CN114407770A - Vehicle light switching processing method and device and vehicle - Google Patents
Vehicle light switching processing method and device and vehicle Download PDFInfo
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- CN114407770A CN114407770A CN202210158876.3A CN202210158876A CN114407770A CN 114407770 A CN114407770 A CN 114407770A CN 202210158876 A CN202210158876 A CN 202210158876A CN 114407770 A CN114407770 A CN 114407770A
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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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- 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
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/14—Other vehicle conditions
Abstract
The application relates to a vehicle light switching processing method and device and a vehicle. The method comprises the steps of identifying light source information of a target object in front of a vehicle, acquiring first data and/or second data of the target object in front of the vehicle, which are detected by a sensor, wherein the first data are barrier data detected by a vision sensor, the second data are barrier data detected by a radar sensor, judging that the target object is other vehicles running in the reverse direction according to the light source information and the first data, and switching a high beam of the vehicle into a low beam; or judging that the target object is another vehicle running in the same direction according to the light source information, the first data and the second data, and switching the high beam of the vehicle to the low beam. The scheme that this application provided can combine light source information, visual detection data and/or radar detection data to judge the target object in front of the vehicle more accurately for other vehicles that are traveling for the sensitivity of far and near light switching is higher.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a light switching processing method and device of a vehicle and the vehicle.
Background
Along with the development of vehicle technology, the driving of vehicle is also more and more intelligent, for example intelligent high beam light control system is used on some vehicles gradually, and intelligent high beam light control system can make the driver more be concentrated on driving, need not the manual switching far and near light.
The intelligent high beam and low beam control system can automatically switch the high beam and the low beam of the vehicle at night, generally, the speed of the vehicle is kept above 40km/h, and the system controls the high beam to be turned on when no light source information is in front, and automatically switches the high beam to the low beam when sensing the front lamp of a reverse incoming vehicle and the tail lamp of a forward vehicle in the same direction, so that dazzling of the high beam of the vehicle to surrounding traffic participants is avoided.
However, in the related art, the intelligent high beam control scheme generally switches the high beam and the low beam based on the recognition of the ambient brightness and the vehicle light information of the front vehicle, and because the vehicle light information of the front vehicle is not easily distinguished from the ambient light source, and the vehicle light information amount of the co-directional vehicle is small, the sensitivity and the stability of the switching of the high beam and the low beam are poor.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a light switching processing method and device for a vehicle and the vehicle, which can accurately judge that a target object in front of the vehicle is other vehicles in driving, so that the sensitivity of switching between a high beam and a low beam is higher, and the driving experience is improved.
The application provides a light switching processing method of a vehicle in a first aspect, comprising the following steps:
identifying light source information of a target object in front of a vehicle, and acquiring first data and/or second data of the target object detected by a sensor, wherein the first data is obstacle data detected by a vision sensor, and the second data is obstacle data detected by a radar sensor;
judging that the target object is other vehicles running reversely according to the light source information and the first data, and switching high beams of the vehicles into low beams; or judging that the target object is another vehicle running in the same direction according to the light source information, the first data and the second data, and switching the high beam of the vehicle to the low beam. .
In one embodiment, the determining that the target object is another vehicle traveling in the reverse direction according to the light source information and the first data includes:
and determining the confidence degree of the target object accumulation multiframes according to the first data, and judging that the target object is other vehicles running reversely according to the light source information when the confidence degree meets a confidence threshold value.
In one embodiment, the determining that the target object is another vehicle traveling in the same direction according to the light source information, the first data, and the second data includes:
and obtaining the position and speed information of the target object according to the first data and the second data, and judging that the target object is another vehicle running in the same direction according to the light source information and the position and speed information.
In one embodiment, the obtaining the position and speed information of the target object according to the first data and the second data, and determining that the target object is another vehicle traveling in the same direction according to the light source information and the position and speed information includes:
obtaining first spatial information of the target object according to the first data, and obtaining second spatial information of the target object according to the second data;
and if the first spatial information is matched with the second spatial information and the confidence coefficient of the target object meets a credible threshold, judging that the target object is another vehicle running in the same direction according to the light source information and the speed information of the target object.
