WO2020088534A1 - 车辆的控制方法、系统及车辆 - Google Patents

车辆的控制方法、系统及车辆 Download PDF

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Publication number
WO2020088534A1
WO2020088534A1 PCT/CN2019/114408 CN2019114408W WO2020088534A1 WO 2020088534 A1 WO2020088534 A1 WO 2020088534A1 CN 2019114408 W CN2019114408 W CN 2019114408W WO 2020088534 A1 WO2020088534 A1 WO 2020088534A1
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Prior art keywords
vehicle
target scene
image
ambient
current position
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PCT/CN2019/114408
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English (en)
French (fr)
Inventor
刘羽飞
李琦
安旺
李明
樊鹏宇
安淑苗
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长城汽车股份有限公司
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Publication of WO2020088534A1 publication Critical patent/WO2020088534A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/31—Atmospheric conditions
    • B60Q2300/314—Ambient light

Definitions

  • the present invention relates to the technical field of automobiles, and in particular, to a vehicle control method, system, and vehicle.
  • the automatic headlights of the vehicle are automatically turned on and off according to the photosensitive device to sense the change of the ambient brightness, that is: when the light is dimmed while the vehicle is driving, the headlights usually turn on automatically. It will automatically go out when the light becomes brighter.
  • the headlight headlight will automatically turn on, and the front light
  • the brightness of the headlights is usually fixed, and there are the following problems.
  • a dark environment such as a tunnel
  • the brightness of the headlights is not adjustable, there may be a problem of poor fill light effect when entering a different brightness environment, thereby affecting the safety of driving.
  • the present invention aims to propose a vehicle control method.
  • the control method of the vehicle can enable the vehicle to turn on the headlights in advance before entering the target scene, and can control the brightness of the headlights in real time, to avoid the safety hazard caused by the lack of lighting after the driver enters the target scene, and can adapt to a variety of different Bright target scenes, thereby enhancing the driving experience and driving safety.
  • a vehicle control method includes the following steps: detecting an image in front of a vehicle traveling; identifying the image to determine whether a target scene is included in front of the vehicle traveling; if so, extracting the target scene from the image, And calculate the ambient illuminance of the target scene, and before the vehicle enters the target scene, obtain the corresponding fill light amount according to the ambient illuminance of the vehicle's current position and the target scene, and according to the corresponding The amount of fill light turns on and adjusts the brightness of the vehicle's headlights.
  • the target scene includes at least one of a tunnel, a shadow of a city street, a dense forest, and a mountain road.
  • the ambient illuminance of the current position of the vehicle is obtained by extracting a background other than the target scene from the image, and obtaining the ambient illuminance of the current position of the vehicle according to the image brightness of the background; and / Or, detect the light intensity of the current position of the vehicle, and obtain the ambient light intensity of the current position of the vehicle according to the light intensity.
  • the extracting the target scene from the image and calculating the environmental illuminance of the target scene, and before the vehicle enters the target scene, according to the environmental illuminance of the current position of the vehicle and the Obtaining a corresponding amount of fill light for the ambient illuminance of the target scene, and turning on and adjusting the brightness of the headlights of the vehicle according to the corresponding amount of fill light include: identifying the image brightness of the target scene in the image; according to the target scene The brightness of the image corresponding to the target scene; obtain the corresponding amount of supplementary light according to the difference between the ambient illuminance of the current position of the vehicle and the target scene; and according to the corresponding supplement The amount of light adjusts the illuminance of the headlamp.
  • the obtaining the environmental illuminance corresponding to the target scene according to the image brightness of the target scene includes: querying a pre-stored first curve to obtain the environmental illuminance corresponding to the image brightness of the target scene, wherein
  • the first curve includes a plurality of image brightnesses and a plurality of environmental illuminances corresponding to the brightness of the plurality of image ones, wherein the first curve is pre-calibrated by experiment.
  • it also includes: determining whether the target scene is included in front of the vehicle according to the navigation information; if so, controlling the headlights of the vehicle to turn on for supplementary lighting before the vehicle enters the target scene.
  • the vehicle control method of the present invention can determine whether the front is a target scene by recognizing the image in front of the vehicle driving, and if so, according to the ambient illuminance of the vehicle's current position and the target scene's ambient illuminance before entering the target scene
  • the amount of fill light, and turn on the headlights in advance according to the corresponding amount of fill light to fill the light to avoid the safety hazard caused by the lack of lighting after entering the target scene, the driver can adapt to a variety of target scenes with different brightness, thereby improving the driving experience And driving safety.
  • the second object of the present invention is to propose a vehicle control system.
