CN117445793A

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

Info

Publication number: CN117445793A
Application number: CN202311338625.4A
Authority: CN
Inventors: 李康森; 刘思宇; 包楠
Original assignee: Chongqing Seres New Energy Automobile Design Institute Co Ltd
Current assignee: Chongqing Seres New Energy Automobile Design Institute Co Ltd
Priority date: 2023-10-16
Filing date: 2023-10-16
Publication date: 2024-01-26

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

Control method and device of high beam, electronic equipment and readable storage medium

Technical Field

The present disclosure relates to the field of automotive technologies, and in particular, to a control method and apparatus for a high beam, an electronic device, and a readable storage medium.

Background

The far-reaching headlamp of the automobile can enlarge the visual field range for a driver, and the driver is helped to know the surrounding situation of the automobile when the lighting condition is poor, but the light of the far-reaching headlamp is strong, and the potential safety hazard can be increased when the far-reaching headlamp is unreasonable in application, so that the control of the far-reaching headlamp is very important.

At present, the existing intelligent high beam control technology mainly relies on a camera or a sensor to sense the illumination condition around a vehicle, but the opposite vehicle can be excessively irradiated when the high beam is started at night, so that a driver of the opposite vehicle can feel dizziness, the possibility of collision of the vehicle is increased, and the danger is high.

It can be seen that the prior art has the problem of low safety in the process of using the high beam.

Disclosure of Invention

In view of this, the embodiments of the present application provide a control method, apparatus, electronic device, and readable storage medium for a high beam, so as to solve the problem of low safety in the process of using the high beam in the prior art.

In a first aspect of the embodiments of the present application, a control method for a high beam is provided, including:

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 a first vehicle according to vehicle information, wherein the driving scene comprises a road non-driving vehicle scene, a subtended vehicle scene and a homodromous vehicle 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 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.

In a second aspect of the embodiments of the present application, there is provided a control device for a high beam, including:

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 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;

the first determining module is used for determining a driving scene of a first vehicle according to vehicle information, wherein the driving scene comprises a road non-driving vehicle scene, a subtended driving scene and a homodromous driving scene;

The second determining module is used for determining road working conditions of 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 road working condition and a steering working condition;

the third determining module is used for determining target brightness and target irradiation angle of the high beam of the first vehicle according to at least one of the driving scene and the road working condition;

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.

In a third aspect of the embodiments of the present application, there is provided an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.

In a fourth aspect of the embodiments of the present application, there is provided a readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above method.

The beneficial effects of the embodiment of the application are that:

the method comprises the steps of 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 the first vehicle according to the vehicle information, determining a road working condition of a driving direction of the first vehicle according to the obstacle information, determining target brightness and a 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, controlling the brightness of the high beam of the first vehicle to be adjusted to the target brightness, and controlling the high beam irradiation angle of the first vehicle to be adjusted to the target irradiation angle; therefore, the brightness and the irradiation angle of the high beam of the vehicle are comprehensively adjusted and controlled according to the factors such as the running scene around the vehicle and the road working condition, the high beam of the vehicle can be correspondingly adjusted according to the surrounding vehicles and road conditions in the running process, so that the probability of causing traffic hidden danger is reduced, the safety coefficient of a driver is improved, especially when the driver forgets to turn off the high beam, the brightness and the irradiation angle of the high beam of the vehicle are adjusted, the driver can see the surrounding conditions of the vehicle clearly, the influence on the vehicle in front or pedestrians is reduced, the driving safety is improved, and the problem of low safety when the high beam is used in the prior art is solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a control method of a high beam provided in an embodiment of the present application;

fig. 2 is a schematic view of a high beam irradiation angle according to an embodiment of the present application;

FIG. 3 is a schematic diagram showing a distance beam irradiation angle according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a control device for a high beam provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

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

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of the same type and are not limited to the number of objects, such as the first object may be one or more.

Furthermore, it should be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

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

Fig. 1 is a schematic flow chart of a control method of a high beam provided in an embodiment of the present application. The control method of the high beam of fig. 1 may be performed by a controller. As shown in fig. 1, the control method of the high beam includes:

s101, obstacle information in a first vehicle preset range and vehicle information of a second vehicle, which are detected by a laser radar, are acquired.

