CN117445793A - Control method and device of high beam, electronic equipment and readable storage medium - Google Patents

Abstract

The application relates to the technical field of automobiles, and provides a control method and device of a high beam, electronic equipment and a readable storage medium. The method comprises the following steps: obtaining obstacle information in a preset range of a first vehicle and vehicle information of a second vehicle, which are detected by a laser radar; determining a driving scene of a first vehicle according to the vehicle information; determining a road condition of the running direction of the first vehicle according to the obstacle information; determining target brightness and target irradiation angle of a high beam of the first vehicle according to at least one of a driving scene and road working conditions; and controlling the brightness of the high beam of the first vehicle to be adjusted to the target brightness, and controlling the irradiation angle of the high beam of the first vehicle to be adjusted to the target irradiation angle. The problem that the security is low in the in-process that uses the far-reaching headlamp among the prior art has been solved to this application.

Description

High beam control method, device, electronic equipment and readable storage medium

Technical field

The present application relates to the field of automotive technology, and in particular to a high beam control method, device, electronic equipment and readable storage medium.

Background technique

The car's high beam can expand the driver's field of vision and help the driver understand the situation around the vehicle when the lighting conditions are not good. However, the light of the high beam is strong and unreasonable use will increase safety risks. Therefore, the control of the high beam Very important.

At present, the existing intelligent high-beam control technology mainly relies on cameras or sensors to sense the lighting conditions around the vehicle. However, turning on the high-beam headlights at night may overly illuminate oncoming vehicles, causing the driver of the oncoming vehicle to feel dizzy. , increasing the possibility of vehicle collision and causing higher risk.

It can be seen that there is a problem of low safety in the use of high beam lights in the prior art.

Contents of the invention

In view of this, embodiments of the present application provide a method, device, electronic device, and readable storage medium for controlling a high-beam lamp to solve the problem of low safety in the use of high-beam lamps in the existing technology.

A first aspect of the embodiment of the present application provides a method for controlling a high beam, including:

Obtain the obstacle information within the preset range of the first vehicle detected by the lidar and the vehicle information of the second vehicle, where the vehicle information includes the travel status of the second vehicle, the driving direction of the second vehicle, and the first vehicle and the second vehicle. The distance information between the two, and the obstacle information is used to indicate whether there are obstacles in the horizontal direction of the road and the vertical direction of the road;

According to the vehicle information, the driving scene of the first vehicle is determined. The driving scene includes a scene of no driving vehicle on the road, a scene of an oncoming car in the opposite direction and a scene of a car in the same direction;

According to the obstacle information, determine the road conditions in the direction in which the first vehicle is traveling. The road conditions include straight road conditions, slope road conditions and turning conditions;

Determine the target brightness and target illumination angle of the high beam of the first vehicle according to at least one of the driving scene and the road condition;

The brightness of the high beam of the first vehicle is controlled to be adjusted to the target brightness, and the illumination angle of the high beam of the first vehicle is controlled to be adjusted to the target illumination angle.

A second aspect of the embodiment of the present application provides a control device for a high beam, including:

The acquisition module is used to acquire the obstacle information within the preset range of the first vehicle detected by the laser radar and the vehicle information of the second vehicle, where the vehicle information includes the travel status of the second vehicle, the driving direction of the second vehicle and the first vehicle information. The distance information between the vehicle and the second vehicle, and the obstacle information is used to indicate whether there are obstacles in the horizontal direction of the road and the vertical direction of the road;

The first determination module is used to determine the driving scene of the first vehicle based on the vehicle information. The driving scene includes a scene of no driving vehicle on the road, a scene of an oncoming car in the opposite direction and a scene of a car in the same direction;

The second determination module is used to determine the road conditions in the direction in which the first vehicle is traveling based on the obstacle information. The road conditions include straight road conditions, slope road conditions and turning conditions;

A third determination module, configured to determine the target brightness and target illumination angle of the high beam of the first vehicle based on at least one of the driving scene and road conditions;

The control module is used to control the brightness of the high beam of the first vehicle to be adjusted to the target brightness, and to control the illumination angle of the high beam of the first vehicle to be adjusted to the target illumination angle.

A third aspect of the embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

A fourth aspect of the embodiments of the present application provides a readable storage medium that stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

The beneficial effects of the embodiments of this application are:

By obtaining the obstacle information within the preset range of the first vehicle and the vehicle information of the second vehicle detected by the lidar, the driving scene of the first vehicle is determined based on the vehicle information, and the road in the direction in which the first vehicle is traveling is determined based on the obstacle information. Working conditions, according to at least one of the driving scene and the road working condition, determine the target brightness and target illumination angle of the high beam of the first vehicle, control the brightness of the high beam of the first vehicle to adjust to the target brightness, and control the first vehicle The illumination angle of the vehicle's high beam is adjusted to the target illumination angle; in this way, the brightness and illumination angle of the vehicle's high beam can be comprehensively adjusted and controlled based on factors such as the driving scene around the vehicle and road conditions, so that the vehicle's high beam can be During driving, corresponding adjustments can be made according to the surrounding vehicles and road conditions to reduce the probability of causing traffic hazards and improve the driver's safety factor, especially when the driver forgets to turn off the high beam, the vehicle's high beam Adjustment of the brightness and illumination angle of the lamp can help the driver see the surroundings of the vehicle clearly while reducing the impact on vehicles or pedestrians in front, improving driving safety and solving the problem of safety when using high beam lights in the existing technology. The problem of low sex.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the purpose of the present application. For some embodiments, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic flowchart of a high-beam control method provided by an embodiment of the present application;

Figure 2 is one of the schematic diagrams of the illumination angle of a high beam provided by an embodiment of the present application;

Figure 3 is a second schematic diagram of the illumination angle of a high beam provided by an embodiment of the present application;

Figure 4 is a schematic structural diagram of a high-beam control device provided by an embodiment of the present application;

FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures and technologies are provided to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those 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.

