CN115402190B - High beam control method, device and computer readable storage medium - Google Patents

High beam control method, device and computer readable storage medium Download PDF

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Publication number
CN115402190B
CN115402190B CN202211342067.4A CN202211342067A CN115402190B CN 115402190 B CN115402190 B CN 115402190B CN 202211342067 A CN202211342067 A CN 202211342067A CN 115402190 B CN115402190 B CN 115402190B
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high beam
target vehicle
target
vehicle
point
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CN115402190A (en
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陈薪宇
罗逍
郑震
赵德芳
马欢
谢泽宇
陈伟轩
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FAW Group Corp
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FAW Group Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/112—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/114—Vehicle acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/31—Atmospheric conditions
    • B60Q2300/314—Ambient light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions

Abstract

The invention relates to the technical field of driving safety, and discloses a high beam control method, a high beam control device and a computer readable storage medium. Wherein, the method comprises the following steps: acquiring running data of a target vehicle and environmental data in a target road section where the target vehicle is located based on V2X communication between the target vehicle and a target communication device in the target road section; determining a target high beam pattern of the target vehicle based on the driving data and the environment data under the condition that the ambient light brightness in the environment data is lower than a first preset brightness threshold; and adjusting the high beam of the target vehicle based on the target high beam mode. The invention solves the technical problem that the control of the high beam is not flexible and accurate under the condition of insufficient light of driving environment.

Description

High beam control method, device and computer readable storage medium
Technical Field
The invention relates to the field of driving safety and comfort, in particular to a high beam control method, a high beam control device and a computer readable storage medium.
Background
In the related art, a camera, a radar and the like are generally adopted to sense the driving environment around the vehicle, but the sensing result in the mode is not accurate enough, false detection and false omission are easy to occur, and the high beam cannot be flexibly and accurately controlled according to the sensing result of the surrounding driving environment.
Therefore, in the related art, there is a technical problem that the control of the high beam is not flexible and accurate enough under the condition of insufficient light of the driving environment.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a high beam control method, a high beam control device and a computer readable storage medium, which at least solve the technical problem that the control of a high beam is not flexible and accurate under the condition of insufficient light of a driving environment.
According to an aspect of an embodiment of the present invention, there is provided a high beam control method including: acquiring running data of a target vehicle and environmental data in a target road section where the target vehicle is located based on V2X communication between the target vehicle and a target communication device in the target road section; determining a target high beam pattern of the target vehicle based on the driving data and the environment data under the condition that the ambient light brightness in the environment data is lower than a first preset brightness threshold; and adjusting the high beam of the target vehicle based on the target high beam mode.
Optionally, determining the target high beam pattern of the target vehicle based on the driving data and the environment data comprises: the travel data includes: the first traveling speed of the target vehicle, the first traveling direction of the target vehicle, the current high beam pattern of the target vehicle, and the environmental data include: detecting whether a current high beam mode of the target vehicle is in a manual high beam mode in a case where a second traveling speed of a neighboring vehicle, a second traveling direction of the neighboring vehicle, within a predetermined range of the target vehicle; detecting whether the first driving direction is the same as the second driving direction and whether the first driving speed is greater than the second driving speed under the condition that the detection result is that the current high beam mode of the target vehicle is in other high beam modes except the manual high beam mode; and determining that the target high beam mode of the target vehicle is the high beam overtaking mode under the conditions that the detection result shows that the first driving direction is the same as the second driving direction and the first driving speed is greater than the second driving speed.
Optionally, determining the target high beam pattern of the target vehicle based on the driving data and the environment data comprises: the travel data includes: under the condition of the current high beam mode of the target vehicle, detecting whether the current high beam mode of the target vehicle is in a manual high beam mode; detecting whether the ambient light brightness is lower than a second preset brightness threshold value or not under the condition that the detection result is that the current high beam mode of the target vehicle is in other high beam modes except the manual high beam mode; determining that the adjacent vehicle in the preset range of the target vehicle does not start the vehicle lamp under the condition that the detection result is that the ambient light brightness is lower than a second preset brightness threshold value; and determining the target high beam mode of the target vehicle as a mode for reminding the adjacent vehicle to turn on the lamp.