  • the system can determine whether the front is the target scene by recognizing the image of the vehicle in front of it. If it is, then before entering the target scene, the corresponding amount of fill light is obtained according to the ambient illuminance of the vehicle's current position and the target scene, and according to Corresponding amount of fill-in light turns on the headlights in advance for fill-in light, to avoid the safety hazard caused by the lack of lighting after the driver enters the target scene, and can adapt to a variety of target scenes with different brightness, thereby improving the driving experience and driving safety.
  • a vehicle control system including: a headlamp; a detection module for detecting an image of the vehicle in front of it; a control module for identifying the image to determine whether the vehicle is in front of the target scene and when the vehicle When driving ahead is the target scene, extract the target scene from the image, and calculate the environmental illuminance of the target scene, and before entering the target scene, according to the environmental illuminance of the current position of the vehicle and the target scene A corresponding amount of fill light is obtained from the ambient illuminance, and the brightness of the headlight of the vehicle is turned on and adjusted according to the corresponding amount of fill light.
  • control module is further used to: identify the image brightness of the target scene in the image; obtain the ambient illuminance corresponding to the target scene according to the image brightness of the target scene; according to the current position of the vehicle The difference between the ambient illuminance and the ambient illuminance of the target scene obtains the corresponding fill light amount; the illuminance of the headlamp is adjusted according to the corresponding fill light amount, wherein the ambient illuminance at the current position of the vehicle is Extract a background other than the target scene from the image, and obtain the ambient illuminance of the current position of the vehicle according to the image brightness of the background, and / or detect the light intensity of the current position of the vehicle, and according to the The light intensity obtains the environmental illuminance of the current position of the vehicle.
  • control module is configured to: query a pre-stored first curve to obtain the ambient illuminance corresponding to the image brightness of the target scene, wherein the first curve includes a plurality of image brightness and one-to-one correspondence to the Multiple environmental illuminances of multiple image brightness, wherein the first curve is pre-calibrated by experiment.
  • control module is further configured to determine whether the target scene is included in front of the vehicle according to the navigation information; if so, before the vehicle enters the target scene, control the headlights of the vehicle to turn on for fill light.
  • the vehicle control system has the same advantages as the above-mentioned vehicle control method compared to the prior art, and will not be repeated here.
  • the third objective of the present invention is to propose a vehicle that can identify whether the front is a target scene by recognizing the image of the vehicle in front of it, and if so, according to the ambient illuminance and current position of the vehicle before entering the target scene
  • the ambient illumination of the target scene gets the corresponding fill light amount, and the headlights are turned on in advance according to the corresponding fill light amount to fill the light, to avoid the safety hazard caused by the lack of lighting after entering the target scene, the driver can adapt to a variety of different brightness Target scenes to improve driving experience and driving safety.
  • a vehicle is provided with a vehicle control system as described in any of the above embodiments.
  • the vehicle has the same advantages as the above-mentioned vehicle control system over the prior art, and will not be repeated here.
  • An embodiment of the fourth aspect of the present application discloses a computer-readable storage medium having stored thereon a control program for a vehicle, which when executed by a processor implements the vehicle control method described in the first aspect .
  • FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the invention.
  • FIG. 2 is a structural block diagram of a vehicle control system according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a vehicle control system according to an embodiment of the invention.
  • 5 (a), 5 (b), and 5 (c) are tunnel information collected by the vehicle control system according to an embodiment of the present invention.
  • FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention.
  • a vehicle control method includes the following steps:
  • S102 Recognize the image to determine whether the target scene is included in front of the vehicle.
  • target scenes include but are not limited to tunnels, shadows of city streets, dense forests, and mountain roads.
  • the image of the target scene can be pre-stored in the vehicle, that is, the image of multiple target scenes is pre-stored in the vehicle, so that by comparing the detected image with the pre-stored image of the target scene, it can be determined that the vehicle is driving ahead Whether it is the target scene.
  • the target scene takes a tunnel as an example.
  • Figure 5 (a), Figure 5 (b) and Figure 5 (c) when the vehicle is collecting images, it will frame the image of the tunnel entrance and the size of the framed tunnel As the vehicle progresses, the proportion in the image will gradually increase.
  • the recognized images include as shown in Figure 5 (a), Figure 5 (b), and Figure 5 (c)
  • proceed through the image with the pre-stored tunnel In contrast, it can be determined that the tunnel is about to enter.
  • the vehicle control method further includes: recognizing the image brightness of the target scene in the image; obtaining the ambient illuminance corresponding to the target scene according to the image brightness of the target scene; according to the ambient illuminance of the current position of the vehicle and the target scene The difference between the ambient illuminances is the corresponding fill light amount; the illuminance of the headlamp is adjusted according to the corresponding fill light amount.
  • the environmental illuminance corresponding to the image brightness of the target scene is obtained by querying a pre-stored first curve.
