CN114715025A - Control method and control device of high beam and electronic equipment - Google Patents
Control method and control device of high beam and electronic equipment Download PDFInfo
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- 238000005286 illumination Methods 0.000 claims abstract description 72
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- 206010039203 Road traffic accident Diseases 0.000 abstract description 12
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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
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/31—Atmospheric conditions
- B60Q2300/314—Ambient light
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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
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/32—Road surface or travel path
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Abstract
The application discloses a control method and a control device of a high beam and electronic equipment. Wherein, the method comprises the following steps: determining the illumination intensity type of a target driving area to which a target vehicle belongs; under the condition that the illumination intensity type is the target type, acquiring high-precision map data corresponding to a target driving area; determining at least a road type of the target driving area based on the high-precision map data; acquiring surrounding environment image data of a target vehicle; and generating a display mode of a high beam of the target vehicle according to the road type and the surrounding environment image data. The method and the device solve the technical problems that in the related art, the illumination intensity is poor, road image information collected based on the camera is inaccurate, the display mode of a high beam is unreasonable, normal driving of a vehicle is affected, and traffic accidents are easy to happen.
Description
Technical Field
The application relates to the field of light control, in particular to a control method and a control device for a high beam and electronic equipment.
Background
In the related art, image data are generally collected through a camera, then, surrounding road information of a vehicle is determined based on the image data, and then the vehicle lamp steering angle of the vehicle is determined, so that the follow-up steering function of the vehicle headlamp is achieved, but under the condition of driving at night, the illumination intensity is poor, the image data collected by the camera is fuzzy, therefore, the obtained road information is inaccurate, the operation of a high beam control system is often influenced under the condition, the display mode of the high beam is lack of rationality, the sight of other vehicle drivers can be interfered, the safe driving of the vehicle is influenced, and the occurrence frequency of traffic accidents is high.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a control method and a control device of a high beam and electronic equipment, and aims to at least solve the technical problems that in the related art, the illumination intensity is poor, road image information acquired based on a camera is inaccurate, the display mode of the high beam is unreasonable, the normal driving of a vehicle is influenced, and traffic accidents are easy to happen.
According to an aspect of an embodiment of the present application, there is provided a method of controlling a high beam, including: determining the illumination intensity type of a target driving area to which a target vehicle belongs; under the condition that the illumination intensity type is the target type, acquiring high-precision map data corresponding to a target driving area; determining at least a road type of the target driving area based on the high-precision map data; collecting surrounding environment image data of a target vehicle; and generating a display mode of a high beam of the target vehicle according to the road type and the surrounding environment image data.
Optionally, generating a display mode of a high beam of the target vehicle according to the road type and the surrounding image data includes: determining whether other moving vehicles exist in a preset peripheral range of the target vehicle according to the surrounding environment image data; and under the condition that other moving vehicles exist in the preset peripheral range of the target vehicle, at least determining the relative distance between the other moving vehicles and the target vehicle, and determining the first irradiation range of the high beam according to the relative distance and the road type.
Optionally, determining whether there are other moving vehicles within the preset peripheral range of the target vehicle according to the surrounding image data includes: detecting whether image data of a predetermined shape exists in the surrounding environment image data, wherein the predetermined shape comprises: a vehicle headlight shape, or a vehicle tail light shape; determining that other moving vehicles exist in a preset peripheral range of the target vehicle under the condition that image data in a preset shape exists in the surrounding environment image data; in the case where the image data of the predetermined shape does not exist in the surrounding image data, it is determined that there is no other moving vehicle within the preset peripheral range of the target vehicle.
Optionally, determining the first irradiation range of the high beam according to the relative distance and the road type includes: under the condition that the road type is determined to be the curve type, the current state of the high beam is adjusted to be the running state corresponding to the low beam, wherein the curve type comprises one of the following conditions: right angle bending and S bending; under the condition that the road type is determined to be a non-curve type, acquiring the effective adjusting range of the high beam; under the condition that the relative distance is within the effective adjusting range, controlling the light distance of the high beam to be smaller than a preset threshold value, wherein the preset threshold value is determined according to the visual field range of the target object in other moving vehicles; and under the condition that the relative distance does not belong to the effective adjusting range, adjusting the current running state of the high beam to the running state corresponding to the low beam.
