CN111241972A - Vehicle control method and device, vehicle and computer readable storage medium - Google Patents
Vehicle control method and device, vehicle and computer readable storage medium Download PDFInfo
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- CN111241972A CN111241972A CN202010011391.2A CN202010011391A CN111241972A CN 111241972 A CN111241972 A CN 111241972A CN 202010011391 A CN202010011391 A CN 202010011391A CN 111241972 A CN111241972 A CN 111241972A
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- vehicle
- preset
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- collision object
- illumination
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
Abstract
The embodiment of the invention provides a vehicle control method, a vehicle control device, a vehicle and a computer readable storage medium, wherein the method comprises the following steps: acquiring lighting information of a road section where a vehicle is located; judging whether the illumination information meets a preset illumination condition or not; if the illumination information does not satisfy a preset illumination condition, determining whether a collision object to collide with the vehicle exists; and if the collision object which collides with the vehicle exists, controlling the vehicle to start a high beam reminding mode. In the embodiment of the invention, if the illumination information of the road section where the current vehicle is located does not meet the preset illumination condition and a collision object which collides with the vehicle exists, the high beam can be controlled to be turned on by the vehicle to help a driver to better observe the road condition ahead and give a warning to the collision object, so that traffic accidents are avoided.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a vehicle control method, a vehicle control device, a vehicle, and a computer-readable storage medium.
Background
With the development of vehicle safety technology, more and more safety auxiliary systems are developed to improve the vehicle safety performance and prevent traffic accidents. For example, the forward collision early warning system monitors the front vehicles and pedestrians at any time through a radar system, and can actively send out warning to the driver when finding that the front has collision danger.
However, when the vehicle is driven in a dark environment, for example, the vehicle enters a tunnel or the vehicle is driven at night, the warning sent by the vehicle cannot help the driver quickly and clearly find pedestrians or non-motor vehicles in danger of collision.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed in order to provide a vehicle control method, a vehicle control device, a vehicle, and a computer-readable storage medium that overcome or at least partially solve the above-mentioned problems.
In order to solve the above problem, an embodiment of the present invention discloses a vehicle control method, including:
acquiring lighting information of a road section where a vehicle is located;
judging whether the illumination information meets a preset illumination condition or not;
if the illumination information does not satisfy a preset illumination condition, determining whether a collision object to collide with the vehicle exists;
and if the collision object which collides with the vehicle exists, controlling the vehicle to start a high beam reminding mode.
Optionally, the determining whether there is a collision object that will collide with the vehicle includes:
the method includes identifying, in an area in front of the vehicle, an area that cannot be irradiated by the low beam, whether there is a collision object that will collide with the vehicle.
Optionally, the identifying whether there is a collision object that will collide with the vehicle in an area in front of the vehicle, where a low beam lamp cannot illuminate, includes:
acquiring preset calibration data of a vehicle front area and an image of the vehicle front area; the calibration data of the area in front of the vehicle comprise a low beam light irradiation area and a non-low beam light irradiation area which are calibrated in advance;
with the low beam illumination zone and/or the non-low beam illumination zone, in the image of the area in front of the vehicle, it is identified whether or not there is a collision subject that will collide with the vehicle in an area in front of the vehicle that cannot be illuminated by a low beam.
Optionally, if there is a collision object that will collide with the vehicle, controlling the vehicle to start a high beam reminder mode includes:
determining an estimated collision time for the vehicle to collide with the collision object if there is a collision object to collide with the vehicle;
and when the predicted collision time is less than or equal to a preset time threshold, controlling the vehicle to start a high beam reminding mode.
Optionally, the determining whether there is a collision object that will collide with the vehicle includes:
acquiring the presence information of pedestrians and/or non-motor vehicles on the road section where the vehicle is located;
and judging whether a collision object which collides with the vehicle exists or not according to the presence/absence information.
Optionally, the acquiring lighting information of the road segment where the vehicle is located includes:
acquiring a road image of a road section where a vehicle is located;
determining brightness and contrast of the road image.