The vehicle information includes a running state of the second vehicle, a traveling direction of the second vehicle, and distance information between the first vehicle and the second vehicle, and the obstacle information indicates whether an obstacle exists in a road horizontal direction and a road vertical direction.

The type of the laser radar may be a mechanical laser radar, an all-solid-state laser radar, a semi-solid laser radar, a single-beam laser radar, a multi-line laser radar, or the like, which is not particularly limited in the present application. The view angle ranges of the lidar are different according to the types, the horizontal view angle can be 330 degrees, 270 degrees and the like, and the vertical view angle can be 40 degrees, 45 degrees and the like, and the application is not particularly limited.

The lidar can recognize the shape, speed, distance, direction, etc. of the object, and thus can acquire obstacle information within a preset range and information such as a vehicle running state, a running direction, and a distance from the first vehicle corresponding to the second vehicle within the preset range.

The preset range may be a cylindrical range or a conical range with a radius of 200 meters, 250 meters or 300 meters centering on the first vehicle, which is not particularly limited in the present application. For example, as one example, the preset range is a taper range of 200 meters radius centered on the first vehicle, and the controller may obtain obstacle information within the taper range of 200 meters ahead of the first vehicle driven by the user and vehicle information of the second vehicle.

It should be noted that, the obstacle within the preset range of the first vehicle includes, but is not limited to, a building, a vehicle, a pedestrian, a road bed, and the like; vehicles comprise two-wheelers, tricycles, quadricycles, multi-wheelers and the like, namely all motor vehicles and non-motor vehicles; specifically, the obstacle existing in the road horizontal direction may include a vehicle, a pedestrian, and the like, and whether the obstacle exists in the road vertical direction may refer to whether the obstacle exists at a position higher than the height of the vehicle in the height direction, and the existing obstacle may include a building, a traffic sign, a long-slope road surface, and the like.

In addition, the second vehicle may be a vehicle with the shortest distance from the first vehicle among the vehicles detected in the preset range of the first vehicle, or may be a vehicle with a distance from the first vehicle greater than the preset distance in the preset range of the first vehicle, which is not specifically limited in the present application.

The running state of the second vehicle includes a stationary state, i.e., the speed of the second vehicle is 0, and a running state, i.e., the speed of the second vehicle is not 0; the travel direction includes the same travel direction as the first vehicle and opposite travel direction to the first vehicle.

The obstacle information in the preset range of the first vehicle and the vehicle information of the second vehicle, which are detected by the laser radar, are obtained, so that other vehicle running conditions around the first vehicle can be obtained through the vehicle information, and factors affecting the running of the first vehicle around the first vehicle can be obtained through the obstacle information, so that the current road working condition can be obtained, and a reference is provided for the subsequent determination of the brightness and the irradiation angle of the high beam.

S102, determining a driving scene of a first vehicle according to vehicle information, wherein the driving scene comprises a road no-driving vehicle scene, a subtended vehicle scene and a homodromous vehicle scene.

The driving scene is a distinguishing scene made for driving conditions of surrounding vehicles during driving of the vehicle.

It should be noted that the road no-running vehicle scene includes a case where the second vehicle exists within the first vehicle preset range, but the second vehicle is in a stationary state and a case where the second vehicle does not exist within the first vehicle preset range.

The opposite-coming vehicle scene is that a second vehicle is arranged in a preset range of the first vehicle, and the running direction of the second vehicle is opposite to that of the first vehicle; the same-direction car-presence scene is that a second car is arranged in a preset range of the first car, and the running direction of the second car is the same as that of the first car.

Specifically, whether the second vehicle is traveling, whether the traveling direction is the same as the first vehicle, and the distance trend from the first vehicle may be determined according to the traveling state, the traveling direction, and the distance from the first vehicle in the vehicle information, thereby determining the traveling scene of the first vehicle. For example, as one example, if there is a second vehicle within a preset range of the first vehicle and the second vehicle is traveling in a state in which the traveling direction is opposite to the traveling direction of the first vehicle, the traveling direction of the first vehicle is determined to be a oncoming vehicle scene.

