CN113050615B - Driving safety control method, device, electronic equipment and storage medium - Google Patents

Abstract

The application relates to a driving safety control method, a driving safety control device, electronic equipment and a storage medium, wherein the driving safety control method is realized by acquiring an environment image around a vehicle; determining the relative position of the target vehicle and the characteristic information of the signal lamp of the target vehicle based on the environment image; the characteristic information includes color information and a category; determining state information of the signal lamp according to the color information; determining the driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp and the relative position; the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights. Therefore, the driving intention of the target vehicle is judged by determining the type of the signal lamp of the target vehicle, the state information of the signal lamp and the relative position, and the accuracy of the prediction of the behavior of the surrounding vehicles in the actual driving process of the vehicle can be improved, so that the driving safety and the same-vehicle efficiency of the vehicle can be improved.

Description

Driving safety control method, device, electronic equipment and storage medium

Technical field

This application relates to the field of automotive technology, and in particular to a driving safety control method, device, electronic equipment and storage medium.

Background technique

Autonomous driving has become an important direction for technology development in the modern automobile industry and the electronic and electrical industry. In the future, the combination of autonomous driving and new energy will reduce environmental pollution and improve road traffic capacity. Therefore, technologies for all aspects of autonomous driving have become today's high-tech A key area of research in technology. Sensors of autonomous driving technology serve as support to sense the surrounding environment. Currently, sensors mainly include cameras, lidar, millimeter wave radar and ultrasonic radar.

During the development of autonomous driving, there will inevitably be scenarios in which autonomous vehicles and manned vehicles drive together. In this scenario, manned vehicles are more traditional. Most traditional vehicles do not have vehicle-to-vehicle communication (V2V) capabilities and are relatively flexible during driving. It is difficult for self-driving vehicles to understand the behavior and intentions of traditional manned vehicles. The behavior prediction of manned vehicles is more likely to be biased, and it is prone to problems such as low peer efficiency and traffic accidents.

Existing self-driving vehicles have added measures to judge the car's whistle, and use the whistle of the car behind to judge the intention of the car behind to overtake. However, the whistle is a source of noise pollution, and whistles are prohibited in many cities; and autonomous driving When a car is driving at high speed, wind, rain, etc. will cause serious interference to the pickup, requiring complex software and hardware noise reduction measures. In addition, most of the sound collection uses a microphone array. Because the microphone array is installed on the car, the siren of the car behind will not be heard. Sound will be blocked, reflected, diffracted, etc., making positioning difficult.

In this application, the safety of vehicle driving can be improved by increasing the light judgment of an autonomous vehicle on a manually driven vehicle, such as using turn signals, far and near lights, and brake lights to determine the intention of a traditional manned vehicle.

Contents of the invention

Embodiments of the present application provide a driving safety control method, device, electronic device and storage medium, which can improve the safety of vehicle driving by judging the driving intention of the target vehicle through the signal light of the target vehicle.

On the one hand, embodiments of the present application provide a driving safety control method, including:

Obtain images of the environment around the vehicle;

Determine the relative position of the target vehicle and the characteristic information of the target vehicle's signal light based on the environment image; the characteristic information includes color information and type;

Determine the status information of the signal light based on the color information;

Determine the driving intention of the target vehicle based on the type of signal light, the status information and relative position of the signal light;

Among them, the status information of the signal light includes on, off and flashing; the types include turn signal, high beam, low beam and brake light.

On the other hand, embodiments of the present application provide a driving safety control device, including:

The acquisition module is used to acquire the environment image around the vehicle;

The first determination module is used to determine the relative position of the target vehicle and the characteristic information of the target vehicle's signal light based on the environment image; the characteristic information includes color information and type;

The second determination module is used to determine the status information of the signal light based on the color information;

The third determination module is used to determine the driving intention of the target vehicle based on the type of signal light, the status information and relative position of the signal light;

Among them, the status information of the signal light includes on, off and flashing; the types include turn signal, high beam, low beam and brake light.

On the other hand, embodiments of the present application provide an electronic device. The electronic device includes a processor and a memory. The memory stores at least one instruction, at least one program, a code set or an instruction set, and at least one instruction, at least one program, and code. A set or instruction set is loaded and executed by the processor to implement the above driving safety control method.

On the other hand, embodiments of the present application provide a computer-readable storage medium in which at least one instruction, at least one program, code set, or instruction set is stored. At least one instruction, at least one program, code set, or instruction set is stored in the storage medium. It is loaded and executed by the processor to implement the above driving safety control method.

