The invention provides a signal lamp state determination method, apparatus and device, and a medium, and is applied to a vehicle provided with a plurality of sensors, the sensors are used for detecting data of an environment where the vehicle is located, and current collection data of each sensor at a current moment can be obtained; the method comprises the following steps: performing feature extraction on each piece of current acquisition data through historical fusion data features which are obtained through historical data fusion at a previous moment and are located in an aerial view space and historical prediction state information of traffic lights identified at each historical moment in a historical time period, so as to obtain current data features of each piece of current acquisition data; each current data feature comprises a current image feature, carrying out feature fusion processing on the plurality of current data features and historical fusion data features in an aerial view space to obtain current fusion data features, and carrying out feature fusion processing on the current fusion data features based on the current fusion data features, the current image features and historical prediction state information. And determining the prediction state information of the traffic signal lamp at the current moment.
本公开提供了一种信号灯状态的确定方法、装置、设备及介质,应用于设置有多个传感器的车辆,传感器用于检测车辆所处环境的数据,可以获取在当前时刻下每个传感器的当前采集数据,在前一时刻下通过历史数据融合得到的、位于鸟瞰图空间下的历史融合数据特征,以及历史时间段内每个历史时刻下识别出的、交通信号灯的历史预测状态信息,对各个当前采集数据进行特征提取,得到各个当前采集数据的当前数据特征,各个当前数据特征包括当前图像特征,将多个当前数据特征与历史融合数据特征在鸟瞰图空间下进行特征融合处理,得到当前融合数据特征,基于当前融合数据特征、当前图像特征和历史预测状态信息,确定在当前时刻下交通信号灯的预测状态信息。
Signal lamp state determination method and device, equipment and medium
一种信号灯状态的确定方法、装置、设备及介质
2024-02-02
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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