Optionally, the method further includes: in the case where V2X communication is established between the neighboring vehicle and the target communication device, the voice guidance information transmitted from the target vehicle to the neighboring vehicle is forwarded to the neighboring vehicle by the target communication device.
Optionally, based on the target high beam mode, adjusting the high beam of the target vehicle, including: detecting whether an obstacle exists in a preset distance range of a target vehicle based on environmental data under the condition that a target high beam mode is a self-adaptive high beam mode; determining the position coordinates of the obstacle corresponding to the light distribution screen of the high beam of the target vehicle based on the size of the obstacle in the environment data and the relative position information of the obstacle and the target vehicle under the condition that the detection result is that the obstacle exists in the preset distance range of the target vehicle and the position of the obstacle changes; determining a target high beam lamp bead region of a target vehicle based on the position coordinates of the light distribution screen; and adjusting the lamp bead of the high beam of the target vehicle based on the target high beam lamp bead region.
Optionally, the target high beam pattern comprises at least one of: the system comprises a high beam default mode, a manual high beam mode, a self-adaptive high beam mode, a high beam overtaking mode and a mode for reminding an adjacent vehicle to start a vehicle lamp.
Optionally, the driving data comprises at least one of: the running speed of the target vehicle, the running acceleration of the target vehicle, and the running direction of the target vehicle; the environmental data includes at least one of: ambient light brightness, lane information corresponding to a target road segment, a traveling speed of a neighboring vehicle within a predetermined distance range of the target vehicle, a traveling acceleration of the neighboring vehicle, a traveling direction of the neighboring vehicle, a traveling speed of a neighboring pedestrian within the predetermined distance range of the target vehicle, a traveling direction of the neighboring pedestrian, and traffic sign information.
According to another aspect of the embodiments of the present invention, there is also provided a high beam control apparatus, including: the acquisition module is used for acquiring the driving data of the target vehicle and the environmental data in the target road section where the target vehicle is located based on V2X communication between the target vehicle and the target communication equipment in the target road section; the determining module is used for determining a target high beam mode of the target vehicle on the basis of the driving data and the environment data under the condition that the environment light brightness in the environment data is lower than a first preset brightness threshold; and the adjusting module is used for adjusting the high beam of the target vehicle based on the target high beam mode.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored program, wherein when the program runs, the apparatus where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned high beam control methods.
According to another aspect of the embodiments of the present invention, there is also provided a computer device, including: a memory and a processor, the memory storing a computer program; a processor for executing a computer program stored in the memory, the computer program, when executed, causing the processor to perform any of the above-described high beam control methods.
In the embodiment of the invention, the V2X communication technology is adopted by the target communication equipment in the target vehicle and the target road section, various driving environment data acquired from the target road section can be transmitted to the target vehicle by utilizing the V2X technology, the target vehicle can firstly detect the brightness of the environment light in the environment data based on the environment data, if the brightness of the environment light is lower than a first preset brightness threshold value, the light in the driving environment is considered to be insufficient for the target vehicle, the high beam needs to be turned on, and after the high beam is turned on, the specific mode of the high beam of the target vehicle can be continuously controlled according to the received environment data, so that the technical effect of determining the corresponding high beam mode according to the driving environment of the target vehicle is realized, and the technical problem that the control of the high beam is not flexible and accurate under the condition of insufficient light of the driving environment is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flowchart of a high beam control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a V2X information interaction in accordance with an alternative embodiment of the present invention;
FIG. 3 is a schematic flow chart diagram according to an alternative embodiment of the present invention;
FIG. 4 is a schematic diagram of obstacle mapping according to an alternative embodiment of the present invention;
FIG. 5 is a diagram of a multiple overlapping target obstacle mapping concept in accordance with an alternative embodiment of the present invention;
fig. 6 is a block diagram of the configuration of a high beam control device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Description of the terms
Vehicle to X (V2X for short) is intended to mean Vehicle to evolution, i.e. information exchange between a Vehicle and the outside. The Internet of vehicles establishes a new automobile technology development direction by integrating a Global Positioning System (GPS) navigation technology, an automobile-to-automobile communication technology, a wireless communication technology and a remote sensing technology, and realizes the compatibility of manual driving and automatic driving.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a flowchart of a high beam control method according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, acquiring running data of a target vehicle and environment data in a target road section where the target vehicle is located based on V2X communication between the target vehicle and a target communication device in the target road section;
step S104, determining a target high beam mode of the target vehicle based on the driving data and the environment data under the condition that the ambient light brightness in the environment data is lower than a first preset brightness threshold;
and step S106, adjusting the high beam of the target vehicle based on the target high beam mode.
