Vehicle steering lamp control method and system, equipment, medium and product

Abstract

The invention relates to a vehicle steering lamp control method and system, equipment, a medium and a product. The control method comprises the steps that it is determined that a vehicle reaches a first preset condition, and the to-be-turned direction indicated by a first steering lamp of the vehicle in an on state is obtained; the first preset condition comprises that a vertical projection line of a target front wheel of the vehicle on the road surface intersects with the target lane line; determining that the vehicle reaches a second preset condition, and turning off the first steering lamp; the second preset condition comprises that the to-be-turned direction indicated by the first steering lamp is not consistent with the moving direction of the target front wheel, and after the first distance between the target front wheel and the target lane line is reduced to zero, the first distance is increased to a preset first spacing distance. Whether the to-be-turned direction indicated by the steering lamp is consistent with the moving direction of the target front wheel or not is judged, whether the to-be-turned direction of the steering lamp of the vehicle is consistent with the lane changing trend or not is judged, and therefore whether the steering lamp is turned off or not is determined in time, or whether the to-be-turned direction indicated by the steering lamp is corrected or not is determined.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method and system, device, medium, and product for controlling a vehicle turn signal light. Background Art

[0002] The methods for controlling the turn signals of vehicles in the prior art rely on intelligent driving (hereinafter referred to as intelligent driving) mode and non-intelligent driving (hereinafter referred to as non-intelligent driving) mode. When the vehicle driving mode is the intelligent driving mode and the turn signal on one side is turned on, when a temporary emergency such as road construction occurs in front of the vehicle, the intelligent driving mode cannot handle the traffic situation. To manually take over the vehicle and control the vehicle to change lanes in order to change the lane changing trend in the intelligent driving mode and avoid driving being affected by emergencies ahead, it is necessary to turn off or correct the turn signal. However, because the intelligent driving mode has been exited at this time, the driver can easily ignore the turned-on turn signal, so that the turn signal that has been turned on in the intelligent driving mode continues to be turned on because the driver is not aware of it, so the turn signal cannot be corrected or turned off in time.

[0003] When the vehicle driving mode is non-intelligent driving mode, the steering wheel angle data can be collected so that the driver can analyze whether the vehicle is changing lanes based on the angle data, and determine whether to turn on or off the turn signal. However, in some cases (such as when the vehicle is driving on a highway), the steering wheel of the vehicle changes little, which makes it impossible for the driver to accurately judge whether to turn on or off the turn signal based on the angle data. When changing lanes in a curve with a certain curvature, although the vehicle maintains the original driving state and trajectory, it may still need to change lanes and cannot turn on or off the turn signal.

[0004] Or the driver turns on the turn signal by himself, but the driver is likely to ignore the situation that the direction indicated by the turn signal is inconsistent with the actual lane change direction, so the accuracy of turning signal on and off in the prior art needs to be improved. Summary of the invention

[0005] Based on this, a method and system, device, medium and product for controlling a vehicle turn signal are provided to solve the problem in the prior art that correction cannot be made when the direction of the turn signal does not match the actual lane change direction.

[0006] In one aspect, a method for controlling a vehicle turn signal lamp is provided, the method comprising:

[0007] Determining that the vehicle meets a first preset condition, obtaining a direction to be turned indicated by a first turn signal of the vehicle in an on state; the first preset condition includes: a vertical projection line of a target front wheel of the vehicle on a road surface intersects with the target lane line;

[0008] Determine that the vehicle reaches a second preset condition and turn off the first turn signal; the second preset condition includes: the direction of turn indicated by the first turn signal is inconsistent with the movement direction of the target front wheel, and after the first distance between the target front wheel and the target lane line decreases to zero, the first distance increases to a preset first interval distance; the movement direction is determined according to the relative distance between the target front wheel and the target lane line.

[0009] Optionally, after determining that the vehicle meets a second preset condition and turning off the first turn signal, the method further includes:

[0010] Turn on the second turn signal; the direction to be turned indicated by the second turn signal is inconsistent with the direction to be turned indicated by the first turn signal.

[0011] Optionally, the determining that the vehicle meets a second preset condition includes:

[0012] In response to the target front wheel being located at a first side of the target lane line, determining that the first distance decreases to zero;

[0013] Determine that the first distance increases to a preset first interval distance;

[0014] In response to the first distance continuously increasing from the first interval distance until the first interval distance reaches a preset second interval distance, and the target front wheel is located on a second side of the target lane line, determining that the vehicle meets the second preset condition; the first side is inconsistent with the second side;

[0015] Wherein, the second spacing distance is greater than the first spacing distance.

[0016] Optionally, after turning on the second turn signal lamp, the method further includes:

[0017] Determine that a second distance between a target rear wheel of the vehicle and the target lane line decreases to zero; the target rear wheel and the target front wheel are respectively located on two sides of the vehicle;

[0018] In response to the second distance increasing to a preset third interval distance, the second turn signal lamp is turned off.

