CN115402189A - Vehicle control method and device and vehicle - Google Patents

Abstract

The embodiment of the application is suitable for the technical field of vehicles, and provides a vehicle control method, a device and a vehicle, wherein the method comprises the following steps: if the target object is detected to exist in the target view range of the vehicle, acquiring information of a first lane where the vehicle is located and information of a second lane where the target object is located; determining a target area to be illuminated by a lamp of the vehicle based on the information of the first lane and the information of the second lane; the target area is an area which does not affect the sight line of the target object; and controlling the vehicle lamp to illuminate the target area. By adopting the method, the lighting requirement of the vehicle on the road ahead can be met, and the sight of the target object cannot be influenced, so that the driving safety is improved.

Description

Vehicle control method and device and vehicle

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a vehicle control method and device and a vehicle.

Background

When a vehicle runs in a scene of night, heavy fog or rain, the vehicle lamp is usually required to be turned on for illumination so as to ensure the driving safety. The vehicle lamp is generally divided into a high beam and a low beam, the low beam has a short irradiation distance and a wide irradiation range; the far-reaching headlamp irradiation range is far away, but the light of the far-reaching headlamp is more concentrated and the irradiation range is relatively narrow.

At present, the control of the car light mainly depends on the manual control of the car owner, for example, when the car is driven in a scene with a blurred vision, the car owner can autonomously judge whether a high beam or a low beam needs to be turned on. However, the switching between the high beam and the low beam of the vehicle is generally determined according to the personal use habits of the vehicle owner. When a vehicle meets or a pedestrian is present in front of the vehicle, if the vehicle owner does not switch the high beam to the low beam, the line of sight of the vehicle owner or the pedestrian to the vehicle will be affected, which is likely to cause a traffic accident. Therefore, the existing car lamp control method is greatly influenced by subjective factors of car owners, and traffic accidents are easily caused when the car owners do not control the car lamps properly.

Disclosure of Invention

The embodiment of the application provides a vehicle control method and device, a vehicle and a storage medium, which can solve the problem that the vehicle lamp cannot be reasonably controlled so as to improve the driving safety of the vehicle.

In a first aspect, an embodiment of the present application provides a vehicle control method, including:

if the target object exists in the target view range of the vehicle, acquiring information of a first lane where the vehicle is located and information of a second lane where the target object is located;

determining a target area to be illuminated by a lamp of the vehicle based on the information of the first lane and the information of the second lane; the target area is an area which does not affect the sight line of the target object;

and controlling the vehicle lamp to illuminate the target area.

In a second aspect, an embodiment of the present application provides a vehicle control apparatus, including:

the first acquisition module is used for acquiring information of a first lane where the vehicle is located and information of a second lane where the target object is located if the target object is detected to exist in the target view range of the vehicle;

the first determining module is used for determining a target area to be illuminated by a lamp of the vehicle based on the first lane information and the second lane information; the target area is an area which does not affect the sight line of the target object;

the first control module is used for controlling the vehicle lamp to illuminate the target area.

In a third aspect, embodiments of the present application provide a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to the first aspect when executing the computer program.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method of the first aspect.

In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a vehicle, causes the vehicle to perform the method of the first aspect.

Compared with the prior art, the embodiment of the application has the advantages that: when the target object is detected to exist in the target view field of the vehicle, the information of a first lane where the vehicle is located and the information of a second lane where the target object is located are obtained, a target area to be illuminated by a vehicle lamp of the vehicle is determined based on the first lane information and the second lane information, and the vehicle lamp is controlled to illuminate the target area. Because the target area determined based on the information of the first lane and the information of the second lane does not influence the sight of the target object, after the vehicle lamp is controlled to illuminate the target area, the illuminating requirement of the vehicle on a road ahead can be met, the sight of the target object cannot be influenced, and the driving safety is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of an application scenario of a vehicle turning on lamps during night driving in the prior art;

FIG. 2 is a schematic view of an application scenario in the prior art in which a high beam is turned on to affect a line of sight to an owner of a vehicle;

FIG. 3 is a flowchart illustrating an implementation of a vehicle control method according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an application scenario in which an image capturing device on a vehicle captures environmental information around the vehicle according to an embodiment of the present application;