The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that data so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in orders other than those illustrated or described herein, and that "first", "second", etc. are distinguished objects It is usually one type, and the number of objects is not limited. For example, the first object can be one or multiple.

Furthermore, it should be noted that the terms "comprising," "comprising," or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes Other elements are not expressly listed or are inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "including..." does not exclude the presence of additional identical elements in the process, method, article, or device that includes the element.

A method and device for controlling a high beam lamp according to embodiments of the present application will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a schematic flowchart of a high-beam control method provided by an embodiment of the present application. The control method of the high beam in Figure 1 can be executed by the controller. As shown in Figure 1, the control method of the high beam includes:

S101. Obtain the obstacle information within the preset range of the first vehicle detected by the lidar and the vehicle information of the second vehicle.

The vehicle information includes the driving and stopping status of the second vehicle, the driving direction of the second vehicle, and the distance information between the first vehicle and the second vehicle. The obstacle information is used to indicate whether there are obstacles in the horizontal direction of the road and the vertical direction of the road.

The type of lidar can be mechanical lidar, all-solid-state lidar, semi-solid lidar, single-beam lidar, multi-line lidar, etc. This application does not specifically limit this. The viewing angle range of lidar varies depending on its type. The horizontal viewing angle can be 330°, 270°, etc., and the vertical viewing angle can be 40°, 45°, etc. This application does not specifically limit this.

Lidar can identify the shape, speed, distance, direction, etc. of objects, so it can obtain obstacle information within the preset range and the vehicle's stopping status, driving direction, and distance between the second vehicle and the first vehicle within the preset range. distance and other information.

The preset range may be a cylindrical range or a conical range with the first vehicle as the center and a radius of 200 meters, 250 meters or 300 meters. This application does not specifically limit this. For example, as an example, the preset range is a cone-shaped range with the first vehicle as the center and a radius of 200 meters. The controller will obtain the obstacle information within the 200-meter cone range in front of the first vehicle driven by the user and the second Vehicle information for the vehicle.

It should be noted that the obstacles within the preset range of the first vehicle include but are not limited to buildings, vehicles, pedestrians, roadbeds, etc.; vehicles include two-wheeled vehicles, three-wheeled vehicles, four-wheeled vehicles, multi-wheeled vehicles, etc., that is, all Motor vehicles and non-motor vehicles; specifically, obstacles in the horizontal direction of the road can include vehicles, pedestrians, etc. Whether there are obstacles in the vertical direction of the road can refer to whether there are obstacles in the height direction that are higher than the height of the vehicle. Objects can include buildings, traffic signs, long slopes, etc.

In addition, the second vehicle may be the vehicle with the shortest distance from the first vehicle among the vehicles detected within the preset range of the first vehicle, or it may be the vehicle within the preset range of the first vehicle that is farther away from the first vehicle than the preset distance. , this application does not specifically limit this.

The driving and stopping state of the second vehicle includes a stationary state and a driving state. The stationary state means that the speed of the second vehicle is 0, and the driving state means that the speed of the second vehicle is not 0. The driving direction includes the same and the driving direction of the first vehicle. Opposite the direction of travel of the first vehicle.

By obtaining the obstacle information within the preset range of the first vehicle detected by lidar and the vehicle information of the second vehicle, the driving conditions of other vehicles around the first vehicle can be learned through the vehicle information, and the driving conditions of other vehicles around the first vehicle can be learned through the obstacle information. Factors around the first vehicle that affect the driving of the first vehicle can be obtained, so that the current road conditions can be obtained, which provides a reference for subsequent determination of the brightness and illumination angle of the high beam.

S102: Determine the driving scene of the first vehicle based on the vehicle information. The driving scene includes a scene with no driving vehicle on the road, a scene with an oncoming car in the opposite direction, and a scene with a car in the same direction.

Driving scenes are differentiated scenes based on the driving conditions of surrounding vehicles while the vehicle is driving.

It should be noted that the scene of no moving vehicles on the road includes the situation where there is a second vehicle within the preset range of the first vehicle but the second vehicle is in a stationary state and the situation where there is no second vehicle within the preset range of the first vehicle.

The oncoming vehicle scenario is that there is a second vehicle within the preset range of the first vehicle, and the driving direction of the second vehicle is opposite to the traveling direction of the first vehicle; the same direction vehicle scenario is that there is a second vehicle within the preset range of the first vehicle , and the traveling direction of the second vehicle is the same as the traveling direction of the first vehicle.

Specifically, based on the driving and stopping status, driving direction, and distance of the second vehicle from the first vehicle in the vehicle information, it can be determined whether the second vehicle is driving, whether the driving direction is the same as the first vehicle, and the distance trend to the first vehicle. , thereby determining the driving scene of the first vehicle. For example, as an example, if there is a second vehicle within the preset range of the first vehicle, and the second vehicle is traveling in a driving direction opposite to the traveling direction of the first vehicle, then it is determined that the traveling direction of the first vehicle is the scene of oncoming vehicles. .

By determining the driving scene of the first vehicle as a scene with no moving vehicles on the road, a scene with a car coming from the opposite direction, or a scene with cars in the same direction based on the vehicle information, the judgment of the meeting situation is realized and provides a basis for the control of the high beam.

S103. Determine the road conditions in the direction in which the first vehicle is traveling based on the obstacle information. The road conditions include straight road conditions, slope road conditions and turning conditions.

Road conditions refer to the various road conditions that vehicles face while driving. Straight road conditions represent that the road in front of the vehicle is a straight road; slope conditions represent that the road in front of the vehicle is sloped; steering conditions represent that the vehicle in front needs to turn, for example Need to drive around obstacles.

