light color countdown are output based on the target light color status; When the real-time light color countdown is less than or equal to 0, the system switches to the next light color state corresponding to the target light color state according to the light color change rules, and outputs the corresponding light color state and light color countdown based on the next light color state.

5. The method according to claim 4, characterized in that, The step of generating a relative real-time simulation based on the simulation real-time timestamp and the signal reception data timestamp includes: When the real-time timestamp of the simulation is greater than or equal to the timestamp of the signal received data, the difference between the real-time timestamp of the simulation and the timestamp of the signal received data is determined as the relative real-time simulation time.

6. The method according to claim 4, characterized in that, The process of obtaining the real-time light countdown based on the remaining time of the corrected target light color state and the relative extrapolated real-time time includes: The difference between the remaining time of the corrected target light color state and the relative real-time time is used to obtain the real-time light color countdown.

7. The method according to claim 4, characterized in that, The light color change rules include a set of light color phases, light color phase transition rules, and the duration corresponding to each light color phase; Accordingly, when the real-time light color countdown is less than or equal to 0, according to the light color change rules, the system switches to the next light color state corresponding to the target light color state, and outputs the corresponding light color state and / or light color countdown based on the next light color state, including: Obtain the light color phase set, wherein the light color phase set includes the state of each light color; The target light color state is input into the light color phase transition rule to obtain the next light color state; Determine the duration of the next light color state; Based on the duration of the next light color state, generate the corresponding light color state and / or light color countdown for the next light color state.

8. The method according to claim 3, characterized in that, Also includes: Receive new traffic light signal data; Determine the remaining time of the new corrected light color state corresponding to the new traffic light signal data; The absolute value of the difference between the real-time light countdown and the remaining time of the corrected light status is calculated to obtain the cumulative communication error value. If the cumulative communication error value exceeds a preset threshold or the light control mode changes in the new traffic light signal data, the output light color status and / or light color countdown will be corrected.

9. The method according to claim 1, characterized in that, The step of outputting the traffic light color status and / or color countdown based on the communication time compensation amount and the traffic light signal data includes: If the traffic light control mode is determined to be a non-fixed timing control mode based on the traffic light signal data, then the target light color status is obtained from the traffic light signal data. Based on the target light color state and the communication time compensation amount, output the light color state corresponding to the target light color state.

10. The method according to any one of claims 1 to 9, characterized in that, When a vehicle is detected to meet one or more of the following conditions, the output of the corresponding light color status and / or light color countdown will be stopped: Received a termination command from the server; Receive traffic light signal data from intersections other than the target intersection sent by the server; The vehicle was detected leaving the target intersection.

11. An electronic device, characterized in that, include: At least one processor; The system includes a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to cause the at least one processor to perform the traffic light information processing method according to any one of claims 1 to 10.

12. A computer storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the traffic light information processing method as described in any one of claims 1 to 10.

13. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the traffic light information processing method according to any one of claims 1 to 10.

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