FIG. 5 is a schematic diagram of an application scenario in which a lidar sensing device on a vehicle provided in an embodiment of the application detects environmental information around the vehicle;

FIG. 6 is a schematic diagram of an application scenario in which a vehicle and a target object are in the same lane and in an adjacent lane according to an embodiment of the present application;

FIG. 7 is a flowchart illustrating an implementation of a vehicle control method according to another embodiment of the present application;

fig. 8 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

At present, when a vehicle runs in a scene with a blurred vision, such as at night, heavy fog or rain, the vehicle lamp is usually required to be turned on for illumination, so that the driving safety is ensured. For example, referring to fig. 1, fig. 1 is a schematic view of an application scenario in which a vehicle is turned on when the vehicle is running at night in the prior art. The headlight is generally divided into a high beam and a low beam, the low beam has a short irradiation distance and a wide irradiation range; the far-reaching headlamp irradiation distance is far, but the light of the far-reaching headlamp is more concentrated and the irradiation range is relatively narrow.

In particular, the vehicle lamp may be a headlamp composed of a matrix of Light Emitting Diodes (LEDs). The lamp may include any one of a head lamp, a position lamp, a back lamp, and a fog lamp of a vehicle. In the present embodiment, the vehicle control method is specifically used for controlling headlamps of a vehicle.

Generally, the control of the vehicle lights mainly depends on the manual control of the vehicle owner, for example, when the vehicle is driven in a scene with a blurred vision, the vehicle owner can autonomously judge whether a high beam or a low beam needs to be turned on. The switching between the high beam and the low beam of the vehicle is usually determined according to the personal usage habit of the vehicle owner. However, referring to fig. 2, fig. 2 is a schematic view of an application scene in which a high beam is turned on by a vehicle to affect the sight line to the owner of the vehicle in the prior art, and when the vehicle meets or has pedestrians in front of the vehicle, if the owner cares to manually control the vehicle lights, the safe driving of the owner is not facilitated. If the vehicle owner does not switch the high beam to the low beam, the sight of the vehicle owner or the pedestrian will be influenced, which is likely to cause traffic accidents.

Based on this, in order to enable the vehicle to intelligently and reasonably control the lamp to illuminate the road ahead, and avoid influencing the sight line of the owner of the oncoming vehicle or the sight line of the pedestrian when illuminating the road ahead, the embodiment of the present application provides a vehicle control method, which can be applied to a vehicle control device in the vehicle. For example, the vehicle Control device may be a Body Control Module (BCM) in the vehicle. The BCM controls electrical devices of the car body through a Controller Area Network (CAN). For example, devices such as respective lamps, wipers, and door locks of the vehicle are controlled.

Referring to fig. 3, fig. 3 shows a flowchart of an implementation of a vehicle control method provided in the embodiment of the present application, where the method includes the following steps:

s301, if the target object is detected to exist in the target view range of the vehicle, acquiring information of a first lane where the vehicle is located and information of a second lane where the target object is located.

In one embodiment, the target view range is a range sensed by each sensor device provided on the vehicle. The sensor device includes, but is not limited to, an image capturing device and a lidar sensing device. For example, referring to fig. 4, fig. 4 is a schematic view of an application scenario in which an image capturing device on a vehicle captures environmental information around the vehicle according to an embodiment of the present application. The image acquisition equipment can be a camera so as to acquire images of the environmental information around the vehicle. The lidar sensing device may emit lidar signals to the surroundings to detect ambient environmental information. Referring to fig. 5, fig. 5 is a schematic view of an application scenario of the lidar sensing device on the vehicle provided in an embodiment of the present application to detect environmental information around the vehicle. The target view range corresponding to each vehicle may be the same or different, and is not limited.

In one embodiment, the target objects include, but are not limited to, vehicles and pedestrians, which are not limited thereto. When a target object appears in the target visual field range, the illumination mode of the vehicle lamp needs to be reasonably selected to avoid influencing the sight line of the target object.

In an embodiment, the information of the first lane includes, but is not limited to, a lane line, a direction, a lane length, and other various information of the first lane, which is not limited in this respect. Accordingly, the information of the second lane is similar to the information of the first lane. The difference is that when the target object is a pedestrian, the lane on which it is walking may be a road on which the pedestrian is traveling, which is often not suitable for vehicle travel. Therefore, the lane type included in the information on the second lane may be different from the lane type included in the information on the first lane. In this embodiment, the specific information of the first lane and the specific information of the second lane are not limited.