Specifically, lidar can generate a three-dimensional image of the surrounding environment based on the obtained obstacle information and vehicle information. Based on this image, it can be judged that the road ahead of the vehicle is a slope, or that the road ahead is a straight road but is blocked by obstacles and needs to be turned. According to the situation, the steering direction of the vehicle is determined based on the recognition of road planning lines by laser radar.

It should be noted that when determining the steering direction of the vehicle, sensors, cameras, turn signals, etc. can also be used to specifically identify and determine the traffic lights and the road ahead. This application does not specifically limit this.

The road conditions in the direction in which the first vehicle is traveling are determined through the obstacle information, thereby realizing the judgment of the road conditions and providing a basis for controlling the high beam.

S104: Determine the target brightness and target illumination angle of the high beam of the first vehicle based on at least one of the driving scene and road conditions.

The target brightness is the adjusted brightness of the first vehicle's high beam determined based on the judgment of the driving scene or joint judgment of the driving scene and road conditions.

The target illumination angle is the adjusted illumination angle of the first vehicle's high beam determined based on the driving scene or a joint judgment based on the driving scene and road conditions.

The target brightness and target illumination angle of the high beam of the first vehicle are determined according to at least one of the driving scene and the road condition, thereby achieving the determination of the brightness and illumination angle of the high beam according to the actual driving scene, and the determined target brightness and The target illumination angle is adapted to the driving scene and road conditions, thereby avoiding a major impact on the vehicle ahead, improving the safety of night driving, and avoiding continuous strong illumination in scenes that do not require high-beam illumination. Reduced vehicle energy consumption.

S105. Control the brightness of the high beam of the first vehicle to adjust to the target brightness, and control the illumination angle of the high beam of the first vehicle to adjust to the target illumination angle.

For example, as an example, the initial brightness of the high beam of the first vehicle is 1500 lumens, and the initial illumination angle is parallel to the road surface. After analyzing the above steps, it is determined that the target brightness is 1400 lumens, and the target illumination angle is horizontal to the road surface. If the angle is 30°, the controller controls the brightness of the high beam of the first vehicle to be adjusted from 1500 lumens to 1400 lumens, and the illumination angle is adjusted from parallel to the road surface to an angle of 30° to the horizontal direction of the road surface.

It should be noted that in this embodiment, the initial state of the high beam may be that the high beam is on. This avoids the need to always calculate the target brightness and target illumination angle of the high beam when the high beam is not turned on, and reduces the first Vehicle energy consumption.

According to the technical solution provided by the embodiment of the present application, by obtaining the obstacle information within the preset range of the first vehicle detected by lidar and the vehicle information of the second vehicle, the driving scene of the first vehicle is determined based on the vehicle information, and the driving scene of the first vehicle is determined based on the obstacles. The information determines the road conditions in the direction in which the first vehicle is traveling, and determines the target brightness and target illumination angle of the high beam of the first vehicle based on at least one of the driving scene and the road condition, and finally controls the high beam of the first vehicle. The brightness of the lamp is adjusted to the target brightness, and the illumination angle of the high beam of the first vehicle is controlled to be adjusted to the target illumination angle, thereby realizing the scanning function based on lidar, combining the driving scene around the vehicle and the road conditions in the driving direction, and The brightness and angle of the vehicle's high beam are adjusted so that the adjusted target brightness and target illumination angle are adapted to the driving scene and road conditions in the driving direction, so that the vehicle can be used when encountering complex road conditions or the driver forgets to turn off the high beam. When the situation arises, it can perform intelligent adjustment control of the high beam, which not only helps the driver expand the field of vision, but also reduces the impact of the high beam on other vehicles or pedestrians in front of the vehicle, reducing the possibility of traffic accidents, thereby improving the safety of the vehicle. Safety, it solves the technical problem of low safety in the use of high beam lights in the existing technology.

In some embodiments, determining the driving scene of the first vehicle based on vehicle information includes:

If the driving state of the second vehicle is a stationary state, and it is detected that the distance trend between the first vehicle and the second vehicle is a shrinking trend based on the distance information, the driving scene is determined to be a scene with no driving vehicles on the road;

If the driving state of the second vehicle is the driving state and the driving direction of the second vehicle is toward the first vehicle, the driving scene is determined to be the scene of the oncoming vehicle;

If the driving state of the second vehicle is the driving state, and the traveling direction of the second vehicle is the same as the traveling direction of the first vehicle, the driving scene is determined to be a scene with vehicles in the same direction.

Specifically, the distance trend can be analyzed based on multiple detections of the distance between the first vehicle and the second vehicle by lidar, and can be at least one of a shrinking trend, an increasing trend, and a constant distance.

Toward the first vehicle means that the second vehicle is traveling in the opposite direction to the first vehicle. If the second vehicle is in a driving state and is facing the first vehicle, it can be determined that the second vehicle is the oncoming vehicle of the first vehicle, and the current driving scene is the oncoming vehicle scene.

Specifically, as an example, if the laser radar detects that the speed of the second vehicle 200 meters away from the first vehicle is 40 kilometers per hour and the traveling direction is the same as the traveling direction of the first vehicle, then the property status of the second vehicle is obtained. In the driving state, and the second vehicle and the first vehicle are traveling in the same direction, it is determined that the driving scene of the first vehicle is a car scene in the same direction.

According to the technical solution provided by the embodiment of the present application, the driving scene of the first vehicle is comprehensively judged based on the speed, driving direction, distance from the first vehicle, etc. of the second vehicle, thereby improving the accuracy of judgment of the driving scene and realizing It can accurately judge the meeting situation, thereby improving driving safety.

In some embodiments, determining the road conditions in the direction in which the first vehicle is traveling based on the obstacle information includes:

If the obstacle information indicates that there are obstacles in the horizontal direction of the road, the road working condition is determined to be the steering condition;

If the obstacle information indicates that there are obstacles in the vertical direction of the road, the road condition is determined to be a slope condition;

If the obstacle information indicates that there are no obstacles in the horizontal direction of the road and in the vertical direction of the road, the road condition is determined to be a straight road condition.