In one embodiment, the determining that the target object is another vehicle traveling in the same direction according to the light source information and the speed information of the target object includes:
and when the first speed information is matched with the second speed information and meets a set threshold value, judging that the target object is another vehicle running in the same direction according to the light source information.
In one embodiment, the determining that the target object is another vehicle traveling in the same direction according to the light source information, the first data, and the second data includes:
and obtaining the position and speed information of the target object according to the second data, and judging that the target object is another vehicle about to overtake when the position of the target object is at the side or the rear of the current vehicle and the speed of the target object meets a set threshold value.
In one embodiment, the light source information for identifying the object in front of the vehicle includes:
identifying first light source information or second light source information of an object in front of the vehicle, wherein the brightness of the first light source information is greater than the brightness of the second light source information; or the like, or, alternatively,
the judging that the target object is another vehicle running reversely according to the light source information and the first data includes:
judging that the target object is another vehicle running in the reverse direction according to the first light source information and the first data; or the like, or, alternatively,
the judging that the target object is another vehicle running in the same direction according to the light source information, the first data and the second data comprises the following steps:
and judging that the target object is another vehicle running in the same direction according to the second light source information, the first data and the second data.
The second aspect of the present application provides a light switching processing device for a vehicle, including:
the system comprises an acquisition module, a detection module and a display module, wherein the acquisition module is used for identifying light source information of a target object in front of a vehicle and acquiring first data and/or second data of the target object detected by a sensor, the first data is barrier data detected by a vision sensor, and the second data is barrier data detected by a radar sensor;
the switching module is used for judging that the target object is other vehicles running reversely according to the light source information and the first data and switching high beams of the vehicles into low beams; or judging that the target object is another vehicle running in the same direction according to the light source information, the first data and the second data, and switching the high beam of the vehicle to the low beam.
In one embodiment, the switching module includes:
the determining submodule is used for determining the confidence of the accumulated multiple frames of the target object according to the first data;
and the switching submodule is used for judging that the target object is other vehicles running reversely according to the light source information when the confidence coefficient meets a credible threshold value.
A third aspect of the present application provides a vehicle comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method as described above.
The technical scheme provided by the application can comprise the following beneficial effects:
the method comprises the steps of identifying light source information of a target object in front of a vehicle, acquiring first data and/or second data of the target object in front of the vehicle, wherein the first data is obstacle data detected by a vision sensor, the second data is obstacle data detected by a radar sensor, judging that the target object is another vehicle which runs in the reverse direction according to the light source information and the first data, and switching a high beam of the vehicle to a low beam; or, according to the light source information, the first data and the second data, the target object is judged to be other vehicles running in the same direction, the high beam of the vehicle is switched to the low beam, after the processing, the target object can be judged to be other vehicles running more accurately by combining the light source information, the visual detection data and/or the radar detection data, the defect that the high beam and the low beam switching sensitivity is poor in the related technology can be avoided, the high beam and the low beam switching sensitivity and reliability are higher, and the driving experience is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic flowchart illustrating a light switching processing method for a vehicle according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a light switching processing method for a vehicle according to another embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a light switching processing method for a vehicle according to another embodiment of the present application;
fig. 4 is a schematic structural diagram of a light switching processing device of a vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a light switching processing device of a vehicle according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first data may also be referred to as second data, and similarly, second data may also be referred to as first data, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The intelligent high beam control scheme in the related art generally switches the high beam and the low beam based on the recognition of the ambient brightness and the light source information of the front vehicle, and because the light source of the front vehicle is not easy to distinguish from the ambient light source, and the information amount of the light source of the vehicle in the same direction is small, the sensitivity and the stability of the switching of the high beam and the low beam are caused. In view of the above problems, an embodiment of the application provides a light switching processing method for a vehicle, which can more accurately determine that a target object is another vehicle that is driving, so that the sensitivity of high beam and low beam switching is higher, and the driving experience is improved.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a light switching processing method for a vehicle according to an embodiment of the present application.
Referring to fig. 1, the scheme provided by the present application includes the following steps:
s110, identifying light source information of a target object in front of the vehicle, and acquiring first data and/or second data of the target object in front of the vehicle detected by a sensor, wherein the first data is obstacle data detected by a vision sensor, and the second data is obstacle data detected by a radar sensor.
