The invention provides a traffic light signal discrimination method and device based on a traffic radar. The method comprises the following steps of obtaining initial target point cloud information detected by the radar and performing clustering; giving a lane attribute type of the current scene; carrying out statistics on lane clustering point information of each attribute in the statistical region; judging the attribute lane state of the current frame according to the statistical clustering point information, and calculating the total time of the current traffic light and the green light time; screening and filtering according to the dispersion based on the historically recorded traffic light time and green light time, and averaging to obtain a traffic light period and a green light period; and judging the traffic light state of each attribute lane according to the traffic light period, the green light period and the current state of the attribute lane. According to the traffic light signal discrimination method and device based on the traffic radar, the method for discriminating the traffic light signals according to the clustering points is provided for the intersection scene, the method is suitable for the multi-cycle traffic light signal scene, and the traffic light state information of the attribute lane of the current frame is accurately given.
本发明提供了基于交通雷达的红绿灯信号判别方法与装置,方法包括如下步骤:获取雷达检测的初始目标点云信息并进行聚类;给出当前场景车道属性种类;在统计区域里统计各属性车道聚类点信息;根据统计的聚类点信息判断当前帧该属性车道状态,计算当前红绿灯总时间和绿灯时间;根据历史记录的红绿灯时间和绿灯时间,根据离散度进行筛选过滤,取均值得到红绿灯周期和绿灯周期;根据红绿灯周期和绿灯周期以及当前该属性车道的状态,判断各属性车道的红绿灯状态。本发明提供的基于交通雷达的红绿灯信号判别方法与装置,针对路口场景,提供了根据聚类点对红绿灯信号判别方法,适应多周期红绿灯信号场景,并准确给出当前帧此属性车道的红绿灯状态信息。
Traffic radar-based traffic light signal discrimination method and device
基于交通雷达的红绿灯信号判别方法、装置
2024-04-12
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
European Patent Office | 2019
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