According to the vehicle information, the running scene of the first vehicle is determined to be a road no-running vehicle scene, a subtended vehicle scene or a homodromous vehicle scene, so that the judgment of the meeting condition is realized, and a basis is provided for the control of the high beam.

S103, determining road conditions of 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.

The road conditions are various road conditions faced by the vehicle in the running process, and the straight road conditions represent that the road in front of the vehicle is a straight road; the road in front of the vehicle is represented by the road condition of the slope road; the steering conditions represent a need for steering ahead of the vehicle, such as around an obstacle.

Specifically, the laser radar can generate a three-dimensional image of the surrounding environment according to the acquired obstacle information and the vehicle information, can judge that the road in front of the vehicle is a sloping road according to the image, and judges the steering direction of the vehicle according to the identification of the road regulation line by the laser radar when the road in front of the vehicle is a straight road but the obstacle is blocked and needs to be steered.

When determining the steering direction of the vehicle, the traffic light and the road ahead may be specifically identified and determined by combining a sensor, a camera, a turn signal, etc., which is not specifically limited in this application.

The road condition of the first vehicle in the running direction is determined through the obstacle information, so that the judgment of the road condition is realized, and a basis is provided for the control of the high beam.

And S104, determining the target brightness and the target irradiation angle of the high beam of the first vehicle according to at least one of the driving scene and the road working condition.

The target brightness is the brightness of the first vehicle high beam after adjustment, which is determined according to the running scene or the running scene and the road working condition.

The target irradiation angle is the irradiation angle of the first vehicle after the adjustment of the high beam light according to the running scene or the running scene and the road working condition.

According to at least one of the driving scene and the road working condition, the target brightness and the target irradiation angle of the high beam of the first vehicle are determined, the brightness and the irradiation angle of the high beam are determined according to the actual driving scene, and the determined target brightness and target irradiation angle are matched with the driving scene and the road working condition, so that the influence on the front vehicle is avoided, the safety of night driving is improved, the continuous strong irradiation under the scene without the strong irradiation of the high beam is avoided, and the energy consumption of the vehicle is reduced.

S105, 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.

For example, as one example, the initial brightness of the high beam of the first vehicle is 1500 lumens, the initial irradiation angle is parallel to the road surface, the target brightness is 1400 lumens determined by analysis through the steps, the target irradiation angle is 30 ° with the horizontal direction of the road surface, and the controller controls the high beam brightness of the first vehicle to be adjusted from 1500 lumens to 1400 lumens, and the irradiation angle is adjusted from parallel to the road surface to be 30 ° with 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 in an on state, so that the target brightness and the target irradiation angle of the high beam are avoided being calculated all the time when the high beam is not on, and the energy consumption of the first vehicle is reduced.

According to the technical scheme provided by the embodiment of the application, the obstacle information in the preset range of the first vehicle and the vehicle information of the second vehicle are obtained through laser radar detection, the driving scene of the first vehicle is determined according to the vehicle information, the road working condition of the driving direction of the first vehicle is determined according to the obstacle information, the target brightness and the target irradiation angle of the high beam of the first vehicle are determined according to at least one of the driving scene and the road working condition, finally the brightness of the high beam of the first vehicle is controlled to be adjusted to the target brightness, the irradiation angle of the high beam of the first vehicle is controlled to be adjusted to be the target irradiation angle, the scanning function based on the laser radar is realized, the driving scene around the vehicle and the road working condition of the driving direction are combined, the brightness and the angle of the high beam of the vehicle are adjusted, the road working condition of the driving scene and the driving direction of the adjusted target irradiation angle are matched, the vehicle can be intelligently adjusted when the vehicle encounters complex road conditions or the driver forgets to turn off the high beam, the high beam is controlled to expand the visual field range of the driver, the high beam is reduced, the possibility of the front of the vehicle is reduced or the traffic safety of other vehicles is reduced, and the safety of the traffic safety of the vehicle is improved, and the prior art is improved.

In some embodiments, determining a driving scenario of the first vehicle according to the vehicle information includes:

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 a road no-running vehicle scene;

if the running state of the second vehicle is the running state and the running direction of the second vehicle faces the first vehicle, determining that the running scene is a oncoming vehicle scene;

if the running state of the second vehicle is the 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 same-direction vehicle scene.

