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

Abstract

The embodiment of the present application is applicable to the field of vehicle technology, and provides a vehicle control method, device, and vehicle, the method including: if it is detected that there is a target object within the target field of view of the vehicle, acquiring information about the first lane where the vehicle is located and Information of the second lane where the target object is located; based on the information of the first lane and the information of the second lane, determine the target area to be illuminated by the vehicle's lights; the target area is an area that does not affect the sight of the target object; control the lights Illuminates the target area. The above method can not only meet the vehicle's requirement for lighting the road ahead, but also not affect the sight of the target object, thereby improving the driving safety.

Description

Vehicle control method, device and vehicle

technical field

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

Background technique

When the vehicle is driving at night, in heavy fog or raining, it is usually necessary to turn on the lights for illumination to ensure driving safety. Car lights are usually divided into high beam and low beam. The low beam has a short irradiation distance and a wide irradiation range; the high beam has a long irradiation range, but the light of the high beam is more concentrated and the irradiation range is relatively narrow.

At present, car light control mainly relies on the manual control of the car owner. For example, when the car is driving in a scene with blurred vision, the car owner can independently judge whether to turn on the high beam or low beam. However, the switching of the high beam and the low beam of the vehicle is usually determined according to the personal usage habits of the car owner. When vehicles intersect or there are pedestrians ahead, if the owner does not switch the high beam to low beam, it will affect the sight of the owner of the opposite vehicle or the sight of pedestrians, which will easily cause traffic accidents. It can be seen that the existing car light control method is greatly influenced by the subjective factors of the car owner, and it is easy to cause traffic accidents when the car owner improperly controls the car lights.

Contents of the invention

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

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

If it is detected that there is a target object within the target field of view 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;

Based on the information of the first lane and the information of the second lane, determine the target area to be illuminated by the headlights of the vehicle; the target area is an area that does not affect the line of sight of the target object;

Control the lights to illuminate the target area.

In a second aspect, an embodiment of the present application provides a vehicle control device, which includes:

The first acquisition module is used to acquire the information of the first lane where the vehicle is located and the information of the second lane where the target object is located if it is detected that there is a target object within the target field of view of the vehicle;

The first determination module is used to determine the target area to be illuminated by the vehicle lights 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 is used to control the vehicle light to illuminate the target area.

In a third aspect, an embodiment of the present application provides a vehicle, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the method in the first aspect above is implemented.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method in the first aspect above is implemented.

In the fifth aspect, the embodiment of the present application provides a computer program product, which causes the vehicle to execute the method of the above-mentioned first aspect when the computer program product is run on the vehicle.

Compared with the prior art, the embodiment of the present application has the beneficial effect that: when a target object is detected within the target field of view of the vehicle, by acquiring the information of the first lane where the vehicle is located and the information of the second lane where the target object is located , based on the first lane information and the second lane information, determine a target area to be illuminated by the vehicle lights, and control the vehicle lights to illuminate the target area. Since the target area determined based on the information of the first lane and the information of the second lane will not affect the sight of the target object, after controlling the lights to illuminate the target area, it can meet the lighting requirements of the vehicle on the road ahead, It will not affect the line of sight of the target object, thereby improving driving safety.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

FIG. 1 is a schematic diagram of an application scenario in which a vehicle turns on lights when driving at night in the prior art;

Fig. 2 is a schematic diagram of an application scenario in the prior art where a vehicle turns on the high beam and affects the sight of the owner of the opposite vehicle;

Fig. 3 is an implementation flowchart of a vehicle control method provided by an embodiment of the present application;

Fig. 4 is a schematic diagram of an application scenario in which an image acquisition device on a vehicle collects environmental information around the vehicle in 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 detects environmental information around the vehicle provided in an embodiment of the present application;

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

Fig. 7 is an implementation flow chart of a vehicle control method provided by another embodiment of the present application;

Fig. 8 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present application;

Fig. 9 is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

Detailed ways

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand 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 without 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 should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of features, wholes, steps, operations, elements, components and/or collections thereof.

In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third" and so on are only used to distinguish descriptions, and should not be understood as indicating or implying relative importance.