Through the steps, the V2X communication technology is adopted by the target vehicle and the target communication equipment in the target road section, various driving environment data acquired from the target road section can be sent to the target vehicle by utilizing the V2X technology, the target vehicle can firstly detect the environment light brightness in the environment data based on the environment data, if the environment light brightness is lower than a first preset brightness threshold value, it is considered that the light in the driving environment is insufficient for the target vehicle, the high beam needs to be started, and after the high beam is started, the specific mode of the high beam of the target vehicle can be continuously controlled according to the received environment data, so that the technical effect of determining the corresponding high beam mode according to the driving environment of the target vehicle is achieved, and the technical problem that the control of the high beam is not flexible and accurate under the condition that the light of the driving environment is insufficient is solved.
As an alternative embodiment, determining the target high beam pattern of the target vehicle based on the driving data and the environment data includes: the travel data includes: the first traveling speed of the target vehicle, the first traveling direction of the target vehicle, the current high beam pattern of the target vehicle, and the environmental data include: detecting whether a current high beam mode of the target vehicle is in a manual high beam mode in a case where a second traveling speed of a neighboring vehicle, a second traveling direction of the neighboring vehicle, within a predetermined range of the target vehicle; detecting whether the first driving direction is the same as the second driving direction and whether the first driving speed is greater than the second driving speed under the condition that the detection result is that the current high beam mode of the target vehicle is in other high beam modes except the manual high beam mode; and determining that the target high beam mode of the target vehicle is the high beam overtaking mode under the conditions that the detection result shows that the first driving direction is the same as the second driving direction and the first driving speed is greater than the second driving speed. When the driving directions of the target vehicle and the adjacent vehicle are the same, and the driving speed of the target vehicle is greater than that of the adjacent vehicle, the target vehicle needs to overtake due to the consideration of driving safety, and in order to ensure that the target vehicle cannot collide or scratch between the two vehicles in the overtaking process, a prompt can be sent to the adjacent vehicle through a high beam lamp bundle in a high beam overtaking mode. Meanwhile, the high beam overtaking mode automatically realizes mode judgment and mode switching according to the environment data received in real time, so that the high beam of the target vehicle can be switched to a required mode in time, and great convenience and safety guarantee are provided for a user during driving.
As an alternative embodiment, determining the target high beam pattern of the target vehicle based on the driving data and the environment data includes: the travel data includes: under the condition of the current high beam mode of the target vehicle, detecting whether the current high beam mode of the target vehicle is in a manual high beam mode; detecting whether the ambient light brightness is lower than a second preset brightness threshold value or not under the condition that the detection result is that the current high beam mode of the target vehicle is in other high beam modes except the manual high beam mode; determining that the adjacent vehicle in the preset range of the target vehicle does not start the vehicle lamp under the condition that the detection result is that the ambient light brightness is lower than a second preset brightness threshold value; and determining that the target high beam mode of the target vehicle is a mode for reminding the adjacent vehicle to start the lamp. The target vehicle judges that insufficient light exists in the driving environment of the current target road section through the environment data and turns on the high beam, and the judgment on the environment data can be continued, for example, it can be judged that an adjacent vehicle exists in a preset range of the target vehicle and the light brightness of the adjacent vehicle is lower than a second preset brightness threshold value, namely, the problem of insufficient light exists around the adjacent vehicle, the adjacent vehicle can be considered not to turn on the lamp in time, and then the high beam mode of the target vehicle can be switched to a mode of reminding the adjacent vehicle to turn on the lamp, so that the problem of driving safety caused by the fact that the adjacent vehicle does not turn on the lamp can be avoided.