[0019] Optionally, after turning off the first turn signal, the method further includes:

[0020] After a first preset time period, in response to the target front wheel being located at a first side of the target lane line, determining that the third distance between the target front wheel and the target lane line is reduced to zero;

[0021] Determining that the third distance increases to a preset fourth interval distance;

[0022] In response to the third distance continuously increasing from the fourth interval distance until the fourth interval distance reaches a preset fifth interval distance, and the target front wheel is located on the second side of the target lane line, turning on the first turn signal;

[0023] Wherein, the fifth spacing distance is greater than the fourth spacing distance; and the first side is inconsistent with the second side.

[0024] Optionally, the determining that the vehicle meets a second preset condition includes:

[0025] Within a second preset time period, in response to a first distance between the target front wheel and the target lane line being continuously greater than a preset sixth interval distance, it is determined that the vehicle meets the second preset condition.

[0026] In a second aspect, a control system for a vehicle turn signal is provided, wherein the control system comprises:

[0027] An acquisition module is used to determine that the vehicle meets a first preset condition and acquire the direction of the vehicle to be turned indicated by the first turn signal lamp of the vehicle in an on state; the first preset condition includes: a vertical projection line of the target front wheel of the vehicle on the road surface intersects with the target lane line;

[0028] A determination module is used to determine that the vehicle reaches a second preset condition and turn off the first turn signal; the second preset condition includes: the direction of turn indicated by the first turn signal is inconsistent with the movement direction of the target front wheel, and after the first distance between the target front wheel and the target lane line decreases to zero, the first distance increases to a preset first interval distance; the movement direction is determined according to the relative distance between the target front wheel and the target lane line.

[0029] According to a third aspect, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, wherein the processor implements the control method according to the first aspect when executing the computer program.

[0030] According to a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the control method according to the first aspect is implemented.

[0031] According to a fifth aspect, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the control method according to the first aspect is implemented.

[0032] On the basis of conforming to the common sense in the art, the above-mentioned preferred conditions can be arbitrarily combined to obtain the preferred embodiments of the present application.

[0033] The above-mentioned vehicle turn signal control method, system, equipment, medium, and product determine whether the direction to be turned indicated by the turn signal is consistent with the movement direction of the target front wheel, and whether the direction to be turned of the vehicle's turn signal is consistent with the lane changing trend, so as to timely determine whether to turn off the turn signal, or determine whether to correct the direction to be turned indicated by the turn signal, thereby improving the accuracy of automatically turning on and off the turn signal or correcting the direction to be turned indicated by the turn signal, and improving the safety of lane changing. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A first flow chart of a method for controlling a vehicle turn signal lamp in one embodiment;

[0035] Figure 2 A schematic diagram of a wheel vertical projection line of a method for controlling a vehicle turn signal lamp in one embodiment;

[0036] Figure 3 A first schematic diagram of determining a moving direction of a method for controlling a vehicle turn signal lamp in one embodiment;

[0037] Figure 4 A second schematic diagram of determining a moving direction of a method for controlling a vehicle turn signal lamp in one embodiment;

[0038] Figure 5 A second flow chart of a method for controlling a vehicle turn signal lamp in one embodiment;

[0039] Figure 6 A schematic diagram of the structure of a control system for a vehicle turn signal lamp in one embodiment;

[0040] Figure 7 FIG. 1 is a schematic diagram of the structure of an electronic device in an embodiment. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0042] It should be noted that the diagram provided in the present embodiment only illustrates the basic concept of the present application in a schematic manner, so the diagram only shows the components related to the present application rather than drawing according to the number, shape and size of the components during actual implementation. The type, quantity and ratio of each component during actual implementation can be a random change, and its component layout type may also be more complicated. The structure, ratio, size, etc. illustrated by the accompanying diagram of this specification are only used to match the content disclosed in the specification, so that people familiar with this technology can understand and read, and are not used to limit the restrictive conditions that can be implemented in this application, so they have no technical substantive significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effect that can be produced by this application and the purpose that can be achieved, should still fall within the scope that the technical content disclosed in this application can cover. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are also only for the convenience of narration, rather than for limiting the scope that can be implemented in this application. The change or adjustment of its relative relationship, without substantial change of technical content, should also be regarded as the scope that can be implemented in this application.

[0043] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the text does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0044] As shown in this document, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural, unless the context clearly indicates an exception. Generally speaking, the terms "include" and "comprise" only indicate that the steps and elements that have been clearly identified are included, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0045] The definitions of inclusion in this document, such as the terms "having", "may have", "include" or "may include" used herein, indicate the existence of the corresponding functions, operations, elements, etc. herein, and do not limit the existence of one or more other functions, operations, elements, etc. In addition, it should be understood that the terms "including" or "having" used herein indicate the existence of the features, numbers, steps, operations, elements, components, or a combination thereof described in the specification, without excluding the existence or addition of one or more other features, numbers, steps, operations, elements, components, or a combination thereof.