At present, when a vehicle is driving at night, in foggy or rainy conditions with blurred vision, it is usually necessary to turn on the headlights for illumination to ensure driving safety. For example, referring to FIG. 1 , FIG. 1 is a schematic diagram of an application scenario in which a vehicle turns on lights when driving at night in the prior art. Among them, car lights are usually divided into high beam and low beam. The low beam has a short irradiation distance and a wide irradiation range; the high beam has a long irradiation distance, but the light of the high beam is more concentrated and the irradiation range is relatively narrow.

Specifically, the vehicle light may be a headlight composed of a light emitting diode (Light Emitting Diode, LED) matrix. Wherein, the vehicle light may include any one of the vehicle's headlights, position marker lights, rear lights and fog lights. In this embodiment, the vehicle control method is specifically used to control the headlights of the vehicle.

Usually, the car light control mainly relies on the manual control of the car owner. For example, when the car is driving in a scene with blurred vision, the car owner can independently judge whether to turn on the high beam or the low beam. Among them, the switching of the high beam and low beam of the vehicle is usually determined according to the personal usage habits of the car owner. However, referring to FIG. 2, FIG. 2 is a schematic diagram of an application scenario in the prior art where a vehicle turns on the high beam and affects the sight of the owner of the oncoming vehicle. It is not conducive to the safe driving of the car owner. If the car owner does not switch the high beam to the low beam, it will affect the sight of the car owner of the opposite vehicle or the sight of pedestrians, which will easily cause traffic accidents.

Based on this, in order to enable the vehicle to intelligently and reasonably control the lights to illuminate the road ahead, and avoid affecting the sight of the owner of the oncoming vehicle or the sight of pedestrians when illuminating the road ahead, the embodiment of the present application provides a vehicle control system. The method can be applied to a vehicle control device in a vehicle. Exemplarily, the vehicle control device may be a body controller (Body Control Module, BCM) in the vehicle. BCM controls the electrical equipment of the body through the Controller Area Network (CAN). For example, control the various lights, wipers and door locks of the vehicle.

Please refer to FIG. 3. FIG. 3 shows an implementation flow chart of a vehicle control method provided by an embodiment of the present application. The method includes the following steps:

S301. If it is detected that there is a target object within the target field of view of the vehicle, acquire information about a first lane where the vehicle is located and information about a second lane where the target object is located.

In an embodiment, the above-mentioned target field of view is the range perceived by each sensor device installed on the vehicle. Wherein, the sensor device includes, but is not limited to, an image acquisition device and a lidar sensing device, which is not limited thereto. For example, refer to FIG. 4 , which is a schematic diagram of an application scenario in which an image acquisition device on a vehicle collects environmental information around the vehicle in an embodiment of the present application. Wherein, the image acquisition device may be a camera for image acquisition of environmental information around the vehicle. The lidar sensing device can emit lidar signals to the surroundings to detect the surrounding environment information. Referring to FIG. 5 , FIG. 5 is a schematic diagram of an application scenario in which a lidar sensing device on a vehicle detects environmental information around the vehicle provided in an embodiment of the present application. Wherein, the target field of view corresponding to each vehicle may be the same or different, which is not limited.

In an embodiment, the aforementioned target objects include but are not limited to vehicles and pedestrians, which are not limited thereto. When a target object appears within the target field of view, it is necessary to choose the illumination mode of the vehicle light reasonably to avoid affecting the sight of the target object.

In an embodiment, the above-mentioned information of the first lane includes but not limited to various information such as lane line, direction, and lane length of the first lane, which is not limited thereto. Correspondingly, the above-mentioned information of the second lane is relatively similar to the information of the first lane. The difference is that when the target object is a pedestrian, the lane it walks on may be a road for pedestrians, which is usually not suitable for driving vehicles. Therefore, the lane type contained in the information of the second lane may also be different from the lane type contained in the information of the first lane. In this embodiment, specific information about the first lane and information about 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 the configured high-definition map module and positioning module. Specifically, the vehicle control device can obtain the position information of the vehicle collected by the positioning module; determine the position and direction of the first lane based on the position information and a preset map; obtain the relative distance between the vehicle and the target object; Preset the map to determine the position and direction of the second lane.

