CN-121999627-A - Signal lamp release data detection method and device and electronic equipment

CN121999627ACN 121999627 ACN121999627 ACN 121999627ACN-121999627-A

Abstract

The embodiment of the application provides a method and a device for detecting signal lamp release data and electronic equipment. The method comprises the steps of detecting based on a video stream obtained by a vehicle to obtain signal lamp dynamic observation data, carrying out matching processing according to the signal lamp dynamic observation data and map attribute data of a signal lamp to be processed to obtain true value lamp state change data of a target signal lamp, searching signal lamp release data matched with the true value lamp state change data, determining the signal lamp release data based on a prediction period time length of vehicle track mining, and detecting the signal lamp release data according to the true value lamp state change data to obtain a detection result. The method is used for achieving the effect of improving the accuracy of the detection result of the signal lamp release data.

Inventors

HAO ZEPENG
XUE MING

Assignees

北京四维图新科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260316

Claims (10)

1. The method for detecting the signal lamp release data is characterized by comprising the following steps of: detecting based on a video stream acquired by a vehicle to obtain signal lamp dynamic observation data; matching processing is carried out according to the dynamic observation data of the signal lamp and the map attribute data of the signal lamp to be processed, so as to obtain true value lamp state change data of the target signal lamp; searching the signal lamp release data matched with the true value lamp state change data, wherein the signal lamp release data is determined based on the predicted period duration of vehicle track mining; And detecting the signal lamp release data according to the true value lamp state change data to obtain a detection result.
2. The method of claim 1, wherein the detecting based on the video stream acquired by the vehicle to obtain the signal dynamic observation data comprises: determining an image sequence based on a video stream acquired by a vehicle and vehicle time-space information corresponding to the image sequence; Detecting each image in the image sequence to obtain the signal lamp state of the image; and determining signal lamp dynamic observation data according to the signal lamp state of each image, the vehicle space-time information and the vehicle track corresponding to the image sequence.
3. The method of claim 2, wherein the signal light status includes light status information and shape information; The step of determining signal lamp dynamic observation data according to the signal lamp state of each image, the vehicle space-time information and the vehicle track corresponding to the image sequence comprises the following steps: Determining lamp state change information and a time-space label according to the lamp state information of each image, the vehicle time-space information and the vehicle track corresponding to the image sequence; and determining the dynamic observation data of the signal lamp according to the lamp state change information, the space-time tag and the shape information.
4. The method of any of claims 1-3, wherein the signal dynamic observation data comprises a space-time tag, shape information, and lamp state change information, wherein the map attribute data comprises a location attribute, an orientation attribute, and a shape attribute; The matching processing is performed according to the signal lamp dynamic observation data and the map attribute data of the signal lamp to be processed to obtain the true value lamp state change data of the target signal lamp, and the matching processing comprises the following steps: Screening candidate signal lamps from the signal lamps to be processed according to the space-time labels, the position attribute and the orientation attribute of the signal lamps to be processed; screening target signal lamps from the candidate signal lamps according to the shape information and the shape attribute of the candidate signal lamps; And determining the truth value lamp state change data of the target signal lamp according to the space-time tag and the lamp state change information.
5. The method of claim 4, wherein the space-time tag comprises a light state changing vehicle position; The step of screening candidate signal lamps among the signal lamps to be processed according to the space-time tag, the position attribute and the orientation attribute of the signal lamps to be processed comprises the following steps: Determining a distance to be processed according to the position of the vehicle with the changed lamp state and the position attribute of the signal lamp to be processed; According to the distance to be processed, a primary signal lamp is selected from the signal lamps to be processed; determining a direction vector to be processed according to the position of the vehicle with the lamp state change and the position attribute of the initially selected signal lamp; And screening candidate signal lamps from the primary signal lamps according to the direction vector to be processed and the orientation attribute of the primary signal lamps.
6. The method of any of claims 1-3, wherein the signal issuance data includes predicted lamp state change times, and confidence and validity periods of a true lamp state change, the true lamp state change data including true lamp state change times and true lamp state change information; The detecting of the signal lamp release data according to the true value lamp state change data to obtain a detection result comprises the following steps: Determining effective release time according to the truth value lamp state change time, the confidence coefficient of the predicted lamp state change time and the validity period; Determining release coverage according to the number of the predicted lamp state change moments and the number of the effective release moments; Determining a correct release time according to the truth value lamp state change time, the truth value lamp state change information, the prediction period duration and the effective release time; and determining the release accuracy according to the number of the correct release moments and the number of the effective release moments.
7. The method of claim 6, wherein said determining a correct publication time based on said truth light state variation time, said truth light state variation information, said predicted period duration, and said valid publication time comprises: under the condition that the effective release time and the truth value lamp state change information are not matched, determining a target release time corresponding to the truth value lamp state change information according to the effective release time, the prediction period time and the prediction red light time; Determining a release error value of the target release time according to the truth value lamp state change time, the target release time and the prediction period duration; And determining the correct release time in the target release time according to the release error value of the target release time.
8. A method according to any one of claims 1 to 3, further comprising: performing mining analysis according to the historical vehicle track corresponding to the target signal lamp to obtain first period duration in different historical time periods; For each historical period, analyzing according to the real-time vehicle track corresponding to the historical period by the target signal lamp to obtain a second period duration; if the second period duration is the same as the first period duration, the first period duration is taken as a predicted period duration, the confidence level is determined, and the validity period is determined according to the aimed historical period; determining a predicted lamp state switching time according to the target starting time of the real-time vehicle track and the predicted period duration; And determining signal lamp release data according to the predicted lamp state switching moment, the validity period and the confidence level.
9. A signal lamp distribution data detection device, comprising: the video stream detection module is used for detecting based on a video stream acquired by a vehicle to obtain signal lamp dynamic observation data; The truth value determining module is used for carrying out matching processing according to the signal lamp dynamic observation data and map attribute data of the signal lamp to be processed to obtain truth value lamp state change data of the target signal lamp; The searching module is used for searching the signal lamp release data matched with the true value lamp state change data; the signal lamp release data are determined based on the predicted period duration of vehicle track mining; And the detection module is used for detecting the signal lamp release data according to the true value lamp state change data to obtain a detection result.
10. An electronic device/computer-readable storage medium/computer program product comprising a processor and a memory communicatively coupled to the processor, the memory storing computer-executable instructions, the processor executing the computer-executable instructions stored by the memory to implement the method of any one of claims 1 to 8; the computer-readable storage medium having stored therein computer-executable instructions which, when executed by a processor, are adapted to carry out the method of any one of claims 1 to 8; the computer program product comprising computer-executable instructions which, when executed by a processor, implement the method of any one of claims 1 to 8.