Optionally, the determining whether the lighting information meets a preset lighting condition includes:
comparing the lightness of the road image with a preset lightness threshold value, and comparing the contrast of the road image with a preset contrast threshold value;
and if the brightness of the road image is less than or equal to a preset brightness threshold value and the contrast is less than or equal to a preset contrast threshold value, determining that the illumination information does not meet the preset illumination condition.
Optionally, the acquiring lighting information of the road segment where the vehicle is located includes:
obtaining map information;
and acquiring the illumination information of the road section where the vehicle is located from the map information.
Optionally, the method further comprises:
acquiring the running speed of the vehicle;
the acquiring of the lighting information of the road section where the vehicle is located includes:
and when the running speed is greater than or equal to a preset speed threshold value, acquiring the illumination information of the road section where the vehicle is located.
The embodiment of the invention also discloses a vehicle control device, which comprises:
the illumination information acquisition module is used for acquiring illumination information of a road section where the vehicle is located;
the illumination condition judging module is used for judging whether the illumination information meets a preset illumination condition;
a collision object determination module for determining whether there is a collision object to be collided with the vehicle if the illumination information does not satisfy a preset illumination condition;
and the warning module is used for controlling the vehicle to start a high beam reminding mode if a collision object which collides with the vehicle exists.
Optionally, the collision object determination module comprises:
and the collision object identification submodule is used for identifying whether a collision object which collides with the vehicle exists in an area which cannot be irradiated by the low-beam lamp in the area in front of the vehicle.
Optionally, the collision object identification submodule comprises:
the system comprises an image data acquisition unit, a data processing unit and a data processing unit, wherein the image data acquisition unit is used for acquiring preset calibration data of a vehicle front area and an image of the vehicle front area; the calibration data of the area in front of the vehicle comprise a low beam light irradiation area and a non-low beam light irradiation area which are calibrated in advance;
a collision object recognition unit configured to recognize, in the image of the area in front of the vehicle, whether or not there is a collision object that will collide with the vehicle in an area that cannot be irradiated by low beam in the area in front of the vehicle, using the low beam irradiation zone and/or the non-low beam irradiation zone.
Optionally, the alert module comprises:
a collision time determination submodule for determining an expected collision time for the vehicle to collide with the collision object if there is a collision object to collide with the vehicle;
and the warning submodule is used for controlling the vehicle to start a high beam reminding mode when the predicted collision time is less than or equal to a preset time threshold.
Optionally, the collision object determination module comprises:
the vehicle information acquisition submodule is used for acquiring the information of pedestrians and/or non-motor vehicles on the road section where the vehicle is located;
and the collision object judgment submodule is used for judging whether a collision object which collides with the vehicle exists or not according to the presence and absence information.
Optionally, the lighting information obtaining module includes:
the road image acquisition submodule is used for acquiring a road image of a road section where the vehicle is located;
and the illumination information determination sub-module is used for determining the brightness and the contrast of the road image.
Optionally, the lighting condition determining module includes:
the comparison module is used for comparing the lightness of the road image with a preset lightness threshold value and comparing the contrast of the road image with a preset contrast threshold value;
and the lighting condition judgment sub-module is used for determining that the lighting information does not meet the preset lighting condition if the lightness of the road image is less than or equal to a preset lightness threshold value and the contrast is less than or equal to a preset contrast threshold value.
Optionally, the lighting information obtaining module includes:
the map information acquisition submodule is used for acquiring map information;
and the first illumination information acquisition sub-module is used for acquiring illumination information of the road section where the vehicle is located from the map information.
Optionally, the method further comprises:
the driving speed acquisition module is used for acquiring the driving speed of the vehicle;
the illumination information acquisition module includes:
and the second illumination information acquisition submodule is used for acquiring illumination information of the road section where the vehicle is located when the running speed is greater than or equal to a preset speed threshold value.