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

In an embodiment, the above-mentioned preset map may be stored in a high-definition map module or a navigation system in the vehicle control device. Wherein, the preset map usually consists 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. Among them, road elements include but are not limited to elements such as road boundary, lane left boundary, lane right boundary, lane centerline, lane speed limit, lane topology, lane line type, lane direction, lane turning type, and lane length. The intersection elements include, but are not limited to, elements such as intersection boundaries and virtual lanes in intersections. Traffic signal elements include, but are not limited to, elements such as traffic lights and other road signage. Logical relationship elements can be expressed as logical relationship between map elements. Other road elements include but are not limited to: elements such as crosswalks, no parking areas, stop lines, road arrows, road text, guardrails, street lights, gantry frames, buildings, and speed bumps.

Based on the above description, information corresponding to each lane should be pre-recorded in the preset map. Therefore, the vehicle control device can determine the position and direction of the first lane based on the position information and the preset map.

Wherein, the relative distance may be obtained through collection by a ranging sensor on the vehicle. After that, according to the relative distance and the preset map, the second lane where the target object is located, and the position and direction of the second lane are determined.

In another embodiment, the vehicle control device may also determine the second lane where the target object is located according to the various sensor perception devices described above, and determine the position and direction of the second lane. For example, the target object may be photographed by an image acquisition device, and then recognition processing may be performed based on the photographed image to determine the position and direction of the second lane where the target object is located. In this embodiment, there is no limitation on the way of acquiring the information of the first lane where the vehicle is located and the information of the second lane where the target object is located.

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

In an embodiment, the above-mentioned target area is an area that does not affect the realization of the target object. It should be noted that when the target object is a vehicle, what it does not affect is the line of sight of the vehicle owner driving the target object.

In an embodiment, the target object may be in the same lane as the vehicle, or in an adjacent lane, or be separated from the first lane by at least one lane, and other scenarios. For example, refer to FIG. 6 , which is a schematic diagram of an application scenario in which a vehicle and a target object are in the same lane or in an adjacent lane provided in an embodiment of the present application. However, for each scene, the target area corresponding to the line of sight of the target object is usually different. Based on this, it is necessary to specifically determine the corresponding target area for each scene.

Specifically, the target object is used as a vehicle for illustration. For the first scenario in the same lane, because the vehicle is behind the target object, if the vehicle directly turns on the high beam for illumination, the illumination distance of the light is long, and the The rearview mirror of the target object is irradiated, which affects the sight of the car owner driving the target object to observe the situation of the rear vehicle.

Based on this, when the vehicle control device 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 area between the rear safety device of the target object and the ground can be determined as the target area .

Wherein, the rear safety device may be a rear bumper of the vehicle, and the rear safety device may be identified from the captured image after the target object is photographed by the image acquisition device of the vehicle. Wherein, the vehicle control device may determine the area between the road in the forward direction of the vehicle (the ground in the forward direction of the vehicle) and the rear safety device of the target object as the target area.

In another embodiment, the aforementioned target area may also be an area between the ground and the rear wheel of the target object. It should be noted that, for this scene, since the owner of the driving target object mainly observes the situation of the rear vehicle through the exterior rearview mirror, the above target area does not include the area where the exterior rearview mirror is located.

In addition, when the target object is a vehicle, when the rear windshield is illuminated by strong light at night, glare may also be generated, which in turn affects the sight of the vehicle owner driving the target object. Therefore, the target area usually does not include the area where the rear windshield is located.

Based on this, when the first lane and the second lane are in the same lane, the area between the rear safety device of the target object and the ground is determined as the target area, which can not only satisfy the normal driving of the vehicle owner, but also avoid affecting the target. Object of the owner's line of sight.

In another embodiment, the target object is described as a vehicle. For a scene in which the direction of the first lane is opposite to that of the second lane in different lanes, the first lane and the second lane may be adjacent lanes. It is also possible to have two scenarios separated by at least one lane. Based on this, for different scenarios, if the direction of the first lane is opposite to the direction of the second lane, the vehicle control device can first determine the distance between the first lane and the second lane according to the position of the first lane and the position of the second lane. The result of the lane distribution; after that, determine the target area to be illuminated by the headlights of the vehicle according to the result of the lane distribution.

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

Specifically, for the 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 device may place the distance between the front safety device of the target object and the ground The area identified as the target area.

It can be understood that, when the vehicle and the target object are in adjacent lanes and are traveling in the opposite direction, the vehicle and the target object are traveling in the opposite direction. Therefore, if the vehicle controls the headlights to be illuminated in the way of high beam irradiation, then because the light irradiation range is far away, it will be irradiated to the front windshield of the target object, which will affect the sight of the car owner driving the target object. Based on this, the vehicle can be illuminated by low beam illumination.