Specifically, the distance trend may be obtained by analyzing after detecting the distance between the first vehicle and the second vehicle multiple times according to the laser radar, and may be at least one of a decreasing trend, an increasing trend, and a distance invariance.

The direction toward the first vehicle means that the traveling direction of the second vehicle is opposite to the traveling direction of the first vehicle. If the second vehicle is in a driving state and faces the first vehicle, it may be determined that the second vehicle is a oncoming vehicle of the first vehicle, and the current driving scene is a oncoming vehicle scene.

Specifically, as an example, if the lidar recognizes that the second vehicle speed 200 meters away from the first vehicle is 40 km/h and the driving direction is the same as that of the first vehicle, the lidar obtains that the property state of the second vehicle is a running state, and the second vehicle and the first vehicle run in the same direction, and determines that the running scene of the first vehicle is a same-direction vehicle scene.

According to the technical scheme provided by the embodiment of the application, the running scene of the first vehicle is comprehensively judged according to the speed, the running direction, the distance between the first vehicle and the second vehicle and the like, the judgment accuracy of the running scene is improved, the accurate judgment of the meeting condition is realized, and therefore the driving safety is improved.

In some embodiments, determining a road condition of the first vehicle in the direction of travel based on the obstacle information includes:

if the obstacle information indicates that the 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 the obstacle exists in the vertical direction of the road, determining the road working condition as 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 the road working condition as a straight road working condition.

Specifically, taking the preset range in the above example as an example, if the laser radar obtains that no obstacle exists in the horizontal direction and the vertical direction of the road in the running direction of the first vehicle within the conical range with the first vehicle as the center and the radius within 200 meters, the road working condition in the running direction of the first vehicle is determined to be a straight road working condition.

In addition, the obstacle information may be a generated obstacle image, and when it is detected that an obstacle such as a pet or a stone exists in the road horizontal direction in the first vehicle traveling direction, the first vehicle needs to travel around the obstacle, and at this time, the road condition may be regarded as a steering condition. The generated obstacle image indicates that a slope exists in the vertical direction of the road, and the road working condition can be considered as a slope working condition at the moment when the slope exists in the front.

By the embodiment, the road working condition of the first vehicle running direction is judged according to the obstacle information, so that a judgment basis is provided for determining the target brightness and the target irradiation angle of the first vehicle high beam, and the safety is improved.

In some embodiments, 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 conditions comprises:

In the case where the driving scene is a road no-driving vehicle scene, then:

if the road working condition is a 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 a slope working condition or a 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 a preset reference brightness.

Specifically, the preset reference brightness may be set according to the type of the first vehicle and the type of the high beam, as the reference brightness of the present application. The value of the preset reference brightness is not particularly limited in this application. For example, as one example, the preset reference brightness may be 1500 lumens.

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

The irradiation angle is parallel to the road surface, i.e., the high beam is irradiated to the front, which enables the driver to obtain a sufficient field of view. Under the straight-road working condition, the target irradiation angle of the high beam is determined to be parallel to the road surface, and the target brightness of the high beam is preset reference brightness, so that the far-ahead far-distance visual field can be obtained under the straight-road working condition, and enough brightness in the irradiation range of the high beam is ensured, and a driver can see the scene in the irradiation range of the high beam clearly.

In addition, under the slope road working condition or the steering working condition, the target brightness is determined to be the first preset brightness smaller than the preset reference brightness, so that the influence on vehicles or pedestrians on the opposite surface of the slope road or at the turning position is reduced.

According to the technical scheme provided by the embodiment of the application, the brightness and the irradiation angle of the high beam under different road working conditions are respectively set, so that the preset reference brightness is kept under the straight road working conditions under the road no-driving vehicle scene, the driver is ensured to obtain a sufficient visual field, the first preset brightness is set under the slope working conditions or the steering working conditions, the driver is helped to expand the visual field, the influence on the slope opposite surface or the vehicle or the pedestrian at the turning position is reduced, and the safety is improved.