The embodiment of the invention also discloses a vehicle, which comprises: a processor, a memory and a computer program stored on the memory and operable on the processor, the computer program, when executed by the processor, implementing the steps of the vehicle control method as claimed in any one of the preceding claims.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the vehicle control method are realized.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, if the illumination information of the road section where the current vehicle is located does not meet the preset illumination condition and a collision object which collides with the vehicle exists, the high beam can be controlled to be turned on by the vehicle to help a driver to better observe the road condition ahead and give a warning to the collision object, so that traffic accidents are avoided.
Drawings
FIG. 1 is a flow chart of steps in a first embodiment of a vehicle control method of the present invention;
FIG. 2 is a flowchart illustrating steps of a second embodiment of a vehicle control method according to the present invention;
FIG. 3 is a schematic view of a vehicle lamp irradiation region of a vehicle in an embodiment of the present invention;
fig. 4 is a block diagram showing the configuration of an embodiment of a vehicle control apparatus according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, a flowchart illustrating steps of a first embodiment of a vehicle control method according to the present invention is shown, which may specifically include the following steps:
during the running process of the vehicle, when the vehicle runs in a dark environment, the illumination information of the road section where the vehicle is located can be acquired, and the illumination information is information which can describe the illumination condition of the road section.
In one example, the lighting information may be set according to motor vehicle traffic road standards, for example, the lighting information may include road brightness, road illuminance, glare, and the like.
In another example, the lighting information may describe whether the road segment has a street lamp.
In yet another example, the illumination information may be set according to an image of the road segment, for example, the illumination information may refer to brightness, contrast, and the like of the image.
In a specific implementation, the lighting information may be set according to an actual need, which is not limited in the embodiment of the present invention.
the preset lighting condition may refer to a condition set in advance for determining whether the lighting condition enables the driver to see pedestrians or non-motor vehicles on the road clearly.
If the lighting information does not meet the preset lighting condition, the lighting condition can represent that the driver cannot see the pedestrian or the non-motor vehicle on the road clearly; if the lighting information satisfies the preset lighting condition, it may indicate a condition that the lighting condition enables the driver to see pedestrians or non-motor vehicles on the road clearly.
In a specific implementation, the preset lighting condition may be set according to the set lighting information. For example, if the lighting information includes information of road surface luminance, road surface illuminance, glare, etc., the lighting condition may be whether the road surface luminance is greater than a road surface luminance threshold value, whether the road surface illuminance is greater than a road surface illuminance threshold value, whether the glare is greater than a glare threshold value, etc.
In practice, the road types may include express roads, main roads, secondary roads, branch roads, and so on, and different road types may correspond to different lightness thresholds and contrast thresholds.
In an example, step 103 may determine whether the lighting information satisfies a preset lighting condition corresponding to the road on which the current vehicle is located, in order to obtain the preset lighting condition corresponding to the road on which the current vehicle is located.
In another example, step 103 may determine whether the lighting information satisfies a preset lighting condition corresponding to the road type of the road on which the current vehicle is located, in order to obtain the preset lighting condition corresponding to the road type of the road on which the current vehicle is located.
when the illumination information does not satisfy the preset illumination condition, it is further determined whether there is a collision object that will collide with the vehicle. The collision object may be a pedestrian, a non-motor vehicle, a motor vehicle, an animal, or the like.
In one example, whether there is a collision object that will collide with the vehicle may be further determined by a radar system of the vehicle in combination with an in-vehicle camera.
In another example, information about the presence and absence of pedestrians and/or non-motor vehicles on a road section where the vehicle is located may be acquired; and judging whether a collision object which collides with the vehicle exists or not according to the presence/absence information.
Specifically, the presence/absence information of the road section where the vehicle is located may be acquired from the server. The presence information is information describing presence of pedestrians or non-motor vehicles in a certain road section, and may include information of the number of pedestrians and/or non-motor vehicles, the number of people present, the number of non-motor vehicles present, the time of presence, and the like in a certain road section.
For example, there are more pedestrians at 7-10 pm on a certain road segment, and if the vehicle is traveling on the road segment in the time segment and the vehicle speed is high, it can be considered that there is a collision object that will collide with the vehicle.