[0046] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "multiple" is two or more.

[0047] Figure 1 A method for controlling a vehicle turn signal lamp is provided as an exemplary embodiment of the present application. The method comprises:

[0048] S11, determining that the vehicle meets a first preset condition, and obtaining a direction to be turned indicated by a first turn signal lamp of the vehicle that is in an on state.

[0049] The first preset condition includes: a vertical projection line of a target front wheel of the vehicle on the road surface intersects with a target lane line.

[0050] The target front wheel may be the left front wheel or the right front wheel of the vehicle, and the target lane line may be the lane line on the left side of the target front wheel or the lane line on the right side of the target front wheel. When any front wheel of the vehicle is pressed on any lane line, the front wheel is determined as the target front wheel, and the lane line is determined as the target lane line.

[0051] When the vertical projection line of any front wheel of the vehicle on the road surface intersects with the target lane line, the front wheel is determined to be the target front wheel. The vehicle camera can collect images of the vehicle and its surroundings, including the vertical projection line of the wheel on the road surface. The vertical projection line of the wheel on the road surface is the line formed by the wheel projecting in a direction perpendicular to the road surface. Figure 2 As shown, the vertical projection of the wheel is an ellipse. The line segment MN formed between the two foci M and N of the ellipse is the vertical projection line of the wheel on the road surface. The center point of the vertical projection line MN is the contact point between the wheel and the ground, that is, the intersection point of the target front wheel and the target lane line.

[0052] When the vertical projection line of the target front wheel of the vehicle on the road intersects with the target lane line, it is determined that the target front wheel is pressed on the target lane line, and it can be determined that the vehicle has a tendency to change lanes. In order to further improve the accuracy of automatically turning on and off the turn signal or correcting the turn direction indicated by the turn signal, the turn direction indicated by the first turn signal of the vehicle in the turned-on state can be obtained, and by judging whether the turn direction indicated by the first turn signal is consistent with the lane change tendency, it can be judged whether the turn signal of the vehicle needs to be corrected.

[0053] S12: Determine that the vehicle meets a second preset condition, and turn off the first turn signal.

[0054] Among them, the second preset condition includes: the direction of turn indicated by the first turn signal is inconsistent with the movement direction of the target front wheel, and after the first distance between the target front wheel and the target lane line decreases to zero, the first distance increases to a preset first interval distance.

[0055] The first spacing distance is a preset value, such as 0.3 meters, 0.5 meters, etc.

[0056] The direction of movement is determined by the relative distance between the target front wheel and the target lane line. Figure 3 As shown in , for example, the target lane line is used as the reference line, the east side of the target lane line is a positive value, and the west side of the target lane line is a negative value. When the target front wheel is located at point p1, it is located on the east side of the target lane line. At this time, the distance between the target front wheel and the target lane line is d1, and d1 is 1m. At this time, the relative distance between the target front wheel and the target lane line is 1m. Figure 4 As shown in the figure, when the target front wheel is at point p2, it is located on the west side of the target lane line. At this time, the distance between the target front wheel and the target lane line is d2, d2 is 0.5m, and the relative distance between the target front wheel and the target lane line is -0.5m. When the target front wheel is at point p1 and point p2, the positive and negative values ​​of the relative distance to the target lane line are inconsistent. When the target front wheel moves from point p1 to point p2, the sign of the relative distance changes from a positive value to a negative value, which means that the target front wheel moves from the east side to the west side of the target lane line, and the target front wheel moves westward.

[0057] When the first distance between the target front wheel and the target lane line decreases to zero and then increases to the preset first interval distance, it can be determined that the target front wheel is approaching the target lane line until it contacts the target lane line, that is, after the first distance decreases to zero, it crosses the target lane line, that is, the first distance increases to the preset first interval distance. When the direction to be turned indicated by the first turn signal is inconsistent with the movement direction of the target front wheel, it is determined that the direction to be turned indicated by the first turn signal is inconsistent with the lane change trend of the vehicle. For example, the vehicle changes lanes to the left, and the direction to be turned indicated by the first turn signal is a right turn. It can be determined that the direction indicated by the first turn signal turned on by the vehicle at this time is wrong, and the first turn signal needs to be turned off. Or the direction to be turned indicated by the first turn signal is correct, but because the target front wheel encounters an emergency after crossing the lane line, such as a sudden vehicle coming from behind, it is necessary to urgently turn the front wheel direction and temporarily return to the original lane. At this time, the movement direction of the front wheel is inconsistent with the direction to be turned indicated by the first turn signal, and the first turn signal needs to be turned off.

