Traffic signal identification method and device, vehicle navigation equipment and unmanned vehicle

Abstract

The invention discloses a traffic signal identification method and device, vehicle navigation equipment and an unmanned vehicle. The method comprises the steps of obtaining a current image in a videoshot by the unmanned vehicle; when the image detection condition is satisfied, detecting a region of interest of a traffic signal lamp in the current image through a traffic signal lamp detection model; otherwise, based on the region of interest of the traffic signal lamp in the previous frame of image of the current image in the video, determining the region of interest of the traffic signal lampin the current image by using the target tracking model; using a trained traffic signal lamp state identification model; identifying a traffic signal represented by a traffic signal lamp in a regionof interest of the current image; in view of the fact that the calculated amount of the target tracking algorithm is smaller than the calculated amount of the model detection. The region of interest of the traffic signal lamps in the continuous frames are identified in combination with the model detection and the target tracking, recognition of each frame of image can be achieved, the possibilityof missing detection is reduced, and the calculation cost for recognizing the continuous frames can be effectively reduced.

Description

technical field [0001] The present application relates to the technical field of automatic driving, and specifically relates to a traffic signal recognition method and device, a vehicle navigation device and an unmanned vehicle. Background technique [0002] At present, self-driving cars are showing a trend of being close to practicality. In order to ensure the driving safety of self-driving cars, it is necessary for self-driving cars to be able to accurately know the traffic signals on the road in order to adjust the driving status of the vehicle in time. [0003] In order for the self-driving car to accurately know the traffic signals on the road, it is necessary for the self-driving car to be able to detect the traffic signals displayed by the traffic lights on the road in real time. In the existing traffic signal detection scheme, the image taken by the automatic driving vehicle is input into the recognition model, and the model detects the traffic signal of the traffic ...

AI Technical Summary

Problems solved by technology

In the existing traffic signal detection scheme, the image taken by the automatic driving vehicle is input into the recognition model, and the model detects the traffic signal of the traffic signal light in the image. This detection scheme does not take into account the actual application of the automatic driving vehicle. The image stream of continuous frames is captured, and the detection of only a part of the images in the video may miss detection. If the same detection is performed on all images, there will be a problem of high computational cost

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