And 104, if a collision object which collides with the vehicle exists, controlling the vehicle to start a high beam reminding mode.
If the collision object which collides with the vehicle exists, the vehicle can be controlled to start the high beam reminding mode. Under the mode is reminded to the distance light, the vehicle can open the distance light and send the warning, plays timely warning effect to the pedestrian through the combination of distance light and sound.
In the embodiment of the invention, if the illumination information of the road section where the current vehicle is located does not meet the preset illumination condition and a collision object which collides with the vehicle exists, the high beam can be controlled to be turned on by the vehicle to help a driver to better observe the road condition ahead and give a warning to the collision object, so that traffic accidents are avoided.
Referring to fig. 2, a flowchart illustrating steps of a second embodiment of a vehicle control method according to the present invention is shown, which may specifically include the following steps:
in one embodiment, the lighting information may include brightness and contrast of the road image, and step 201 may include: acquiring a road image of a road section where a vehicle is located; determining brightness and contrast of the road image.
In this example, the vehicle may have an off-board camera, and the road image of the road segment may be captured by the off-board camera, and then the brightness and contrast of the road image may be determined, with the brightness and contrast of the road image as the lighting information.
In another embodiment, step 201 may include: obtaining map information; and acquiring the illumination information of the road section where the vehicle is located from the map information.
The map information refers to information of an electronic map, which is generally provided by a service provider.
In this example, the vehicle may obtain map information from the server, which may include lighting information of the road. The corresponding lighting information may be acquired from the map information according to the road section where the vehicle is located.
The illumination information stored by the server can be acquired by a vehicle through an external camera and then synchronously sent to the server; or the data can be acquired by a camera arranged on the road and synchronously uploaded to a server.
In one embodiment, before the illumination information of the road section where the vehicle is located is obtained, the running speed of the vehicle is obtained, and whether the running speed is greater than or equal to a preset speed threshold value or not is judged; when the driving speed is greater than or equal to a preset speed threshold value, acquiring the illumination information of the road section where the vehicle is located; and when the running speed is less than the preset speed threshold value, not acquiring the illumination information of the road section where the vehicle is located.
For example, when the vehicle running speed is greater than or equal to 15 km/h, the lighting information of the road section where the vehicle is located is acquired.
In practice, when the running speed of the vehicle is greater than or equal to the speed threshold, it can be considered that the driver cannot make effective avoidance; when the running speed of the vehicle is smaller than the speed threshold value, the driver can be considered to be capable of effectively avoiding the collision. Therefore, the operation of acquiring the illumination information of the road section where the vehicle is located may be triggered only when the traveling speed of the vehicle is greater than or equal to the preset speed threshold.
in one embodiment, the lighting information may include brightness and contrast of the road image, the preset lighting condition may be that the brightness of the road image is greater than a preset brightness threshold, and the contrast of the road image is greater than a preset contrast threshold; step 202 may include: comparing the lightness of the road image with a preset lightness threshold value, and comparing the contrast of the road image with a preset contrast threshold value; and if the brightness of the road image is less than or equal to a preset brightness threshold value and the contrast is less than or equal to a preset contrast threshold value, determining that the illumination information does not meet the preset illumination condition. For the road where the vehicle is located, a brightness threshold and a contrast threshold corresponding to the road can be selected; the brightness threshold and the contrast threshold corresponding to the type of the road can also be selected.
In one embodiment, the vehicle may always collect the illumination information, and when the driving speed of the vehicle is greater than or equal to the speed threshold, it is determined whether the illumination information satisfies the preset illumination condition.
when the vehicle is in a dark road section, the driver usually turns on the dipped headlight to better observe the road condition. However, in a region where the low beam cannot be irradiated, the driver cannot clearly observe the region, and there is a possibility that there is a collision target that will collide with the vehicle.
