A driving environment is perceived, including detecting traffic light, based on sensor data obtained from a plurality of sensors mounted on the ADV, where the plurality of sensors includes at least one image sensor. A first sensor setting (402) is applied to the at least one image sensor to capture a first frame, and a second sensor setting (403) is applied to the at least one image sensor to capture a second frame. A color of the traffic light is determined based on sensor data of the at least one image sensor in the first frame. ADV automatic driving is controlled according to a color of the traffic light determined based on the sensor data of the at least one image sensor in the first frame and a driving environment perceived based on the sensor data of the at least one image sensor in the second frame.
基于从安装在ADV上的多个传感器获得的传感器数据来感知驾驶环境,包括检测交通灯光,其中,多个传感器包括至少一个图像传感器。将第一传感器设置(402)应用于至少一个图像传感器以捕获第一帧,并且将第二传感器设置(403)应用于至少一个图像传感器以捕获第二帧。基于第一帧中的至少一个图像传感器的传感器数据来确定交通灯光的颜色。根据基于第一帧中的至少一个图像传感器的传感器数据确定的交通灯光的颜色和基于第二帧中的至少一个图像传感器的传感器数据感知的驾驶环境来控制ADV自动驾驶。
Traffic light detection and classification for autonomous driving vehicles
用于自动驾驶车辆的交通灯光检测和分类
2022-12-23
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 |
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