In the step, the target object can be a person or an object in front of the vehicle, the sensor can comprise a visual sensor and/or a radar sensor which are arranged on the vehicle, and image data of the target object acquired by the visual sensor is processed by a visual algorithm to obtain first data; and the radar sensor detects the target object to obtain second data.
The radar sensor can be generally divided into over-the-horizon radar, microwave radar, millimeter wave radar, laser radar and the like according to the frequency band, wherein the millimeter wave radar is a radar which works in the detection of the millimeter wave frequency band, and the radar sensor is a millimeter wave radar.
S120, judging that the target object is other vehicles running reversely according to the light source information and the first data, and switching high beams of the vehicles into low beams; or judging that the target object is another vehicle running in the same direction according to the light source information, the first data and the second data, and switching the high beam of the vehicle to the low beam.
In this step, according to the first data and/or the second data, the light source information of the target object (for example, the headlights and the tail lights of the target object vehicle) and the identification of the ambient brightness are combined, so that the target object can be more accurately judged to be another vehicle which is driving, and the switching between the high beam and the low beam is more sensitive.
The method comprises the steps of firstly identifying light source information of a target object in front of a vehicle, acquiring first data and/or second data of the target object in front of the vehicle, which are detected by a sensor, wherein the first data are barrier data detected by a vision sensor, the second data are barrier data detected by a radar sensor, judging that the target object is another vehicle which runs reversely according to the light source information and the first data, and switching a high beam of the vehicle to a low beam; or, judge the other vehicles that the target object was gone for the syntropy according to light source information, first data and second data, switch the high beam of vehicle into the dipped headlight, handle the back like this, can combine visual detection data and/or radar detection data to judge the target object in front of the vehicle more accurately for other vehicles that are going, avoided leading to the relatively poor defect of far and near light switching sensitivity through light information identification and ambient brightness discernment among the correlation technique, promoted driving experience.
Fig. 2 is another schematic flow chart of a light switching processing method of a vehicle according to an embodiment of the present application, and fig. 2 describes the method of the present application in more detail than fig. 1.
Referring to fig. 2, the light switching processing method of the vehicle of the present application includes:
s210, identifying first light source information and second light source information of a target object in front of the vehicle, and acquiring first data and/or second data of the target object detected by a sensor, wherein the first data is obstacle data detected by a vision sensor, and the second data is obstacle data detected by a radar sensor.
In this step, the luminance of the first light source information is greater than the luminance of the second light source information. The sensor may include a front radar sensor installed in front of the vehicle for detecting second data of the target object in front of the vehicle and a rear radar sensor installed in rear of the vehicle for detecting second data of the target object in rear of the vehicle.
And S220, judging that the target object is another vehicle which runs reversely according to the first light source information and the first data, and switching the high beam of the vehicle into the low beam.
In this step, the other vehicle that runs in the opposite direction may be, for example, another vehicle that runs in the opposite direction to the host vehicle on the lane on the left side or the right side of the host vehicle, and since the relative speed between the other vehicle that runs in the opposite direction and the host vehicle is high, and the light source information emitted by the headlights of the other vehicle that runs in the opposite direction is rich, for example, the brightness is higher than the ambient brightness, and the interference factor caused by the ambient light source is less during recognition, and the recognition is easy, therefore, on the basis of the first light source recognition and the ambient brightness recognition, the first data obtained by the detection of the vision sensor is matched, and the target object can be recognized as the other vehicle that runs in the opposite direction more accurately.
And S230, obtaining the position and speed information of the target object according to the first data and the second data, judging that the target object is another vehicle running in the same direction according to the second light source information, the position and the speed information, and switching the high beam of the vehicle into the low beam.
In this step, the other vehicles running in the same direction may include other vehicles running in the same direction as the host vehicle in front of the host vehicle, and since the brightness of the light source emitted by the tail lamp of the other vehicles running in the same direction is low, and is subject to more interference factors from the ambient light source, and the recognition accuracy is poor, it is possible to recognize whether the target object is another vehicle by fusing the second light source information, the first data, and the second data, thereby improving the recognition accuracy.