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

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

under the condition that the driving scene is a 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 the target irradiation angle of the first high beam is a first preset angle facing the road surface and is in the horizontal direction of 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 is in the driving direction of the vehicle; wherein the second preset brightness is less than the preset reference brightness;

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

Specifically, the second preset brightness may be 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 as an example, the second preset brightness may be 750 lumens.

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

The high beam light is directed towards the road surface and forms a first preset angle with the horizontal direction of the road surface, namely, the high beam light is directed downwards towards the road surface and forms an included angle with the road surface. For example, as shown in fig. 2, fig. 2 is a side view of a vehicle, the lateral axis of fig. 2 represents the road surface horizontal direction, the longitudinal axis of fig. 2 represents the direction perpendicular to the road surface horizontal direction, the high beam light is directed toward the road surface and forms an angle a1 with the road surface horizontal direction, and when a1 is 30 °, the high beam light is directed toward the road surface and forms an angle of 30 ° with the road surface horizontal direction.

The far-reaching headlamp light rays face to the right and form a second preset angle with the running direction of the vehicle, namely, the far-reaching headlamp light rays face to the right and form an included angle with the direction perpendicular to the road surface. For example, as shown in fig. 3, fig. 3 is a plan view of the vehicle, the horizontal axis of fig. 3 represents the vehicle traveling direction, the vertical axis of fig. 3 represents the direction perpendicular to the vehicle traveling direction, and the high beam light is directed to the right side and forms an angle a2 with the vehicle traveling direction, and when a2 is 45 °, the high beam light is directed to the right side and forms an angle of 45 ° with the vehicle traveling direction.

Therefore, under the circumstance that the oncoming vehicle is positioned at the left side of the vehicle under the circumstance of the oncoming vehicle, the first high beam on the left side of the vehicle is determined to face the road surface, the second high beam on the right side of the vehicle is determined to face the right side, and the brightness is the second preset brightness smaller than the preset reference brightness, so that the high beam of the first vehicle irradiates the second vehicle strongly, the influence of the high beam of the first vehicle on the driver of the second vehicle is reduced, and the safety is improved.

In addition, under the same-direction scene, because the first vehicle and the second vehicle run in the same direction, the degree of influence of the high beam of the first vehicle on the driver of the second vehicle can be different according to the difference of distances, and at the moment, the target brightness and the target irradiation angle of the second high beam of the first high beam can be determined according to the distance information between the first vehicle and the second vehicle, so that the high beam of the first vehicle is further prevented from causing larger influence on the running of the second vehicle, and the visual field range of the driver of the first vehicle is ensured.

In some embodiments, determining the target brightness and target illumination angle of the first and second high beam lights 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 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 a preset reference brightness;

if the distance information indicates that the distance between the first vehicle and the second vehicle is larger than or equal to a 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, and the minimum value of the second preset range is larger 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: under the condition that 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 directed to the road surface and forms a first preset angle with the horizontal direction of the road surface, and determining that the target irradiation angle of the second high beam is directed to the right side and forms a second preset angle with the running direction of the vehicle; under the condition that 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;

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.

Specifically, the first preset distance may be 50 meters, 55 meters, or the like, which is not specifically limited in the present application.

The second preset distance may be 150 meters, 155 meters, etc., which is not particularly limited in this application.

The first preset range may be between one fourth 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 as an example, the target brightness in the first preset range may be any value between 325 lumens and 750 lumens.

The second preset range may be between one 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 luminance in the above example as an example, the target luminance in the second preset range may be any value between 750 lumens and 1500 lumens.

If the distance between the first vehicle and the second vehicle is smaller than the first preset distance, the fact that the distance between the two vehicles is smaller is indicated, at the moment, the range of target brightness of the first high beam and the second high beam can be determined to be a first preset range smaller than the preset reference brightness, accordingly, influence of the high beam on a driver in the second vehicle in front of the second vehicle in a short distance is avoided, and driving safety of the second vehicle is improved.

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, a certain distance is indicated between the two vehicles, and at this time, the range of the target brightness of the first high beam and the second high beam can be determined to be greater than or equal to the first preset range, so that the brightness of the high beam is brighter, a driver of the first vehicle can clearly see the road condition in front, the influence of the high beam on the driver in the second vehicle in front is avoided, and the driving safety of the second vehicle is improved.