However, if only low beams are used for illumination, the front windshield of the target object may still be irradiated due to the wide irradiation range. Based on this, when 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, only the area between the front safety device of the target object and the ground can be determined as the target area , which can not only satisfy the normal driving of the vehicle owner, but also avoid affecting the sight of the vehicle owner of the target object.

What needs to be added is 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 illuminated in the first scene. The target area is the same. That is, only the area between the rear safety device of the target object and the ground is determined as the target area.

In another embodiment, for the third scenario where there is at least one lane 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 device can start from the second lane Determining the target lane line closest to the first lane among the lane lines; then, determining the front area of the vehicle with the target lane line as the target area.

In an embodiment, for the above third scenario, since the target object and the vehicle are separated by at least one lane, the width of the lane is usually wider. When the target object is driving in the second lane, it usually does not affect the vehicle driving in the first lane. Therefore, the vehicle usually only needs to illuminate the first lane and the adjacent lanes.

However, in order to further ensure the driving safety of the vehicle, the vehicle control device may use the target lane line closest to the first lane in the second vehicle light as a boundary, and control the vehicle light to illuminate to the boundary. At this time, the corresponding irradiated area when it is illuminated to the boundary is determined as the target area.

It should be noted that when the target object is a pedestrian and the face of the pedestrian faces the vehicle, the target area should be bounded by the eyes of the pedestrian. That is to control the lights to illuminate the area below the eyes of pedestrians.

S303. Control the vehicle lights to illuminate the target area.

In one embodiment, the vehicle lights described above are matrix LED headlights. Usually, this headlight is composed of multiple LED light groups. In the prior art, usually several LED lamp beads of a certain group in the LED headlight are classified as low beam lights, and several LED lamp beads of another group are classified as high beam lamps. However, matrix LED headlights can further refine the control of each LED bead.

Exemplarily, multiple lighting partitions can be set up on the matrix LED headlights, and the LED lamp beads in each lighting partition can be turned on, off, and brightness adjusted under the control of the vehicle control device, so as to realize the automatic turning on of the headlights , Turn off, switch and adjust the lighting height and other functions.

Based on the above description, after the target area is determined, if it is necessary to control the LED headlights to illuminate the target area, it is also necessary to generate a corresponding car light control command, which includes turning on, off and illuminating the corresponding LED lamp beads. Instructions for adjusting brightness height. Among them, the light control instruction can be generated by the neural network model after feature learning.

Specifically, the vehicle control device can input various information sensed by each sensor device and the target area into the neural network model, and then obtain corresponding vehicle light control instructions. Wherein, various kinds of information may be the information of the first lane described above, the information of the second lane, the front safety device or the rear safety device of the target object, etc., which are not limited thereto.

Wherein, what needs to be added is that, when a target object is detected within the target field of view of the vehicle, the vehicle usually illuminates the target area by way of low beam illumination. It can be understood that if the target area is illuminated in the way of high beam illumination, it may also illuminate the area that affects 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 within the target field of view, it can be considered that the illumination mode of the vehicle lights will 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 illumination of the high beam in the vehicle lamp to illuminate, so as to improve the visibility of the road ahead of the vehicle.

In this embodiment, when it is detected that there is a target object within the target field of vision 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, based on the information of the first lane and the second lane information, determine the target area to be illuminated by the headlights of the vehicle, and control the light to illuminate the target area. Since the target area determined based on the information of the first lane and the information of the second lane will not affect the sight of the target object, after controlling the lights to illuminate the target area, it can meet the lighting requirements of the vehicle on the road ahead, It will not affect the line of sight of the target object, thereby improving driving safety.

In another embodiment, the above-mentioned embodiments all illustrate the manner of illuminating the target area corresponding to each scene when the sight of the vehicle owner is affected by the lights not turned on by the target object. However, the vehicle lights turned on at the target object affect the sight line of the vehicle owner, whose vehicle should be illuminated in a different way.

