Headlight Control Method, Device, Equipment and Storage Medium for Vehicles Driving in Formation

Abstract

The embodiments of the present application provide a method, device, equipment and storage medium for controlling the vehicle lights of platooning vehicles, which are applied to vehicles in platooning such as ports, mines, ports, highways or urban traffic, and include: turning on the vehicle lights of the first motor vehicle according to the lighting mode corresponding to its relative position in the vehicle fleet; if, during the driving process in the vehicle fleet, it enters the vehicle light inspection state, and there are other vehicles in the vehicle fleet in front of it, and the vehicle in front of it turns on its tail lights and side lights in the standard lighting mode, then turn on its own headlamps in the standard lighting mode, collect the rear image of the vehicle in front through an image sensor installed on itself, perform a fault inspection on the tail lights and side lights of the vehicle in front and its own headlamps according to the rear image, and send the result to other vehicles in the vehicle fleet; according to the fault inspection results of the tail lights and side lights of the vehicle in front and its own vehicle lights, adjust the relative position of its own vehicle in the vehicle fleet and the lighting mode of its own vehicle lights.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving technology, and particularly to a method, device, equipment and storage medium for controlling vehicle lights of vehicles in formation driving. Background Art

[0002] With the development of artificial intelligence and the new generation of wireless communication technology, the technology of autonomous motor vehicles has shown a rapid development trend. Autonomous motor vehicles can liberate the work of drivers and improve the traffic efficiency of vehicles, so they have broad development prospects in the future.

[0003] In application scenarios such as overland freight transportation, autonomous trucks operating in the trunk line mode can form a formation on the road because their driving routes are relatively fixed, so as to reduce the air resistance suffered by the vehicles in the fleet and reduce the energy consumption of vehicle driving. When autonomous trucks are driving in low-light environments such as at night, on cloudy days, or in haze, it is necessary to turn on the vehicle lights for lighting and warning. Since the turning on of the vehicle lights will additionally increase the vehicle energy consumption, there is currently no mature solution on how to further reduce the energy consumption of autonomous trucks driving in formation in low-light environments while ensuring driving safety. Summary of the Invention

[0004] The embodiments of the present application provide a method, device, equipment and storage medium for controlling vehicle lights of vehicles in formation driving, so as to further reduce the energy consumption of autonomous trucks driving in formation in low-light environments while ensuring driving safety.

[0005] The embodiments of the present application provide a method for controlling vehicle lights of vehicles in formation driving, which is applied to the first motor vehicle in a fleet composed of multiple motor vehicles, where the first motor vehicle is any motor vehicle in the fleet, and the method includes:

[0006] Turn on the vehicle lights of the first motor vehicle according to the lighting mode corresponding to the relative position of the first motor vehicle in the fleet;

[0007] If, during the driving process in the fleet, it enters the vehicle light inspection state, and there are other motor vehicles of the fleet in front of the first motor vehicle, and the previous vehicle of the first motor vehicle turns on the tail lights and side lights in the standard lighting mode, then turn on the head lights of the first motor vehicle in the standard lighting mode;

[0008] Collect the rear image of the previous vehicle through a sensor installed on the first motor vehicle;

[0009] Perform a fault check on the tail lights, side lights of the previous vehicle, and the head lights of the first motor vehicle based on the rear vehicle image, and send the fault check results of the tail lights or side lights of the previous vehicle or the head lights of the first motor vehicle to other motor vehicles in the vehicle fleet;

[0010] Adjust the relative position of the first motor vehicle in the vehicle fleet and the lighting mode of the head lights of the first motor vehicle according to the fault check results of the tail lights, side lights of the previous vehicle, and the head lights of the first motor vehicle.

[0011] Optionally, the method further includes:

[0012] If entering the head light inspection state when stationary, and there are other motor vehicles in the vehicle fleet in front of the first motor vehicle, and the previous vehicle of the first motor vehicle turns on its tail lights and side lights in the standard lighting mode, then turn on the head lights of the first motor vehicle in the standard lighting mode;

[0013] Collect the rear vehicle image of the previous vehicle through a sensor installed on the first motor vehicle, and perform a fault check on the tail lights, side lights of the previous vehicle, and the head lights of the first motor vehicle based on the rear vehicle image;

[0014] If the inspection result shows a fault, send a head light fault prompt to the user.

[0015] Optionally, after completing the fault check, the method further includes:

[0016] Turn on the tail lights and side lights of the first motor vehicle in the standard lighting mode.