  • the first curve includes a plurality of image illuminances and a plurality of environmental illuminances corresponding to the plurality of image brightnesses.
  • the first curve is The experiment was pre-calibrated.
  • the image recognition algorithm can calculate the brightness value and grayscale of the image of the target scene and quantize it into the image brightness A representing the brightness of the image.
  • it can Use the environmental illuminance measurement device to measure the actual illuminance of the current environment, and calibrate the environmental illuminance B corresponding to A.
  • the image brightness A and the environment corresponding to one-on-one are collected in different seasons, different weathers, and different time points.
  • Illuminance B and generate a one-to-one corresponding data set, through the data set to fit all the data into a continuous curve, that is: the first curve.
  • the brightness is a stable value set by the driver, thereby improving the driving experience and driving safety.
  • FIG. 4 is a piece of demonstration data of image brightness, environmental illuminance, and fill light amount, and the data itself has no reference value.
  • the tunnel image when the tunnel image is detected, it will be compared with the pre-stored image to determine that the vehicle is driving in front of the tunnel entrance, and then select the image of the tunnel entrance, identify the image brightness according to the tunnel image, the tunnel is in the graphics It is a dark area that is easy to recognize.
  • the front of the recognized vehicle will be a low-brightness area similar to a dark environment.
  • the image brightness is calculated according to the image recognition algorithm, and the corresponding is obtained according to the first curve.
  • the headlight is excited to turn on the fill light. Since the ambient light is very low, it is almost zero.
  • the amount of fill light is the maximum value, that is, the brightness is fully on. In this way, the vehicle will turn on the headlights in advance before entering the tunnel, thereby improving driving safety.
  • the ambient illuminance of the current position of the vehicle can be obtained by one or a combination of the following two ways:
  • the image includes the tunnel (target scene) and the scene outside the tunnel (background). Therefore, the brightness of the background image can be detected, and the ambient illumination of the background can be calculated according to the brightness of the background image, that is The ambient illumination of the vehicle's current location.
  • an illumination sensor is installed in the vehicle, so that the illumination intensity of the current position of the vehicle can be detected by the illumination sensor, and then the ambient illumination of the current position of the vehicle can be obtained according to the illumination intensity.
  • control method of the vehicle further includes: determining whether the target scene is included in front of the vehicle according to the navigation information, and if so, controlling the headlights of the vehicle to turn on for supplementary lighting before the vehicle enters the target scene.
  • the vehicle control method of the embodiment of the present invention it is possible to determine whether the front is the target scene by identifying the image of the vehicle in front of it, and if so, according to the ambient illuminance of the vehicle's current position and the environment of the target scene before entering the target scene Obtain the corresponding fill light amount, and turn on the headlights in advance according to the corresponding fill light amount to fill the light, to avoid the safety hazard caused by the lack of lighting after entering the target scene, the driver can adapt to a variety of different brightness target scenes, thus Improve driving experience and driving safety.
  • a vehicle control system 200 includes: a headlamp 210, a detection module 220, and a control module 230.
  • 2 and 3 are headlamps 210, which can adjust the linear brightness change from the maximum illuminance value to zero;
  • 4 is the detection module 220, which is used to detect the image of the vehicle in front of the vehicle. This module can be a camera, which will shoot The image of the vehicle in front of it is output to the control module 230;
  • 5 is the control module 230, which is used to identify the image to determine whether the target scene is included in front of the vehicle, and extract from the image when the target vehicle is in front of the target scene The target scene, and calculate the ambient illumination of the target scene, and before entering the target scene, get the corresponding fill light according to the ambient light of the vehicle's current position and the ambient light of the target scene, and control the vehicle's headlight 210 according to the corresponding fill light Turn on for fill light, where the ambient illuminance of the target scene is less than the ambient illuminance of the vehicle's current location.
  • control module 230 is further used to: identify the image brightness of the target scene in the image; obtain the ambient illuminance corresponding to the target scene according to the image brightness of the target scene; according to the ambient illuminance of the current position of the vehicle and the target scene The difference between the ambient illuminances of the corresponding illuminances is obtained; the illuminance of the headlights is adjusted according to the corresponding illuminances, wherein the ambient illuminance at the current position of the vehicle is the background other than the target scene extracted from the image And obtain the ambient illuminance of the current position of the vehicle according to the background image brightness, and / or detect the illumination intensity of the current position of the vehicle, and obtain the ambient illumination of the current position of the vehicle according to the illumination intensity.
  • control module 230 is configured to: query a pre-stored first curve to obtain the ambient illuminance corresponding to the image brightness of the target scene, where the first curve includes multiple image brightness and one-to-one correspondence Multiple environmental illuminances of the brightness of an image, where the first curve is pre-calibrated by experiment.
