The invention discloses an intersection vehicle track correction method combined with signal lamp perception, which comprises the following steps: (1) obtaining a current lane where a vehicle is located based on high-precision map information and vehicle position information; (2) acquiring a current lane where the target vehicle is located based on the high-precision map information and the position information of the target vehicle; (3) determining a signal lamp corresponding to the current lane where the vehicle is located based on the current lane where the vehicle is located and signal lamp image data and high-precision map information collected by the vehicle, and collecting color state information of the signal lamp; (4) determining the color state information of the signal lamp of the target vehicle based on the information of the current lane where the vehicle is located and the direction difference angle of the current lane where the target vehicle is located, and the color state information of the signal lamp corresponding to the current lane where the vehicle is located; and (5) correcting the initial predicted trajectory of the target vehicle based on the signal lamp color state information of the target vehicle and the road network topology information extracted from the high-precision map.

    本发明公开了一种结合信号灯感知的路口车辆轨迹修正方法,其包括步骤:(1)基于高精地图信息和自车位置信息,获得自车所处的当前车道;(2)基于高精地图信息和目标车辆的位置信息,获取目标车辆所处的当前车道;(3)基于自车所处的当前车道以及自车采集的信号灯图像数据和高精地图信息,确定自车所处的当前车道对应的信号灯,并采集信号灯颜色状态信息;(4)基于自车所处的当前车道信息与目标车辆所处的当前车道的方向差角度,以及与自车所处的当前车道对应的信号灯的颜色状态信息,确定目标车辆的信号灯颜色状态信息;(5)基于目标车辆的信号灯颜色状态信息和从高精地图中提取的路网拓扑信息,对目标车辆初始预测轨迹进行修正。


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    Title :

    Intersection vehicle track correction method and system combined with signal lamp perception


    Additional title:

    一种结合信号灯感知的路口车辆轨迹修正方法及系统


    Contributors:
    WU YIQUN (author) / ZHANG HANCHI (author) / QIN XUEFANG (author)

    Publication date :

    2022-12-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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