An improved traffic lights recognition algorithm for autonomous driving in complex scenarios

Ziyue Li, Qinghua Zeng, Yuchao Liu, Jianye Liu and Lin Li

International Journal of Distributed Sensor Networks, 2021, vol. 17, issue 5, 15501477211018374

Abstract: Image recognition is susceptible to interference from the external environment. It is challenging to accurately and reliably recognize traffic lights in all-time and all-weather conditions. This article proposed an improved vision-based traffic lights recognition algorithm for autonomous driving, integrating deep learning and multi-sensor data fusion assist (MSDA). We introduce a method to obtain the best size of the region of interest (ROI) dynamically, including four aspects. First, based on multi-sensor data (RTK BDS/GPS, IMU, camera, and LiDAR) acquired in a normal environment, we generated a prior map that contained sufficient traffic lights information. And then, by analyzing the relationship between the error of the sensors and the optimal size of ROI, the adaptively dynamic adjustment (ADA) model was built. Furthermore, according to the multi-sensor data fusion positioning and ADA model, the optimal ROI can be obtained to predict the location of traffic lights. Finally, YOLOv4 is employed to extract and identify the image features. We evaluated our algorithm using a public data set and actual city road test at night. The experimental results demonstrate that the proposed algorithm has a relatively high accuracy rate in complex scenarios and can promote the engineering application of autonomous driving technology.

Keywords: Traffic lights recognition; ADA model; autonomous driving; multi-sensor data fusion; deep learning (search for similar items in EconPapers)
Date: 2021
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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Persistent link: https://EconPapers.repec.org/RePEc:sae:intdis:v:17:y:2021:i:5:p:15501477211018374

DOI: 10.1177/15501477211018374

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