The driving safety control method, device, electronic device and storage medium provided by the embodiments of the present application have the following beneficial effects:

By obtaining the environment image around the vehicle; determining the relative position of the target vehicle and the characteristic information of the target vehicle's signal light based on the environment image; the characteristic information includes color information and type; determining the status information of the signal light based on the color information; according to the type of the signal light, the signal light's The status information and relative position determine the driving intention of the target vehicle; among them, the status information of the signal light includes on, off and flashing; the types include turn signal, high beam, low beam and brake light. In this way, by determining the type of the target vehicle's signal light, the status information and relative position of the signal light to determine the driving intention of the target vehicle, the accuracy of the vehicle's prediction of the behavior of surrounding vehicles during actual driving can be improved, thereby improving the safety of vehicle driving. and peer efficiency.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present application;

Figure 2 is a schematic flowchart of a driving safety control method provided by an embodiment of the present application;

Figure 3 is a schematic diagram of various driving scenarios provided by the embodiment of the present application;

Figure 4 is a schematic structural diagram of a driving safety control device provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "include" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product or server that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

Please refer to Figure 1. Figure 1 is a schematic diagram of an application scenario provided by an embodiment of the present application, including a vehicle 101 and a target vehicle 102. The vehicle 101 includes a sensing module 1011, and the sensing module 1011 includes a camera for detecting, identifying and analyzing the target vehicle. Characteristic information of 102 signal lights.

The vehicle 101 obtains the environment image around the vehicle 101 through the sensing module 1011, and the vehicle 101 determines the relative position of the target vehicle 102 based on the environment image. The vehicle 101 can determine the target vehicle 102 and its relative position through the computer vision method of the perception module 101; in addition, the vehicle 101 can fuse information obtained by lidar or millimeter wave radar to determine the target vehicle 102 and its relative position. The vehicle 101 determines the characteristic information of the signal light of the target vehicle 102 through the sensing module 1011, where the characteristic information includes color information and type. The sensing module 1011 determines the status information of the signal light according to the color information; the sensing module 101 sends the characteristic information of the signal light of the target vehicle 102. To the decision-making module of the vehicle 101, the decision-making module determines the driving intention of the target vehicle 102 based on the type of the signal light, the status information of the signal light and the relative position; wherein, the status information of the signal light includes on, off and flashing; the types include turn lights, high beams , low beam and brake lights.

Optionally, the vehicle 101 may be an autonomous vehicle with an autonomous driving function; the target vehicle 102 may be a traditional manned vehicle without an autonomous driving function. Because traditional manned vehicles cannot communicate with autonomous vehicles, they are more flexible and changeable during driving. It is difficult for self-driving vehicles to understand the behavior and intentions of traditional manned vehicles. The prediction of the behavior of traditional manned vehicles is more likely to be biased. Therefore, it is easy for peers to be inefficient and even cause traffic accidents. Through the driving safety control method provided by the embodiment of the present application, the autonomous vehicle can determine the driving intention of the traditional manned vehicle by determining the type of the signal light of the traditional manned vehicle, the status information and relative position of the signal light, and can improve the driving intention of the automatic driving vehicle. The accuracy of predicting the behavior of surrounding vehicles during actual driving can improve the safety and efficiency of autonomous vehicle driving.

The following introduces a specific embodiment of a driving safety control method of the present application. Figure 2 is a schematic flowchart of a driving safety control method provided by an embodiment of the present application. This specification provides method operation steps such as embodiments or flowcharts, but Routine-based or non-creative work may involve more or fewer operational steps. The sequence of steps listed in the embodiment is only one way of executing the sequence of many steps, and does not represent the only execution sequence. When the actual system or server product is executed, it may be executed sequentially or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the methods shown in the embodiments or drawings. Specifically as shown in Figure 2, the method may include:

S201: Obtain the environment image around the vehicle.

S203: Determine the relative position of the target vehicle and the characteristic information of the target vehicle's signal light based on the environment image; the characteristic information includes color information and type.

In the embodiment of the present application, the vehicle's perception module obtains the environment image around the vehicle through the vehicle-mounted camera, and determines the relative position of the target vehicle based on the environment image. The relative position is the position of the target vehicle in the same lane or in a different lane relative to the vehicle. . The perception module also determines the characteristic information of the target vehicle's signal lights based on the environment image. The types of signal lights include turn signals, high beam lights, low beam lights, and brake lights. The color information can be based on red, green, and blue (RGB) colors. Represented by standard RGB values.