Specifically, taking the preset range in the above example as an example, based on the lidar acquisition, it is obtained that within a cone-shaped range with the first vehicle as the center and a radius of 200 meters, both the horizontal direction of the road and the vertical direction of the road in the direction of the first vehicle are different. If there is an obstacle, the road condition in the first vehicle's traveling direction is determined to be a straight road condition.

In addition, the obstacle information can be a generated obstacle image. When it is detected that there are pets, stones and other obstacles in the horizontal direction of the road in the driving direction of the first vehicle, the first vehicle needs to drive around the obstacles. At this time, the road can be considered The working condition is the steering condition. The generated obstacle image indicates that there is a slope in the vertical direction of the road. It can be considered that the road ahead is a slope, and the road condition can be considered to be a slope condition at this time.

Through the above embodiments, it is possible to determine the road conditions in the driving direction of the first vehicle based on the obstacle information, thereby providing a basis for determining the target brightness and target illumination angle of the first vehicle's high beam, thereby improving safety.

In some embodiments, determining the target brightness and target illumination angle of the high beam of the first vehicle according to at least one of the driving scene and road conditions includes:

When the driving scene is a scene with no moving vehicles on the road, then:

If the road condition is a straight road condition, determine the target illumination angle of the high beam to be parallel to the road surface, and determine the target brightness of the high beam to be the preset reference brightness;

If the road condition is a slope condition or a turning condition, the target illumination angle of the high beam is determined to be parallel to the road surface, and the target brightness of the high beam is determined to be the first preset brightness, where the first preset brightness is less than Default reference brightness.

Specifically, the preset reference brightness can be set according to the type of the first vehicle and the type of high beam, and serves as the reference brightness of this application. This application does not place specific restrictions on the value of the preset reference brightness. For example, as an example, the preset reference brightness may be 1500 lumens.

The first preset brightness may be one third or one quarter of the preset reference brightness, which is not specifically limited in this application. For example, taking the preset reference brightness in the above example, the first preset brightness may be 500 lumens.

The illumination angle is parallel to the road surface, that is, the high beam illuminates directly forward, which allows the driver to obtain sufficient vision. Under straight road conditions, it is determined that the target illumination angle of the high beam is parallel to the road surface, and the target brightness of the high beam is the preset reference brightness, which enables the vision of a long distance ahead to be obtained under straight road conditions. It also ensures sufficient brightness within the range illuminated by the high beam, allowing the driver to clearly see the scene within the range illuminated by the high beam.

In addition, under slope conditions or turning conditions, the target brightness is determined to be the first preset brightness that is smaller than the preset reference brightness, which reduces the impact on vehicles or pedestrians on the opposite side of the slope or at the turn.

According to the technical solution provided by the embodiment of the present application, the brightness and illumination angle of the high beam under different road conditions are respectively set, so that the preset reference brightness can be maintained under straight road conditions when there are no vehicles on the road, ensuring that driving The driver can obtain sufficient vision. Setting the first preset brightness under slope conditions or turning conditions can help the driver expand the field of vision while reducing the impact on vehicles or pedestrians on the opposite side of the slope or at the turn, improving security.

In some embodiments, the high beam includes a first high beam on the driver's side of the first vehicle and a second high beam on the passenger side of the first vehicle;

Determine the target brightness and target illumination angle of the first vehicle's high beam according to at least one of the driving scene and road conditions, including:

When the driving scene is a scene of an oncoming vehicle, it is determined that the target brightness of the first high beam and the second high beam is both the second preset brightness, and the target illumination angle of the first high beam is determined to be toward the road surface. And form a first preset angle with the horizontal direction of the road surface, determine the target illumination angle of the second high beam to be toward the right and form a second preset angle with the driving direction of the vehicle; wherein the second preset brightness is less than the preset reference brightness;

When the driving scene is a car scene in the same direction, the target brightness and target illumination angle of the first high beam and the second high beam are determined based on the distance information.

Specifically, the second preset brightness may be half of the preset reference brightness, which is not specifically limited in this application. For example, taking the preset reference brightness in the above example, the second preset brightness may be 750 lumens.

The first preset angle may be an acute angle such as 30° or 45°, which is not specifically limited in this application. The second preset angle may be an acute angle such as 45° or 60°, which is not specifically limited in this application. It should be noted that the first preset angle and the second preset angle may be the same or different.

It faces the road surface and forms a first preset angle with the road surface horizontally, that is, the high beam light rays downwardly face the road surface and intersect with the road surface to form an included angle. For example, as an example, as shown in Figure 2, Figure 2 is a side view of a vehicle, the transverse coordinate axis of Figure 2 represents the horizontal direction of the road surface, the longitudinal coordinate axis of Figure 2 represents the direction perpendicular to the horizontal direction of the road surface, and the high beam The light ray faces the road surface and forms an angle a1 with the horizontal direction of the road surface. When a1 is 30°, the high beam light ray faces the road surface and forms an angle 30° with the horizontal direction of the road surface.

Toward the right and forming a second preset angle with the driving direction of the vehicle, that is, the high beam light is directed to the right and forms an angle with the vertical direction of the road surface. For example, as an example, as shown in Figure 3, Figure 3 is a top view of the vehicle. The horizontal coordinate axis of Figure 3 represents the driving direction of the vehicle. The longitudinal coordinate axis of Figure 3 represents the direction perpendicular to the driving direction of the vehicle. The high beam light is directed to the right. When a2 is 45°, the high beam light is directed to the right and forms an angle of 45° with the direction of travel of the vehicle.

