The embodiment of the invention provides a signal lamp recognition method and device, a vehicle control unit and a computer readable storage medium. The signal lamp recognition method comprises the steps that a first environment image is acquired; determining target azimuth information of a target composition from the first environment image, wherein the target composition comprises a signal lamp and a supporting structure; acquiring a second environment image containing the target composition based on the target azimuth information; the viewing angle of the second environment image is smaller than that of the first environment image; and identifying the signal lamp in the second environment image to obtain a signal lamp identification result. As the view-finding angle of the second environment image is smaller than that of the first environment image, the picture proportion occupied by the same signal lamp in the second environment image is larger than that in the first environment image. Therefore, the operand required for identifying the signal lamp from the second environment image is obviously lower than the operand required for directly identifying the signal lamp from the first environment image, and the efficiency of identifying the signal lamp can be improved.
本申请实施例提供了一种信号灯识别方法、装置、整车控制器及计算机可读存储介质,包括:获取第一环境影像;从第一环境影像中确定目标组合物的目标方位信息,目标组合物包含信号灯和承托结构;基于目标方位信息获取包含目标组合物的第二环境影像;第二环境影像的取景角度小于第一环境影像的取景角度;对第二环境影像中的信号灯进行识别,得到信号灯识别结果。由于第二环境影像的取景角度小于第一环境影像的取景角度,同一个信号灯在第二环境影像中占据的画面比例大于其在第一环境影像中的画面比例,使得从第二环境影像中识别信号灯所需的运算量显著低于从第一环境影像中直接识别信号灯所需的运算量,可以提升识别信号灯的效率。
Signal lamp identification method and device, vehicle control unit and storage medium
一种信号灯识别方法、装置、整车控制器及存储介质
2023-04-07
Patent
Electronic Resource
Chinese
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