In an optional implementation of determining the relative position of the target vehicle based on the environmental image, the environmental image can be associated and fused with the data obtained by lidar or microwave radar to determine the object category of each target in the environmental image, and determine whether it belongs to The target of the vehicle category; and then determine the relative position of the target vehicle based on the lane lines in the environment image, that is, the target vehicle is located in the same lane as the vehicle or in a different lane.

In an optional implementation of determining the characteristic information of the target vehicle's signal lights based on the environment image, the target vehicle is segmented and extracted from the environment image, and the turn signal, high beam, low beam and The position area of the brake light is used to obtain the RGB value of each signal light position area. It should be noted that locating the position areas of the turn lights, high beam lights, low beam lights and brake lights based on the outline of the target vehicle here means that the position areas of each signal light are determined based on the position of each signal light on the vehicle. That is, determining the location area of each signal light determines the type of the signal light.

S205: Determine the status information of the signal light based on the color information.

In the embodiment of the present application, the vehicle's perception module determines the status information of each signal light by determining the RGB value of each signal light in the multi-frame environment image, where the status information of the signal light includes on, off, and flashing.

In an optional implementation of determining the status information of the signal light based on the color information, by acquiring multiple frames of environment images around the vehicle; determining the color information of the signal light in each frame of the multi-frame environment image; obtaining a color information set; according to The color information set determines the color change information of the signal light; the status information of the signal light is determined based on the color change information.

For example, assume that the vehicle determines from the environment image that the relative position of the target vehicle is in front of the same lane as the vehicle, then locates the location area of each signal light according to the outline of the target vehicle, and obtains multiple frames collected by the camera within a preset time. Environmental image, determine the RGB value of the location area in each frame of the multi-frame environment image. Assuming that the preset time is 5 seconds and the camera collects 5 frames of environment images per second, the location in 25 consecutive frames can be determined. The RGB value of the area. If the variation range of the RGB values of 25 consecutive frames is within the allowed variation range, it can be determined whether the status information of the signal light is on or off; if the RGB values of 25 consecutive frames change according to a certain period, the status information of the signal light can be determined It's flashing. Secondly, the status of the current signal light is determined based on the RGB value when each signal light is turned on. For example, the turn signal is generally yellow. When the turn signal is turned on, its RGB value can be (255,255,0). If the RGB values of 25 consecutive frames are all (255,255,0), or there are RGB values in the allowed range in 25 consecutive frames. If the RGB values of 25 consecutive frames are close to (0,0,0), then the status of the turn signal is off; if the RGB values of the first 5 frames among 25 consecutive frames are The RGB value is (255,255,0). The RGB value of the 5 consecutive frames starting from the 6th frame is (0,0,0). The RGB value of the 5 consecutive frames starting from the 11th frame is (255,255,0). The RGB value starting from the 16th frame is (255,255,0). The RGB value of 5 frames is (0,0,0)... In this way, the RGB value of 25 consecutive frames repeats according to a certain rule, then it is determined that the status information of the turn signal is flashing. It should be noted that the RGB value of each signal light can be set according to the actual scene.

S207: Determine the driving intention of the target vehicle based on the type of the signal light, the status information and the relative position of the signal light.

In the embodiment of this application, the vehicle's perception module sends the determined type of signal light, the status information of the signal light, and the relative position to the vehicle's decision-making module. The decision-making module finally determines the target based on the type of signal light, the status information of the signal light, and the relative position. The driving intention of the vehicle.

Please refer to Figure 3. Figure 3 is a schematic diagram of various driving scenarios provided by this embodiment of the application, including a vehicle 301 and a target vehicle 302. The vehicle 301 can be an autonomous vehicle, and the target vehicle 302 can be a traditional manned vehicle.

An optional implementation method of determining the driving intention of the target vehicle based on the type of signal light, the status information of the signal light, and the relative position is: if the type of the signal light is a turn signal, the status information of the signal light is on, and the relative position is located with the vehicle In different lanes, the driving intention of the target vehicle is determined as the steering intention.