Alternatively, in the case where there is no other moving vehicle in the predetermined peripheral range of the target vehicle, the traveling direction of the target vehicle is determined, and the second irradiation range of the high beam is determined according to the traveling direction and the road type.
Optionally, determining the second irradiation range of the high beam according to the driving direction and the road type includes: predicting a travel track of the target vehicle in a travel direction; obtaining a dangerous driving area of the target vehicle in the driving process according to the predicted driving track and the road type; and determining a second irradiation range according to the dangerous driving area.
Optionally, determining the illumination intensity type of the target driving area to which the target vehicle belongs includes: acquiring environmental image data of a target driving area; identifying environmental image data, and determining the illumination intensity type according to the identification result of the image data; or acquiring the current running time of the target vehicle, and determining the illumination intensity type according to the running time.
Optionally, determining the illumination intensity type according to the travel time includes: determining a target time period corresponding to the running time; and acquiring the illumination intensity grade corresponding to the target time period, and according to the illumination intensity grade, judging the illumination intensity type.
According to another aspect of the embodiments of the present application, there is also provided a control apparatus for a high beam, including: the first determination module is used for determining the illumination intensity type of a target driving area to which the target vehicle belongs; the acquisition module is used for acquiring high-precision map data corresponding to a target driving area under the condition that the illumination intensity type is the target type; a second determination module for determining at least a road type of the target travel area based on the high-precision map data; the acquisition module is used for acquiring the image data of the surrounding environment of the target vehicle; and the generating module is used for generating a display mode of a high beam of the target vehicle according to the road type and the surrounding environment image data.
According to another aspect of the embodiments of the present application, there is also provided a non-volatile storage medium, the storage medium including a stored program, wherein when the program runs, the apparatus on which the storage medium is located is controlled to execute any one of the control methods of the high beam.
According to another aspect of the embodiments of the present application, there is also provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement any one of the control methods for the high beam.
In the embodiment of the application, the method of combining the road type and the surrounding environment image data is adopted, the illumination intensity type of the target driving area to which the target vehicle belongs is determined, the high-precision data corresponding to the target driving area is obtained under the condition that the illumination intensity type is the target type, the road type of the target driving area is determined based on the high-precision map data, then the surrounding environment image data of the target vehicle is collected, and finally, the display mode of the high beam of the target vehicle is generated based on the road type and the surrounding environment data, so that the aim of controlling the high beam based on the road type and the surrounding environment data of the vehicle is fulfilled, the display mode of the high beam is accurately controlled, the interference of the sight of other vehicles is avoided, the technical effects of reducing the occurrence frequency of traffic accidents are achieved, and the problem that the illumination intensity is poor in the related technology is solved, the road image information collected based on the camera is inaccurate, the display mode of the high beam is unreasonable, the normal driving of the vehicle is affected, and traffic accidents are easy to happen.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart of an alternative high beam control method according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a road type in an embodiment of the present application;
FIG. 3 is a schematic view of the lighting range of different road types without other vehicles in the embodiment of the present application;
FIG. 4 is a diagram of the recognized vehicle lamp shape in the embodiment of the present application;
FIG. 5 is a schematic view of the high beam irradiation range of a target vehicle under different road types of other vehicles in the embodiment of the present application;
fig. 6 is a flowchart illustrating a high beam control method according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an alternative high beam control device according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present application, there is provided an embodiment of a method for controlling a high beam, it should be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that here.
Fig. 1 is a method for controlling a high beam according to an embodiment of the present application, as shown in fig. 1, the method including the steps of:
step S102, determining the illumination intensity type of a target driving area to which a target vehicle belongs;
in the technical solution provided in step S102 of the present application, the illumination intensity type of the target driving area to which the target vehicle belongs may be determined, and it should be noted that the illumination intensity type may include multiple types, for example, sufficient illumination and insufficient illumination, where sufficient illumination may correspond to daytime and insufficient illumination may correspond to night.
Alternatively, the determination of the illumination intensity type may be determined by a light sensor, or an image of the target area may be acquired by an image acquisition device, the image of the target area is identified, and the illumination intensity type to which the target area belongs is determined, for example, by identification, it may be determined that the target area belongs to the day or the night currently, and further, the determination may be performed by a time period, specifically, a current time is obtained, and the illumination intensity type is determined according to the current time.