[0058] Currently, there is no way to solve the problem that the turn signal does not match the actual lane change direction. If the vehicle's driving mode is a non-intelligent driving mode, when the turn signal is turned on by mistake, the direction indicated by the turn signal is inconsistent with the lane change trend, and it cannot be automatically corrected or turned off in the non-intelligent driving mode. The control method of the turn signal provided in the present application can determine whether the vehicle has a lane change trend by judging whether the target front wheel approaches and crosses the target lane line, or by judging whether the target front wheel is pressed on the target lane line, and determine the movement direction of the target front wheel when the vehicle has a lane change trend. By judging whether the direction to be turned indicated by the turn signal is consistent with the movement direction of the target front wheel, it is judged whether the direction to be turned indicated by the vehicle's turn signal is consistent with the lane change trend, and the turn signal is automatically corrected when it is inconsistent, and the turn signal that is turned on by mistake is turned off, thereby improving the safety of lane changes.

[0059] In the present application, by judging whether the target front wheel of the vehicle intersects with the target lane line and then crosses the target lane line, it is judged whether the vehicle has a tendency to change lanes, thereby improving the accuracy of judging the lane changing tendency of the vehicle, and avoiding the safety threat caused by the vehicle maintaining the original driving state and trajectory but failing to automatically turn on the turn signal when the vehicle changes lanes in a curve with a certain curvature.

[0060] In one embodiment, after the first turn signal of the vehicle is turned off, the second turn signal of the vehicle may be turned on.

[0061] Among them, the direction to turn indicated by the second turn signal is inconsistent with the direction to turn indicated by the first turn signal. The inconsistency means that the direction to turn indicated by the turn signal in the lateral direction of the vehicle is opposite. For example, the direction indicated by the first turn signal is the left side, while the direction indicated by the second turn signal is the right side.

[0062] When the first distance between the target front wheel and the target lane line decreases to zero, the first distance increases to the preset first interval distance, and it is determined that the lane change trend of the vehicle when the target front wheel contacts the target lane line and when the target front wheel crosses the target lane line is consistent, but the direction to be turned indicated by the first turn signal is inconsistent with the lane change trend of the vehicle, then the first turn signal is turned off and the second turn signal is turned on. After the vehicle turns on the wrong turn signal, the wrong turn signal is turned off and the correct turn signal is turned on to correct the turn signal, effectively improving the accuracy of the direction to be turned indicated by the automatic correction turn signal, so that the surrounding vehicles can clearly understand the real lane change trend of the vehicle and improve the safety of lane change.

[0063] In one embodiment, the second preset condition may further include: when the first distance between the target front wheel and the target lane line decreases to zero, it increases to a preset first spacing distance. The first distance continues to increase from the first spacing distance until it reaches a preset second spacing distance.

[0064] Determining that the vehicle meets the second preset condition further includes:

[0065] In response to the target front wheel being located on a first side of the target lane line, determining that the first distance decreases to zero;

[0066] Determine that the first distance increases to a preset first interval distance;

[0067] In response to the first distance continuously increasing from the first interval distance until the first distance reaches a preset second interval distance, and the target front wheel is located on a second side of the target lane line, it is determined that the vehicle meets the second preset condition.

[0068] Among them, the first side and the second side are inconsistent, which can be understood as establishing a coordinate system on the horizontal plane with the target lane line as the y-axis, the first side being the -x side on the coordinate axis, and the second side being the +x side on the coordinate axis.

[0069] The second spacing distance is a preset value, such as 0.6 meters, 0.7 meters, etc. The second spacing distance is greater than the first spacing distance.

[0070] The target front wheel is located on the first side of the target lane line. When the target front wheel contacts the target lane line, the first distance is reduced to zero. At this time, it can be determined that the vehicle has the possibility of changing lanes. When the first distance between the target front wheel and the target lane line increases to the preset first interval distance, it is determined that the target front wheel and the target lane line are separated by the first interval distance. When the first distance continues to increase from the first interval distance until the first distance reaches the preset second interval distance, the target front wheel is located on the second side of the target lane line. It is determined that the target front wheel continues to travel along the previous lane change trend after crossing the lane line, and it is determined that the vehicle has the same lane change trend when the target front wheel contacts the target lane line and when the target front wheel crosses the target lane line. For example, when the target front wheel contacts the target lane line, the vehicle's lane change trend is to change lanes to the left. When the target front wheel crosses the target lane line, the vehicle's lane change trend is still to change lanes to the left. At this time, it is determined that the vehicle's lane change trend is to change lanes to the left. The direction of turn indicated by the first turn signal is to turn right, which is inconsistent with the lane changing trend of the vehicle. It is determined that the vehicle reaches the second preset condition, at which time the first turn signal is turned off and the second turn signal is turned on.