In an embodiment of the present invention, the step 203 may include the following sub-steps:
a substep S11 of acquiring preset calibration data of a vehicle front region and an image of the vehicle front region; the calibration data of the area in front of the vehicle comprise a low beam light irradiation area and a non-low beam light irradiation area which are calibrated in advance;
fig. 3 is a schematic view of a lamp irradiation region of a vehicle according to an embodiment of the present invention. The area in front of the vehicle comprises a low beam illumination area, a high beam illumination area and a vehicle lamp blind area;
the dipped headlight irradiation region is a region which can be irradiated by the dipped headlight, the high beam irradiation region is a region which is irradiated by the high beam, and the car light blind region is a region which can not be irradiated by the car light. In one example, the three regions may be non-overlapping. Wherein the high beam irradiation zone and the blind zone of the car light can form a non-dipped beam irradiation zone. Generally, for the same type of vehicle, the types and the installation positions of the low beam and the high beam are fixed, so that the three areas, namely a low beam irradiation area, a high beam irradiation area and a vehicle lamp blind area, are relatively determined. The calibration data of the area in front of the vehicle may be obtained by calibration in advance, may be configured when the vehicle leaves a factory, or may be acquired from a server. If the dipped headlight or the high beam of the vehicle is modified, the calibration data of the area in front of the vehicle needs to be calibrated again. The image of the area in front of the vehicle can be acquired by matching a laser system of the vehicle with a vehicle-mounted camera.
A substep S12 of recognizing, in the image of the region in front of the vehicle, whether there is a collision subject to be collided with the vehicle in a region in front of the vehicle to which low beam light cannot be irradiated, using the low beam light irradiation region and/or the non-low beam light irradiation region.
In the embodiment of the invention, the area outside the irradiation area of the dipped headlight can be determined as the area which can not be irradiated by the dipped headlight; the non-low beam illumination zone can also be determined as the zone that the low beam cannot illuminate.
The method can map the area which cannot be irradiated by the dipped headlight into the image of the area in front of the vehicle, determine the image of the area which cannot be irradiated by the dipped headlight in the area in front of the vehicle, and identify the direction information of the person object (including pedestrians and non-motor vehicles) according to the image of the area which cannot be irradiated by the dipped headlight, and comprises the following steps: relative movement direction, relative distance, position, etc.
Then, it is determined whether the vehicle will collide with the human subject based on the direction information of the human subject in the area where the low beam light cannot be irradiated.
And 204, if a collision object which collides with the vehicle exists, controlling the vehicle to start a high beam reminding mode.
In an embodiment of the present invention, the step 204 may further include the following sub-steps:
a substep S21 of determining an expected collision time for the vehicle to collide with the collision object if there is a collision object to collide with the vehicle;
and a substep S22, controlling the vehicle to start a high beam reminding mode when the predicted collision time is less than or equal to a preset time threshold.
The predicted collision time refers to a time required for the collision object to transmit a collision with the vehicle. The predicted collision time may be calculated from information such as the distance of the vehicle from the collision object, the vehicle running speed, the collision object moving speed, and the like.
According to the predicted collision time, the vehicle is controlled to start a high beam reminding mode to warn pedestrians in time through the combination of high beams and sound before collision occurs. In a specific implementation, in the high beam reminding mode, the vehicle can control the high beam to emit light in different working modes and send out different warning contents, and the working mode and the warning contents of the high beam can be set according to actual conditions, which is not limited in the embodiment of the invention.
For example, when the predicted collision time is greater than 1 second and 5 seconds or less, the vehicle turns on the high beam and remains normally on. When the predicted collision time is less than or equal to 1 second, the vehicle starts the high beam and flickers in a period of 0.5 second, and simultaneously the vehicle sends out a warning sound to warn pedestrians or non-motor vehicles for 2 seconds.
In the embodiment of the invention, if the illumination information of the road section where the current vehicle is located does not meet the preset illumination condition and the collision object which will collide with the vehicle exists in the area which cannot be irradiated by the low beam in the front area of the vehicle, the high beam can be controlled to be turned on by the vehicle to help the driver to better observe the front road condition and give a warning to the collision object, so that the occurrence of traffic accidents is avoided.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, a block diagram of a vehicle control device according to an embodiment of the present invention is shown, and may specifically include the following modules:
an illumination information acquisition module 401, configured to acquire illumination information of a road segment where a vehicle is located;
a lighting condition judging module 402, configured to judge whether the lighting information meets a preset lighting condition;
a collision object determination module 403, configured to determine whether there is a collision object that will collide with the vehicle if the lighting information does not satisfy a preset lighting condition;
and the warning module 404 is configured to control the vehicle to start a high beam reminding mode if there is a collision object that will collide with the vehicle.
