Trajectory tracking method and device of traffic light, electronic equipment and storage medium

The invention is suitable for the technical field of automatic driving, and provides a traffic light trajectory tracking method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining a to-be-recognized image on a driving road in a vehicle driving process; performing traffic light detection identification on the to-be-identified image, and determining the number of detection frames in the to-be-identified image; if the number of the detection frames exceeds a first preset threshold value, determining a plurality of target frames in the to-be-recognized image from all the detection frames based on the distance between the detection frames; and if the target frame matched with the prediction frame of the traffic light exists in all the target frames, updating the tracking trajectory of the traffic light according to the target frame. According to the scheme, the detection frame which is falsely detected is filtered out before trajectory tracking, so that the problems