It should be noted that, when the high beam mode is switched to the high beam overtaking mode or the adjacent vehicle is reminded to start the vehicle lamp mode, as long as the current high beam mode of the target vehicle is not the manual high beam mode, the automatic switching of the high beam mode can be realized, so that the vehicle lamp control operation of the driver is reduced while the high beam control effect is optimized. In addition, in the target high beam mode, the priority of the manual high beam mode is set to be the highest priority, that is, no matter what high beam mode the current target vehicle is in, the high beam mode can be switched to the manual high beam mode through a manual operation mode by the driver, and before the driver stops the manual operation, other modes cannot be automatically switched, and after the driver terminates the manual high beam mode, the high beam mode of the target vehicle can automatically return to the previous high beam mode or enter the high beam default mode.
As an optional embodiment, the method further includes: in the case where V2X communication is established between the neighboring vehicle and the target communication device, the voice guidance information transmitted from the target vehicle to the neighboring vehicle is forwarded to the neighboring vehicle by the target communication device. Under the condition that V2X communication is established between the adjacent vehicle and the target communication device of the target road section, the target communication device of the target road section can be used as a communication medium to realize communication between the target vehicle and the adjacent vehicle, and under the condition that the target vehicle recognizes that the target vehicle needs to overtake or the adjacent vehicle does not turn on the lamp in time based on the environment data, the target communication device of the target road section can be used for correspondingly reminding the adjacent vehicle, for example, "the rear vehicle is about to overtake and pay attention to driving safety", "the current driving environment light condition is poor and please turn on the lamp in time", and the like, so that the driver of the adjacent vehicle can be reminded in a more direct manner under the condition that the driver of the adjacent vehicle does not pay attention to the information transmitted by the target vehicle through the lamp. In addition, the voice prompt can be sent by adopting an intelligent voice assistant when the prompt is sent to the adjacent vehicle.
As an alternative embodiment, adjusting the high beam of the target vehicle based on the target high beam mode includes: detecting whether an obstacle exists in a preset distance range of a target vehicle based on environmental data under the condition that the target high beam mode is the self-adaptive high beam mode; determining the position coordinates of the obstacle corresponding to the light distribution screen of the high beam of the target vehicle based on the size of the obstacle in the environment data and the relative position information of the obstacle and the target vehicle under the condition that the detection result is that the obstacle exists in the preset distance range of the target vehicle and the position of the obstacle changes; determining a target high beam lamp bead region of a target vehicle based on the position coordinates of the light distribution screen; and adjusting the lamp bead of the high beam of the target vehicle based on the target high beam lamp bead region. When a target vehicle is in a self-adaptive high beam mode, the lamp beads of the high beam of the target vehicle can be adjusted according to the detection result of the obstacle of the target vehicle in a preset range, so that the problem that the dazzling phenomenon or the visual blind area and the like are caused when the high beam directly irradiates on the obstacle is avoided, the safety of a driver in the driving process is prevented from being influenced, wherein the obstacle can be a vehicle, a pedestrian and the like near the target vehicle.
As an alternative embodiment, the target high beam pattern comprises at least one of: the system comprises a high beam default mode, a manual high beam mode, a self-adaptive high beam mode, a high beam overtaking mode and a mode for reminding an adjacent vehicle to start a lamp.
As an alternative embodiment, the driving data comprises at least one of: the running speed of the target vehicle, the running acceleration of the target vehicle, and the running direction of the target vehicle; the environmental data includes at least one of: ambient light brightness, lane information corresponding to a target road segment, a traveling speed of a neighboring vehicle within a predetermined distance range of the target vehicle, a traveling acceleration of the neighboring vehicle, a traveling direction of the neighboring vehicle, a traveling speed of a neighboring pedestrian within the predetermined distance range of the target vehicle, a traveling direction of the neighboring pedestrian, and traffic sign information.
Based on the above embodiments and alternative embodiments, the present invention provides an alternative implementation, which is described below.
