| CPC G06V 20/584 (2022.01) [B60W 30/18154 (2013.01); B60W 40/04 (2013.01); G06V 10/56 (2022.01)] | 18 Claims |
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1. A vehicle control method, comprising:
acquiring a traffic light image of an intersection at a driving direction of a vehicle;
identifying the traffic light image and determining a first light color of a target traffic light corresponding to a lane on which the vehicle is located;
acquiring light color change information of the target traffic light latest recorded, wherein the light color change information comprises a light color before changing, a second light color after changing and a changing moment;
determining whether latest light color change information of the target traffic light complies with a traffic light period change rule according to the light color before changing, the second light color after changing and the changing moment;
in a condition that the latest light color change information complies with the traffic light period change rule, recording the latest light color change information; and
determining, according to the latest light color change information, remained duration of the first light color; and
determining, according to the first light color and the remained duration of the first light color, a driving strategy of the vehicle at the intersection.
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