According to the scheme of the embodiment of the application, the first light source information and the second light source information of the target object in front of the vehicle are identified, and after the first data and/or the second data of the target object are/is acquired, the target object can be identified through the first light source information and the first data and can be identified as other vehicles in reverse driving in front of the vehicle, the target object can be identified through fusion of the second light source information, the first data and the second data and can be other vehicles in same driving in front of the vehicle, so that the switching of the high beam and the low beam is more sensitive, and the driving experience is improved.
Fig. 3 is another schematic flow chart of a light switching processing method of a vehicle according to an embodiment of the present application, and fig. 3 describes the method of the present application in more detail than fig. 2.
Referring to fig. 3, the light switching processing method of the vehicle of the present application includes:
s310, identifying first light source information or second light source information of the target object, wherein the brightness of the first light source information is larger than that of the second light source information.
In this step, the first light source information may include light sources emitted from headlights of the other vehicle, and the second light source information may include light sources emitted from tail lights of the other vehicle.
In some embodiments, the current ambient brightness may be identified at the same time as the first light source information or the second light source information of the target object is identified.
And S320, acquiring first data and/or second data of a target object in front of the vehicle, which are detected by a sensor, wherein the first data are barrier data detected by a vision sensor, and the second data are barrier data detected by a radar sensor.
In this step, the target object may be an obstacle such as a person or an object, and the first data and the second data may be obstacle detection information.
In some embodiments, the sensors may include vehicle mounted vision sensors and/or radar sensors. The first data can be obtained by processing image data acquired by the vision sensor through a vision algorithm, and the second data can be obtained by detecting a target object through the radar sensor.
And S330, determining the confidence of the accumulated multiple frames of the target object according to the first data, judging whether the confidence meets a confidence threshold, if so, judging that the target object is another vehicle which runs in the reverse direction in front of the vehicle according to the first light source information, and switching the high beam of the vehicle into the low beam.
In the step, the target object is judged to be in a motion state through the first data, the confidence degrees of the plurality of frames are accumulated when the target object is in the motion state according to the first data, and when the confidence degrees of the plurality of frames are larger than or equal to a confidence threshold (for example, 0.8), the identification of the lamp information and the environment brightness of other vehicles is matched, so that the target object can be judged to be other vehicles which run reversely more accurately.
In some embodiments, the target object may be determined to be another vehicle traveling in the reverse direction according to the combination of the first light source information and the first data. That is, at least two conditions need to be satisfied when the target object is recognized as another vehicle, one of the conditions is to recognize the first light source information or the second light source information of the target object, and the other one is to determine whether the target object is in a moving state or not according to the first data and/or the second data.
In the related art, since another vehicle traveling in the opposite direction is generally located in a lane on the left side of the host vehicle and travels in the opposite direction to the host vehicle, the relative speed between the another vehicle and the host vehicle is high, so that the high-beam and low-beam switching is easily delayed due to inaccurate recognition.
In some embodiments, the current ambient brightness information can be identified while identifying the first light source information or the second light source information, and the target object can be identified more accurately as another vehicle which runs in the reverse direction by matching with the first data of the target object detected by the vision sensor on the basis of the identification of the first light source information and the identification of the ambient brightness; under the condition that the relative speed between other vehicles running reversely and the vehicle is high or the distance between the other vehicles running reversely and the vehicle is far, the recognition of the vehicle lamp information and the obstacle detection can be mutually verified, the phenomenon that the recognition is inaccurate due to the interference of the ambient light source on the recognition of the vehicle lamp information can be avoided, the recognition accuracy of other vehicles is improved, and further the switching of the high beam and the low beam is more reliable and sensitive.
Because the light source information sent by the headlights of other vehicles is rich, for example, the brightness is higher than the ambient brightness, and the interference factor of the ambient light source during recognition is less, in this embodiment, for other vehicles traveling in the reverse direction in front of the vehicle, the second data may not be needed during recognition, so that the influence on the detection of the radar sensor due to the lane isolation facility (for example, a rail) between the lane in which the vehicle is traveling and the lane in which the vehicle is traveling in the reverse direction may be avoided, and the recognition processing flow may also be simplified under the condition of ensuring accurate recognition.