In an embodiment, the vehicle control device may specifically acquire the information of the first lane and the information of the second lane according to a configured high-precision map module and a positioning module. Specifically, the vehicle control device may obtain the position information of the vehicle collected by the positioning module; determining the position and the direction of a first lane based on the position information and a preset map; acquiring a relative distance between a vehicle and a target object; and determining the position and the direction of the second lane based on the relative distance and a preset map.

In an embodiment, the Positioning module may be a Global Positioning System (GPS) or a beidou Positioning device, which is not limited to the above, and may be used to collect current position information of the vehicle. The relative distance between the vehicle and the target object may be acquired by a distance sensor on the vehicle, which is not limited.

In one embodiment, the preset map may be stored in a high-precision map module in a vehicle control device or a navigation system. Among them, the preset map is generally composed of various data elements. Specifically, the preset map is composed of road elements, intersection elements, traffic signal elements, logical relationship elements, and other road object elements. Road elements include, but are not limited to, road boundaries, lane left boundaries, lane right boundaries, lane centerlines, lane speed limits, lane topology, lane line types, lane directions, lane steering types, lane lengths, and the like. Intersection elements include, but are not limited to, intersection boundaries and virtual lanes within an intersection. Traffic signal elements include, but are not limited to, traffic lights and other road signs. The logical relationship element may be a map element logical relationship representation. Other road elements include, but are not limited to: the elements of pedestrian crossing, no-parking area, stop line, road arrow, road text, guardrail, street lamp, portal frame, building and deceleration strip, etc., without limitation.

Based on the above description, the preset map should have information corresponding to each lane recorded in advance. Thus, the vehicle control apparatus may determine the position and direction of the first lane based on the position information and the preset map.

Wherein, the relative distance can be acquired by a distance measuring sensor on the vehicle. And then, according to the relative distance and a preset map, determining a second lane where the target object is located, and the position and the direction of the second lane.

In another embodiment, the vehicle control apparatus may also determine a second lane in which the target object is located, and determine the position and direction of the second lane, according to the respective sensor sensing devices described above. For example, the target object may be photographed by an image capturing device, and then recognition processing may be performed according to the photographed image to determine the position and direction of the second lane in which the target object is located. In this embodiment, the manner of acquiring the information of the first lane in which the vehicle is located and the information of the second lane in which the target object is located is not limited at all.

S302, determining a target area to be illuminated by a lamp of the vehicle based on the information of the first lane and the information of the second lane; the target area is an area that does not affect the line of sight of the target object.

In an embodiment, the target area is an area that does not affect the implementation of the target object. When the target object is a vehicle, the target object does not affect the line of sight of the owner who drives the target object.

In one embodiment, the target object may be in the same lane as the vehicle, in an adjacent lane, or in a plurality of scenes with at least one lane separated from the first lane. For example, referring to fig. 6, fig. 6 is a schematic view of an application scenario in which a vehicle and a target object are in the same lane and in an adjacent lane provided in an embodiment of the present application. However, the target area to which the line of sight affecting the target object generally differs for each scene. Based on this, a corresponding target area needs to be specifically determined for each scene.

Specifically, the target object is taken as a vehicle for explanation, and for the first scene in the same lane, since the vehicle is located behind the target object, if the vehicle is illuminated by directly turning on the high beam, the light is irradiated to the rear view mirror of the target object due to the long irradiation distance, and the sight line of the vehicle owner driving the target object for observing the situation of the vehicle behind is affected.

Based on this, when the vehicle control apparatus determines that the first lane and the second lane are the same lane based on the position of the first lane and the position of the second lane, the region between the rear bumper of the target object and the ground may be determined as the target region.

The rear bumper can be a rear bumper of a vehicle, and the rear bumper can be recognized from a shot image after the target object is shot by an image collecting device of the vehicle. Among them, the vehicle control device may determine, as the target area, an area between a road in the vehicle traveling direction (a ground surface in the vehicle traveling direction) and a rear safety device of the target object.