[0071] For example, when the target front wheel is located on the first side of the target lane line, the target front wheel approaches the target lane line and contacts the target lane line, the first distance is reduced to zero, and it can be determined that the vehicle may change lanes. When the first distance between the target front wheel and the target lane line increases to the preset first spacing distance, and the target front wheel is located on the second side of the target lane line, it is determined that the target front wheel and the target lane line are separated by the first spacing distance. After the target front wheel and the target lane line are separated by the first spacing distance, the distance continues to increase in the direction of the second side of the target lane line until the target front wheel reaches the second side of the target lane line. The directions of the first side and the second side are inconsistent. At this time, it can be determined that after the target front wheel of the vehicle crosses the lane line, the vehicle continues to travel along the previous lane change trend, and it is determined that the vehicle's lane change trends when the target front wheel contacts the target lane line and when the target front wheel crosses the target lane line are consistent.

[0072] In one embodiment, the turn signal can be turned off when the vehicle does not need to change lanes. When the target front wheel is located on the first side of the target lane line, the target front wheel approaches the target lane line and contacts the target lane line, the first distance is reduced to zero, and it can be determined that the vehicle has the possibility of changing lanes. When the first distance between the target front wheel and the target lane line increases to a preset first spacing distance, it is determined that the target front wheel and the target lane line are separated by the first spacing distance. After the first distance is reduced to zero from the first spacing distance, it continues to increase in the direction of the first side of the target lane line until the target front wheel reaches the first side of the target lane line. At this time, it can be determined that after the target front wheel crosses the lane line, the vehicle does not continue to travel along the previous lane change trend, and it is determined that the vehicle's lane change trends when the target front wheel contacts the target lane line and when the target front wheel crosses the target lane line are inconsistent.

[0073] For example, when the target front wheel contacts the target lane line, the vehicle's lane-changing trend is to change lanes to the left. When the target front wheel crosses the target lane line, the vehicle's lane-changing trend is to change lanes to the right. At this time, it is determined that the lane-changing trends of the front and rear of the vehicle are inconsistent. After the vehicle contacts the target lane line, it returns to the original lane. The vehicle does not need to change lanes, and the lane change is canceled. The first turn signal is in the on state. At this time, it is determined that the first turn signal is mistakenly turned on, and the first turn signal is turned off. The embodiment provided by the present application solves the problem that the direction to be turned indicated by the vehicle's turn signal is inconsistent with the lane-changing trend. When there is inconsistency, the turn signal is automatically corrected, and when the vehicle does not need to change lanes, the turn signal is turned off, which solves the problem of mistakenly turning on the turn signal during driving and the turn signal cannot be turned off for a long time, so that the vehicle's driving intention is clear and accurate.

[0074] In one embodiment, after turning on the second turn signal lamp, the method further includes:

[0075] Determine that a second distance between a target rear wheel of the vehicle and a target lane line is reduced to zero; the target rear wheel and the target front wheel are located on both sides of the vehicle respectively;

[0076] In response to the second distance increasing to a preset third interval distance, the second turn signal lamp is turned off.

[0077] The third interval distance is a preset value, such as 0.3 meters, 0.5 meters, etc.

[0078] When the first distance between the target front wheel and the target lane line continues to increase from the first interval distance until the first distance reaches the preset second interval distance, after determining that the target front wheel has crossed the target lane line, the vehicle continues to drive along the previous lane change trend, and the direction to be turned indicated by the first turn signal is inconsistent with the movement direction of the target front wheel, the first turn signal is turned off, and the second turn signal is turned on to obtain the second distance between the target rear wheel of the vehicle and the target lane line. If the second distance decreases to zero, it is determined that the target rear wheel of the vehicle is in contact with the target lane line. If the second distance increases to the preset third interval distance again, it is determined that the target rear wheel of the vehicle has crossed the target lane line. The vehicle drives according to the lane change trend until the target rear wheel of the vehicle crosses the target lane line, it is determined that the lane change is completed, and the second turn signal is turned off. When the direction to be turned indicated by the turn signal of the vehicle is inconsistent with the lane change trend, the turn signal is automatically corrected, and the turn signal is automatically turned off after the vehicle completes the lane change, so as to reduce the driving pressure of the driver and avoid the safety hazard caused by forgetting to operate the turn signal.

[0079] In order to improve the accuracy of matching the turn signal and the actual lane change situation, and to avoid the situation where the vehicle still needs to turn but the turn signal is not turned on after the first turn signal is turned off, the turning trend of the vehicle can be further verified after the first turn signal is turned off. After turning off the first turn signal, the first distance can be determined at an interval of a first preset time in response to the target front wheel being located on the first side of the target lane line. Then, in response to the first distance decreasing to zero, it is determined that the first distance increases to a preset fourth interval distance, and when the first distance continues to increase from the fourth interval distance to the fifth interval distance, and the target front wheel is located on the second side of the target lane line, the first turn signal is turned on.