  • control module 230 is further used to: determine whether the target scene is included in front of the vehicle according to the navigation information; if so, before the vehicle enters the target scene, control the vehicle's headlamp 210 to be turned on to compensate Light.
  • the vehicle control system of the embodiment of the present invention it is possible to determine whether the front is a target scene by recognizing the image of the vehicle in front of it, and if so, according to the ambient illuminance of the vehicle's current position and the environment of the target scene before entering the target scene Obtain the corresponding fill light amount, and turn on the headlights in advance according to the corresponding fill light amount to fill the light, to avoid the safety hazard caused by the lack of lighting after entering the target scene, the driver can adapt to a variety of different brightness target scenes, thus Improve driving experience and driving safety.
  • an embodiment of the present invention discloses a vehicle provided with a vehicle control system as in any of the above embodiments.
  • the vehicle can identify whether the front is the target scene by recognizing the image in front of the vehicle. If it is, then before entering the target scene, the corresponding amount of fill light is obtained according to the ambient illuminance of the vehicle's current position and the target scene, and according to Corresponding amount of fill-in light turns on the headlights in advance for fill-in light, to avoid the safety hazard caused by the lack of lighting after the driver enters the target scene, and can adapt to a variety of target scenes with different brightness, thereby improving the driving experience and driving safety.
  • an embodiment of the present application discloses a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the vehicle control method according to any one of the above embodiments is implemented.
  • any process or method description in the flowchart or otherwise described herein can be understood as indicating that it includes one or more steps for implementing a specific logical function or process Modules, fragments, or parts of the executable instruction code, and the scope of the preferred embodiment of the present application includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner according to the functions involved Or perform functions in the reverse order, which should be understood by those skilled in the art to which the embodiments of the present application belong.