In another embodiment, the target area may be an area from the ground to the rear wheel of the target object. In this scenario, the owner of the target object views the situation of the rear vehicle mainly through the external mirror, and therefore the target area does not include the area where the external mirror is located.

In addition, when the target object is a vehicle, glare may occur when the rear windshield is illuminated with strong light at night, which may further affect the line of sight of the owner of the vehicle driving the target object. Thus, the target area thereof also does not generally include the area where the rear windshield is located.

Therefore, when the first lane and the second lane are the same lane, the area between the rear safety device of the target object and the ground is determined as the target area, normal driving of an owner of the vehicle can be met, and meanwhile the influence on the sight of the owner of the target object can be avoided.

In another embodiment, the target object is taken as a vehicle, and for a scene in a different lane, where the direction of the first lane is opposite to the direction of the second lane, the first lane and the second lane may be adjacent lanes, or two scenes separated by at least one lane may be used. Based on this, for different scenes, if the direction of the first lane is opposite to the direction of the second lane, the vehicle control device may determine a lane distribution result between the first lane and the second lane according to the position of the first lane and the position of the second lane; and then, determining a target area to be illuminated by the lamp of the vehicle according to the lane distribution result.

The lane distribution result is that the first lane and the second lane are adjacent lanes, or at least one lane is spaced between the first lane and the second lane, which will not be described in detail.

Specifically, for a second scenario in which the first lane and the second lane are adjacent lanes and the direction of the first lane is opposite to the direction of the second lane, the vehicle control apparatus may determine an area between the front bumper of the target object and the ground as the target area.

It is understood that when the vehicle and the target object are in adjacent lanes and are lanes for opposite driving, the vehicle and the target object are opposite driving. Therefore, if the vehicle control lamp illuminates by high beam, the light irradiation range is far, and the light will irradiate the front windshield of the target object, thereby affecting the sight line of the vehicle owner driving the target object. Based on this, the vehicle can be illuminated with low beam illumination.

However, if only the low beam light is used for illumination, the front windshield of the target object may be illuminated even if the illumination range is wide. Based on this, when the first lane and the second lane are adjacent lanes and the direction of the first lane is opposite to that of the second lane, only the area between the front safety device of the target object and the ground can be determined as the target area, so that normal driving of the vehicle owner can be met, and the influence on the sight line of the vehicle owner of the target object can be avoided.

It should be added that if the first lane and the second lane are adjacent lanes, and the direction of the first lane is the same as that of the second lane, it can be considered that the illuminated target area is the same as that in the first scene. I.e. also only the area between the rear safety device of the target object and the ground is determined as target area.

In another embodiment, for a third scenario where at least one lane is spaced between the first lane and the second lane, and the direction of the first lane is opposite to the direction of the second lane, the vehicle control apparatus may determine a target lane line closest to the first lane from lane lines of the second lane; then, the area ahead of the vehicle with the target lane line as a boundary is determined as a target area.

In one embodiment, for the third scenario, the target object is separated from the vehicle by at least one lane, and the width of the lane is generally wider. When the target object runs in the second lane, the target object usually does not influence the running of the vehicle in the first lane. Thus, the vehicle typically only needs to illuminate the first lane and the adjacent lane.

However, in order to further ensure the driving safety of the vehicle, the vehicle control device may set a target lane line closest to the first lane in the second lamp as a boundary, and control the lamps to illuminate the boundary. At this time, the area illuminated when the border is illuminated is determined as the target area.

When the target object is a pedestrian and the face of the pedestrian faces the vehicle, the target region should be bounded by the eyes of the pedestrian. Namely, the vehicle lamp is controlled to illuminate the area below the eyes of the pedestrian.

And S303, controlling the vehicle lamp to illuminate the target area.

In one embodiment, the vehicle lamp described above is a matrix LED headlamp. Generally, the headlight is composed of a plurality of LED lamp groups. In the prior art, a certain group of several LED lamp beads in an LED headlamp are generally scribed as a dipped headlight, and another group of several LED lamp beads are scribed as a high beam. However, the matrix type LED headlamp can further refine the control of each LED lamp bead.