In addition, the irradiation angle is a second preset angle facing to the left and forming an included angle with the traveling direction of the vehicle, namely, the far-reaching headlamp light rays are directed to the left and form an included angle with the direction perpendicular to the road surface. For example, as one example, the high beam light is directed to the left and makes a 45 angle with the direction of travel of the vehicle.

When the distance between the first vehicle and the second vehicle is smaller than the second preset distance, if the second vehicle is located at the left side of the first vehicle, in order to avoid that the high beam of the first vehicle has a larger influence on the driver of the second vehicle, the first high beam at the left side of the first vehicle can be determined to face the road surface and form a first preset angle with the horizontal direction of the road surface, and the second high beam at the right side of the first vehicle is determined to face the right side and form a second preset angle with the running direction of the vehicle, so that the first high beam at the left side cannot directly irradiate the second vehicle, the second high beam at the right side has a larger visual field, and cannot directly irradiate 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 to the left side and forms a second preset angle with the running direction of the vehicle, so that the first high beam on the left side of the first vehicle has a larger visual field on the left side of the vehicle, the influence on the second vehicle is reduced, in addition, the second high beam on the right side faces to the road surface and forms a first preset angle with the horizontal direction of the road surface, and as the second vehicle is located on the right side of the first vehicle, the second vehicle is prevented from being directly irradiated to the road surface through the second high beam, the driving influence on the second vehicle is reduced, and the driving safety is improved.

In addition, if the distance between the first vehicle and the second vehicle is greater than or equal to the second preset distance, the distance between the two vehicles is far, at this time, it can be determined that the target brightness of the first high beam and the second high beam is the preset reference brightness, and the irradiation angle is parallel to the road surface, so that the driving safety is improved while the driving of the second vehicle in front is not influenced, the far field of view is ensured, the front scene can be seen clearly.

In this way, the embodiment determines the target brightness and the target irradiation angle of the first high beam and the second high beam of the first vehicle according to the different distances and the position relations between the second vehicle and the first vehicle, adjusts the brightness of the high beam of the first vehicle in real time according to driving scenes, and correspondingly adjusts the irradiation angle of the high beam, thereby reducing the visual influence of the high beam light on the driver of the front vehicle, and particularly greatly reducing the possibility of traffic accidents and improving the safety under the condition that the driver forgets to turn off the high beam at night.

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

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 a 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 of 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.

Specifically, if the current weather is a sunny day, the step of acquiring the obstacle information in the preset range of the first vehicle and the vehicle information of the second vehicle can be performed, so that the control scheme of the high beam is performed, and the influence of weather factors on the accuracy of the regulated high beam is avoided.

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

Under abnormal weather conditions, the diverging effect of the light reduces the visibility of the field of view. If the current weather is not sunny, for example, the current weather is ice, snow, rain, fog and the like, the high beam can be determined to face the road surface and be at a first preset angle with the horizontal direction of the road surface, and the brightness is a third preset brightness, so that the influence of the light divergence effect on the visibility of the visual field can be reduced, the influence on drivers facing the coming vehicles can be reduced, and the driving safety when the high beam is started is improved.

According to the technical scheme provided by the embodiment of the application, the target brightness and the target irradiation angle of the high beam of the first vehicle are determined according to weather conditions, the brightness and the irradiation angle can be adjusted according to driving scenes and road working conditions under normal weather conditions, the brightness of the high beam can be reduced and the irradiation angle of the high beam can be adjusted towards the ground under abnormal weather conditions, the influence of light divergence effects on visual field visibility can be reduced, and therefore driving safety when the high beam is started is improved.

Any combination of the above optional solutions may be adopted to form an optional embodiment of the present application, which is not described herein in detail.