[0080] The fourth interval distance is a preset value, such as 0.3 meters, 0.5 meters, etc. The fifth interval distance is a preset value, such as 0.6 meters, 0.7 meters, etc. The fourth interval distance can be equal to the first interval distance, and the fifth interval distance can be equal to the second interval distance. The first preset time length is a preset value, such as 5 seconds, 10 seconds, etc.

[0081] After the first turn signal is turned off, the first distance between the target front wheel and the target lane line is obtained again after a first preset time interval. The target front wheel is located on the first side of the target lane line. When the first distance decreases to zero, that is, when the target front wheel contacts the target lane line, it is determined that the vehicle has a lane change trend. When the first distance increases to a preset fourth interval distance, and the target front wheel is located on the second side of the target lane line, it is determined that the target front wheel and the target lane line are separated by a fourth interval distance, and at this time, it is determined that the vehicle changes lanes to the second side of the target lane line. When the first distance continues to increase from the fourth interval distance until the first distance reaches the preset fifth interval distance, and the target front wheel is located on the second side of the target lane line, it is determined that after the target front wheel crosses the lane line, the vehicle continues to travel along the previous lane change trend, and it is determined that the vehicle has the same lane change trend when the target front wheel contacts the target lane line and when the target front wheel crosses the target lane line.

[0082] For example, before turning off the turn signal, the vehicle changes lanes to the left, and the direction to be turned indicated by the first turn signal is to the left, and the direction to be turned indicated by the first turn signal is correct. However, after the target front wheel crosses the lane line, it encounters an emergency, such as a sudden vehicle coming from behind, and needs to urgently turn the front wheel direction, change lanes to the right, and temporarily return to the original lane. At this time, the movement direction of the front wheel is inconsistent with the direction to be turned indicated by the first turn signal, and the first turn signal needs to be turned off. However, after the first preset time interval, the vehicle needs to continue to change lanes to the left, and the target front wheel is located on the first side of the target lane line. When the target front wheel contacts the target lane line, the first distance decreases to zero, and the vehicle's lane change trend is to change lanes to the left. When the target front wheel crosses the target lane line, the first distance increases to the fourth interval distance, and then continues to increase to the fifth interval distance, and the target front wheel is located on the second side of the target lane line. It can be determined that the vehicle's lane change trend is still to change lanes to the left, and it is determined that the lane change trends before and after the vehicle are consistent, and the first turn signal is turned on at this time. In order to avoid the situation where the vehicle still needs to turn but the turn signal is not turned on after the first turn signal is turned off, after a first preset time interval, it is determined again whether the vehicle has a tendency to change lanes, so as to automatically turn on the turn signal in advance, reduce the driver's manual operation, reduce the driver's driving pressure, and help the driver focus on other important tasks, such as monitoring the surrounding environment or responding to emergencies. Automatically turning on the turn signal in advance can also notify other vehicles of the vehicle's tendency to change lanes in advance, reducing the occurrence of traffic accidents.

[0083] In one embodiment, the second preset condition may also include: within the second preset time period, the first distance between the target front wheel and the target lane line continues to be greater than the preset sixth interval distance, so as to determine whether the vehicle has a lane changing trend within the second preset time period. If there is no lane changing trend, the turn signal is turned off to reduce the possibility of accidentally turning on the turn signal or the turn signal cannot be turned off for a long time, thereby misleading other vehicles.

[0084] It is determined that the vehicle meets the second preset condition, including:

[0085] In response to a first distance between the target front wheel and the target lane line being continuously greater than a preset sixth interval distance within a second preset time period, it is determined that the vehicle meets a second preset condition.

[0086] The second preset time length is a preset value, such as 1 minute, 2 minutes, etc., and the sixth interval distance is a preset value, such as 0.3 meters, 0.5 meters, etc.

[0087] When the first distance between the target front wheel and the target lane line is greater than the preset sixth interval distance within the second preset time period, it is determined that the vehicle has no lane changing tendency. At this time, if the vehicle's turn signal is on, the turn signal is turned off to reduce the possibility of accidentally turning on the turn signal or the turn signal cannot be turned off for a long time, thereby misleading other vehicles.

