The invention relates to the technical field of automatic driving, and discloses a traffic signal lamp identification method and device, equipment and a storage medium. The method comprises the following steps: identifying sensing data generated by each sensor on an automatic driving vehicle, fusing obtained obstacle information, traffic signal lamp position information and road information, establishing an aerial view based on a vehicle coordinate system, performing image processing on original image data to obtain a traffic signal lamp image, and sending the traffic signal lamp image to the automatic driving vehicle; and inputting the traffic signal lamp image and the aerial view into a preset end-to-end model for identification, and determining the state of the traffic signal lamp. According to the scheme, the environment model is established by detecting the vehicle environment, region-of-interest cutting is performed on the image captured by the vehicle-mounted camera on the basis of the positioning frame provided by the detection model, and then the cut image and the environment model are fed into the end-to-end model to realize traffic signal lamp decision making in time sequence, so that the information loss is reduced, and the traffic signal lamp decision making efficiency is improved. And the decision accuracy of the traffic lights is improved.

    本发明涉及自动驾驶技术领域,公开了一种交通信号灯的识别方法、装置、设备及存储介质。本方法包括:对自动驾驶车辆上各传感器产生的传感数据进行识别,并对得到障碍物信息、交通信号灯位置信息和道路信息进行融合,建立基于车辆坐标系的鸟瞰图,并对原始图像数据进行图像处理,得到交通信号灯图像,将交通信号灯图像和鸟瞰图输入至预设端到端模型中进行识别,确定交通信号灯的状态。本方案通过检测车辆环境建立环境模型,并在检测模型提供的定位框基础上,对车载相机捕获的图像进行感兴趣区域的裁剪,然后将裁剪完的图像以及环境模型喂入端到端模型中实现时序上的交通信号灯决策,减少了信息的损失,提高了交通信号灯决策的准确性。


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    Title :

    Traffic signal lamp identification method and device, equipment and storage medium


    Additional title:

    交通信号灯的识别方法、装置、设备及存储介质


    Contributors:
    LI ZIHE (author) / HAN XU (author)

    Publication date :

    2024-08-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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