Description

Signal lamp release data detection method and device and electronic equipment Technical Field The present application relates to the field of intelligent traffic technologies, and in particular, to a method and an apparatus for detecting signal lamp published data, and an electronic device. Background The signal lamp release data is predicted state change data of the signal lamp and is released to the navigation system for use, and the accuracy of the signal lamp release data plays an important role in optimizing the vehicle passing efficiency and reducing the congestion. In the related art, a true value of signal lamp data is obtained, the accuracy of signal lamp release data is detected through the true value, and the true value of signal lamp data is obtained through manually marking historical data, but errors are easily introduced in manual operation, so that reliable reference support cannot be provided for detection, and the accuracy of a detection result of signal lamp release data is low. Disclosure of Invention The embodiment of the application provides a method, a device and electronic equipment for detecting signal lamp release data, which are used for automatically generating high-reliability truth value lamp state change data, and detecting the signal lamp release data through the high-reliability truth value lamp state change data, so that the effect of improving the accuracy of a detection result of the signal lamp release data is achieved. In a first aspect, an embodiment of the present application provides a method for detecting signal lamp issue data, including: detecting based on a video stream acquired by a vehicle to obtain signal lamp dynamic observation data; matching processing is carried out according to the dynamic observation data of the signal lamp and the map attribute data of the signal lamp to be processed, so as to obtain true value lamp state change data of the target signal lamp; Searching signal lamp release data matched with the truth value lamp state change data, wherein the signal lamp release data is determined based on the predicted period duration of vehicle track mining; and detecting the signal lamp release data according to the true value lamp state change data to obtain a detection result. In a second aspect, an embodiment of the present application provides a detection apparatus for signal lamp distribution data, including: the video stream detection module is used for detecting based on a video stream acquired by a vehicle to obtain signal lamp dynamic observation data; the truth value determining module is used for carrying out matching processing according to the dynamic observation data of the signal lamp and the map attribute data of the signal lamp to be processed to obtain truth value lamp state change data of the target signal lamp; the system comprises a searching module, a signal lamp issuing module and a signal lamp issuing module, wherein the searching module is used for searching signal lamp issuing data matched with the true value lamp state change data, and the signal lamp issuing data is determined based on the predicted period duration of vehicle track mining; And the detection module is used for detecting the signal lamp release data according to the true value lamp state change data to obtain a detection result. In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, where the memory stores computer-executable instructions, and where the processor executes the computer-executable instructions stored in the memory, so that the processor executes the foregoing first aspect and/or various possible implementations of the first aspect. In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored therein computer-executable instructions for implementing the various possible implementations of the above first aspect and/or the first aspect when executed by a processor. In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements the various possible implementations of the above first aspect and/or the first aspect. According to the signal lamp release data detection method, device, electronic equipment, storage medium and program product, the signal lamp dynamic observation data are obtained through detection based on the video stream acquired by the vehicle, the signal lamp dynamic observation data can reflect the state change of the signal lamp under the actual environment observed by the vehicle, the signal lamp dynamic observation data are matched with map attribute data of the signal lamp to be processed in map data to determine true value lamp state change data of a target signal, the true value lamp state change data are generated through automatic image recognition and map data matching, the true value acquisitio