In this way, since the oncoming vehicle is usually on the left side of the vehicle in the oncoming vehicle scenario, it is determined that the first high beam on the left side of the vehicle faces the road surface, and the second high beam on the right side of the vehicle faces the right side, and the brightness is a second preset brightness smaller than the preset reference brightness, which avoids the high beam of the first vehicle from strongly illuminating the second vehicle and reduces the impact of the high beam of the first vehicle on the driver of the second vehicle. Improved security.

In addition, in a scenario where there are cars in the same direction, since the first vehicle and the second vehicle are traveling in the same direction, the degree of impact of the first vehicle's high beam on the driver of the second vehicle will vary depending on the distance. At this time, the target brightness and target illumination angle of the first high beam and the second high beam can be determined based on the distance information between the first vehicle and the second vehicle, so as to further avoid the impact of the first vehicle's high beam on the second vehicle. It has a greater impact on driving and ensures the visibility of the driver of the first vehicle.

In some embodiments, determining the target brightness and target illumination angle of the first high beam and the second high beam according to the distance information includes:

If the distance information indicates that the distance between the first vehicle and the second vehicle is less than the first preset distance, the target brightness range of the first high beam and the second high beam is determined to be the first preset range. The maximum value of the range is less than the preset reference brightness;

If the distance information indicates that the distance between the first vehicle and the second vehicle is greater than or equal to the first preset distance and less than the second preset distance, the range of the target brightness of the first high beam and the second high beam is determined to be the second Preset range, the minimum value of the second preset range is greater than or equal to the maximum value of the first preset range;

If the distance information indicates that the distance between the first vehicle and the second vehicle is less than the second preset distance, then: when the second vehicle is located on the left side of the first vehicle, determine the target illumination angle of the first high beam as the direction. The road surface and the horizontal direction of the road surface form a first preset angle, and the target illumination angle of the second high beam is determined to be toward the right and form a second preset angle with the driving direction of the vehicle; when the second vehicle is located at the first In the case of the right side of the vehicle, the target illumination angle of the first high beam is determined to be toward the left and at a second preset angle with the driving direction of the vehicle, and the target illumination angle of the second high beam is determined to be toward the road surface and It forms a first preset angle with the horizontal direction of the road surface;

If the distance information indicates that the distance between the first vehicle and the second vehicle is greater than or equal to the second preset distance, the target illumination angles of the first high beam and the second high beam are determined to be parallel to the road surface, and the first distance is determined. The target brightness of the headlight and second high beam is the preset reference brightness.

Specifically, the first preset distance may be 50 meters, 55 meters, etc. This application does not specifically limit this.

The second preset distance can be 150 meters, 155 meters, etc. This application does not specifically limit this.

The first preset range may be between one quarter of the preset reference brightness and one half of the preset reference brightness, which is not specifically limited in this application. For example, taking the preset reference brightness in the above example, the target brightness within the first preset range can be any value between 325 lumens and 750 lumens.

The second preset range may be between half of the preset reference brightness and the preset reference brightness, which is not specifically limited in this application. For example, taking the preset reference brightness in the above example, the target brightness within the second preset range can be any value between 750 lumens and 1500 lumens.

If the distance between the first vehicle and the second vehicle is less than the first preset distance, it means that the distance between the two vehicles is relatively close. At this time, the target brightness range of the first high beam and the second high beam can be determined. is smaller than the first preset range of the preset reference brightness, thereby avoiding the impact of the high beam on the driver of the second vehicle ahead at close range, and improving the driving safety of the second vehicle.

In addition, if the distance between the first vehicle and the second vehicle is greater than or equal to the first preset distance and less than the second preset distance, it means that there is a certain distance between the two vehicles. At this time, the first high beam and the first high beam can be determined. The target brightness range of the second high-beam lamp is greater than or equal to the first preset range, so that the brightness of the high-beam lamp is brighter, thereby enabling the driver of the first vehicle to see the road conditions ahead more clearly and avoid far distances. The influence of the light on the driver of the second vehicle ahead improves the driving safety of the second vehicle.

In addition, the illumination angle is toward the left and forms a second preset angle with the driving direction of the vehicle, that is, the high beam light is directed to the left and forms an angle with the vertical direction of the road surface. For example, as an example, the high beam light is directed to the left and at an angle of 45° to the direction of travel of the vehicle.

When the distance between the first vehicle and the second vehicle is less than the second preset distance, if the second vehicle is located on the left side of the first vehicle, in order to avoid the high beam of the first vehicle causing greater damage to the driver of the second vehicle, If the influence is large, it can be determined that the first high beam on the left side of the first vehicle faces the road surface and forms a first preset angle with the horizontal direction of the road surface, and it is determined that the second high beam lamp on the right side of the first vehicle faces the right side and is in line with the road surface. The driving direction of the vehicle is at a second preset angle, so that the first high beam on the left side does not directly illuminate the second vehicle, so that the second high beam on the right side has a larger field of view on the right side, and also There will be no direct exposure to the second vehicle. If the second vehicle is located on the right side of the first vehicle, the first high beam on the left side faces toward the left and forms a second preset angle with the driving direction of the vehicle, so that the first high beam on the left side of the first vehicle It has a larger field of vision on the left side of the vehicle and reduces the impact on the second vehicle. In addition, the second high beam on the right side faces the road surface and forms a first preset angle with the road surface horizontally. Since the second vehicle Located on the right side of the first vehicle, the second high beam is directed towards the road surface to avoid direct irradiation of the second vehicle, reducing the driving impact on the second vehicle and improving driving safety.

In addition, if the distance between the first vehicle and the second vehicle is greater than or equal to the second preset distance, it means that the distance between the two vehicles is relatively far. At this time, the targets of the first high beam and the second high beam can be determined. The brightness is the preset reference brightness, and the illumination angle is parallel to the road surface. This ensures a long field of vision and the ability to see the scene ahead clearly without affecting the driving of the second vehicle in front, which improves driving safety. .