Specifically, the vehicle control device may first acquire the illumination mode of the vehicle lights of the target object when driving in the second lane. Afterwards, if it is determined based on the position of the first lane and the position of the second lane that the first lane and the second lane are different lanes, and the direction of the first lane is opposite to the direction of the second lane, then when the relative distance is less than the preset distance threshold , and when the lighting mode of the vehicle lights of the target object is high beam illumination, control the vehicle lights to illuminate the target area in the lighting mode of alternating high and low beams.

In an embodiment, the above preset distance threshold may be set according to actual conditions, which is not limited thereto. Usually, the measuring range of the ranging sensor on the vehicle is 500m, therefore, the preset distance threshold is usually less than 500m. Exemplarily, the above 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 target object’s car lights is high beam illumination, it can be considered that the lights of the target object turned on will be harmful to the owner of the vehicle. make an impact. Based on this, the vehicle control device can illuminate the target area by alternately illuminating the far and low beams, so as to remind the vehicle owner of the target object.

Wherein, it should be noted that when the light is illuminated in a manner of alternating far and near light, the irradiation distance is long. Therefore, in this scenario, the target area may be all areas in front of the vehicle. That is, in this scenario, no special restrictions may be imposed on the target area.

However, in order to ensure driving safety and avoid affecting the sight of the target object, the target area can still be the area between the front safety device of the target object and the ground. That is, the target area is the same as the target area in the above-mentioned second scenario.

In another embodiment, because the vehicle may still be in a parked state, that is, the vehicle is not driving, based on this, the vehicle control device may control the vehicle lights to stop illuminating. That is, the control lights are turned off. Specifically, the vehicle control device can acquire the driving state information of the vehicle, for example, acquire the vehicle speed and gear position of the vehicle. Afterwards, when the vehicle speed is lower than the preset value, or the gear is in the parking gear, the lights of the vehicle are controlled to stop illuminating. Wherein, the preset value may be set in advance according to the actual situation, for example, the preset value may be 0, which is not limited.

As a preferred embodiment, refer to FIG. 7 , which is an implementation flowchart of a vehicle control method provided in another embodiment of the present application. in. The vehicle includes a vehicle control device, specifically a vehicle body controller. The vehicle also includes multiple devices such as various sensor devices, high-precision map modules, and positioning modules. Wherein, each sensor device may be used to collect target objects existing within the target field of view, and obtain information about the target objects. For example, the image containing the target object, or when the target object is a vehicle, the illumination manner of the vehicle light of the target object is not limited to this. The positioning module is used to determine the current position information of the vehicle, combined with the corresponding preset map in the high-precision map module, to determine the first lane where the vehicle is located, and whether there is a second lane adjacent to the first lane. Wherein, 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 is not necessary to consider whether the headlights will affect the line of sight of the target object. Therefore, the vehicle control device can directly control the vehicle lights to illuminate in the manner of high beam illumination. If the target object is detected, and the second lane where the target object is located is adjacent to the first lane, and the direction of the second lane is opposite to the direction of the first lane, then the corresponding vehicle can be generated according to the preset neural network model. Light control commands. Wherein, the vehicle light control instruction is used to instruct the target LED light bead in the vehicle light to perform illumination, and the illumination height is the target height. In this way, when the vehicle lights are turned on according to the lighting mode corresponding to the vehicle light control command, the target area that does not affect the realization of the target object can be illuminated. For example, the area between the front safety device of the target object and the ground is determined as the target area.

Similarly, when it is determined that there is at least one lane 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 device can generate corresponding headlights according to a preset neural network model. Control instruction. At this time, the vehicle light control instruction is also used to instruct the target LED light bead in the vehicle light to perform illumination, and the illumination height is the target height. In this way, when the vehicle lights are turned on according to the lighting mode corresponding to the vehicle light control command, the target area that does not affect the realization of the target object can be illuminated. In this scenario, the target area is the area in front of the vehicle bounded by the target lane line determined to be closest to the first lane among the 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 also generate the above-mentioned vehicle light control command. At this time, the corresponding target area is the area between the rear safety device of the target object and the ground.

In addition, each sensor device can also acquire the illumination mode of the vehicle lights of the target object and the relative distance to the target object when driving in the second lane. After that, the first lane and the second lane are different lanes, and the direction of the first lane is opposite to the direction of the second lane, and the relative distance is less than the preset distance threshold, and the lighting mode of the target object is high beam illumination When , a lamp control command is generated. At this time, the vehicle light control instruction is used to instruct the vehicle light to illuminate the target area in a manner of alternately illuminating high and low beams. Moreover, in this scenario, the target area may not need to be specially limited.