Step S104, acquiring high-precision map data corresponding to the target driving area under the condition that the illumination intensity type is the target type;
in the technical solution provided in step S104 of the present application, in the case that the illumination intensity type is the target type, high-precision map data of the target driving area may be acquired.
For example, in the case that the illumination intensity type is poor illumination intensity (for example, at night), the high-precision map data of the target area is obtained from the server, and it can be understood that the high-precision map data of the target area can be stored in the vehicle local due to poor communication network of some road sections, that is, the high-precision map data of the target area can be obtained from the high-precision map stored in the vehicle local under the condition of poor network conditions. It is easy to note that in the case where the illumination intensity type is good (for example, in the daytime), it may not be necessary to acquire high-precision map data.
In the present application, the high-precision map data is derived from a high-precision map, a high-precision map (also referred to as a high-precision map), and is actually a dedicated map serving an autonomous driving system as compared with a general navigation electronic map, and the high-precision map is also referred to as an autonomous driving map and a high-resolution map, and is a new map data paradigm for an autonomous driving vehicle. The absolute position accuracy of the high-precision map is close to 1m, and the relative position accuracy is in the centimeter level and can reach 10-20 cm. In addition, the high-precision map can accurately and comprehensively represent road characteristics and has higher real-time performance, and in addition, the high-precision map can also record specific details of driving behaviors, including typical driving behaviors, optimal acceleration points and brake points, road condition complexity, labels on signal receiving conditions of different road sections and the like.
Step S106, at least determining the road type of the target driving area based on the high-precision map data;
in the technical solution provided in step S106 of the present application, at least the road type of the target driving area may be obtained based on the high-precision map data, and it should be noted that, in the case that the high-precision map is the origin server, other road information besides the road type may also be obtained, for example, the driving tracks of other vehicles in the target area, the tracks of pedestrians, and the arrangement information of other architectural drawings in the target area.
Step S108, collecting surrounding environment image data of the target vehicle;
in the technical scheme provided by step S106 of the present application, image data of the surroundings of the target vehicle may be acquired by image acquisition devices such as a camera and a radar, and then the display mode of the high beam is determined in combination with the road type.
It should be noted that the camera includes, but is not limited to: monocular and binocular cameras, the above radar includes but is not limited to: the number of the cameras and the radar can be multiple, and the cameras and the radar can be respectively arranged at different positions of the vehicle, such as the head of the vehicle, the tail of the vehicle and the roof of the vehicle.
Alternatively, the image data of the surrounding environment may be acquired from image acquisition devices installed in the target area, for example, cameras or monitoring probes arranged on both sides of the road.
Step S110, generating a display mode of a high beam of the target vehicle according to the road type and the surrounding environment image data.
In the technical solution provided in step S110 of the present application, the road type and the surrounding image data may be simultaneously combined to generate the display mode of the high beam of the target vehicle, and compared with the mode of determining the control strategy of the high beam only based on the image data in the related art, the technical solution provided in the present application may determine the road type of the target area and then determine the display mode of the high beam on the basis of the surrounding image data.
By the technical scheme from the step S102 to the step S110, the illumination intensity type of the target driving area to which the target vehicle belongs is determined, the high-precision data corresponding to the target driving area is obtained under the condition that the illumination intensity type is the target type, the road type of the target driving area is determined based on the high-precision map data, then the surrounding environment image data of the target vehicle is collected, and finally, the display mode of the high beam of the target vehicle is generated based on the road type and the surrounding environment data, so that the aim of controlling the high beam based on the road type and the surrounding environment data of the vehicle is fulfilled, the display mode of the high beam is accurately controlled, the visual line of other vehicles is prevented from being interfered, the technical effect of reducing the occurrence frequency of traffic accidents is achieved, and the problems that the road image information collected based on a camera is inaccurate due to poor illumination intensity in the related technology are solved, the display mode of the high beam is unreasonable, the normal driving of the vehicle is influenced, and traffic accidents are easy to happen.
As an alternative embodiment, the manner of generating the high beam display of the target vehicle according to the road type and the surrounding image data may be implemented as follows: determining whether other moving vehicles exist in a preset peripheral range of the target vehicle according to the surrounding environment image data; and under the condition that other moving vehicles exist in the preset peripheral range of the target vehicle, at least determining the relative distance between the other moving vehicles and the target vehicle, and determining the first irradiation range of the high beam according to the relative distance and the road type. The predetermined peripheral range may be an area with a radius of 70 meters around the center of the target vehicle, and the irradiation range of the high beam may be determined according to the relative distance and the road type when it is determined that there are other moving vehicles within the predetermined peripheral range of the target vehicle based on the surrounding image data.