In the related art, a control strategy for an intelligent high beam generally controls the high beam based on information provided by vehicle-mounted sensors such as a camera and a radar, but in the case of night, the method often cannot obtain a correct sensing result simply by means of the camera, and pedestrian and traffic sign information and target information machine traffic sign information shielded by an obstacle are easily ignored.
In view of the above problems, an alternative embodiment of the present invention provides an adaptive high beam system based on V2X (Vehicle to X) technology, and the novel intelligent high beam control strategy jointly decides the beam distribution range of a high beam according to the lane information provided by the V2X technology, the speed, acceleration, driving direction and relative position information of the host Vehicle and the target Vehicle, and the speed and heading information of a pedestrian, and fig. 2 is a V2X information interaction diagram according to the alternative embodiment of the present invention.
According to the information provided by the V2X technology, the optional embodiment of the present invention selects different control strategies to ensure that the high beam and low beam states are automatically adjusted to achieve the purpose of anti-glare control, so as to reduce the incidence of safety accidents, fig. 3 is a schematic flow diagram according to the optional embodiment of the present invention, and as shown in fig. 3, the method includes the following steps:
(1) When the vehicle runs to a road section (namely a target road section) provided with the V2X technology, the vehicle is automatically linked to the communication infrastructure and receives and sends various information under the road section in real time, and the central processing unit of the vehicle (namely the target vehicle) takes information of the target vehicle, pedestrians, traffic signs, obstacles, roads and the like as an interface input and outputs the vehicle state to the communication infrastructure to construct a complete communication link.
(2) The V2X technology can judge whether the light is sufficient in the daytime or at night and the ambient light or not according to the photosensitive sensor, if the light is insufficient in the night and the ambient light, the communication infrastructure can send a night signal to the vehicle, the vehicle can send a high beam request enabling signal after receiving the signal, the central processing unit can display 'request user to turn on intelligent high beam system' on the human-computer interaction interface after receiving the enabling signal, and inquire whether the user selects to turn on the function according to the self requirement through the intelligent voice assistant, and if the function needs to be turned on, the user only needs to answer 'yes' or turn on an intelligent high beam soft switch in the human-computer interaction interface.
(3) The intelligent high beam system comprises at least five lighting modes: the system comprises a high beam default mode, a manual high beam mode, a self-adaptive high beam mode, a high beam overtaking mode and a light mode for reminding a front vehicle to start, wherein the first three modes respond to an operation instruction of a driver, and the last two modes are adjudicated according to information provided by a V2X technology, wherein the priority of the manual high beam mode is highest.
The high beam illumination mode switching strategy is as follows: when the intelligent voice assistant prompts the user whether to start the intelligent high beam system, if the user answers yes, the self-adaptive high beam system is started; if the user answers "no" then the high beam default mode is turned on; if the user does not respond for a long time, the high beam default mode is also started; when the driver intervenes manually, the other modes except the manual high beam mode are all quitted; when the driving direction of a front vehicle (namely an adjacent vehicle) within a certain distance given by a V2X technology is received to be the same as that of the vehicle, the vehicle speed of the vehicle is greater than that of the front vehicle for a certain threshold value and the threshold value is kept for a certain period of time, a high beam overtaking mode is automatically started, and the opposite side vehicle is informed to prepare overtaking by an opposite side intelligent voice assistant, wherein the relative distance threshold value, the relative speed threshold value and the time threshold value are all predefined values; when the front vehicle forgets to turn on the light at night, the vehicle can automatically turn on a front vehicle reminding mode, and meanwhile, the intelligent voice assistant can inform the other side. And the vehicle central processing unit controls the vehicle to switch among the plurality of high beam illumination modes according to the driver operation information, the light module information and the vehicle state information.
(4) When a user selects an adaptive high beam system, the V2X technique will deliver the parameters required by the system to the host vehicle, which includes: lane information, host and lead vehicle speeds, acceleration, direction of travel, pedestrian travel direction and speed, traffic sign information, and the like.