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

Fig. 4 is a schematic diagram of a control device for a high beam provided in an embodiment of the present application. As shown in fig. 4, the control device for a high beam includes:

an obtaining module 401, configured to obtain obstacle information within a preset range of a first vehicle and vehicle information of a second vehicle, where the vehicle information includes 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 to indicate whether an obstacle exists in a horizontal direction and a vertical direction of a road;

A first determining module 402, configured to determine a driving scenario of a first vehicle according to vehicle information, where the driving scenario includes a road no-driving vehicle scenario, a oncoming vehicle scenario, and a co-directional driving scenario;

a second determining module 403, configured to determine a road condition of the first vehicle in a driving direction according to the obstacle information, where the road condition includes a straight road condition, a slope road condition, and a steering condition;

a third determining module 404, configured to determine, according to at least one of a driving scene and a road condition, a target brightness and a target irradiation angle of a high beam of the first vehicle;

the control module 405 is configured to control the brightness of the high beam of the first vehicle to be adjusted to a target brightness, and control the irradiation angle of the high beam of the first vehicle to be adjusted to a target irradiation angle.

In some embodiments, the first determining module 402 is specifically configured to determine that the driving scene is a road no-driving vehicle scene when the driving 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 driving scene is a oncoming vehicle scene when the running state of the second vehicle is a running state and the running direction of the second vehicle is toward the first vehicle; and when the running state of the second vehicle is the 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 same-direction car scene.

In some embodiments, the second determining module 403 is specifically configured to determine that the road condition is a steering condition when the obstacle information indicates that an obstacle exists in the road horizontal direction; under the condition that the obstacle information indicates that an obstacle exists in the vertical direction of the road, determining the road working condition as a slope working condition; and under the condition that the obstacle information indicates that no obstacle exists in the horizontal direction and the vertical direction of the road, determining the road working condition as a straight road working condition.

In some embodiments, the third determining module 404 is specifically configured to determine, if the driving scene is a road no-driving vehicle scene and the road condition is a straight road condition, that the target irradiation angle of the high beam is parallel to the horizontal plane, and determine that the target brightness of the high beam is a preset reference brightness; if the road working condition is a slope working condition or a steering working condition, determining that the target irradiation angle of the high beam is vertical to the horizontal plane, and determining that the target brightness of the high beam is a first preset brightness, wherein the first preset brightness is smaller than a preset reference brightness.

In some embodiments, the third determining module 404 is specifically configured to determine, when the driving scene is a oncoming traffic scene, that the target luminances of the first far-beam and the second far-beam are both the second preset luminances, determine that the target irradiation angle of the first far-beam is toward the ground and forms a first preset angle with the horizontal direction, and determine that the target irradiation angle of the second far-beam is toward the right and forms a second preset angle with the horizontal direction; wherein the second preset brightness is less than the preset reference brightness; and under the condition that the driving scene is a 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 between the first vehicle and the second vehicle.

In some embodiments, the third determining module 404 is specifically configured to determine that the range of the target brightness of the first high beam and the second high beam is a first preset range, and a 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 smaller than a first preset distance; 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.

In some embodiments, the obtaining module 401 is further configured to obtain weather information, where the weather information is used to indicate whether the current weather is a sunny day; 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 a 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 ground and the horizontal direction, 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.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

Fig. 5 is a schematic diagram of an electronic device 5 provided in an embodiment of the present application. As shown in fig. 5, the electronic apparatus 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. The steps of the various method embodiments described above are implemented by processor 501 when executing computer program 505. Alternatively, the processor 501, when executing the computer program 505, performs the functions of the modules/units of the apparatus embodiments described above.

The electronic device 5 may be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The electronic device 5 may include, but is not limited to, a processor 501 and a memory 502. It will be appreciated by those skilled in the art that fig. 5 is merely an example of the electronic device 5 and is not limiting of the electronic device 5 and may include more or fewer components than shown, or different components.

The processor 501 may be a central processing unit (Central Processing Unit, CPU) or other general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.

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, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 5. Memory 502 may also include both internal storage units and external storage devices of electronic device 5. The memory 502 is used to store computer programs and other programs and data required by the electronic device.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a readable storage medium (e.g., a computer readable storage medium). Based on such understanding, the present application implements all or part of the flow in the methods of the above embodiments, or may be implemented by a computer program to instruct related hardware, and the computer program may be stored in a computer readable storage medium, where the computer program may implement the steps of the respective method embodiments described above when executed by a processor. The computer program may comprise computer program code, which may be in source code form, object code form, executable file or in some intermediate form, etc. The computer readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

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

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 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;

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:

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;

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.