Specifically, determining whether other moving vehicles exist within a preset peripheral range of the target vehicle according to the surrounding image data may be implemented by: detecting whether image data of a predetermined shape exists in the surrounding environment image data, wherein the predetermined shape comprises: a vehicle headlight shape, or a vehicle tail light shape; determining that other moving vehicles exist in a preset peripheral range of the target vehicle under the condition that image data in a preset shape exists in the surrounding environment image data; in the case where the image data of the predetermined shape does not exist in the surrounding image data, it is determined that there is no other moving vehicle within the preset peripheral range of the target vehicle. That is, in the case where there is a vehicle headlight or a vehicle tail light around the target vehicle, it is determined that there is another moving vehicle around the target vehicle.
In some examples of the present application, determining the first irradiation range of the high beam according to the relative distance and the road type includes: under the condition that the road type is determined to be the curve type, the current state of the high beam is adjusted to be the running state corresponding to the low beam, wherein the curve type comprises one of the following conditions: right angle bending and S bending; under the condition that the road type is determined to be a non-curve type, acquiring the effective adjusting range of the high beam; under the condition that the relative distance is within the effective adjusting range, controlling the light distance of the high beam to be smaller than a preset threshold value, wherein the preset threshold value is determined according to the visual field range of the target object in other moving vehicles; and under the condition that the relative distance does not belong to the effective adjusting range, adjusting the current running state of the high beam to the running state corresponding to the low beam. That is, in the case where the road type is a quarter turn or an S turn, the high beam is directly adjusted to the low beam, and in the case where the road type is a non-curve type, the effective adjustment range of the high beam can be obtained, for example, the effective adjustment range of the high beam is 100 + 200 meters, and in the case where the relative distance is 120 meters, the light distance of the high beam is controlled to be 140 meters, and it should be noted that the 140 meters is a distance that does not affect the visual field range of other vehicle drivers. For example, the effective adjustment range of the high beam is 100-200 m, and if the relative distance is 80 m, the distance of the high beam cannot be set within 80 m, and the distance of the high beam is directly set as the illumination distance of the low beam.
As an alternative embodiment, in the case where there is no other moving vehicle in the predetermined peripheral range of the target vehicle, the traveling direction of the target vehicle is determined, and the second irradiation range of the high beam is determined according to the traveling direction and the road type.
Specifically, the determination of the second irradiation range of the high beam according to the driving direction and the road type may be implemented as follows: predicting a travel track of the target vehicle in a travel direction; obtaining a dangerous driving area of the target vehicle in the driving process according to the predicted driving track and the road type; and determining a second irradiation range according to the dangerous driving area.
In some embodiments of the present application, determining the illumination intensity type of the target driving area to which the target vehicle belongs may be implemented in the following manner, specifically, acquiring environment image data of the target driving area; identifying environmental image data, and determining the illumination intensity type according to the identification result of the image data; or acquiring the current running time of the target vehicle, and determining the illumination intensity type according to the running time, wherein the illumination intensity type is used for indicating whether high-precision image data needs to be acquired when determining the display mode of the high beam, namely whether the display mode of the high beam needs to be determined by combining the road type and the surrounding environment image data, or the display mode of the high beam can be determined only based on the surrounding environment image data.
Optionally, determining the illumination intensity type according to the travel time includes: determining a target time period corresponding to the running time; and acquiring the illumination intensity grade corresponding to the target time period, and according to the illumination intensity grade, determining the illumination intensity type. For example, if the current travel time is 20:00, the target time period corresponding to the travel time may be determined to be the night time period, and then, the illumination intensity type may be determined to be the illumination intensity difference.
The above technical solution of this embodiment is further exemplified below.