Exemplarily, a plurality of lighting partitions can be arranged on the matrix type LED headlamp, and LED lamp beads in each lighting partition can be turned on, turned off and adjusted in brightness under the control of a vehicle control device, so that the functions of automatically turning on, turning off, switching, adjusting the lighting height and the like of the headlamp are realized.

Based on the above description, after the target area is determined, if the LED headlight needs to be controlled to illuminate the target area, a corresponding headlight control instruction needs to be generated, where the headlight control instruction includes an instruction for adjusting the turn-on, turn-off, and illumination height of the corresponding LED headlight. The vehicle lamp control command can be generated after characteristic learning is carried out on the neural network model.

Specifically, the vehicle control device may input various information sensed by each sensor device and the target area into the neural network model, and then obtain a corresponding vehicle light control instruction. The various information may be the information of the first lane, the information of the second lane, the information of the front safety device or the rear safety device of the target object, and the like, which is not limited to the above.

It is additionally necessary, when a target object is detected in the target field of view of the vehicle, that the vehicle illuminates the target area, typically with low-beam illumination. It will be appreciated that if the target area is illuminated by high beam illumination, it is also possible to illuminate areas that affect the line of sight of the target object.

In addition, it should be noted that, when it is detected that there is no target object in the target visual field, it is considered that the irradiation manner of the vehicle lights in the vehicle does not affect the target object at this time. Therefore, in order to improve the driving safety of the vehicle, the vehicle control device can control the high beam irradiation of the lamps to illuminate, thereby improving the visibility of the road in front of the vehicle.

In the embodiment, when the target object is detected to exist in the target view field of the vehicle, the information of the first lane where the vehicle is located and the information of the second lane where the target object is located are obtained, the target area to be illuminated by the vehicle lamp of the vehicle is determined based on the first lane information and the second lane information, and the vehicle lamp is controlled to illuminate the target area. Because the target area determined based on the information of the first lane and the information of the second lane does not influence the sight of the target object, the lighting requirement of the vehicle on the advancing road can be met after the vehicle lamp is controlled to light the target area, the sight of the target object cannot be influenced, and therefore the driving safety is improved.

In another embodiment, the above embodiments are all described as ways of illuminating the target area corresponding to each scene when the sight line of the owner of the vehicle is affected by the lamps that are not turned on by the target object. However, the lamps that are turned on at the target object affect the line of sight of the owner of the vehicle, and the illumination pattern of the vehicle should be changed.

Specifically, the vehicle control device may first acquire a lamp lighting manner when the target object is traveling in the second lane. And then, if the first lane and the second lane are determined to be different lanes based on the position of the first lane and the position of the second lane, and the direction of the first lane is opposite to that of the second lane, when the relative distance is smaller than a preset distance threshold value and the lighting mode of the lamp of the target object is high beam lighting, the lamp is controlled to light the target area in a lighting mode of high beam and low beam alternating lighting.

In an embodiment, the preset distance threshold may be set according to actual situations, and is not limited thereto. Typically, the range sensor on the vehicle has a measurement range of 500m, and therefore, the preset distance threshold is typically less than 500m. Illustratively, the preset distance threshold may be 200m. When the direction of the first lane is opposite to the direction of the second lane and the relative distance is less than 200m, if the lighting mode of the lamp of the target object is high beam illumination, it can be considered that the lamp turned on by the target object will affect the owner of the vehicle. Based on this, the vehicle control device can illuminate the target area in a manner of alternate irradiation of the high beam and the low beam to prompt the owner of the target object.

Note that, when illumination is performed by alternating high and low beams, the irradiation distance is long. Thus, in this scenario, the target area may be all areas located in front of the vehicle. That is, in this scenario, the target area may not be particularly limited.

However, in order to ensure driving safety and avoid affecting the line of sight of the target object, the target area may still be the area between the front safety device of the target object and the ground. I.e. the target area is the same as in the second scenario described above.

In another embodiment, the vehicle control device may control the lights to stop illuminating based on the fact that the vehicle may also be in a parked state, i.e., the vehicle is not driving. Namely, the vehicle lamp is controlled to be turned off. Specifically, the vehicle control apparatus may acquire running state information of the vehicle, for example, acquire a vehicle speed and a shift position of the vehicle. And then, when the vehicle speed is lower than a preset value or the gear is in the parking gear, controlling the vehicle lamp to stop lighting. The preset value may be set in advance according to an actual situation, for example, the preset value may be 0, which is not limited herein.