When a target vehicle, a pedestrian or an obstacle appears in front of the vehicle and the position of the obstacle changes, in order to accurately detect and calculate the area to be shielded and combine the mapping principle, the position coordinate of the current obstacle mapped to the light distribution screen is determined, and then the area of the LED lamp beads to be turned off is calculated through the position coordinate on the light distribution screen, fig. 4 is an obstacle mapping principle diagram according to an alternative embodiment of the invention, as shown in fig. 4, the position of the obstacle on the light distribution screen (such as a black shadow part in fig. 4) can be calculated through the coordinate, and the calculation formula is as follows:
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calculated by the above formula
Figure 531762DEST_PATH_IMAGE002
And &>
Figure 235276DEST_PATH_IMAGE003
The subtraction of the two values is the shadow position of the obstacle on the screen. Wherein: l and H respectively correspond to the length and the width of the target vehicle, points A, B and C respectively correspond to the nearest point, the farthest point and the center point of the target vehicle, and the coordinate of the point A is (X) 1 ，Y 1 ) The coordinate of the point B is (X) 2 ，Y 2 ) And the coordinates of the point C are (X, Y) and respectively correspond to the angles of the points A, B and C from the light-emitting point of the high beam.
(5) When more than two obstacles exist in the visual field range of the vehicle, if the obstacles do not overlap, the calculation mode refers to (4), if the obstacles overlap, the calculation needs to be carried out according to a new calculation mode, fig. 5 is a mapping schematic diagram of a plurality of overlapped target obstacles according to an optional embodiment of the invention, as shown in fig. 5, the obstacle identification strategy in fig. 5 is to combine two obstacles into one obstacle, a dotted line frame is the result of combining the two obstacles, and the calculation is carried out according to the mapping principle in the diagram
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And &>
Figure 800567DEST_PATH_IMAGE003
Is based on the value of (1), the coordinate of the point C is->
Figure 179595DEST_PATH_IMAGE004
And the coordinate of the point C2 is->
Figure 511351DEST_PATH_IMAGE005
The new calculation formula is as follows:
Figure 1238DEST_PATH_IMAGE006
(6) And (5) calculating the shadow position on the light distribution screen according to the steps (4) and (5), and extinguishing the LED lamp bead corresponding to the high beam irradiation position, while keeping the LED lamp bead in the non-shadow corresponding position on the light distribution screen in the lighting state.
(7) The adaptive high beam control strategy is comprehensively judged according to vehicle or pedestrian movement information provided by the V2X technology, if a target vehicle is in a static state or is about to stop in a parking space, or the walking direction of a pedestrian is consistent with the driving direction of the vehicle, the adaptive high beam of the vehicle does not carry out strategy adjustment on the target, and if not, the adaptive high beam control strategy is adjusted.
Similarly, when the obstacle is a pedestrian, the high beam control strategy is consistent with the above processes (1) to (7), and all information is provided by the V2X technology as a judgment basis.
In summary, the optional embodiment of the present invention provides an adaptive high beam system based on V2X technology, which utilizes the lane information, the speed, acceleration, driving direction and relative position information of the vehicle and the target vehicle, and the speed and heading information of the pedestrian provided by the technology to jointly decide the beam distribution range of the high beam. The system at least comprises 5 modes: the system comprises a high beam default mode, a manual high beam mode, a self-adaptive high beam mode, a high beam overtaking mode and a light mode for reminding a front vehicle to start. When the user selects the self-adaptive high beam mode, the mode calculates that the barrier is mapped to a shadow area on the light distribution screen and adjusts the on and off of the LED lamp beads according to the shadow area. The optional embodiment of the invention combines the barrier movement situation provided by the V2X technology, if the barrier is a vehicle and the vehicle is about to enter a parking area or a stationary vehicle, the high beam state is kept unchanged; if the obstacle is a pedestrian and the vehicle run in the same direction, the high beam state is kept unchanged, and otherwise, the high beam is adjusted in a self-adaptive manner.
According to an embodiment of the present invention, there is also provided a high beam control apparatus, and fig. 6 is a block diagram of a structure of the high beam control apparatus according to the embodiment of the present invention, as shown in fig. 6, the apparatus includes: an acquisition module 61, a determination module 62 and an adjustment module 63, which are explained below.
