In an embodiment, a method includes: receiving ambient sound; determining if the ambient sound includes a siren; in accordance with determining that the ambient sound includes a siren, determining a first location associated with the siren; receiving a camera image; determining if the camera image includes a flashing light; in accordance with determining that the camera image includes a flashing light, determining a second location associated with the flashing light; 3D data; determining if the 3D data includes an object; in accordance with determining that the 3D data includes an object, determining a third location associated with the object; determining a presence of an emergency vehicle based on the siren, detected flashing light and detected object; determining an estimated location of the emergency vehicle based on the first, second and third locations; and initiating an action related to the vehicle based on the determined presence and location.

A method of providing a prompt for a traffic light, a vehicle, an electronic device, and a storage medium are provided, relating to the field of computer technology, and in particular, to fields of intelligent traffic, image processing, etc. The method of providing a prompt for a traffic light includes: acquiring an image of the traffic light in response to a color deficiency mode being in an enabled state; recognizing a current color information of the traffic light in the image of the traffic light; and generating a prompt information based on the current color information, wherein the prompt information indicates at least a text information corresponding to the current color information.

A traffic light determining apparatus, a system including the same, and a method thereof, includes: a processor configured to obtain traffic light status information of an intersection while a vehicle is driven, and when obtaining the traffic light status information is not possible, configured to estimate the traffic light status information according to surrounding vehicle information or pedestrian information; and a storage configured to store data and algorithms driven by the processor.

A server includes a server communication unit, a server control unit, and a server storage unit, and is connected in a communicable manner to a first vehicle and a second vehicle via the server communication unit. The server control unit transmits an imaging start command to the second vehicle, which runs within a predetermined range from an accident site, in response to the reception of an accident notification associated with positional information on the accident site from the first vehicle, receives an imaged image from the second vehicle, and stores the imaged image into the server storage unit.

The driving assistance apparatus comprises a camera device configured to obtain a camera image by taking a picture of a predetermined area ahead of a host vehicle; and a control unit configured to drive the host vehicle so as to cause an acceleration of the host vehicle to become equal to a follow-up acceleration to make an inter vehicle distance to a preceding vehicle coincide with a target inter vehicle distance. When the preceding vehicle is a large-size vehicle, the control unit obtains the target inter vehicle distance for causing a traffic-signal-equipment-distance indicative of a distance to a traffic signal equipment of when the traffic signal equipment is detected above the preceding vehicle in the camera image to be longer than a stop-required-distance for which the host vehicle travels until the host vehicle stops under the assumption that the host vehicle decelerates at a predetermined deceleration.

A method for behavior cloned vehicle trajectory planning is described. The method includes perceiving vehicles proximate an ego vehicle in a driving environment, including a scalar confidence value of each perceived vehicle. The method also includes generating a bird's-eye-view (BEV) grid showing the ego vehicle and each perceived vehicle based on each of the scalar confidence values. The method further includes ignoring at least one of the perceived vehicles when the scalar confidence value of the at least one of the perceived vehicles is less than a predetermined value. The method also includes selecting an ego vehicle trajectory based on a cloned expert vehicle behavior policy according to remaining perceived vehicles.

A method, data processing apparatus, and computer code for identifying road intersections includes providing location data obtained from at least one vehicle's trajectory, wherein the location data may include geographical data within a geographical perimeter. The method includes determining node vectors by applying a geographical descriptor model on a target location included in the geographical perimeter. The geographical descriptor model includes a plurality of multiscale node descriptors including a target multiscale descriptor and neighboring multiscale descriptors. Each of the plurality of multiscale node descriptors includes at least two shape descriptors of different geographical resolution. Each of the neighboring locations is at a respective geographical distance from the target location. The node vectors may be respectively determined for each of the plurality of multiscale node descriptors. The method includes inputting the node vectors into a trained multiscale classifier including a graph convolutional network to provide a probability of the target location being a road intersection.

A traffic signal recognition method and a traffic signal recognition device acquire a result sequence consisting of a plurality of determination results in time-series order obtained by determining a display state of a traffic signal based on a plurality of images of a traveling direction of a vehicle, set a first threshold as a number threshold if a specific determination result which is a latest determination result among the determination results is a determination result of a permission display that allows a passage of the stop line corresponding to the traffic signal, set a second threshold smaller than the first threshold as the number threshold if the specific determination result is other than a determination result of the permission display, and output the specific determination result if a number of determination results identical to the specific determination result is greater than the number threshold.

The present disclosure relates to a device and a method for controlling a vehicle. The device may include a camera for obtaining an image of a region around the vehicle and outputting image information, a navigation for outputting a current location of the vehicle as map information, a front radar for sensing an object in front of the vehicle and generating front radar information, a front-lateral radar for sensing an object in front of and lateral to the vehicle and generating front-lateral radar information, a lamp controller that generates a shadow zone code based on at least one of the image information, the map information, the front radar information, or the front-lateral radar information, and a lamp for forming a shadow zone in a light irradiation pattern based on the shadow zone code.

A method automatically determines a display status of a traffic signal installation by: detecting a traffic signal installation in vehicle surroundings of a vehicle, including a signal transmitter structure of the traffic signal installation; detecting an electromagnetic signal issuing from the traffic signal installation; detecting intensity variations in the detected signal over time; and determining a display status of the traffic signal installation. The determining takes place on the basis of the detected intensity variations and an original location of the detected signal relative to the signal transmitter structure.