In this way, this embodiment determines the target brightness and target illumination angle of the first high beam and the second high beam of the first vehicle based on the different distances and positional relationships between the second vehicle and the first vehicle, thereby achieving the goal of determining the target brightness according to the driving scene. Real-time adjustment of the brightness of the high beam of the first vehicle and corresponding adjustment of the illumination angle of the high beam reduces the impact of the high beam light on the driver's vision of the vehicle ahead, especially at night when the driver forgets to turn off the high beam. In the case of lights, the possibility of traffic accidents is greatly reduced and safety is improved.

In some embodiments, before obtaining the obstacle information within the preset range of the first vehicle detected by lidar and the vehicle information of the second vehicle, the method further includes:

Get weather information, which is used to indicate whether the current weather is sunny;

If the weather information indicates that the current weather is sunny, obtain the obstacle information within the preset range of the first vehicle detected by the lidar and the vehicle information of the second vehicle;

If the weather information indicates that the current weather is not sunny, the target illumination angle of the high beam is determined to be a first preset angle toward the road surface and horizontal to the road surface, and the target brightness of the high beam is determined to be a third preset brightness. , the third preset brightness is smaller than the preset reference brightness.

Specifically, if the current weather is sunny, the step of obtaining the obstacle information within the preset range of the first vehicle and the vehicle information of the second vehicle can be performed, thereby executing the high beam control scheme to avoid weather factors affecting the high beam. Accuracy after light regulation.

In addition, the third preset brightness may be half of the preset reference brightness, which is not specifically limited in this application. For example, taking the preset reference brightness in the above example, the first preset brightness may be 750 lumens.

Under abnormal weather conditions, the divergent effect of lights will reduce visibility. If the current weather is not sunny, for example, the current weather is ice, snow, rain, fog, etc., it can be determined that the high beam is facing the road surface and at a first preset angle with the road surface horizontally, and the brightness is the third preset brightness , can reduce the impact of the light divergence effect on the visibility of the field of view, and can reduce the impact on the driver of oncoming cars, thereby improving driving safety when turning on the high beam.

According to the technical solution provided by the embodiment of the present application, it is possible to determine the target brightness and target illumination angle of the first vehicle's high beam according to weather conditions. Under normal weather conditions, the brightness and illumination angle can be adjusted according to the driving scene and road conditions. Under weather conditions, the brightness of the high beam can be reduced and the illumination angle of the high beam can be adjusted toward the ground, which can reduce the impact of light divergence on the visibility of the field of view, thereby improving driving safety when the high beam is turned on.

All the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described again one by one.

The following are device embodiments of the present application, which can be used to execute method embodiments of the present application. For details not disclosed in the device embodiments of this application, please refer to the method embodiments of this application.

FIG. 4 is a schematic diagram of a high-beam control device provided by an embodiment of the present application. As shown in Figure 4, the control device of the high beam includes:

The acquisition module 401 is used to acquire the obstacle information within the preset range of the first vehicle detected by the laser radar and the vehicle information of the second vehicle, where the vehicle information includes the travel status of the second vehicle, the driving direction of the second vehicle and the second vehicle. The distance information between the first vehicle and the second vehicle, and the obstacle information is used to indicate whether there are obstacles in the horizontal direction of the road and the vertical direction of the road;

The first determination module 402 is used to determine the driving scene of the first vehicle according to the vehicle information. The driving scene includes a scene of no driving vehicle on the road, a scene of an oncoming car in the opposite direction and a scene of a car in the same direction;

The second determination module 403 is used to determine the road conditions in the direction in which the first vehicle is traveling based on the obstacle information. The road conditions include straight road conditions, slope road conditions and turning conditions;

The third determination module 404 is used to determine the target brightness and target illumination angle of the high beam of the first vehicle according to at least one of the driving scene and road conditions;

The control module 405 is used to control the brightness of the high beam of the first vehicle to be adjusted to the target brightness, and to control the illumination angle of the high beam of the first vehicle to be adjusted to the target illumination angle.

In some embodiments, the first determination module 402 is specifically configured to, when the driving and stopping state of the second vehicle is a stationary state, and it is detected based on the distance information that the distance trend between the first vehicle and the second vehicle is a shrinking trend. , the driving scene is determined to be a scene with no moving vehicles on the road; when the driving state of the second vehicle is a driving state, and the driving direction of the second vehicle is toward the first vehicle, the driving scene is determined to be a scene of an oncoming vehicle; in the second When the driving state of the vehicle is the driving state and the traveling direction of the second vehicle is the same as the traveling direction of the first vehicle, the driving scene is determined to be a car-in-the-same-direction scene.

In some embodiments, the second determination module 403 is specifically configured to determine that the road working condition is a steering condition when the obstacle information indicates that there are obstacles in the horizontal direction of the road; and when the obstacle information indicates that there are obstacles in the vertical direction of the road. When the obstacle information indicates that there are no obstacles in both the horizontal and vertical directions of the road, the road condition is determined to be a straight road condition.

In some embodiments, the third determination module 404 is specifically used to determine that the target illumination angle of the high beam is parallel to the horizontal plane when the driving scene is a scene with no driving vehicles on the road and the road condition is a straight road condition. , and determine the target brightness of the high beam to be the preset reference brightness; if the road condition is a slope condition or a turning condition, determine the target illumination angle of the high beam to be perpendicular to the horizontal plane, and determine the target of the high beam. The brightness is a first preset brightness, where the first preset brightness is smaller than the preset reference brightness.

In some embodiments, the third determination module 404 is specifically configured to determine that the target brightness of the first high beam and the second high beam is the second preset brightness when the driving scene is an oncoming vehicle scene, And determine that the target illumination angle of the first high-beam lamp is facing the ground and forming a first preset angle with the horizontal direction, and determine that the target illumination angle of the second high-beam lamp is facing the right side and forming a second preset angle with the horizontal direction; The second preset brightness is smaller than the preset reference brightness; when the driving scene is a scene with cars in the same direction, the first high beam and the second high beam are determined based on the distance information between the first vehicle and the second vehicle. The target brightness and target illumination angle of the lamp.