Specifically, as shown in Figure 3(a), when the vehicle 301 is driving normally on lane A, the target vehicle 302 in lane B may merge and overtake. At this time, if the target vehicle 302 changes lanes and the vehicle 301 suddenly Speeding up may cause an accident between two vehicles. In the embodiment of this application, according to the above optional implementation, if the sensing module of the vehicle 301 determines that the relative position of the target vehicle 302 is in a different lane from the vehicle, determines the type of the signal light to be a right turn signal, and the status information of the signal light is on. , then it is determined that the driving intention of the target vehicle 302 is the steering intention. The sensing module sends the steering intention of the target vehicle 302 to the decision-making module of the vehicle 301. The decision-making module makes a deceleration decision based on the steering intention so that the target vehicle 302 can successfully complete overtaking. , to prevent collision with the target vehicle 302.

Another optional implementation method of determining the driving intention of the target vehicle based on the type of signal light, the status information of the signal light and the relative position is: if the type of the signal light is a turn signal, the status information of the signal light is on, and the relative position is on the vehicle. In the same lane, the driving intention of the target vehicle is determined to be the steering intention. After determining that the driving intention of the target vehicle is the steering intention, it also includes: if the turn signal of the vehicle and the turn signal of the target vehicle are the turn lights at the same position, determine the relative speed of the target vehicle based on the vehicle; if the relative speed is greater than the preset relative speed, Change the driving intention of the vehicle. Here, the relative speed is defined as the difference between the traveling speed of the target vehicle and the traveling speed of the vehicle. If the relative speed of the target vehicle based on the vehicle is greater than zero, it means that the driving speed of the target vehicle is greater than the driving speed of the vehicle, and the distance between the target vehicle and the vehicle will gradually decrease; if the relative speed of the target vehicle based on the vehicle is less than zero, it means The driving speed of the target vehicle is less than the driving speed of the vehicle, and the distance between the target vehicle and the vehicle will gradually become larger; if the relative speed is equal to zero, it means that the driving speed of the target vehicle is equal to the driving speed of the vehicle, and the distance between the target vehicle and the vehicle will remain unchanged.

Specifically, as shown in Figure 3(b), the vehicle 301 and the target vehicle 302 are both located in lane A. When the vehicle 301 changes lanes to the left, it will first turn on the left turn signal to notify the following vehicles, and slowly change lanes to the left. If the target vehicle 302 happens to change lanes to the left at this time, it will also turn on the left turn signal. If vehicle 301 is faster at this time and both vehicles want to change lanes at the same time, a collision may occur. In the embodiment of the present application, according to the above optional implementation, during the process of changing lanes to the left, the vehicle 301 will first turn on the left turn signal and at the same time observe the signal light of the target vehicle 302. In one case, the vehicle 301 determines that the type of the target vehicle's signal light is a turn signal, the status information of the signal light is on, and the relative position is in the same lane of the vehicle 301, then the vehicle 301 determines that the driving intention of the target vehicle 302 is a turning intention; Secondly, if it is determined that the turn signal is a left turn signal, then the relative speed of the target vehicle 302 based on the vehicle 301 is determined; if the relative speed is greater than the preset relative speed, it means that the distance between the target vehicle 302 and the vehicle 301 gradually becomes smaller, then the vehicle 301 Lane changes will cease. In another case, the vehicle 301 determines that the type of the target vehicle 302 is a turn signal, and the status information of the signal light is off, then the vehicle 301 continues to slowly change lanes to the left.

Another optional implementation method of determining the driving intention of the target vehicle based on the type of signal light, the status information of the signal light and the relative position is: if the type of the signal light is high beam, the status information of the signal light is flashing, and the relative position is between Behind the vehicle in different lanes, determine the target vehicle's driving intention to prevent lane change.

Specifically, as shown in Figure 3(c), when vehicle 301 wants to change lanes from lane A to lane B, it will first turn on the left turn signal to notify other vehicles on lane B. Vehicle 301 then determines the other vehicles on lane B. The type of signal light and the status information of the signal light are used to determine whether other vehicles on lane B allow vehicle 301 to change lanes. According to the above-mentioned optional implementation method, in one case, the vehicle 301 determines that the relative position of the target vehicle 302 located in lane B is behind the vehicle in a different lane, and determines that the type of signal light of the target vehicle 302 is high beam. If it is determined that the status information of the high beam is flashing, it is determined that the driving intention of the target vehicle 302 is the intention to prevent lane change; the vehicle 301 stops changing lanes to the left according to the intention of preventing the lane change of the target vehicle 302. In another case, if it is determined that the status information of the high beam is off, it is determined that the target vehicle 302 has no intention to prevent the lane change; the vehicle 301 continues to determine the relative speed of the target vehicle 302 based on the vehicle 301. If the relative speed is less than the preset The relative speed means that the relative distance between the target vehicle 302 and the vehicle 301 is within a controllable range. At this time, the vehicle 301 can slowly change lanes to lane B.