And S340, judging that the target object is another vehicle which is about to overtake behind the vehicle in advance according to the second data.
In this step, the position and speed information of the target object may be obtained from the second data, and when the position of the target object is located at the side or the rear of the current vehicle and the speed of the target object satisfies a set threshold, for example, is greater than the speed of the current vehicle, it is determined that the target object is another vehicle about to cut in.
When other vehicles are about to overtake, overtake is generally carried out on a lane at the side of the vehicle, and at the moment, light source information of a target object is difficult to accurately acquire.
And S350, obtaining first space information of the target object according to the first data, obtaining second space information of the target object according to the second data, and entering S360 if the first space information is matched with the second space information and the confidence coefficient of the target object meets a credible threshold.
In this step, in order to identify other vehicles more accurately, it is necessary to determine that the first data and the second data are derived from the same target object, so that the first data and the second data can be verified with each other, the target object can be determined to be another vehicle currently driving more accurately, and misdetermination of a stationary vehicle or another illuminant as another vehicle in the related art can be avoided.
In this embodiment, the first spatial information and the second spatial information include position information of the target object. In order to implement mutual verification of the first data and the second data, position information of the target object on the image can be obtained according to the first data detected by the vision sensor, and the position information on the image is projected to world coordinates to obtain first space information of the target object, wherein an origin of the world coordinates can be defined according to actual conditions, for example, the origin can be the position of the vehicle after the vehicle is started for a certain time.
The second spatial information of the target object can be obtained according to the second data detected by the radar sensor, then the first spatial information and the second spatial information are compared, whether the first spatial information and the second spatial information correspond to the same target object or not is judged, namely whether the first spatial information and the second spatial information are matched or not, mutual verification of the first spatial information and the second spatial information is achieved, and the problem that when the barrier data detected by the vision sensor and the radar sensor do not originate from the same target object, the identification of other vehicles is not accurate can be avoided.
In some embodiments, the confidence level of the target object may be obtained according to the first data and/or the second data, and when the confidence level satisfies the confidence threshold, the process proceeds to S360.
And S360, obtaining first speed information of the target object according to the first data, obtaining second speed information of the target object according to the second data, judging that the target object is another vehicle running in the same direction according to the second light source information when the first speed information is matched with the second speed information and meets a set threshold value, and switching the high beam of the vehicle to the low beam.
In this step, whether the first speed information and the second speed information match may be understood as the first speed information, the second speed information, and the actual moving speed of the target object being equal to each other, and if they are equal to each other and satisfy a set threshold, it is determined that the target object is another vehicle traveling in the same direction based on the second light source information.
In some embodiments, the second light source information includes light sources emitted from tail lights of other vehicles, and since the light sources emitted from the tail lights of other vehicles have low brightness and are easily interfered by ambient light, it is determined whether the target object is another vehicle by fusing the first data and the second data based on the second light source.
In this embodiment, the second light source information, the first data, and the second data may be mutually verified, and when the second light source information, the first data, and the second data correspond to the same target object, it is determined that the target object is another vehicle, in some embodiments, if the second light source is not identified, the target object may not be identified as another vehicle only when the first data and the second data are acquired, or if the second light source is identified, but the first data and the second data are not matched, the target object may not be identified as another vehicle, so that when the target object is a pedestrian or another vehicle in a non-driving state, the high beam and the low beam may not be switched, and thus, the lighting requirement of the vehicle driving at night may be ensured. Compared with the prior art, the intelligent switching system has the advantages that misjudgment or misdetection of the target object can be avoided, the lighting requirement of driving at night is guaranteed, intelligent switching of the far and near lights can be achieved according to different application scenes, switching of the far and near lights is more accurate, and driving safety and driving experience at night are improved.