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • computer-readable media include the following: electrical connections (electronic devices) with one or more wires, portable computer cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other appropriate if necessary Process to obtain the program electronically and then store it in computer memory.

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  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

本发明提供了一种车辆的控制方法、系统及车辆。其中，车辆的控制方法包括以下步骤：检测车辆行驶前方的图像；对图像进行识别，以确定车辆行驶前方是否包括目标场景；如果是，则从图像中提取目标场景，并计算目标场景的环境照度，以及在车辆进入目标场景之前，根据车辆当前位置的环境照度和目标场景的环境照度得到相应的补光量，并根据相应的补光量开启并调节车辆的前照灯的亮度。本发明的车辆的控制方法可以使车辆在进入目标场景之前提前开启前照灯，并可以实时控制前照灯的亮度，避免驾驶者在进入目标场景之后由于照明的缺失造成安全隐患，可以适应多种不同亮度的目标场景，从而提升驾驶体验以及驾驶的安全性。

Description

车辆的控制方法、系统及车辆
相关申请的交叉引用
本申请要求长城汽车股份有限公司于2018年10月31日提交的、发明名称为“车辆的控制方法、系统及车辆”的、中国专利申请号为“201811285448.7”的优先权。
技术领域
本发明涉及汽车技术领域，特别涉及一种车辆的控制方法、系统及车辆。
背景技术
相关技术中，车辆的自动头灯是依据光敏器件来感知环境亮度的变化而自动点亮和熄灭的，即：当车辆行驶过程中光线变暗时，前照大灯通常会自动亮起，当光线变亮时则会自动熄灭。
但是，自动大灯的开启是有延时的，即：在光敏器件感应到光线变暗时，通常过一定的时间(如十几秒)后，前照大灯才会自动开启，而且前照大灯的亮度通常是固定的，存在以下问题，在进入光线较暗的环境时，例如隧道，由于自动大灯的延时开启，在进入隧道的初期，可能会由于照明的缺失而造成安全隐患；另外，由于前照大灯的亮度不可调节，在进入不同亮度的环境中时可能会存在补光效果差的问题，从而影响驾驶的安全性。
发明内容
有鉴于此，本发明旨在提出一种车辆的控制方法。该车辆的控制方法可以使车辆在进入目标场景之前提前开启前照灯，并可以实时控制前照灯的亮度，避免驾驶者在进入目标场景之后由于照明的缺失造成安全隐患，可以适应多种不同亮度的目标场景，从而提升驾驶体验以及驾驶的安全性。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆的控制方法，包括以下步骤：检测车辆行驶前方的图像；对所述图像进行识别，以确定车辆行驶前方是否包括目标场景；如果是，则从所述图像中提取所述目标场景，并计算所述目标场景的环境照度，以及在所述车辆进入所述目标场景之前，根据所述车辆当前位置的环境照度和所述目标场景的环境照度得到相应的补光量，并根据所述相应的补光量开启并调节车辆的前照灯的亮度。
进一步的，所述目标场景包括隧道、城市街道的阴影、密林和山区道路中的至少一个。
进一步的，所述车辆当前位置的环境照度通过如下方式得到：从所述图像中提取所述目标场景以外的背景，并根据所述背景的图像亮度得到所述车辆当前位置的环境照度；和/或，检测所述车辆当前位置的光照强度，并根据所述光照强度得到所述车辆当前位置的环境照度。
进一步的，所述从所述图像中提取所述目标场景，并计算所述目标场景的环境照度，以及在所述车辆进入所述目标场景之前，根据所述车辆当前位置的环境照度和所述目标场景的环境照度得到相应的补光量，并根据所述相应的补光量开启并调节车辆的前照灯的亮度，包括：识别所述图像中所述目标场景的图像亮度；根据所述目标场景的图像亮度得到对应于所述目标场景的环境照度；根据所述车辆当前位置的环境照度和所述目标场景的环境照度之间的差值得到所述相应的补光量；根据所述相应的补光量调节所述前照灯的照度。
进一步的，所述根据所述目标场景的图像亮度得到对应于所述目标场景的环境照度，包括：查询预存的第一曲线以得到对应于所述目标场景的图像亮度的环境照度，其中，所述第一曲线包括多个图像亮度和一一对应于所述多个图像亮度的多个环境照度，其中，所述第一曲线由实验预先标定得到。
进一步的，还包括：根据导航信息确定车辆行驶前方是否包括目标场景；如果是，则在所述车辆进入所述目标场景之前，控制车辆的前照灯开启以进行补光。
本发明的车辆的控制方法，可以通过对车辆行驶前方的图像进行识别，确定前方是否为目标场景，如果是，则在进入目标场景之前根据车辆当前位置的环境照度和目标场景的环境照度得到相应的补光量，并根据相应的补光量提前开启前照灯以进行补光，避免驾驶者在进入目标场景之后由于照明的缺失造成安全隐患，可以适应多种不同亮度的目标场景，从而提升驾驶体验以及驾驶的安全性。
