Method of matching and tracking traffic lights, comprising matching the traffic lights’ static features 10, location 12 and dynamic features 17. Static features of traffic lights may be a type and/or orientation of the traffic light. Dynamic features of traffic lights may be colours and/or shape of active lights. If static features match 9, 10, then the positions of the traffic lights may be compared 11, 12. If the locations of the traffic lights match then the results may be compared to a location confidence threshold 13. If the location confidence is below the threshold, then a high confidence threshold for the dynamic features is set 14. If the location confidence is above the threshold, then a low confidence threshold for the dynamic features is set 15. The dynamic features of the traffic lights are compared 16 and if the threshold is satisfied the traffic lights may be considered a match 18. If the static features, location or dynamic features of the traffic lights do not match, then a new track record 7 detailing the traffic light’s properties may be created. The traffic light’s static features, positions, dynamic features and/or tracking identification may be provided to an autonomous driver assistance system 19, (Fig.3).
Method for tracking traffic lights, driving system and vehicle
2023-11-01
Patent
Electronic Resource
English