[0088] Combine the following Figure 5 , the control method of the vehicle turn signal is further explained:

[0089] The first turn signal of the vehicle is in the on state, and the image of the vehicle, including the vertical projection line of the wheel on the road surface, is obtained through the vehicle's camera. When the first distance between the target front wheel and the target lane line decreases to zero and then increases to the preset first interval distance, it is determined that the target front wheel gradually approaches the target lane line, and after contacting the target lane line, that is, the first distance decreases to zero, it crosses the target lane line, that is, the first distance increases to the preset first interval distance. At this time, it can be determined that the vehicle has a tendency to change lanes, and the direction to be turned indicated by the first turn signal of the vehicle in the on state is obtained. ①. If the direction to be turned indicated by the first turn signal is inconsistent with the movement direction of the target front wheel, the first turn signal is controlled to be turned off and the second turn signal is turned on, and steps ② and ③ are entered. ②. If the direction to be turned indicated by the first turn signal is consistent with the moving direction of the target front wheel, determine whether the target front wheel has returned to the target lane line. If the target front wheel returns to the target lane line after crossing the target lane line, it means that the lane change is cancelled, turn off the first turn signal, and after the first preset time interval, determine whether the target front wheel has crossed the target lane line again. If it has crossed, turn on the first turn signal again for the next turn of the vehicle. ③. If the direction to be turned indicated by the first turn signal is consistent with the moving direction of the target front wheel, and the target rear wheel has also crossed the target lane line, it means that the lane change is completed, and turn off the turn signal at this time.

[0090] If the first turn signal of the vehicle is on and the target front wheel has not crossed the target lane line within the second preset time, it is determined that the vehicle has no lane change trend. At this time, the turn signal is turned off to avoid the turn signal being turned on by mistake.

[0091] It should be understood that although Figure 1, Figure 5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 , Figure 5 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0092] like Figure 6 As shown, the present application also provides a control system for a vehicle turn signal lamp, the control system comprising:

[0093] The acquisition module 61 is used to determine that the vehicle meets a first preset condition and acquire the direction of the vehicle to be turned indicated by the first turn signal lamp of the vehicle in an on state; the first preset condition includes: the vertical projection line of the target front wheel of the vehicle on the road surface intersects with the target lane line;

[0094] The determination module 62 is used to determine that the vehicle meets a second preset condition and turn off the first turn signal; the second preset condition includes: the direction of turn indicated by the first turn signal is inconsistent with the movement direction of the target front wheel, and after the first distance between the target front wheel and the target lane line decreases to zero, the first distance increases to a preset first interval distance; the movement direction is determined according to the relative distance between the target front wheel and the target lane line.

[0095] In one embodiment, the determination module 62 is further configured to:

[0096] In response to the target front wheel being located at a first side of the target lane line, determining that the first distance decreases to zero;

[0097] Determine that the first distance increases to a preset first interval distance;

[0098] In response to the first distance continuously increasing from the first interval distance until the first distance reaches a preset second interval distance, and the target front wheel is located on a second side of the target lane line, determining that the vehicle meets the second preset condition; the first side is inconsistent with the second side;

[0099] Wherein, the second spacing distance is greater than the first spacing distance.

[0100] In one embodiment, the determination module 62 is further configured to:

[0101] Turn on the second turn signal; the direction to be turned indicated by the second turn signal is inconsistent with the direction to be turned indicated by the first turn signal.

[0102] In one embodiment, the determination module 62 is further configured to:

[0103] Determine that a second distance between a target rear wheel of the vehicle and the target lane line decreases to zero; the target rear wheel and the target front wheel are respectively located on two sides of the vehicle;

[0104] In response to the second distance increasing to a preset third interval distance, the second turn signal lamp is turned off.

[0105] In one embodiment, the determination module 62 is further configured to:

[0106] At an interval of a first preset time length, in response to the target front wheel being located at a first side of the target lane line, determining that a first distance between the target front wheel and the target lane line is reduced to zero;

[0107] Determining that the first distance increases to a preset fourth interval distance;

[0108] In response to the first distance continuously increasing from the fourth interval distance until the first distance reaches a preset fifth interval distance, and the target front wheel is located on the second side of the target lane line, turning on the first turn signal;

[0109] Wherein, the fifth spacing distance is greater than the fourth spacing distance; and the first side is inconsistent with the second side.

[0110] In one embodiment, the determination module 62 is further configured to:

[0111] Within a second preset time period, in response to a first distance between the target front wheel and the target lane line being continuously greater than a preset sixth interval distance, it is determined that the vehicle meets the second preset condition.

[0112] For the system embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The system embodiment described above is only illustrative, wherein the units described as separate components may or may not be physically separated, and the components as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application solution.

[0113] Figure 7This is a structural diagram of an electronic device shown in an example embodiment of the present application, the electronic device includes a memory, a processor, and a computer program stored in the memory and used to run on the processor, and the processor implements the control method described in any of the above embodiments when executing the computer program. Figure 7 The electronic device 70 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0114] like Figure 7 As shown, the electronic device 70 may be in the form of a general-purpose computing device, for example, it may be a server device. The components of the electronic device 70 may include, but are not limited to: at least one processor 71, at least one memory 72, and a bus 73 connecting different system components (including the memory 72 and the processor 71).