本发明的第二个目的在于提出一种车辆的控制系统。该系统可以通过对车辆行驶前方的图像进行识别，确定前方是否为目标场景，如果是，则在进入目标场景之前根据车辆当前位置的环境照度和目标场景的环境照度得到相应的补光量，并根据相应的补光量提前开启前照灯以进行补光，避免驾驶者在进入目标场景之后由于照明的缺失造成安全隐患，可以适应多种不同亮度的目标场景，从而提升驾驶体验以及驾驶的安全性。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆的控制系统，包括：前照灯；检测模块，用于检测车辆行驶前方的图像；控制模块，用于对所述图像进行识别，以确定车辆行驶前方是否为目标场景，并当车辆行驶前方为目标场景时，从所述图像中提取所述目标场景，并计算目标场景的环境照度，以及 在进入所述目标场景之前，根据所述车辆当前位置的环境照度和所述目标场景的环境照度得到相应的补光量，并根据所述相应的补光量开启并调节车辆的前照灯的亮度。
进一步的，所述控制模块还用于：识别所述图像中所述目标场景的图像亮度；根据所述目标场景的图像亮度得到对应于所述目标场景的环境照度；根据所述车辆当前位置的环境照度和所述目标场景的环境照度之间的差值得到所述相应的补光量；根据所述相应的补光量调节所述前照灯的照度，其中，所述车辆当前位置的环境照度为从所述图像中提取所述目标场景以外的背景，并根据所述背景的图像亮度得到所述车辆当前位置的环境照度，和/或，检测所述车辆当前位置的光照强度，并根据所述光照强度得到所述车辆当前位置的环境照度。
进一步的，所述控制模块用于：查询预存的第一曲线以得到对应于所述目标场景的图像亮度的环境照度，其中，所述第一曲线包括多个图像亮度和一一对应于所述多个图像亮度的多个环境照度，其中，所述第一曲线由实验预先标定得到。
进一步的，所述控制模块还用于：根据导航信息确定车辆行驶前方是否包括目标场景；如果是，则在所述车辆进入所述目标场景之前，控制车辆的前照灯开启以进行补光。
所述的车辆的控制系统与上述的车辆的控制方法相对于现有技术所具有的优势相同，在此不再赘述。
本发明的第三个目的在于提出一种车辆，该车辆可以通过对车辆行驶前方的图像进行识别，确定前方是否为目标场景，如果是，则在进入目标场景之前根据车辆当前位置的环境照度和目标场景的环境照度得到相应的补光量，并根据相应的补光量提前开启前照灯以进行补光，避免驾驶者在进入目标场景之后由于照明的缺失造成安全隐患，可以适应多种不同亮度的目标场景，从而提升驾驶体验以及驾驶的安全性。
为达到上述目的，本发明的技术方案是这样实现的：
一种车辆，设置有如上述任意一个实施例所述的车辆的控制系统。
所述的车辆与上述的车辆的控制系统相对于现有技术所具有的优势相同，在此不再赘述。
本申请的第四方面的实施例公开了一种计算机可读存储介质，其上存储有车辆的控制程序，该车辆的控制程序被处理器执行时实现上述第一方面所述的车辆的控制方法。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
构成本发明的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明一个实施例所述的车辆的控制方法的流程图；
图2为本发明一个实施例所述的车辆的控制系统的结构框图；
图3为本发明一个实施例所述的车辆的控制系统的示意图；
图4为本发明一个实施例所述的图像亮度、环境照度及补光量的演示数据；
图5(a)、图5(b)、图5(c)为本发明一个实施例所述的车辆的控制系统采集到的隧道信息。
具体实施方式
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
下面将参考附图并结合实施例来详细说明本发明。
图1是根据本发明一个实施例的车辆的控制方法的流程图。
如图1所示，根据本发明一个实施例的车辆的控制方法，包括如下步骤：
S101：检测车辆行驶前方的图像。
S102：对图像进行识别，以确定车辆行驶前方是否包括目标场景。
在具体的示例中，目标场景包括但不限于隧道、城市街道的阴影、密林和山区道路。
其中，目标场景的图像可预存在车辆中，即：车辆中预存有多种目标场景的图像，这样，通过将检测到的图像与预存的目标场景的图像进行对比，从而，可以确定车辆行驶前方是否为目标场景。
目标场景以隧道为例，如图5(a)、图5(b)和图5(c)所示，车辆在采集图像时，会对隧道入口进行图像框选，且框选的隧道的大小会随着车辆的前进而在图像中比例逐渐变大，当识别出的图像中包括如图5(a)、图5(b)和图5(c)时，通过与预存的隧道的图像进行对比，可以确定出为即将进入隧道。
S103：如果是，则从图像中提取目标场景，并计算目标场景的环境照度，以及在车辆进入目标场景之前，根据车辆当前位置的环境照度和目标场景的环境照度得到相应的补光量，并根据相应的补光量控制车辆的前照灯开启以进行补光。
根据本发明的一个实施例，车辆的控制方法，还包括：识别图像中目标场景的图像亮度；根据目标场景的图像亮度得到对应于目标场景的环境照度；根据车辆当前位置的环境照度和目标场景的环境照度之间的差值得到相应的补光量；根据相应的补光量调节前照灯 的照度。
其中，对应于目标场景的图像亮度的环境照度通过查询预存的第一曲线得到，第一曲线包括多个图像亮度和一一对应于多个图像亮度的多个环境照度，这里，第一曲线由实验预先标定得到。