Another optional implementation method of determining the driving intention of the target vehicle based on the type of signal light, the status information of the signal light and the relative position is: if the type of the signal light is a brake light, the status information of the signal light is on, and the relative position is between the vehicle Ahead of different lanes, determine that the target vehicle's driving intention is the intention to slow down the vehicle speed; after determining that the target vehicle's driving intention is the intention to slow down the vehicle speed, it also includes: if the vehicle's turn signal corresponds to the lane where the target vehicle is located, determine whether the target vehicle is based on The relative speed of the vehicle; if the relative speed is greater than the preset relative speed, the vehicle's driving intention is changed.

Specifically, as shown in Figure 3(d), when vehicle 301 wants to change lanes from lane A to lane B, it needs to observe the driving status of other vehicles on lane B. According to the above optional implementation, the vehicle 301 determines that the relative position of the target vehicle 302 is in front of a lane different from the vehicle, the type of the signal light is a brake light, and the status information of the signal light is on, then it is determined that the driving intention of the target vehicle 302 is Intention to slow down the vehicle speed; vehicle 301 continues to determine the relative speed of target vehicle 302 based on vehicle 301. If the relative speed is greater than the preset relative speed, it means that there is sufficient relative distance between target vehicle 302 and vehicle 301, and the relative distance gradually becomes larger. , can cause the vehicle 301 to complete the lane change. At this time, the vehicle 301 continues to slowly change lanes to lane B; if the vehicle 301 determines that the relative speed is less than or equal to the preset relative speed, it means that the relative distance between the target vehicle 302 and the vehicle 301 gradually decreases. , if vehicle 301 continues to change lanes, a collision may occur, so vehicle 301 will stop changing lanes.

The embodiment of the present application also provides a driving safety control device. Figure 4 is a schematic structural diagram of a driving safety control device provided by the embodiment of the present application. As shown in Figure 4, the device includes:

The acquisition module 401 is used to acquire the environment image around the vehicle;

The first determination module 402 is used to determine the relative position of the target vehicle and the characteristic information of the target vehicle's signal light based on the environment image; the characteristic information includes color information and type;

The second determination module 403 is used to determine the status information of the signal light according to the color information;

The third determination module 404 is used to determine the driving intention of the target vehicle according to the type of the signal light, the status information and the relative position of the signal light;

Among them, the status information of the signal light includes on, off and flashing; the types include turn signal, high beam, low beam and brake light.

The device and method embodiments in the embodiments of this application are based on the same application concept.

Embodiments of the present application provide an electronic device. The electronic device includes a processor and a memory. At least one instruction, at least a program, a code set or an instruction set is stored in the memory. At least one instruction, at least a program, a code set or an instruction are stored in the memory. The set is loaded and executed by the processor to implement the above driving safety control method.

Embodiments of the present application also provide a storage medium. The storage medium can be set in a server to save at least one instruction, at least a program, a code set or instructions related to implementing a driving safety control method in the method embodiment. The at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the above driving safety control method.

Optionally, in this embodiment, the above storage medium may be located in at least one network server among multiple network servers of the computer network. Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic Various media that can store program code, such as discs or optical disks.

It can be seen from the above embodiments of the driving safety control method, device, electronic device and storage medium provided by this application that in this application, the environment image around the vehicle is acquired; the relative position of the target vehicle and the characteristics of the target vehicle's signal light are determined based on the environment image. Information; feature information includes color information and type; determine the status information of the signal light based on the color information; determine the driving intention of the target vehicle based on the type of the signal light, status information and relative position of the signal light; among which, the status information of the signal light includes on, off and flashing ; Types include turn signals, high beams, low beams and brake lights. In this way, by determining the type of the target vehicle's signal light, the status information and relative position of the signal light to determine the driving intention of the target vehicle, the accuracy of the vehicle's prediction of the behavior of surrounding vehicles during actual driving can be improved, thereby improving the safety of vehicle driving. and peer efficiency.

It should be noted that the above-mentioned order of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. Specific embodiments of this specification have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desired results. Additionally, the processes depicted in the figures do not necessarily require the specific order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain implementations.

Each embodiment in this specification is described in a progressive manner. The same and similar parts between the various embodiments can be referred to each other. Each embodiment focuses on its differences from other embodiments. In particular, for the equipment embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For relevant details, please refer to the partial description of the method embodiment.

Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage media mentioned can be read-only memory, magnetic disks or optical disks, etc.

The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection of the present application. within the range.

Claims (9)

1. A driving safety control method, characterized by comprising:

acquiring an environment image around a vehicle;

determining the relative position of a target vehicle and the characteristic information of a signal lamp of the target vehicle based on the environment image; the characteristic information comprises color information and types, and the relative position is the position of the target vehicle relative to the vehicle in the same lane or different lanes;

determining the state information of the signal lamp according to the color information, wherein the method comprises the following steps: acquiring a multi-frame environment image around the vehicle; determining the color information of the signal lamp in each frame of environment image of the multi-frame environment image to obtain a color information set; determining color change information of the signal lamp according to the color information set; determining state information of the signal lamp based on the color change information;

determining the driving intention of the target vehicle according to the type of the signal lamp, the state information of the signal lamp and the relative position;

wherein, the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights.

2. The method according to claim 1, wherein the determining the traveling intention of the target vehicle based on the kind of the signal, the state information of the signal, and the relative position includes:

and if the type of the signal lamp is the turn lamp, the state information of the signal lamp is on, the relative position is positioned on a lane different from the vehicle, and the driving intention of the target vehicle is determined to be the steering intention.

3. The method according to claim 1, wherein the determining the traveling intention of the target vehicle based on the kind of the signal, the state information of the signal, and the relative position includes:

if the type of the signal lamp is the turn lamp, the state information of the signal lamp is on, the relative position is in the same lane of the vehicle, and the driving intention of the target vehicle is determined to be the steering intention;

after the determination that the traveling intention of the target vehicle is the steering intention, further includes:

if the steering lamp of the vehicle and the steering lamp of the target vehicle are the same-position steering lamp, determining the relative speed of the target vehicle based on the vehicle;

and if the relative speed is smaller than the preset relative speed, changing the running intention of the vehicle.

4. The method according to claim 1, wherein the determining the traveling intention of the target vehicle based on the kind of the signal, the state information of the signal, and the relative position includes:

and if the type of the signal lamp is the high beam, the state information of the signal lamp is flashing, the relative position is positioned behind a lane different from the vehicle, and the driving intention of the target vehicle is determined to be the intention of preventing lane change.

5. The method according to claim 1, wherein the determining the traveling intention of the target vehicle based on the kind of the signal, the state information of the signal, and the relative position includes:

if the type of the signal lamp is the brake lamp, the state information of the signal lamp is on, the relative position is in front of a lane different from the vehicle, and the driving intention of the target vehicle is determined to be the intention of slowing down the vehicle;

after the determining that the driving intention of the target vehicle is the intention to slow down the vehicle speed, the method further includes:

if the turn signal lamp of the vehicle corresponds to the lane in which the target vehicle is located, determining the relative speed of the target vehicle based on the vehicle;

and if the relative speed is smaller than the preset relative speed, changing the running intention of the vehicle.

6. A driving safety control device, characterized by comprising:

the acquisition module is used for acquiring an environment image around the vehicle;

a first determining module for determining a relative position of a target vehicle and characteristic information of a signal lamp of the target vehicle based on the environment image; the characteristic information comprises color information and types, and the relative position is the position of the target vehicle relative to the vehicle in the same lane or different lanes;

the second determining module is configured to determine status information of the signal lamp according to the color information, and includes: acquiring a multi-frame environment image around the vehicle; determining the color information of the signal lamp in each frame of environment image of the multi-frame environment image to obtain a color information set; determining color change information of the signal lamp according to the color information set; determining state information of the signal lamp based on the color change information;

a third determining module for determining a driving intention of the target vehicle according to the kind of the signal lamp, the state information of the signal lamp and the relative position;

wherein, the state information of the signal lamp comprises on, off and flashing; the categories include turn lights, high beam lights, low beam lights and brake lights.

7. The apparatus of claim 6, wherein the device comprises a plurality of sensors,

and the third determining module is further configured to determine that the driving intention of the target vehicle is a steering intention if the type of the signal lamp is the turn-on lamp, the state information of the signal lamp is on, and the relative position is located in a lane different from the vehicle.

8. An electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement the driving safety control method of any one of claims 1-5.

9. A computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set, the at least one instruction, the at least one program, the code set, or instruction set being loaded and executed by a processor to implement the driving safety control method according to any one of claims 1-5.