In the embodiment, the road condition of the current vehicle driving road section is identified through a high-precision map, and the irradiation range of the high beam is automatically adjusted by combining the information of the vehicle and other vehicles so as to achieve the anti-dazzling control purpose, thereby reducing the occurrence rate of safety accidents, and the method comprises the following specific steps:
the first step is as follows: judging whether the light is sufficient in the daytime or at night and the surrounding environment according to the photosensitive sensor of the user, and requesting the user to turn on the intelligent high beam system if the light is insufficient at night and the surrounding environment is insufficient;
the second step is that: the current driving road condition is judged according to the high-precision map, and fig. 2 is the road type in the embodiment, as shown in fig. 2.
The third step: acquiring required information according to the structured data provided by the high-precision map, such as: road geometry, lane width, gradient, curvature, and lane start and end distances, for example, fig. 2 a and b require high precision maps to provide real-time curvature, and c, d, and e require a lane in which the current vehicle is traveling.
The fourth step: it can be assumed that the road types in fig. 2 are all the conditions without other vehicles, and a and b in fig. 2 need to control the irradiation range of the high beam in combination with the curvature information provided by the high-precision map, so that the irradiation range of the high beam is irradiated to the road condition at the inner side of the curve as much as possible, as shown in a and b in fig. 3.
C, d and e in fig. 2 need to be comprehensively analyzed by combining the position information of the vehicle and the road type provided by the high-precision map, and if the vehicle drives to the intersection and turns left, turns around or moves straight in the right-most lane, the irradiation range of the high beam is distributed to the intersections on the left and right sides as much as possible, and the road conditions and vehicle conditions on the left and right sides are clearly irradiated to the maximum extent, as shown in c and e in fig. 3; if the vehicle is driven to the intersection and turns right in the rightmost lane, the irradiation range of the high beam needs to be adjusted to the right intersection as much as possible, as shown by d in fig. 3; if the vehicle is driven to the T-junction and turns right in the rightmost lane, the high beam irradiation range needs to be adjusted to the right side junction to the maximum extent, as shown by f in fig. 3. If the vehicle runs to the ramp and runs straight in the right-most lane or enters the entrance of the ramp, the irradiation range of the high beam lamp needs to be adjusted to the maximum extent in the ramp to prevent the vehicle from suddenly appearing in the ramp, as shown in g, h and i in fig. 3; if the vehicle exits from the ramp exit, the irradiation range of the high beam lamp needs to be adjusted to the left side of the ramp exit direction as much as possible to prevent the traffic accident that the vehicle or the pedestrian suddenly rushes out from the back of the obstacle when the vehicle is blocked by the obstacle during driving, and the control condition of the high beam lamp is shown as j in fig. 3.
The fifth step: the high beam control needs to be adjusted in advance according to the road type provided by the high-precision map, then the information such as the position and the direction of other vehicles is estimated according to the information of the head lamp or the tail lamp of the vehicle identified by the camera, and then the judgment of the other vehicles is carried out. If the camera recognizes that the vehicle is a headlight, it indicates that the vehicle is meeting with another vehicle, otherwise, it indicates that the vehicle is following, as shown in fig. 4.
And a sixth step: recognizing the condition of the head lamps or tail lamps of other vehicles according to the diagram shown in FIG. 4, and if the other vehicles are in the effective adjusting range of the high beam, adjusting the lamps to avoid the visual field range of the drivers of the other vehicles; if the effective adjusting range of the high beam is exceeded, the high beam is directly adjusted to the dipped headlight. In all road types of fig. 3, if it occurs that other vehicles are driving stably a short distance in front of the front, the high beam needs to be adjusted to the low beam. If the other vehicles in fig. 3 are all within the adjustment range of the high beam, the adjustment is performed according to the control strategy of fig. 5. In fig. 5, a and b other vehicles all run in a narrow curve, and the high beam needs to be adjusted to the low beam, so that the anti-dazzle function is achieved; c. d, e, f, g, i, j and k will be adjusted according to the road type provided by the high-precision map and other vehicle positions, so as to reduce the influence of high beam on the driver to the greatest extent.
It is easy to note that, according to the type of the road provided by the high-precision map and the perception of the other vehicle lights by the camera, the specific flow of the high beam control algorithm can be performed according to the flow shown in fig. 6.