It is understood that the present application may not be limited to the above manner, and in other embodiments, the object in front of and behind the vehicle may be identified by the first data and/or the second data according to actual conditions, for example, the object may be determined to be another vehicle in front of the vehicle and traveling in the same direction according to the second data; or, the target object can be judged to be other vehicles which run in the same direction behind the vehicle according to the first data; or, the target object can be judged to be another vehicle in front of the vehicle and running reversely according to the first data and the second data, and when the space information and the speed information of the target object are matched, the target object can be judged to be another vehicle in front of the vehicle and running reversely; alternatively, it may be determined in advance from the first data and the second data that the target object is another vehicle behind the vehicle that is about to cut in.
In summary, the method of the embodiment of the application can identify other vehicles in front of the vehicle in the reverse direction, and for other vehicles in front of the vehicle in the same direction, under the condition that light information is insufficient, the first data detected by the vision sensor and the second data detected by the radar sensor are fused, so that double identification of the target object is realized, the identification is more accurate, and the sensitivity and the reliability of switching of the high beam and the low beam are improved.
The method of the embodiment of the application is introduced, and correspondingly, the application also provides a light switching processing device of the vehicle and a corresponding embodiment.
Fig. 4 is a schematic structural diagram of a vehicle light switching processing device according to an embodiment of the present application.
Referring to fig. 4, the light switching processing apparatus 400 of the vehicle provided by the present application includes:
the acquiring module 410 is configured to identify light source information of a target object in front of the vehicle, and acquire first data and/or second data of the target object in front of the vehicle, where the first data is obstacle data detected by a vision sensor, and the second data is obstacle data detected by a radar sensor.
The sensor can comprise a vision sensor and/or a radar sensor which are arranged on the vehicle, and image data of a target object acquired by the vision sensor is processed by a vision algorithm to obtain first data; and the radar sensor detects the target object to obtain second data.
It should be noted that the radar sensor in the embodiment of the present application is a millimeter wave radar.
The switching module 420 is configured to determine that the target object is another vehicle that runs in the reverse direction according to the light source information and the first data, and switch a high beam of the vehicle to a low beam; or judging that the target object is another vehicle running in the same direction according to the light source information, the first data and the second data, and switching the high beam of the vehicle to the low beam.
It can be seen that, the device 400 provided in the present application, through the obtaining module 410 and the switching module 420, can more accurately determine that the target object is another vehicle in front of the vehicle, and can avoid misjudgment or misdetection of the target object easily caused by light recognition and ambient brightness recognition in the related art, thereby causing the defect of poor high and low beam switching sensitivity and reliability, and improving driving experience.
Fig. 5 is another schematic structural diagram of a vehicle light switching processing device according to an embodiment of the present application, and fig. 5 further describes the device of the present application in comparison with fig. 4.
Referring to fig. 5, in the light switching processing apparatus 400 of the vehicle provided in the present application, the switching module 420 includes a determination submodule 411 and a switching submodule 412.
The determining submodule 411 is configured to determine a confidence level of the accumulated multiple frames of the target object according to the first data. The object in the motion state can be judged through the first data, and the confidence degrees of the multiple frames are accumulated when the object is in the motion state according to the first data.
The switching submodule 412 is configured to determine that the target object is another vehicle that runs in the reverse direction according to the light source information when the confidence level meets the confidence threshold. When the confidence of the accumulated multiple frames meets the confidence threshold value (for example, 0.8) or more, the identification of the lamp information and the environment brightness of other vehicles is matched, and the target object can be more accurately judged to be other vehicles running reversely.
The device that this application provided, can not only discern other vehicles that the vehicle the place ahead was reverse to travel through the light source information that acquires the module discernment and the first data that obtain, moreover, to other vehicles that the vehicle the place ahead syntropy was gone, under the condition that light information lacks, through with light source information, the first data that vision sensor detected and the second data that radar sensor detected fuse, realized the dual discernment to the target object, the discernment is more accurate, the sensitivity and the reliability that far and near light switched have been promoted.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Correspondingly, the embodiment of the application also provides a vehicle, which comprises a processor; and a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method as described above
Fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Referring to fig. 6, a vehicle 600 of the present application includes a memory 610 and a processor 620.