[0017] Optionally, the step of turning on the head lights of the first motor vehicle according to the lighting mode corresponding to the relative position of the first motor vehicle in the vehicle fleet includes:

[0018] If the first motor vehicle is the leading vehicle in the vehicle fleet, turn on the head lights and side lights of the first motor vehicle in the standard lighting mode, and turn on the tail lights of the first motor vehicle in the energy-saving lighting mode; or,

[0019] If the first motor vehicle is the trailing vehicle in the vehicle fleet, turn on the tail lights and side lights of the first motor vehicle in the standard lighting mode, and turn on the head lights of the first motor vehicle in the energy-saving lighting mode; or,

[0020] If the first motor vehicle is an intermediate vehicle in the vehicle fleet, turn on the side lights of the first motor vehicle in the standard lighting mode, and turn on the head lights and tail lights of the first motor vehicle in the energy-saving lighting mode;

[0021] Wherein, the total brightness of the same head light turned on in the energy-saving lighting mode is lower than the total brightness of the head light turned on in the standard lighting mode.

[0022] Optionally, adjusting the relative position of the first motor vehicle in the vehicle fleet according to the failure inspection results of the tail lights, side lights of the previous vehicle and the vehicle lights of the first motor vehicle includes:

[0023] If the headlight of the leading vehicle in the vehicle fleet or the tail light of the trailing vehicle in the vehicle fleet fails, generate information on proposed formation change, and send the information on proposed formation change to other motor vehicles in the vehicle fleet; wherein, the information on proposed formation change includes the identification of the vehicle that needs to change the relative position and the information on the changed relative position;

[0024] Receive the information on proposed formation change sent by other motor vehicles in the vehicle fleet, generate formation change instruction information according to the information on proposed formation change, and send the formation change instruction information to the motor vehicle corresponding to the formation change instruction information; wherein, the formation change instruction information includes the identification of the vehicle that needs to change the position and the information on the changed position;

[0025] If the first motor vehicle is the motor vehicle corresponding to the formation change instruction information, change the relative position according to the formation change instruction information, so as to drive at the changed relative position after exiting the vehicle light inspection state;

[0026] Adjusting the vehicle light illumination mode of the first motor vehicle according to the failure inspection results of the tail lights, side lights of the previous vehicle and the vehicle lights of the first motor vehicle includes:

[0027] If the side light of the vehicle in front of the first motor vehicle fails and the first motor vehicle is not the leading vehicle, turn on the headlight of the first motor vehicle in the standard illumination mode; and / or,

[0028] If the tail light of the vehicle in front of the first motor vehicle fails and the first motor vehicle is not the leading vehicle, turn on the headlight of the first motor vehicle in the auxiliary warning mode to irradiate the tail light of the previous vehicle, wherein the auxiliary warning mode is an illumination mode in which the headlight irradiates the tail light of the previous vehicle to make the tail light reflect light.

[0029] Optionally, the method further includes:

[0030] Collect sensing data using a sensor installed on the first motor vehicle to identify the position of street lights; wherein the sensor includes an image sensor, and the sensing data includes the environmental image captured by the image sensor;

[0031] According to the change rule of the illumination information of the street lights in the multiple environmental images, when it is determined that any street light fails, send the failure information of the failed street light to the server.

[0032] Optionally, the method further includes:

[0033] An image sensor installed on the first motor vehicle is used to collect images of non-fleet vehicles driving in other lanes. According to the images of the non-fleet vehicles, it is checked whether the vehicle lights of the non-fleet vehicles are normally turned on. If not, the information that the vehicle lights of the non-fleet vehicles are not normally turned on is sent to the non-fleet vehicles.

[0034] An embodiment of the present application further provides a vehicle light control device for platoon driving vehicles, including:

[0035] A normal lighting control module for platoon driving state, which is used to turn on the vehicle lights of the first motor vehicle according to the lighting mode corresponding to the relative position of the first motor vehicle in the platoon;

[0036] A vehicle light inspection module for platoon driving state, which is used to, if during the driving in the platoon, enter the vehicle light inspection state, and there are other motor vehicles of the platoon in front of the first motor vehicle, and the vehicle in front of the first motor vehicle turns on the tail light and side light in the standard lighting mode, then turn on the headlight of the first motor vehicle in the standard lighting mode; collect the rear image of the vehicle in front by an image sensor installed on the first motor vehicle; perform a fault inspection on the tail light, side light of the vehicle in front and the headlight of the first motor vehicle according to the rear image, and send the fault inspection result of the tail light or the side light of the vehicle in front or the headlight of the first motor vehicle to other motor vehicles in the platoon;

[0037] An adjustment module, which is used to adjust the relative position of the first motor vehicle in the platoon and the lighting mode of the vehicle lights of the first motor vehicle according to the fault inspection results of the tail light, side light of the vehicle in front and the vehicle lights of the first motor vehicle.