As a preferred embodiment, referring to fig. 7, fig. 7 is a flowchart of implementation of a vehicle control method provided in another embodiment of the present application. Wherein. The vehicle comprises a vehicle control device, and particularly can be a vehicle body controller. The vehicle further comprises a plurality of devices such as various sensor devices, a high-precision map module and a positioning module. Each sensor device may be configured to acquire a target object existing within a target field of view and acquire information about the target object. For example, the lighting method of the vehicle light of the target object is not limited to the above, but may include an image including the target object, or when the target object is a vehicle. The positioning module is used for determining the current position information of the vehicle, and determining a first lane where the vehicle is located and whether a second lane adjacent to the first lane exists or not by combining with a corresponding preset map in the high-precision map module. When controlling the vehicle lights, it is usually necessary to set the control lever of the vehicle lights to an automatic mode or an on mode in advance so that the vehicle control device can control the vehicle lights.

Then, when the target object is not detected, it may not be necessary to consider whether the vehicle lights affect the line of sight of the target object. Therefore, the vehicle control device can directly control the vehicle lamp to illuminate in a manner of high beam irradiation. If the target object is detected, the second lane where the target object is located and the first lane are adjacent lanes, and the direction of the second lane is opposite to that of the first lane, a corresponding vehicle lamp control instruction can be generated according to a preset neural network model. The vehicle lamp control instruction is used for indicating a target LED lamp bead in the vehicle lamp to irradiate, and the irradiation height is a target height. Therefore, when the vehicle lamp is turned on according to the lighting mode corresponding to the vehicle lamp control command, the target area which does not influence the realization of the target object can be illuminated. For example, the area between the front safety of the target object and the ground is determined as the target area.

Similarly, when it is determined that at least one lane is separated between the first lane and the second lane, and the direction of the first lane is opposite to that of the second lane, the vehicle control device may generate a corresponding vehicle light control command according to a preset neural network model. At this time, the vehicle lamp control instruction is also used for instructing a target LED lamp bead in the vehicle lamp to irradiate, and the irradiation height is the target height. Thus, when the vehicle lamp is turned on according to the lighting mode corresponding to the vehicle lamp control command, the target area which does not affect the realization of the target object can be illuminated. In the scene, the target area is a vehicle front area which takes a target lane line closest to the first lane as a boundary in lane lines of the second lane.

And when it is determined that the first lane and the second lane are the same lane, the vehicle control device may generate the lamp control command, and at this time, the corresponding target area is an area between the rear safety device of the target object and the ground.

And, each sensor device may also acquire a lamp lighting pattern and a relative distance to the target object when the target object is traveling in the second lane. And then, when the first lane and the second lane are different lanes, the direction of the first lane is opposite to that of the second lane, the relative distance is smaller than a preset distance threshold value, and the lighting mode of the lamp of the target object is high beam lighting, generating a lamp control instruction. At this time, the lamp control command is used to instruct the lamp to illuminate the target area in a manner of alternate high and low beam illumination. Also, in this scenario, the target area may not need to be particularly limited.

It should be added that the vehicle control device can also collect the driving state information of the vehicle, such as whether the vehicle lamp is turned on, the vehicle speed and the gear of the vehicle, and the like. And then, when the vehicle lamp is not started, the vehicle speed is lower than a preset value, or the gear is in the parking gear, controlling the vehicle lamp to stop lighting, and not limiting.

Referring to fig. 8, fig. 8 is a block diagram of a vehicle control device according to an embodiment of the present disclosure. The vehicle control apparatus in the present embodiment includes modules for executing the steps in the embodiment corresponding to fig. 3. Please refer to fig. 3 and the related description of the embodiment corresponding to fig. 3. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 8, the vehicle control apparatus 800 may include: a first obtaining module 810, a first determining module 820, and a first control module 830, wherein:

the first obtaining module 810 is configured to, if it is detected that a target object exists in a target view range of a vehicle, obtain information of a first lane in which the vehicle is located and information of a second lane in which the target object is located.