In an embodiment of the present invention, the collision object determining module 403 may include:
and the collision object identification submodule is used for identifying whether a collision object which collides with the vehicle exists in an area which cannot be irradiated by the low-beam lamp in the area in front of the vehicle.
In an embodiment of the present invention, the collision object identification submodule may include:
the system comprises an image data acquisition unit, a data processing unit and a data processing unit, wherein the image data acquisition unit is used for acquiring preset calibration data of a vehicle front area and an image of the vehicle front area; the calibration data of the area in front of the vehicle comprise a low beam light irradiation area and a non-low beam light irradiation area which are calibrated in advance;
a collision object recognition unit configured to recognize, in the image of the area in front of the vehicle, whether or not there is a collision object that will collide with the vehicle in an area that cannot be irradiated by low beam in the area in front of the vehicle, using the low beam irradiation zone and/or the non-low beam irradiation zone.
In an embodiment of the present invention, the alert module 404 may include:
a collision time determination submodule for determining an expected collision time for the vehicle to collide with the collision object if there is a collision object to collide with the vehicle;
and the warning submodule is used for controlling the vehicle to start a high beam reminding mode when the predicted collision time is less than or equal to a preset time threshold.
In an embodiment of the present invention, the collision object determining module 403 may include:
the vehicle information acquisition submodule is used for acquiring the information of pedestrians and/or non-motor vehicles on the road section where the vehicle is located;
and the collision object judgment submodule is used for judging whether a collision object which collides with the vehicle exists or not according to the presence and absence information.
In this embodiment of the present invention, the lighting information obtaining module 401 may include:
the road image acquisition submodule is used for acquiring a road image of a road section where the vehicle is located;
and the illumination information determination sub-module is used for determining the brightness and the contrast of the road image.
In an embodiment of the present invention, the lighting condition determining module 402 may include:
the comparison module is used for comparing the lightness of the road image with a preset lightness threshold value and comparing the contrast of the road image with a preset contrast threshold value;
and the lighting condition judgment sub-module is used for determining that the lighting information does not meet the preset lighting condition if the lightness of the road image is less than or equal to a preset lightness threshold value and the contrast is less than or equal to a preset contrast threshold value.
In this embodiment of the present invention, the lighting information obtaining module 401 may include:
the map information acquisition submodule is used for acquiring map information;
and the first illumination information acquisition sub-module is used for acquiring illumination information of the road section where the vehicle is located from the map information.
In this embodiment of the present invention, the apparatus may further include:
the driving speed acquisition module is used for acquiring the driving speed of the vehicle;
the lighting information acquiring module 401 may include:
and the second illumination information acquisition submodule is used for acquiring illumination information of the road section where the vehicle is located when the running speed is greater than or equal to a preset speed threshold value.
In the embodiment of the invention, if the illumination information of the road section where the current vehicle is located does not meet the preset illumination condition and a collision object which collides with the vehicle exists, the high beam can be controlled to be turned on by the vehicle to help a driver to better observe the road condition ahead and give a warning to the collision object, so that traffic accidents are avoided.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including:
the vehicle control method comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the vehicle control method embodiment is realized, the same technical effect can be achieved, and the details are not repeated here to avoid repetition.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the embodiment of the vehicle control method, and can achieve the same technical effect, and in order to avoid repetition, the detailed description is omitted here.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The present invention provides a vehicle control method, a vehicle control device, a vehicle and a computer readable storage medium, which are described in detail above, and the principle and the implementation of the present invention are explained herein by applying specific examples, and the description of the above examples is only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (12)
1. A vehicle control method characterized by comprising:
acquiring lighting information of a road section where a vehicle is located;
judging whether the illumination information meets a preset illumination condition or not;
if the illumination information does not satisfy a preset illumination condition, determining whether a collision object to collide with the vehicle exists;
and if the collision object which collides with the vehicle exists, controlling the vehicle to start a high beam reminding mode.