An acquisition module 61 configured to acquire driving data of a target vehicle and environmental data in a target road segment where the target vehicle is located, based on V2X communication between the target vehicle and a target communication device in the target road segment; a determining module 62, connected to the acquiring module 61, for determining a target high beam pattern of the target vehicle based on the driving data and the environment data when the brightness of the environment light in the environment data is lower than a first predetermined brightness threshold; and an adjusting module 63, connected to the determining module 62, for adjusting the high beam of the target vehicle based on the target high beam mode.
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, where the program, when executed, controls an apparatus in which the computer-readable storage medium is located to execute any one of the above-mentioned high beam control methods.
According to an embodiment of the present invention, there is also provided a computer apparatus including: a memory and a processor, the memory storing a computer program; a processor for executing a computer program stored in the memory, the computer program when running causing the processor to perform any of the above-described high beam control methods.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described in detail in a certain embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is substantially or partly contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (8)

1. A high beam control method, characterized by comprising:
acquiring running data of a target vehicle and environmental data in a target road section where the target vehicle is located based on V2X communication between the target vehicle and a target communication device in the target road section;
determining a target high beam pattern of the target vehicle based on the driving data and the environment data when the ambient light brightness in the environment data is lower than a first predetermined brightness threshold;
adjusting a high beam of the target vehicle based on the target high beam mode;
wherein the travel data includes: a running speed of the target vehicle, a running acceleration of the target vehicle, a running direction of the target vehicle;
wherein, based on the target high beam pattern, adjusting the high beam of the target vehicle includes:
detecting whether an obstacle exists in a preset distance range of the target vehicle based on the environment data under the condition that the target high beam mode is the self-adaptive high beam mode;
determining the position coordinates of the obstacle corresponding to a light distribution screen of a high beam of the target vehicle based on the size of the obstacle and the relative position information of the obstacle and the target vehicle in the environment data under the condition that the detection result shows that the obstacle exists in the preset distance range of the target vehicle and the position of the obstacle changes;
determining a target high beam lamp bead region of the target vehicle based on the position coordinates of the light distribution screen;
adjusting the lamp bead of the high beam of the target vehicle based on the target high beam lamp bead region;
wherein the determining of the position coordinates of the obstacle corresponding to the light distribution screen of the high beam of the target vehicle based on the size of the obstacle and the relative position information of the obstacle and the target vehicle in the environment data includes:
when the obstacle appears in front of the target vehicle and the position of the obstacle changes, determining the position coordinate of the current obstacle mapped to the light distribution screen by combining a mapping principle, establishing a coordinate system by taking a high beam light emitting point as an original point, calculating an area of the LED lamp beads required to be closed by the position coordinate on the light distribution screen, determining an obstacle area based on the length and the width of the obstacle, and calculating the position of the obstacle area on the light distribution screen by the coordinate according to an obstacle mapping principle diagram, wherein the calculation formula is as follows:
Figure FDA0004057550600000011
Figure FDA0004057550600000012
Figure FDA0004057550600000021
Z＝Y 4 -Y 3
wherein: l and H respectively correspond to the length and the width of the barrier, a point A is a point of the barrier region, which is closest to the high-beam light-emitting point on an X axis and farthest to the high-beam light-emitting point on a Y axis, the coordinate of the point A is (X1, Y1), a point B is a point of the barrier region, which is farthest to the high-beam light-emitting point on the X axis and closest to the high-beam light-emitting point on the Y axis, the coordinate of the point B is (X2, Y2), the point C is a central point of the barrier region, the coordinate of the point C is (X, Y), gamma, alpha and beta respectively correspond to the angles of the points A, B and C from the high-beam light-emitting point, and the point Z is the shadow position of the barrier on the light distribution screen;
when more than two obstacles exist in the visual field range of the target vehicle and the obstacles have overlapped parts, establishing a coordinate system by taking a high beam light-emitting point as an origin according to a plurality of overlapped obstacle mapping principle graphs, determining obstacle areas based on the length and the width of the obstacles, merging the obstacle areas of the plurality of obstacles to obtain a merging result of the obstacle areas of the obstacles, and determining the position of the obstacles on the light distribution screen in the following mode:
Figure FDA0004057550600000022
Figure FDA0004057550600000023
Z＝Y 4 -Y 3
wherein, L1, H1 correspond length and width of first barrier respectively, and L2, H2 correspond length and width of second barrier respectively, and A point is the regional amalgamation result of barrier is on the X axle apart from the far-reaching headlamp luminous point is nearest and on the Y axle apart from the point that the far-reaching headlamp luminous point is farthest, and the coordinate of A point is (X1, Y1), and B point is the regional amalgamation result of barrier is on the X axle apart from the far-reaching headlamp luminous point is farthest and on the Y axle apart from the nearest point of far-reaching headlamp luminous point, and the coordinate of B point is (X2, Y2), and C1 point is the regional central point of barrier of first barrier, and C1 point coordinate is (C2) 1 X，C 1 Y), C2 is the central point of the barrier area of the second barrier, and the coordinate of the point C2 is (C) 2 X，C 2 Y), gamma and alpha respectively correspond to the angles between the points A and B and the light-emitting point of the high beam, and Z is the shadow position of the barrier merging result on the light distribution screen.