具体地说，在确定车辆前方为目标场景后，可以通过图像识别算法计算该目标场景的图像的亮度值以及灰度等综合信息，并量化为表示该图像的亮度的图像亮度A，同时，可以使用环境照度测量装置测量当前的环境的实际照度，并标定与A对应的环境照度B，需要说明的是，采集不同季节、不同天气、不同时间点的图像亮度A和与之一一对应的环境照度B，并生成一一对应的数据集，通过数据集将所有数据拟合为一段连续变化的曲线，即：第一曲线。
例如，如果驾驶者想要保证自己的前方始终为X的照度值，在得到第一曲线后，根据目标场景的图像亮度A得到对应于该图像亮度的环境照度B，假设补光量为C，则补光量C＝X-B且C≧0，也就是说，当环境照度B大于设定照度值X时，无需补光，但是当环境照度B小于设定照度值X时，则补光量C等于设定照度值X与当前环境照度B的差值，结合图4所示的图像亮度、环境照度及补光量的演示数据，即：当环境照度较小时，应通过前照灯实现补光保证驾驶者前方的亮度为驾驶者设定的稳定值，从而提升驾驶体验以及驾驶的安全性。
需要说明的是，图4为图像亮度、环境照度及补光量的一段演示数据，数据本身不具备参考价值。
以隧道为例，当检测到隧道的图像后，会与预存的图像进行对比，确定车辆行驶前方为隧道入口，然后对隧道入口进行图像框选，根据隧道的图像识别图像亮度，隧道在图形中是一块易于识别的深色区域，在图像识别的过程中，识别到的车辆的正前方会是一块类似于黑暗环境的低亮度区域，根据图像识别算法计算出图像亮度，根据第一曲线得到对应的环境照度，此时，激发前照灯开启补光，由于环境照度很低几乎为零，这时补光量为最大值，即亮度全开。这样，在进入隧道之前车辆将提前开启前照灯，从而提高驾驶的安全性。
在以上描述中，车辆当前位置的环境照度可以通过如下方式中的一种或者两种的结合得到：
(1)从图像中提取所述目标场景以外的背景，并根据所述背景的图像亮度得到所述车辆当前位置的环境照度。
例如：以隧道为例，图像中包括隧道(目标场景)以及隧道以外的场景(背景)，因此， 可以检测背景的图像亮度，并根据背景的图像亮度计算得到背景的环境照度，即：等同于车辆当前位置的环境照度。
(2)检测车辆当前位置的光照强度，并根据光照强度得到所述车辆当前位置的环境照度。
例如：车辆中安装有光照传感器，这样，可以通过光照传感器检测车辆当前位置的光照强度，然后便可以据光照强度得到所述车辆当前位置的环境照度。
进一步地，车辆的控制方法还包括：根据导航信息确定车辆行驶前方是否包括目标场景，如果是，则在车辆进入目标场景之前，控制车辆的前照灯开启以进行补光。
根据本发明实施例的车辆的控制方法，可以通过对车辆行驶前方的图像进行识别，确定前方是否为目标场景，如果是，则在进入目标场景之前根据车辆当前位置的环境照度和目标场景的环境照度得到相应的补光量，并根据相应的补光量提前开启前照灯以进行补光，避免驾驶者在进入目标场景之后由于照明的缺失造成安全隐患，可以适应多种不同亮度的目标场景，从而提升驾驶体验以及驾驶的安全性。
图2是根据本发明一个实施例的车辆的控制系统的结构框图。如图2所示，根据本发明一个实施例的车辆的控制系统200，包括：前照灯210，检测模块220，控制模块230。
结合图3，2和3为前照灯210，可实现由最大照度值到零的线性亮度变化调节；4为检测模块220，用于检测车辆行驶前方的图像，此模块可以是摄像头，将拍摄到的车辆前方的图像，输出给控制模块230；5为控制模块230，用于对图像进行识别，以确定车辆行驶前方是否包括目标场景，并当车辆行驶前方为目标场景时，从图像中提取目标场景，并计算目标场景的环境照度，以及在进入目标场景之前，根据车辆当前位置的环境照度和目标场景的环境照度得到相应的补光量，并根据相应的补光量控制车辆的前照灯210开启以进行补光，其中，目标场景的环境照度小于车辆当前位置的环境照度。
在本发明的一个实施例中，控制模块230还用于：识别图像中目标场景的图像亮度；根据目标场景的图像亮度得到对应于目标场景的环境照度；根据车辆当前位置的环境照度和目标场景的环境照度之间的差值得到相应的补光量；根据相应的补光量调节前照灯的照度，其中，所述车辆当前位置的环境照度为从所述图像中提取所述目标场景以外的背景，并根据所述背景的图像亮度得到所述车辆当前位置的环境照度，和/或，检测所述车辆当前位置的光照强度，并根据所述光照强度得到所述车辆当前位置的环境照度。
在本发明的一个实施例中，控制模块230用于：查询预存的第一曲线以得到对应于目标场景的图像亮度的环境照度，其中，第一曲线包括多个图像亮度和一一对应于多个图像亮度的多个环境照度，其中，第一曲线由实验预先标定得到。
在本发明的一个实施例中，控制模块230还用于：根据导航信息确定车辆行驶前方是否包括目标场景；如果是，则在车辆进入目标场景之前，控制车辆的前照灯210开启以进行补光。
根据本发明实施例的车辆的控制系统，可以通过对车辆行驶前方的图像进行识别，确定前方是否为目标场景，如果是，则在进入目标场景之前根据车辆当前位置的环境照度和目标场景的环境照度得到相应的补光量，并根据相应的补光量提前开启前照灯以进行补光，避免驾驶者在进入目标场景之后由于照明的缺失造成安全隐患，可以适应多种不同亮度的目标场景，从而提升驾驶体验以及驾驶的安全性。
需要说明的是，本发明实施例的车辆的控制系统的具体实现方式与本发明实施例的车辆的控制方法的具体实现方式类似，具体请参见方法部分的描述，为了减少冗余，此处不做赘述。
进一步地，本发明的实施例公开了一种车辆，设置有如上述任意一个实施例中的车辆的控制系统。该车辆可以通过对车辆行驶前方的图像进行识别，确定前方是否为目标场景，如果是，则在进入目标场景之前根据车辆当前位置的环境照度和目标场景的环境照度得到相应的补光量，并根据相应的补光量提前开启前照灯以进行补光，避免驾驶者在进入目标场景之后由于照明的缺失造成安全隐患，可以适应多种不同亮度的目标场景，从而提升驾驶体验以及驾驶的安全性。