In some embodiments, the third determination module 404 is specifically configured to determine the first high beam if the distance information indicates that the distance between the first vehicle and the second vehicle is less than a first preset distance. The range of the target brightness of the lamp and the second high beam is a first preset range, and the maximum value of the first preset range is less than the preset reference brightness; if the distance information indicates that the first vehicle The distance to the second vehicle is greater than or equal to the first preset distance and less than the second preset distance, and the target brightness range of the first high beam and the second high beam is determined to be the first Two preset ranges, the minimum value of the second preset range is greater than or equal to the maximum value of the first preset range; if the distance information indicates that the distance between the first vehicle and the second vehicle is less than The second preset distance is: when the second vehicle is located on the left side of the first vehicle, the target illumination angle of the first high beam is determined to be toward the road surface and horizontal to the road surface. At a first preset angle, the target illumination angle of the second high beam is determined to be toward the right and at a second preset angle with the driving direction of the vehicle; when the second vehicle is located to the right of the first vehicle In the case of side, the target illumination angle of the first high beam is determined to be toward the left and at a second preset angle with the driving direction of the vehicle, and the target illumination angle of the second high beam is determined to be toward the road. surface and forms a first preset angle with the horizontal direction of the road surface; if the distance information indicates that the distance between the first vehicle and the second vehicle is greater than or equal to the second preset distance, determine the first high beam The target illumination angle of the lamp and the second high beam lamp is parallel to the road surface, and the target brightness of the first high beam lamp and the second high beam lamp is determined to be the preset reference brightness.

In some embodiments, the acquisition module 401 is also used to obtain weather information. The weather information is used to indicate whether the current weather is sunny; if the weather information indicates that the current weather is sunny, obtain the first vehicle preset range detected by the lidar. Obstacle information in the vehicle and vehicle information of the second vehicle; if the weather information indicates that the current weather is not sunny, determine the target illumination angle of the high beam to be a first preset angle toward the ground and with the horizontal direction, and determine the high beam The target brightness of the lamp is the third preset brightness, and the third preset brightness is smaller than the preset reference brightness.

It should be understood that the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

FIG. 5 is a schematic diagram of the electronic device 5 provided by the embodiment of the present application. As shown in FIG. 5 , the electronic device 5 of this embodiment includes: a processor 501 , a memory 502 , and a computer program 505 stored in the memory 502 and executable on the processor 501 . When the processor 501 executes the computer program 505, the steps in each of the above method embodiments are implemented. Alternatively, when the processor 501 executes the computer program 505, the functions of each module/unit in each of the above device embodiments are implemented.

The electronic device 5 may be a desktop computer, a notebook, a handheld computer, a cloud server and other electronic devices. The electronic device 5 may include, but is not limited to, a processor 501 and a memory 502 . Those skilled in the art can understand that FIG. 5 is only an example of the electronic device 5 and does not constitute a limitation on the electronic device 5. It may include more or fewer components than shown in the figure, or different components.

The processor 501 may be a Central Processing Unit (CPU), other general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or an on-site processor. Programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

The memory 502 may be an internal storage unit of the electronic device 5 , for example, a hard disk or a memory of the electronic device 5 . The memory 502 may also be an external storage device of the electronic device 5, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SD) card, a flash memory card ( Flash Card), etc. The memory 502 may also include both an internal storage unit of the electronic device 5 and an external storage device. Memory 502 is used to store computer programs and other programs and data required by the electronic device.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units and modules is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs. Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units.

Integrated modules/units, if implemented in the form of software functional units and sold or used as independent products, can be stored in a readable storage medium (such as a computer-readable storage medium). Based on this understanding, this application can implement all or part of the processes in the methods of the above embodiments. It can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. The computer program can be processed after being processed. When the processor is executed, the steps of each of the above method embodiments can be implemented. A computer program may include computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. Computer-readable storage media can include: any entity or device that can carry computer program code, recording media, USB flash drives, mobile hard drives, magnetic disks, optical disks, computer memory, read-only memory (Read-Only Memory, ROM), random access memory Access memory (Random AccessMemory, RAM), electrical carrier signals, telecommunications signals, and software distribution media, etc.

The above embodiments are only used to illustrate the technical solutions of the present application, but are not intended 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 they can still modify the technical solutions described in the foregoing embodiments. Modifications are made to the recorded technical solutions, or equivalent substitutions are made to some of the technical features; these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and shall be included in this application. within the scope of protection.

Claims (10)

1. A control method of a high beam, comprising:

obtaining obstacle information in a preset range of a first vehicle and vehicle information of a second vehicle, which are detected by a laser radar, wherein the vehicle information comprises a running state of the second vehicle, a running direction of the second vehicle and distance information between the first vehicle and the second vehicle, and the obstacle information is used for indicating whether an obstacle exists in a road horizontal direction and a road vertical direction;

determining a driving scene of the first vehicle according to the vehicle information, wherein the driving scene comprises a road no-driving vehicle scene, a subtended driving scene and a homodromous driving scene;

Determining road conditions in the running direction of the first vehicle according to the obstacle information, wherein the road conditions comprise a straight road condition, a slope road condition and a steering condition;

determining target brightness and target irradiation angle of a high beam of the first vehicle according to at least one of the driving scene and the road working condition;

and controlling the brightness of the high beam of the first vehicle to be adjusted to the target brightness, and controlling the irradiation angle of the high beam of the first vehicle to be adjusted to the target irradiation angle.