A first determining module 820, configured to determine a target area to be illuminated by a lamp of the vehicle based on the first lane information and the second lane information; the target area is an area that does not affect the line of sight of the target object.

The first control module 830 is used for controlling the vehicle lamp to illuminate the target area.

In an embodiment, the information of the first lane includes a position and a direction of the first lane, and the information of the second lane includes a position and a direction of the second lane; the first obtaining module 810 is further configured to:

acquiring the position information of the vehicle acquired by a positioning module; determining the position and the direction of a first lane based on the position information and a preset map; acquiring a relative distance between a vehicle and a target object, which is acquired by a distance sensor on the vehicle; and determining the position and the direction of the second lane based on the relative distance and a preset map.

In one embodiment, the target object is a vehicle; the first determination module 820 is further configured to:

if it is determined that the first lane and the second lane are the same lane based on the position of the first lane and the position of the second lane, a region between a rear bumper of the target object and the ground is determined as a target region.

In one embodiment, the target object is a vehicle; the first determination module 820 is further configured to:

and if the first lane and the second lane are determined to be adjacent lanes according to the position of the first lane and the position of the second lane, and the direction of the first lane is opposite to that of the second lane, determining the area between the front safety device of the target object and the ground as a target area.

In one embodiment, the target object is a vehicle; the first determining module 820 is further configured to:

if at least one lane is determined to be arranged between the first lane and the second lane according to the position of the first lane and the position of the second lane, and the direction of the first lane is opposite to that of the second lane, determining a target lane line closest to the first lane from lane lines of the second lane; the area in front of the vehicle with the target lane line as a boundary is determined as a target area.

In one embodiment, the target object is a vehicle; the vehicle control device 800 further includes:

and the second acquisition module is used for acquiring a car light illumination mode when the target object runs in a second lane.

And the second determining module is used for controlling the vehicle lamp to illuminate the target area in an illumination mode of alternating high beam and low beam illumination when the relative distance is smaller than a preset distance threshold and the illumination mode of the vehicle lamp of the target object is high beam illumination if the first lane and the second lane are determined to be different lanes based on the position of the first lane and the position of the second lane and the direction of the first lane is opposite to that of the second lane.

In one embodiment, the vehicle control device 800 further includes:

and the second control module is used for controlling the vehicle lamp to illuminate in a high beam illumination mode if the target object is detected not to exist in the target view field.

In one embodiment, the vehicle control device 800 further includes:

the third acquisition module is used for acquiring the running state information of the vehicle; the running state information includes a vehicle speed and a shift position.

And the third control module is used for controlling the vehicle lamp to stop lighting if the vehicle speed is lower than a preset value or the gear is in a parking gear.

It should be understood that, in the structural block diagram of the vehicle control device shown in fig. 8, each module is used to execute each step in the embodiment corresponding to fig. 3, and each step in the embodiment corresponding to fig. 3 has been explained in detail in the foregoing embodiment, and specific reference is made to fig. 3 and the related description in the embodiment corresponding to fig. 3, which are not repeated herein.

Fig. 9 is a block diagram of a vehicle according to an embodiment of the present application. As shown in fig. 9, the vehicle 900 of this embodiment includes: a processor 910, a memory 920 and a computer program 930, such as a program for a vehicle control method, stored in the memory 920 and executable on the processor 910. The steps in each embodiment of the vehicle control method described above, such as S301 to S303 shown in fig. 3, are implemented when the processor 910 executes the computer program 930. Alternatively, the processor 910, when executing the computer program 930, implements the functions of the modules in the embodiment corresponding to fig. 8, for example, the functions of the modules 810 to 830 shown in fig. 8, please refer to the related description in the embodiment corresponding to fig. 8.

For example, the computer program 930 may be divided into one or more modules, and the one or more modules are stored in the memory 920 and executed by the processor 910 to implement the vehicle control method provided by the embodiment of the present application. One or more of the modules may be a series of computer program instruction segments capable of performing specific functions that are descriptive of the execution of the computer program 930 in the vehicle 900. For example, the computer program 930 may implement the vehicle control method provided by the embodiment of the present application.

The vehicle 900 may include, but is not limited to, a processor 910, a memory 920. Those skilled in the art will appreciate that fig. 9 is merely an example of a vehicle 900 and is not intended to be limiting of vehicle 900 and may include more or fewer components than those shown, or some components in combination, or different components, e.g., the vehicle may also include input-output devices, network access devices, buses, etc.