In this example, at first, can rely on self sensor to judge surrounding light information, if discernment night and surrounding light are dark, the road conditions information that current vehicle traveles is acquireed to rethread high accuracy map to whether the discernment vehicle information judges to have the motion vehicle under the combination camera night, if do not have the motion vehicle, need to combine the direction of travel of self vehicle to adjust the irradiation range of high beam, shine the danger area as far as possible, prevent that danger from taking place suddenly. If detect the motion vehicle, the irradiation range of high beam needs to be adjusted in advance in combination with surrounding vehicle information, also avoids causing dazzling to syntropy or subtend vehicle when allowing the accommodation range to use the high beam as far as possible, surpasss the accommodation range of high beam when calculating, and light control is adjusted from the high beam to passing lamp. The patent then discloses a high beam control strategy based on high accuracy map, controls the high beam in advance through the road type information that high accuracy map provided and vehicle information around combining, can help the driver to open automatically and close the high beam. It can be understood that the real-time accurate information provided by the high-precision map is combined with the sensor (the photosensitive sensor, the camera and the radar) to jointly complete the control strategy, the control strategy not only eliminates the sensing result completely depending on the camera and the radar, but also solves the problem of misidentification of the sensing result under the conditions of partial severe weather and darkness, ensures that the utilization rate of the high beam is increased as much as possible under the conditions of meeting the requirements of regulations and driving safety, and improves the safety and comfort of the driver in the dark environment, particularly driving at night.
Fig. 7 is a control apparatus of a high beam according to an embodiment of the present application, as shown in fig. 7, the apparatus including:
the first determination module 40 is used for determining the illumination intensity type of a target driving area to which the target vehicle belongs;
the obtaining module 42 is configured to obtain high-precision map data corresponding to the target driving area when the illumination intensity type is the target type;
a second determination module 44 for determining at least a road type of the target travel area based on the high-precision map data;
an acquisition module 46 for acquiring image data of the surroundings of the target vehicle;
and the generating module 48 is configured to generate a display mode of a high beam of the target vehicle according to the road type and the surrounding image data.
In the control device of the high beam, a first determining module 40 is used for determining the illumination intensity type of a target driving area to which a target vehicle belongs; the obtaining module 42 is configured to obtain high-precision map data corresponding to the target driving area when the illumination intensity type is the target type; a second determination module 44 for determining at least a road type of the target travel area based on the high-precision map data; an acquisition module 46 for acquiring image data of the surroundings of the target vehicle; the generation module 48 is used for generating a display mode of the high beam of the target vehicle according to the road type and the surrounding environment image data, and achieving the purpose of controlling the high beam based on the road type and the surrounding environment data of the vehicle, thereby realizing the accurate control of the display mode of the high beam, avoiding the interference with the sight of other driving vehicles and reducing the technical effect of the occurrence frequency of traffic accidents, and further solving the technical problems that the illumination intensity is poor in the related art, the road image information acquired based on the camera is inaccurate, the display mode of the high beam is unreasonable, the normal driving of the vehicle is influenced, and the traffic accidents are easy to occur.
According to another aspect of the embodiments of the present application, there is also provided a non-volatile storage medium, the storage medium including a stored program, wherein when the program runs, the apparatus on which the storage medium is located is controlled to execute any one of the control methods of the high beam.
According to another aspect of the embodiments of the present application, there is also provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement any one of the control methods for the high beam.
Specifically, the storage medium is used for storing program instructions of the following functions, and the following functions are realized:
determining the illumination intensity type of a target driving area to which a target vehicle belongs; under the condition that the illumination intensity type is the target type, acquiring high-precision map data corresponding to a target driving area; determining at least a road type of the target driving area based on the high-precision map data; acquiring surrounding environment image data of a target vehicle; and generating a display mode of a high beam of the target vehicle according to the road type and the surrounding environment image data.
In the related embodiment of the application, the method of combining the road type and the surrounding environment image data is adopted, the illumination intensity type of the target driving area to which the target vehicle belongs is determined, the high-precision data corresponding to the target driving area is obtained under the condition that the illumination intensity type is the target type, the road type of the target driving area is determined based on the high-precision map data, then the surrounding environment image data of the target vehicle is collected, and finally, the display mode of the high beam of the target vehicle is generated based on the road type and the surrounding environment data, so that the aim of controlling the high beam based on the road type and the surrounding environment data of the vehicle is fulfilled, the display mode of the high beam is accurately controlled, the interference of the sight of other vehicles is avoided, the technical effects of reducing the occurrence frequency of traffic accidents are achieved, and the problem that the illumination intensity is poor in the related technology is solved, the road image information collected based on the camera is inaccurate, the display mode of the high beam is unreasonable, the normal driving of the vehicle is affected, and traffic accidents are easy to happen.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (11)
1. A method for controlling a high beam, comprising:
determining the illumination intensity type of a target driving area to which a target vehicle belongs;
under the condition that the illumination intensity type is a target type, acquiring high-precision map data corresponding to the target driving area;
determining at least a road type of the target travel area based on the high precision map data;
acquiring surrounding environment image data of the target vehicle;
and generating a display mode of a high beam of the target vehicle according to the road type and the surrounding environment image data.