What needs to be added is that the vehicle control device can also collect the driving status information of the vehicle, for example, whether the lights of the vehicle are turned on, the vehicle speed and gear position and other information. Afterwards, when the vehicle light is not turned on, the vehicle speed is lower than a preset value, or the gear is in the parking gear, the vehicle light is controlled to stop illuminating, which is not limited.

Please refer to FIG. 8 . FIG. 8 is a structural block diagram of a vehicle control device provided by an embodiment of the present application. The modules included in the vehicle control device in this embodiment are used to execute the steps in the embodiment corresponding to FIG. 3 . For details, please refer to FIG. 3 and related descriptions in the embodiment corresponding to FIG. 3 . For ease of description, only the parts related to this embodiment are shown. Referring to FIG. 8, the vehicle control device 800 may include: a first acquisition module 810, a first determination module 820, and a first control module 830, wherein:

The first acquiring module 810 is configured to acquire the information of the first lane where the vehicle is located and the information of the second lane where the target object is located if it is detected that there is a target object within the target field of view of the vehicle.

The first determining module 820 is configured to determine a target area to be illuminated by the headlights 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 to control the vehicle light to illuminate the target area.

In one embodiment, the information of the first lane includes the position and direction of the first lane, and the information of the second lane includes the position and direction of the second lane; the first obtaining module 810 is also used for:

Obtain the position information of the vehicle collected by the positioning module; determine the position and direction of the first lane based on the position information and the preset map; obtain the relative distance between the vehicle and the target object collected by the distance sensor on the vehicle; based on the relative distance and preset maps to determine the location and direction of the second lane.

In one embodiment, the target object is a vehicle; the first determination module 820 is also used for:

If it is determined based on the position of the first lane and the position of the second lane that 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.

In one embodiment, the target object is a vehicle; the first determination module 820 is also used for:

If it is determined according to the position of the first lane and the second lane that 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, then the front safety device of the target object and the ground The area between is determined as the target area.

In one embodiment, the target object is a vehicle; the first determination module 820 is also used for:

If it is determined according to the position of the first lane and the position of the second lane that there is at least one lane between the first lane and the second lane, and the direction of the first lane is opposite to that of the second lane, then the lane line of the second lane Determine the target lane line closest to the first lane; determine the front area of the vehicle with the target lane line as the target area.

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

The second obtaining module is used to obtain the vehicle light illumination mode of the target object when driving in the second lane.

The second determination module is used to determine that the first lane and the second lane are 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 the direction of the second lane, then the relative distance When the distance is less than the preset distance threshold, and the lighting mode of the vehicle light of the target object is high beam illumination, the vehicle light is controlled to illuminate the target area in the lighting mode of alternating high and low beams.

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

The second control module is configured to control the lights of the vehicle to illuminate in the way of high beam illumination if it is detected that there is no target object within the target field of view.

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

The third obtaining module is used to obtain the driving state information of the vehicle; the driving state information includes vehicle speed and gear position.

The third control module is used to control the lights of the vehicle to stop lighting if the vehicle speed is lower than the preset value, or the gear is in the 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 implemented above For detailed explanation in the example, please refer to FIG. 3 and related descriptions in the embodiment corresponding to FIG. 3 for details, and details are not repeated here.

Fig. 9 is a structural block diagram of a vehicle provided by 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 stored in the memory 920 and executable on the processor 910 , such as a program of a vehicle control method. When the processor 910 executes the computer program 930 , the steps in the various embodiments of the above-mentioned vehicle control methods are implemented, such as S301 to S303 shown in FIG. 3 . Alternatively, when the processor 910 executes the computer program 930, it realizes the functions of the modules in the above embodiment corresponding to FIG. 8, for example, the functions of the modules 810 to 830 shown in FIG. describe.

Exemplarily, the computer program 930 can be divided into one or more modules, and 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 modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 930 in the vehicle 900 . For example, the computer program 930 can realize the vehicle control method provided by the embodiment of the present application.

Vehicle 900 may include, but is not limited to, processor 910 , memory 920 . Those skilled in the art can understand that FIG. 9 is only an example of a vehicle 900 and does not constitute a limitation to the vehicle 900. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as Vehicles may also include input and output devices, network access devices, buses, and the like.