另外，根据本发明实施例的车辆的其它构成以及作用对于本领域的普通技术人员而言都是已知的，为了减少冗余，此处不做赘述。
进一步地，本申请的实施例公开了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现根据上述任意一个实施例所述的车辆的控制方法。
需要说明的是，在本说明书的描述中，流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多的用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本申请的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本申请的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设 备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
本技术领域的普通技术人员可以理解实现上述实施例的方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不是必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种车辆的控制方法，其特征在于，包括以下步骤：
    检测车辆行驶前方的图像；
    对所述图像进行识别，以确定车辆行驶前方是否包括目标场景；
    如果是，则从所述图像中提取所述目标场景，并计算所述目标场景的环境照度，以及在所述车辆进入所述目标场景之前，根据所述车辆当前位置的环境照度和所述目标场景的环境照度得到相应的补光量，并根据所述相应的补光量开启并调节车辆的前照灯的亮度。
  2. 根据权利要求1所述的车辆的控制方法，其特征在于，所述车辆当前位置的环境照度通过如下方式得到：
    从所述图像中提取所述目标场景以外的背景，并根据所述背景的图像亮度得到所述车辆当前位置的环境照度；和/或，
    检测所述车辆当前位置的光照强度，并根据所述光照强度得到所述车辆当前位置的环境照度。
  3. 根据权利要求1或2所述的车辆的控制方法，其特征在于，所述从所述图像中提取所述目标场景，并计算所述目标场景的环境照度，以及在所述车辆进入所述目标场景之前，根据所述车辆当前位置的环境照度和所述目标场景的环境照度得到相应的补光量，并根据所述相应的补光量开启并调节车辆的前照灯的亮度，包括：
    识别所述图像中所述目标场景的图像亮度；
    根据所述目标场景的图像亮度得到对应于所述目标场景的环境照度；
    根据所述车辆当前位置的环境照度和所述目标场景的环境照度之间的差值得到所述相应的补光量；
    根据所述相应的补光量调节所述前照灯的照度。
  4. 根据权利要求3所述的车辆的控制方法，其特征在于，所述根据所述目标场景的图像亮度得到对应于所述目标场景的环境照度，包括：
    查询预存的第一曲线以得到对应于所述目标场景的图像亮度的环境照度，其中，所述第一曲线包括多个图像亮度和一一对应于所述多个图像亮度的多个环境照度，
    其中，所述第一曲线由实验预先标定得到。
  5. 根据权利要求1所述的车辆的控制方法，其特征在于，还包括：
    根据导航信息确定车辆行驶前方是否包括目标场景；
    如果是，则在所述车辆进入所述目标场景之前，控制车辆的前照灯开启以进行补光。
  6. 一种车辆的控制系统，其特征在于，包括：
    前照灯；
    检测模块，用于检测车辆行驶前方的图像；
    控制模块，用于对所述图像进行识别，以确定车辆行驶前方是否包括目标场景，并当车辆行驶前方为目标场景时，从所述图像中提取所述目标场景，并计算目标场景的环境照度，以及在进入所述目标场景之前，根据所述车辆当前位置的环境照度和所述目标场景的环境照度得到相应的补光量，并根据所述相应的补光量开启并调节车辆的前照灯的亮度。
  7. 根据权利要求6所述的车辆的控制系统，其特征在于，所述控制模块还用于：
    识别所述图像中所述目标场景的图像亮度；
    根据所述目标场景的图像亮度得到对应于所述目标场景的环境照度；
    根据所述车辆当前位置的环境照度和所述目标场景的环境照度之间的差值得到所述相应的补光量；
    根据所述相应的补光量调节所述前照灯的照度，其中，所述车辆当前位置的环境照度为从所述图像中提取所述目标场景以外的背景，并根据所述背景的图像亮度得到所述车辆当前位置的环境照度，和/或，检测所述车辆当前位置的光照强度，并根据所述光照强度得到所述车辆当前位置的环境照度。
  8. 根据权利要求7所述的车辆的控制系统，其特征在于，所述控制模块用于：
    查询预存的第一曲线以得到对应于所述目标场景的图像亮度的环境照度，其中，所述第一曲线包括多个图像亮度和一一对应于所述多个图像亮度的多个环境照度，
    其中，所述第一曲线由实验预先标定得到。
  9. 根据权利要求6-8任一项所述的车辆的控制系统，其特征在于，所述控制模块还用于：
    根据导航信息确定车辆行驶前方是否包括目标场景；
    如果是，则在所述车辆进入所述目标场景之前，控制车辆的前照灯开启以进行补光。
  10. 一种车辆，其特征在于，设置有如权利要求6-9任一项所述的车辆的控制系统。
PCT/CN2019/114408 2018-10-31 2019-10-30 车辆的控制方法、系统及车辆 WO2020088534A1 (zh)

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