The invention relates to a method and device for determining traffic lights of a driving route, a storage medium and electronic equipment, and the method comprises the steps: obtaining a stop line on the current driving route of an unmanned vehicle, and constructing a stop line vector based on the position of the unmanned vehicle corresponding to the stop line and the end point of the stop line; respectively calculating a relative vector relationship between each traffic light pose and the stop line vector according to the pose distribution of the traffic lights in the intersection; according to the relative vector relation and a preset relative orientation threshold value, obtaining an interested traffic light; based on a driving route intention corresponding to the current driving route of the unmanned vehicle, determining a target traffic light concerned by the driving route intention from the interested traffic lights; and determining the color state and the arrow direction of the target traffic light image shot by the camera by using a preset visual perception algorithm so as to execute the driving route intention according to the color state and the arrow direction. The traffic light acquisition efficiency can be improved.
本发明涉及一种确定行驶路线红绿灯的方法、装置、存储介质和电子设备,方法包括:获取无人车当前行驶路线上的停止线,基于无人车对应停止线的位置及停止线的终点,构建停止线向量;依据路口内红绿灯的位姿分布,分别计算各红绿灯位姿与停止线向量的相对矢量关系;根据相对矢量关系以及预先设置的相对朝向阈值,获取感兴趣红绿灯;基于无人车当前行驶路线对应的行驶路线意图,从感兴趣红绿灯中,确定行驶路线意图关注的目标红绿灯;利用预先设置的视觉感知算法,确定摄像头拍摄的目标红绿灯图像的颜色状态和箭头指向,以依据颜色状态和箭头指向执行行驶路线意图。可以提升红绿灯获取效率。
Method and device for determining traffic light of driving route, storage medium and electronic equipment
确定行驶路线红绿灯的方法、装置、存储介质和电子设备
2024-04-12
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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