The invention provides a traffic light recognition method and device, electronic equipment and a vehicle, and the method comprises the steps: determining that a plurality of traffic lights exist at a passing intersection when the vehicle is about to pass through the passing intersection, and obtaining the coordinates of a road end point of a road where the vehicle is currently located and the coordinates of all traffic lights at the passing intersection; the first included angle is used for indicating the range of the included angle between the traffic light and the vehicle which can be referenced by the vehicle, so that the first included angle is used for screening the plurality of second included angles, and the first included angle is used for indicating the range of the included angle between the traffic light and the vehicle which can be referenced by the vehicle; and determining a target traffic light from the plurality of traffic lights according to the traffic light coordinates corresponding to the target second included angle, so as to control the vehicle to pass through the traffic intersection according to the traffic information indicated by the target traffic light. The method can achieve the accurate recognition of the traffic light which the vehicle needs to refer to when the vehicle runs on the current road.
本申请提供一种交通灯识别方法、装置、电子设备及车辆,当车辆即将通过通行路口时,确定通行路口存在多个交通灯,获取车辆当前所在道路的道路端点坐标和通行路口处的各个交通灯坐标,再根据各个交通灯坐标通过预设第二夹角函数计算各个交通灯与车辆的夹角,得到多个第二夹角,由于第一夹角用于指示车辆可以参考的交通灯与所述车辆的夹角所在范围,因此利用第一夹角对多个第二夹角进行筛选,使得筛选得到的目标第二夹角更加准确,并根据与目标第二夹角对应的交通灯坐标从多个交通灯中确定目标交通灯,以供控制车辆按照目标交通灯指示的交通信息通过通行路口,能够实现对车辆在当前所在道路行驶时所要参考的交通灯的准确识别。
Traffic light identification method and device, electronic equipment and vehicle
交通灯识别方法、装置、电子设备及车辆
2025-03-25
Patent
Electronic Resource
Chinese
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