The Processor 620 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 610 may include various types of storage units such as system memory, Read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions that are required by the processor 620 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. In addition, the memory 610 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, as well. In some embodiments, memory 610 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a digital versatile disc read only (e.g., DVD-ROM, dual layer DVD-ROM), a Blu-ray disc read only, an ultra-dense disc, a flash memory card (e.g., SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 610 has stored thereon executable code that, when processed by the processor 620, may cause the processor 620 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having executable code (or a computer program or computer instruction code) stored thereon, which, when executed by a processor of a vehicle (or server, etc.), causes the processor to perform some or all of the various steps of the above-described methods according to the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A light switching processing method of a vehicle is characterized by comprising the following steps:
identifying light source information of a target object in front of a vehicle, and acquiring first data and/or second data of the target object detected by a sensor, wherein the first data is obstacle data detected by a vision sensor, and the second data is obstacle data detected by a radar sensor;
judging that the target object is other vehicles running reversely according to the light source information and the first data, and switching high beams of the vehicles into low beams; or judging that the target object is another vehicle running in the same direction according to the light source information, the first data and the second data, and switching the high beam of the vehicle to the low beam.
2. The method according to claim 1, wherein the determining that the target object is another vehicle traveling in a reverse direction according to the light source information and the first data comprises:
and determining the confidence degree of the target object accumulation multiframes according to the first data, and judging that the target object is other vehicles running reversely according to the light source information when the confidence degree meets a confidence threshold value.
3. The method of claim 1, wherein the determining that the target object is another vehicle traveling in the same direction according to the light source information, the first data, and the second data comprises:
and obtaining the position and speed information of the target object according to the first data and the second data, and judging that the target object is another vehicle running in the same direction according to the light source information and the position and speed information.
4. The method of claim 3, wherein the obtaining the position and speed information of the object according to the first data and the second data, and determining that the object is another vehicle traveling in the same direction according to the light source information and the position and speed information comprises:
obtaining first spatial information of the target object according to the first data, and obtaining second spatial information of the target object according to the second data;
and if the first spatial information is matched with the second spatial information and the confidence coefficient of the target object meets a credible threshold, judging that the target object is another vehicle running in the same direction according to the light source information and the speed information of the target object.
5. The method according to claim 4, wherein the determining that the target object is another vehicle traveling in the same direction according to the light source information and the speed information of the target object comprises:
and when the first speed information is matched with the second speed information and meets a set threshold value, judging that the target object is another vehicle running in the same direction according to the light source information.
6. The method of claim 1, wherein the determining that the target object is a preceding vehicle traveling in the same direction based on the light source information, the first data, and the second data comprises:
and obtaining the position and speed information of the target object according to the second data, and judging that the target object is another vehicle about to overtake when the position of the target object is at the side or the rear of the vehicle and the speed of the target object meets a set threshold value.
7. The method of claim 1,
the light source information for identifying the target object in front of the vehicle comprises:
identifying first light source information or second light source information of a target object in front of a vehicle, wherein the brightness of the first light source information is greater than that of the second light source information; or the like, or, alternatively,
the judging that the target object is another vehicle running reversely according to the light source information and the first data includes:
judging that the target object is another vehicle running in the reverse direction according to the first light source information and the first data; or the like, or, alternatively,
the judging that the target object is another vehicle running in the same direction according to the light source information, the first data and the second data comprises the following steps:
and judging that the target object is another vehicle running in the same direction according to the second light source information, the first data and the second data.
8. A light switching processing device of a vehicle, characterized by comprising:
the system comprises an acquisition module, a detection module and a display module, wherein the acquisition module is used for identifying light source information of a target object in front of a vehicle and acquiring first data and/or second data of the target object detected by a sensor, the first data is barrier data detected by a vision sensor, and the second data is barrier data detected by a radar sensor;
the switching module is used for judging that the target object is other vehicles running reversely according to the light source information and the first data and switching high beams of the vehicles into low beams; or judging that the target object is another vehicle running in the same direction according to the light source information, the first data and the second data, and switching the high beam of the vehicle to the low beam.
9. The apparatus of claim 8, wherein the switching module comprises:
the determining submodule is used for determining the confidence of the accumulated multiple frames of the target object according to the first data;
and the switching submodule is used for judging that the target object is other vehicles running reversely according to the light source information when the confidence coefficient meets a credible threshold value.
10. A vehicle, characterized by comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any one of claims 1-7.
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