[0038] An embodiment of the present application further provides a device, including: a processor and a memory for storing instructions executable by the processor;

[0039] Wherein, the processor is configured to execute the instructions to implement the vehicle light control method for platoon driving vehicles.

[0040] An embodiment of the present application further provides a storage medium, which stores a computer program, and the computer program is used to implement the vehicle light control method for platoon driving vehicles.

[0041] An embodiment of the present application further provides a computer program product, which includes computer program code, and the computer program code is used to implement the vehicle light control method for platoon driving vehicles.

[0042] The beneficial effects of the embodiments of the present application are as follows:

[0043] The headlight control method, device, equipment and storage medium for formation driving vehicles provided by the embodiments of the present application can reduce the energy consumption of some motor vehicles by adjusting the lighting mode of the headlights according to the relative position of the motor vehicle in the vehicle fleet during the formation driving process. At the same time, in order to ensure driving safety, the headlights of the motor vehicles in the vehicle fleet are checked for faults during driving, and the relative position in the vehicle fleet and the lighting mode of the headlights of the vehicle are adjusted after the headlights of the vehicle itself or the previous vehicle fail, so as to ensure the safety of formation driving. Description of the Drawings

[0044] Figure 1 It is a schematic diagram of the vehicle fleet applied in the embodiments of the present application;

[0045] Figure 2 It is one of the flowcharts of the headlight control method for motor vehicles provided by the embodiments of the present application;

[0046] Figure 3 It is another flowchart of the headlight control method for motor vehicles provided by the embodiments of the present application;

[0047] Figure 4 It is yet another flowchart of the headlight control method for motor vehicles provided by the embodiments of the present application;

[0048] Figure 5 It is a schematic diagram of the installation position of the sensors of the first motor vehicle in the embodiments of the present application;

[0049] Figure 6 It is a schematic diagram of the light for checking the headlight faults of the first motor vehicle in the embodiments of the present application;

[0050] Figure 7 It is a schematic diagram of the light when a headlight composed of multiple light-emitting devices of the first motor vehicle in the embodiments of the present application is turned on in the energy-saving lighting mode;

[0051] Figure 8 It is one of the partial flowcharts of the headlight control method for motor vehicles provided by the embodiments of the present application;

[0052] Figure 9 It is another partial flowchart of the headlight control method for motor vehicles provided by the embodiments of the present application;

[0053] Figure 10 It is yet another partial flowchart of the headlight control method for motor vehicles provided by the embodiments of the present application;

[0054] Figure 11 It is still another partial flowchart of the headlight control method for motor vehicles provided by the embodiments of the present application;

[0055] Figure 12 It is one of the schematic diagrams of the vehicle fleet formation change in the embodiments of the present application;

[0056] Figure 13 This is the second schematic diagram of the vehicle formation change in the embodiment of the present application;

[0057] Figure 14 This is the third schematic diagram of the vehicle formation change in the embodiment of the present application;

[0058] Figure 15 This is the fourth schematic diagram of the vehicle formation change in the embodiment of the present application;

[0059] Figure 16 This is the fifth schematic diagram of the vehicle formation change in the embodiment of the present application;

[0060] Figure 17 This is the sixth schematic diagram of the vehicle formation change in the embodiment of the present application;

[0061] Figure 18 This is the schematic diagram of the effect of the projection device of the first motor vehicle projecting text onto the ground in the embodiment of the present application;

[0062] Figure 19 This is the schematic diagram of the structure of the vehicle headlight control device provided in the embodiment of the present application;

[0063] Figure 20 This is the schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Detailed implementation manners

[0064] To make the above objects, features, and advantages of the embodiments of the present application more obvious and understandable, the present invention will be further described below in conjunction with the drawings and embodiments. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; on the contrary, these embodiments are provided to make the present invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repeated description will be omitted. The words expressing positions and directions described in the present invention are all illustrative with reference to the drawings, but can be changed according to needs, and all changes made are included in the protection scope of the present invention. The drawings of the present invention are only used to illustrate the relative positional relationship and do not represent the true scale.