2. The method according to claim 1, wherein generating a display of a high beam of the target vehicle based on the road type and the ambient image data comprises:
determining whether other moving vehicles exist in a preset peripheral range of the target vehicle according to the surrounding environment image data;
and under the condition that other moving vehicles exist in the preset peripheral range of the target vehicle, at least determining the relative distance between the other moving vehicles and the target vehicle, and determining the first irradiation range of the high beam according to the relative distance and the road type.
3. The method of claim 2, wherein determining from the ambient image data whether there are other moving vehicles within a preset perimeter range of the target vehicle comprises:
detecting whether image data of a predetermined shape exists in the surrounding image data, wherein the predetermined shape includes: a vehicle headlight shape, or a vehicle tail light shape;
determining that the other moving vehicles exist within a preset peripheral range of the target vehicle under the condition that the image data of the predetermined shape exists in the surrounding environment image data;
and determining that the other moving vehicles do not exist within the preset peripheral range of the target vehicle if the image data of the predetermined shape does not exist in the surrounding environment image data.
4. The method according to claim 2, wherein determining a first illumination range of the high beam based on the relative distance and the road type comprises:
under the condition that the road type is determined to be a curve type, adjusting the current state of the high beam to be the running state corresponding to the low beam, wherein the curve type comprises one of the following conditions: right angle bending and S bending;
under the condition that the road type is determined to be a non-curve type, acquiring an effective adjusting range of the high beam;
under the condition that the relative distance is within the effective adjusting range, controlling the lamplight distance of the high beam to be smaller than a preset threshold value, wherein the preset threshold value is determined according to the visual field range of the target object in the other moving vehicles;
and under the condition that the relative distance does not belong to the effective adjusting range, adjusting the current running state of the high beam to the running state corresponding to the low beam.
5. The method according to claim 2, characterized in that in the absence of other moving vehicles in the predetermined peripheral range of the target vehicle, the direction of travel of the target vehicle is determined, and the second illumination range of the high beam is determined from the direction of travel and the road type.
6. The method according to claim 5, wherein determining a second illumination range of the high beam based on the driving direction and the road type comprises:
predicting a travel trajectory of the target vehicle along the travel direction;
obtaining a dangerous driving area of the target vehicle in the driving process according to the predicted driving track and the road type;
and determining the second irradiation range according to the dangerous driving area.
7. The method of claim 1, wherein determining the illumination intensity type of the target driving area to which the target vehicle belongs comprises:
acquiring environmental image data of the target driving area;
identifying the environment image data, and determining the illumination intensity type according to the identification result of the image data; or
And acquiring the current running time of the target vehicle, and determining the illumination intensity type according to the running time.
8. The method of claim 7, wherein determining the illumination intensity type based on the travel time comprises:
determining a target time period corresponding to the running time;
and acquiring the illumination intensity grade corresponding to the target time period, and according to the illumination intensity grade, determining the illumination intensity type.
9. A control device for a high beam, comprising:
the first determining module is used for determining the illumination intensity type of a target driving area to which a target vehicle belongs;
the acquisition module is used for acquiring high-precision map data corresponding to the target driving area under the condition that the illumination intensity type is a target type;
a second determination module for determining at least a road type of the target travel area based on the high-precision map data;
the acquisition module is used for acquiring the image data of the surrounding environment of the target vehicle;
and the generating module is used for generating a display mode of a high beam of the target vehicle according to the road type and the surrounding environment image data.
10. A non-volatile storage medium, characterized in that the storage medium comprises a stored program, wherein a device on which the storage medium is located is controlled to execute a control method for a high beam according to any one of claims 1 to 8 when the program is run.
11. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the method of controlling a high beam as claimed in any one of claims 1 to 8.
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