2. The method of claim 1, wherein the determining a driving scenario of the first vehicle based on the vehicle information comprises:

if the running state of the second vehicle is a stationary state and the distance trend between the first vehicle and the second vehicle is detected to be a shrinking trend according to the distance information, determining that the running scene is the road no-running vehicle scene;

if the running state of the second vehicle is a running state and the running direction of the second vehicle is towards the first vehicle, determining the running scene as the opposite incoming vehicle scene;

and if the running state of the second vehicle is a running state and the running direction of the second vehicle is the same as the running direction of the first vehicle, determining that the running scene is the homodromous car scene.

3. The method of claim 1, wherein determining a road condition of the first vehicle in the direction of travel based on the obstacle information comprises:

if the obstacle information indicates that an obstacle exists in the horizontal direction of the road, determining the road working condition as a steering working condition;

if the obstacle information indicates that an obstacle exists in the vertical direction of the road, determining that the road working condition is a slope working condition;

and if the obstacle information indicates that no obstacle exists in the horizontal direction and the vertical direction of the road, determining that the road working condition is a straight road working condition.

4. The method of claim 1, wherein the determining the target brightness and the target illumination angle of the high beam of the first vehicle based on at least one of the driving scene and the road condition comprises:

in the case that the driving scene is the road no-driving vehicle scene, then:

if the road working condition is the straight road working condition, determining that the target irradiation angle of the high beam is parallel to the road surface, and determining that the target brightness of the high beam is a preset reference brightness;

if the road working condition is the slope road working condition or the steering working condition, determining that the target irradiation angle of the high beam is parallel to the road surface, and determining that the target brightness of the high beam is a first preset brightness, wherein the first preset brightness is smaller than the preset reference brightness.

5. The method of claim 1, wherein the high beam comprises a first high beam on a driver side of the first vehicle and a second high beam on a co-driver side of the first vehicle;

the determining, according to at least one of the driving scene and the road condition, the target brightness and the target irradiation angle of the high beam of the first vehicle includes:

when the driving scene is the oncoming traffic scene, determining that target brightness of the first high beam and target brightness of the second high beam are both second preset brightness, determining that a target irradiation angle of the first high beam faces a road surface and forms a first preset angle with the horizontal direction of the road surface, and determining that a target irradiation angle of the second high beam faces the right side and forms a second preset angle with the driving direction of a vehicle; wherein the second preset brightness is less than the preset reference brightness;

and under the condition that the driving scene is the homodromous car scene, determining target brightness and target irradiation angles of the first high beam and the second high beam according to the distance information.

6. The method of claim 5, wherein determining the target brightness and target illumination angle of the first and second high beam based on the distance information comprises:

If the distance information indicates that the distance between the first vehicle and the second vehicle is smaller than a first preset distance, determining that the range of the target brightness of the first high beam and the second high beam is a first preset range, and the maximum value of the first preset range is smaller than the preset reference brightness;

if the distance information indicates that the distance between the first vehicle and the second vehicle is greater than or equal to the first preset distance and smaller than a second preset distance, determining that the range of the target brightness of the first high beam and the second high beam is a second preset range, wherein the minimum value of the second preset range is greater than or equal to the maximum value of the first preset range;

if the distance information indicates that the distance between the first vehicle and the second vehicle is smaller than the second preset distance, then: when the second vehicle is positioned on the left side of the first vehicle, determining that the target irradiation angle of the first high beam is a first preset angle facing the road surface and forming a first horizontal direction with the road surface, and determining that the target irradiation angle of the second high beam is a second preset angle facing the right side and forming a second horizontal direction with the running direction of the vehicle; when the second vehicle is positioned on the right side of the first vehicle, determining that the target irradiation angle of the first high beam is directed to the left side and forms a second preset angle with the running direction of the vehicle, and determining that the target irradiation angle of the second high beam is directed to the road surface and forms a first preset angle with the horizontal direction of the road surface;

And if the distance information indicates that the distance between the first vehicle and the second vehicle is larger than or equal to a second preset distance, determining that the target irradiation angles of the first high beam and the second high beam are parallel to the road surface, and determining that the target brightness of the first high beam and the second high beam is the preset reference brightness.

7. The method according to claim 1, wherein before obtaining the obstacle information within the preset range of the first vehicle and the vehicle information of the second vehicle detected by the lidar, further comprises:

acquiring weather information, wherein the weather information is used for indicating whether the current weather is a sunny day or not;

if the weather information indicates that the current weather is a sunny day, obstacle information in a preset range of a first vehicle and vehicle information of a second vehicle, which are detected by the laser radar, are obtained;

if the weather information indicates that the current weather is not a sunny day, determining that the target irradiation angle of the high beam is a first preset angle with the direction facing the road surface and the horizontal direction of the road surface, and determining that the target brightness of the high beam is a third preset brightness, wherein the third preset brightness is smaller than the preset reference brightness.

8. A control device for a high beam, comprising:

the system comprises an acquisition module, a detection module and a control module, wherein the acquisition module is used for acquiring obstacle information in a first vehicle preset range and vehicle information of a second vehicle, which are detected by a laser radar, wherein the vehicle information comprises a running state of the second vehicle, a running direction of the second vehicle and distance information between the first vehicle and the second vehicle, and the obstacle information is used for indicating whether an obstacle exists in a road horizontal direction and a road vertical direction;

the first determining module is used for determining a driving scene of the first vehicle according to the vehicle information, wherein the driving scene comprises a road no-driving vehicle scene, a subtended driving scene and a homodromous driving scene;

the second determining module is used for determining road working conditions in the running direction of the first vehicle according to the obstacle information, wherein the road working conditions comprise a straight road working condition, a slope working condition and a steering working condition;

a third determining module, configured to determine, according to at least one of the driving scene and the road condition, a target brightness and a target irradiation angle of a high beam of the first vehicle;

and the control module is used for controlling the brightness of the high beam of the first vehicle to be adjusted to the target brightness and controlling the irradiation angle of the high beam of the first vehicle to be adjusted to the target irradiation angle.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when the computer program is executed.

10. A readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.