Traffic light state recognizing method and apparatus, computer device and readable medium

A computer device for an autonomous vehicle, wherein the device comprises:

• one or more processors;
• a storage for storing one or more programs;
• the one or more programs, when executed by said one or more processors, enable said one or more processors to implement a traffic light state recognizing method, wherein the method comprises:
• obtaining a first image collected by a long-focus camera, a second image collected by a short-focus camera, and positioning information and travelling direction of the autonomous vehicle collected by a positioning sensor at a target moment;
• the long-focus camera and short-focus camera are respectively disposed on a roof of the autonomous vehicle;
• according to the positioning information and traveling direction of the autonomous vehicle at the target moment, obtaining, from a high-precision map server, location information of traffic lights within a range of preset distance threshold ahead in the traveling direction of the autonomous vehicle at the target moment;
• recognizing the state of the traffic lights at the target moment, according to the location information of the traffic lights at the target moment, and one image of the first image and second image, wherein the second image is used for recognizing the state of the traffic lights in a situation where the state of the traffic lights is not recognized using the first image.

A non-transitory computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements a traffic light state recognizing method, wherein the method comprises:

• obtaining a first image collected by a long-focus camera, a second image collected by a short-focus camera, and positioning information and travelling direction of the autonomous vehicle collected by a positioning sensor at a target moment;
• the long-focus camera and short-focus camera are respectively disposed on a roof of the autonomous vehicle;
• according to the positioning information and traveling direction of the autonomous vehicle at the target moment, obtaining, from a high-precision map server, location information of traffic lights within a range of preset distance threshold ahead in the traveling direction of the autonomous vehicle at the target moment;
• recognizing the state of the traffic lights at the target moment, according to the location information of the traffic lights at the target moment, and one image of the first image and second image, wherein the second image is used for recognizing the state of the traffic lights in a situation where the state of the traffic lights is not recognized using the first image.