2. The method of claim 1, wherein said determining a target high beam pattern of said target vehicle based on said driving data and said environmental data comprises:
the travel data includes: the first travel speed of the target vehicle, the first travel direction of the target vehicle, the current high beam pattern of the target vehicle, and the environmental data include: detecting whether a current high beam mode of the target vehicle is in a manual high beam mode in a case where a second traveling speed of a neighboring vehicle within a predetermined range of the target vehicle, a second traveling direction of the neighboring vehicle;
detecting whether the first driving direction is the same as the second driving direction and whether the first driving speed is greater than the second driving speed when the detection result is that the current high beam mode of the target vehicle is in other high beam modes except the manual high beam mode;
and determining that the target high beam mode of the target vehicle is the high beam overtaking mode under the condition that the detection result shows that the first driving direction is the same as the second driving direction and the first driving speed is greater than the second driving speed.
3. The method of claim 1, wherein said determining a target high beam pattern of said target vehicle based on said driving data and said environmental data comprises:
the travel data includes: under the condition of the current high beam mode of the target vehicle, detecting whether the current high beam mode of the target vehicle is in a manual high beam mode;
detecting whether the ambient light brightness is lower than a second preset brightness threshold value or not under the condition that the detection result is that the current high beam mode of the target vehicle is in other high beam modes except the manual high beam mode;
determining that the neighboring vehicles within the predetermined range of the target vehicle do not turn on the lamps if the detection result is that the ambient light brightness is lower than the second predetermined brightness threshold;
and determining that the target high beam mode of the target vehicle is a mode for reminding an adjacent vehicle to start a lamp.
4. A method as claimed in claim 2 or 3, characterized in that the method further comprises:
forwarding, by the target communication device to the neighboring vehicle, a voice guidance message sent by the target vehicle to the neighboring vehicle if V2X communication is established between the neighboring vehicle and the target communication device.
5. The method according to claim 1, wherein the target high beam pattern comprises at least one of:
the system comprises a high beam default mode, a manual high beam mode, a self-adaptive high beam mode, a high beam overtaking mode and a mode for reminding an adjacent vehicle to start a vehicle lamp.
6. The method of claim 1,
the environmental data includes at least one of: ambient light brightness, lane information corresponding to the target road segment, a traveling speed of a neighboring vehicle within a predetermined distance range of the target vehicle, a traveling acceleration of the neighboring vehicle, a traveling direction of the neighboring vehicle, a traveling speed of a neighboring pedestrian within a predetermined distance range of the target vehicle, a traveling direction of the neighboring pedestrian, and traffic sign information.
7. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the high beam control method according to any one of claims 1 to 6.
8. A computer device, comprising: a memory and a processor, wherein the processor is capable of,
the memory stores a computer program;
the processor configured to execute a computer program stored in the memory, the computer program, when executed, causing the processor to perform the high beam control method of any one of claims 1 to 6.
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