The processor 910 may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 920 may be an internal storage unit of the vehicle 900, such as a hard disk or a memory of the vehicle 900. The memory 920 may also be an external storage device of the vehicle 900, such as a plug-in hard disk, a smart card, a flash memory card, etc. provided on the vehicle 900. Further, the memory 920 may also include both internal and external storage units of the vehicle 900.

Embodiments of the present application provide a computer-readable storage medium, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the vehicle control method in the above embodiments is implemented.

The embodiments of the present application provide a computer program product, which, when running on a vehicle, causes the vehicle to execute the vehicle control method in the above-described embodiments.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A vehicle control method, characterized by comprising:

if a target object is detected to exist in a target view range of a vehicle, acquiring information of a first lane where the vehicle is located and information of a second lane where the target object is located;

determining a target area to be illuminated by a lamp of the vehicle based on the information of the first lane and the information of the second lane; the target area is an area which does not influence the sight line of the target object;

and controlling the vehicle lamp to illuminate the target area.

2. The method of claim 1, wherein the information of the first lane comprises a position and a direction of the first lane and the information of the second lane comprises a position and a direction of the second lane; the acquiring information of a first lane in which the vehicle is located and information of a second lane in which the target object is located includes:

acquiring the position information of the vehicle acquired by a positioning module;

determining the position and the direction of the first lane based on the position information and a preset map;

acquiring a relative distance between the vehicle and the target object;

and determining the position and the direction of the second lane based on the relative distance and the preset map.

3. The method of claim 2, wherein the target object is a vehicle; the determining a target area to be illuminated by a lamp of the vehicle based on the information of the first lane and the information of the second lane includes:

and if the first lane and the second lane are determined to be the same lane based on the position of the first lane and the position of the second lane, determining an area between a rear safety device of the target object and the ground as the target area.

4. The method of claim 2, wherein the target object is a vehicle; the determining a target area to be illuminated by a lamp of the vehicle based on the information of the first lane and the information of the second lane includes:

if the direction of the first lane is opposite to that of the second lane, determining a lane distribution result between the first lane and the second lane according to the position of the first lane and the position of the second lane;

and determining a target area to be illuminated by the lamp of the vehicle according to the lane distribution result.

5. The method according to claim 4, wherein the determining a target area to be illuminated by a lamp of the vehicle according to the lane distribution result comprises:

and if the lane distribution result shows that the first lane and the second lane are adjacent lanes, determining an area between a front safety device of the target object and the ground as the target area.

6. The method of claim 4, wherein determining a target area to be illuminated by a lamp of the vehicle according to the lane distribution result comprises:

if the lane distribution result is that at least one lane is spaced between the first lane and the second lane, determining a target lane line closest to the first lane from lane lines of the second lane;

determining a region in front of the vehicle with the target lane line as a boundary as the target region.

7. The method of claim 2, wherein the target object is a vehicle; the method further comprises the following steps:

acquiring a car light illumination mode of the target object when the target object runs in the second lane;

if the first lane and the second lane are determined to be different lanes based on the position of the first lane and the position of the second lane, and the direction of the first lane is opposite to that of the second lane, when the relative distance is smaller than a preset distance threshold value and the lighting mode of the lamp of the target object is high beam lighting, the lamp is controlled to light the target area in a high beam and low beam alternating lighting mode.

8. The method according to any one of claims 1-7, further comprising:

acquiring running state information of the vehicle; the driving state information comprises a vehicle speed and a gear;

and if the vehicle speed is lower than a preset value or the gear is in a parking gear, controlling the vehicle lamp to stop lighting.

9. A vehicle control apparatus, characterized by comprising:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring information of a first lane where a vehicle is located and information of a second lane where a target object is located if the target object is detected to exist in a target view range of the vehicle;

a first determining module, configured to determine a target area to be illuminated by a lamp of the vehicle based on the first lane information and the second lane information; the target area is an area which does not affect the sight line of the target object;

and the first control module is used for controlling the vehicle lamp to illuminate the target area.

10. A vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any one of claims 1 to 8 when executing the computer program.

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