[0115] The bus 73 includes a data bus, an address bus, and a control bus.

[0116] The memory 72 may include a volatile memory, such as a random access memory (RAM) 721 and / or a cache memory 722 , and may further include a read-only memory (ROM) 723 .

[0117] The memory 72 may also include a program tool 725 (or utility) having a set (at least one) of program modules 724, such program modules 724 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0118] The processor 71 executes various functional applications and data processing by running the computer program stored in the memory 72, such as the control method provided in any of the above embodiments.

[0119] The electronic device 70 may also communicate with one or more external devices 74 (e.g., keyboards, pointing devices, etc.). Such communication may be performed via an input / output (I / O) interface 75. Furthermore, the electronic device 70 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 76. As shown, the network adapter 76 communicates with other modules of the electronic device 70 via a bus 73. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 70, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0120] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0121] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the control method provided in any of the above embodiments is implemented.

[0122] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0123] An embodiment of the present application also provides a computer program product, including a computer program, which implements any of the control methods described above when executed by a processor.

[0124] Among them, the program code for executing the computer program product of the present application can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0125] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0126] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A method for controlling a vehicle turn signal lamp, characterized in that: The control method comprises: Determining that the vehicle meets a first preset condition, obtaining a direction to be turned indicated by a first turn signal of the vehicle in an on state; the first preset condition includes: a vertical projection line of a target front wheel of the vehicle on a road surface intersects with a target lane line; Determine that the vehicle reaches a second preset condition and turn off the first turn signal; the second preset condition includes: the direction of turn indicated by the first turn signal is inconsistent with the movement direction of the target front wheel, and after the first distance between the target front wheel and the target lane line decreases to zero, the first distance increases to a preset first interval distance; the movement direction is determined according to the relative distance between the target front wheel and the target lane line.

2. The control method according to claim 1, characterized in that: After determining that the vehicle meets the second preset condition and turning off the first turn signal, the method further includes: Turn on the second turn signal; the direction to be turned indicated by the second turn signal is inconsistent with the direction to be turned indicated by the first turn signal.

3. The control method according to claim 1 or 2, characterized in that: The determining that the vehicle meets the second preset condition includes: In response to the target front wheel being located at a first side of the target lane line, determining that the first distance decreases to zero; Determine that the first distance increases to a preset first interval distance; In response to the first distance continuously increasing from the first interval distance until the first distance reaches a preset second interval distance, and the target front wheel is located on a second side of the target lane line, determining that the vehicle meets the second preset condition; the first side is inconsistent with the second side; Wherein, the second spacing distance is greater than the first spacing distance.

4. The control method according to claim 2, characterized in that: After turning on the second turn signal lamp, the method further includes: Determine that a second distance between a target rear wheel of the vehicle and the target lane line decreases to zero; the target rear wheel and the target front wheel are respectively located on two sides of the vehicle; In response to the second distance increasing to a preset third interval distance, the second turn signal lamp is turned off.

5. The control method according to any one of claims 1 to 2, characterized in that: After turning off the first turn signal lamp, the method further includes: At an interval of a first preset time length, in response to the target front wheel being located at a first side of the target lane line, determining that the first distance between the target front wheel and the target lane line is reduced to zero; Determining that the first distance increases to a preset fourth interval distance; In response to the first distance continuously increasing from the fourth interval distance until the first distance reaches a preset fifth interval distance, and the target front wheel is located on the second side of the target lane line, turning on the first turn signal; Wherein, the fifth spacing distance is greater than the fourth spacing distance; and the first side is inconsistent with the second side.

6. The control method according to claim 1, characterized in that: The determining that the vehicle meets the second preset condition includes: In response to a first distance between the target front wheel and the target lane line being continuously greater than a preset sixth interval distance within a second preset time period, it is determined that the vehicle meets the second preset condition.

7. A vehicle turn signal control system, characterized in that: The control system comprises: An acquisition module is used to determine that the vehicle meets a first preset condition and acquire the direction of the vehicle to be turned indicated by the first turn signal lamp of the vehicle in an on state; the first preset condition includes: a vertical projection line of the target front wheel of the vehicle on the road surface intersects with the target lane line; A determination module is used to determine that the vehicle reaches a second preset condition and turn off the first turn signal; the second preset condition includes: the direction of turn indicated by the first turn signal is inconsistent with the movement direction of the target front wheel, and after the first distance between the target front wheel and the target lane line decreases to zero, the first distance increases to a preset first interval distance; the movement direction is determined according to the relative distance between the target front wheel and the target lane line.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and used to run on the processor, characterized in that: When the processor executes the computer program, the control method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method according to any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the control method according to any one of claims 1 to 6 is implemented.

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