The so-called processor 910 may be a central processing unit, or 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 devices, discrete hardware components Wait. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The memory 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 memory card, a flash memory card and the like equipped on the vehicle 900. Further, the memory 920 may also include both an internal storage unit of the vehicle 900 and an external storage device.

An embodiment of the present application provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the vehicle as in the above-mentioned embodiments is realized. Control Method.

An embodiment of the present application provides a computer program product, which enables the vehicle to execute the vehicle control method in each of the foregoing embodiments when the computer program product is run on the vehicle.

The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still apply to the foregoing embodiments Modifications to the technical solutions recorded, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the application, and should be included in this application. within the scope of protection.

Claims (10)

1. A vehicle control method, characterized in that the method comprises: If it is detected that there is a target object within the target field of view of the vehicle, then acquiring information about the first lane where the vehicle is located and information about a second lane where the target object is located; Based on the information of the first lane and the information of the second lane, determine a target area to be illuminated by the lights of the vehicle; the target area is an area that does not affect the line of sight of the target object; The vehicle light is controlled to illuminate the target area. 2. The method according to claim 1, wherein the information of the first lane comprises the position and direction of the first lane, and the information of the second lane comprises the position and direction of the second lane ; The acquisition of the information of the first lane where the vehicle is located and the information of the second lane where the target object is located includes: Obtaining the position information of the vehicle collected by the positioning module; determining the position and direction of the first lane based on the position information and a preset map; Acquiring the relative distance between the vehicle and the target object; Based on the relative distance and the preset map, determine the position and direction of the second lane. 3. The method according to claim 2, wherein the target object is a vehicle; and determining that the headlights of the vehicle are to be illuminated based on the information of the first lane and the information of the second lane Bright target areas, including: If it is determined based on the position of the first lane and the position of the second lane that the first lane and the second lane are the same lane, then determine the area between the rear safety device of the target object and the ground for the target area. 4. The method according to claim 2, wherein the target object is a vehicle; and determining that the headlights of the vehicle are to be illuminated based on the information of the first lane and the information of the second lane Bright target areas, including: If the direction of the first lane is opposite to the direction of the second lane, determine the distance between the first lane and the second lane according to the position of the first lane and the position of the second lane The lane distribution results of ; A target area to be illuminated by the headlight of the vehicle is determined according to the lane distribution result. 5. The method according to claim 4, wherein the determining the target area to be illuminated by the headlight of the vehicle according to the lane distribution result comprises: If the lane distribution result is that the first lane and the second lane are adjacent lanes, the area between the front safety device of the target object and the ground is determined as the target area. 6. The method according to claim 4, wherein the determining the target area to be illuminated by the headlight of the vehicle according to the lane distribution result comprises: If the lane distribution result is that there is at least one lane between the first lane and the second lane, then determining the target lane line closest to the first lane from the lane lines of the second lane; A region in front of the vehicle bounded by the target lane line is determined as the target region. 7. The method according to claim 2, wherein the target object is a vehicle; the method further comprises: Obtaining the illumination mode of the vehicle lights of the target object when driving in the second lane; If it is determined based on the position of the first lane and the position of the second lane that the first lane and the second lane are different lanes, and the direction of the first lane is opposite to the direction of the second lane , then when the relative distance is less than the preset distance threshold and the lighting mode of the vehicle light of the target object is high beam illumination, the vehicle light is controlled to illuminate the target area in the lighting mode of alternating high and low beams . 8. The method according to any one of claims 1-7, characterized in that the method further comprises: Acquiring the driving state information of the vehicle; the driving state information includes vehicle speed and gear position; If the vehicle speed is lower than a preset value, or the gear is in the parking gear, the vehicle light is controlled to stop illuminating. 9. A vehicle control device, characterized in that the device comprises: The first acquisition module is configured to acquire information about the first lane where the vehicle is located and information about the second lane where the target object is located if it is detected that there is a target object within the target field of view of the vehicle; A first determining module, configured to determine a target area to be illuminated by the headlight of the vehicle based on the first lane information and the second lane information; the target area is a target area that does not affect the sight of the target object area; The first control module is used to control the vehicle light to illuminate the target area. 10. A vehicle, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the computer program according to claim 1 is realized when the processor executes the computer program. to the method described in any one of 8.

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