2. The method of claim 1, wherein the determining whether there is a collision object that will collide with the vehicle comprises:
the method includes identifying, in an area in front of the vehicle, an area that cannot be irradiated by the low beam, whether there is a collision object that will collide with the vehicle.
3. The method according to claim 2, wherein the identifying whether there is a collision object that will collide with the vehicle in an area in front of the vehicle, to which a low beam lamp cannot illuminate, comprises:
acquiring preset calibration data of a vehicle front area and an image of the vehicle front area; the calibration data of the area in front of the vehicle comprise a low beam light irradiation area and a non-low beam light irradiation area which are calibrated in advance;
with the low beam illumination zone and/or the non-low beam illumination zone, in the image of the area in front of the vehicle, it is identified whether or not there is a collision subject that will collide with the vehicle in an area in front of the vehicle that cannot be illuminated by a low beam.
4. The method according to claim 2, wherein the controlling the vehicle to turn on the high beam reminder mode if there is a collision object that will collide with the vehicle comprises:
determining an estimated collision time for the vehicle to collide with the collision object if there is a collision object to collide with the vehicle;
and when the predicted collision time is less than or equal to a preset time threshold, controlling the vehicle to start a high beam reminding mode.
5. The method of claim 1, wherein the determining whether there is a collision object that will collide with the vehicle comprises:
acquiring the presence information of pedestrians and/or non-motor vehicles on the road section where the vehicle is located;
and judging whether a collision object which collides with the vehicle exists or not according to the presence/absence information.
6. The method according to claim 1, wherein the obtaining of the illumination information of the road section where the vehicle is located comprises:
acquiring a road image of a road section where a vehicle is located;
determining brightness and contrast of the road image.
7. The method of claim 6, wherein the determining whether the lighting information satisfies a preset lighting condition comprises:
comparing the lightness of the road image with a preset lightness threshold value, and comparing the contrast of the road image with a preset contrast threshold value;
and if the brightness of the road image is less than or equal to a preset brightness threshold value and the contrast is less than or equal to a preset contrast threshold value, determining that the illumination information does not meet the preset illumination condition.
8. The method according to claim 1, wherein the obtaining of the illumination information of the road section where the vehicle is located comprises:
obtaining map information;
and acquiring the illumination information of the road section where the vehicle is located from the map information.
9. The method of claim 1, further comprising:
acquiring the running speed of the vehicle;
the acquiring of the lighting information of the road section where the vehicle is located includes:
and when the running speed is greater than or equal to a preset speed threshold value, acquiring the illumination information of the road section where the vehicle is located.
10. A vehicle control apparatus characterized by comprising:
the illumination information acquisition module is used for acquiring illumination information of a road section where the vehicle is located;
the illumination condition judging module is used for judging whether the illumination information meets a preset illumination condition;
a collision object determination module for determining whether there is a collision object to be collided with the vehicle if the illumination information does not satisfy a preset illumination condition;
and the warning module is used for controlling the vehicle to start a high beam reminding mode if a collision object which collides with the vehicle exists.
11. A vehicle, characterized by comprising: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the vehicle control method according to any one of claims 1-9.
12. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the vehicle control method according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010011391.2A CN111241972A (en) | 2020-01-06 | 2020-01-06 | Vehicle control method and device, vehicle and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010011391.2A CN111241972A (en) | 2020-01-06 | 2020-01-06 | Vehicle control method and device, vehicle and computer readable storage medium |
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| CN111241972A true CN111241972A (en) | 2020-06-05 |
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| CN202010011391.2A Pending CN111241972A (en) | 2020-01-06 | 2020-01-06 | Vehicle control method and device, vehicle and computer readable storage medium |
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