[0065] It should be noted that specific details are set forth in the following description to facilitate a full understanding of the embodiments of the present application. However, the embodiments of the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below. The subsequent description of the specification is the preferred embodiment for implementing the present application, but the description is for the purpose of explaining the general principles of the present application and is not intended to limit the scope of the present application. The protection scope of the present application shall be subject to what is defined by the appended claims.

[0066] The following will specifically describe the headlight control method, device, electronic device, and readable storage medium for a motor vehicle provided by the embodiments of the present application with reference to the accompanying drawings.

[0067] The embodiments of the present application provide a headlight control method for a motor vehicle, which is applied to the first motor vehicle in a fleet composed of multiple motor vehicles (as Figure 1 shown), where the first motor vehicle is any motor vehicle in the fleet. The first motor vehicle can be a vehicle traveling in formation in ports, mines, ports, highways, or urban traffic, etc.

[0068] As Figures 2 to 4 shown, when traveling in the fleet in sequence, the method includes:

[0069] S210. Turn on the headlights of the first motor vehicle according to the lighting mode corresponding to the relative position of the first motor vehicle in the fleet.

[0070] In the specific implementation process, due to different relative positions in the fleet, the lighting modes in which the headlights of the first motor vehicle are turned on will also be correspondingly different. In addition, for the same first motor vehicle, it is also possible that different headlights adopt different lighting modes due to its relative position in the fleet. For example, for a motor vehicle in the middle position of the fleet, its headlamps and tail lamps can be turned on in a more energy-saving mode compared to the motor vehicles at the head and tail positions of the fleet, thereby reducing the energy consumption of the vehicle; while its side lights are turned on in the same lighting mode as the entire fleet to give necessary warnings to the outside world.

[0071] S220. Determine whether to enter the headlight inspection state.

[0072] If the result of step S220 is yes, execute step S230; if the result of step S220 is no, return to step S210.

[0073] In the specific implementation process, the timing of entering the headlight inspection state can be set according to actual needs. It can enter the headlight inspection state at a certain frequency (for example, enter the headlight inspection state every half hour), or enter after receiving an instruction to enter the headlight inspection state sent by the user or the fleet management platform, or other methods, which are not limited here.

[0074] S230. Determine whether there are other motor vehicles of the fleet in front of the first motor vehicle, and the vehicle in front of the first motor vehicle turns on the tail lights and side lights in the standard lighting mode.

[0075] If the result of step S230 is yes, execute step S240; if the result of step S230 is no, return to step S220.

[0076] S240. Turn on the headlights of the first motor vehicle in the standard lighting mode, collect the rear image of the vehicle in front through a sensor (such as Figure 5 the image sensor shown) installed on the first motor vehicle, and perform a fault inspection on the tail lights and side lights of the vehicle in front and the headlights of the first motor vehicle according to the rear image. (As Figure 6 shown)

[0077] In the specific implementation process, before performing the fault inspection, the vehicle in front of the first motor vehicle can also send relevant information (such as the quantity) of its own tail lights and side lights to the first motor vehicle, so that the first motor vehicle can perform the inspection according to the collected image.

[0078] S260. Send the fault inspection result of the tail lights or side lights of the vehicle in front or the headlights of the first motor vehicle to other motor vehicles in the fleet.

[0079] S270. Adjust the relative position of the first motor vehicle in the fleet and the lighting mode of the headlights of the first motor vehicle according to the fault inspection results of the tail lights and side lights of the vehicle in front and the headlights of the first motor vehicle.

[0080] In the specific implementation process, when the first motor vehicle adjusts its relative position in the fleet in step S270, in addition to making a decision based on the fault inspection results of the tail lights and side lights of the vehicle in front and its own headlights obtained from its own fault inspection, it can also include making a decision based on the fault inspection results of its own tail lights and side lights sent by the vehicle behind it.

[0081] In this way, by adjusting the working mode of the vehicle lights according to the relative position of the motor vehicle in the convoy during the formation driving of the motor vehicle, the energy consumption of some motor vehicles can be reduced. At the same time, in order to ensure driving safety, during the driving process, the vehicle lights of the motor vehicles in the convoy are checked for faults. After the vehicle lights of the vehicle itself or the previous vehicle fail, the relative position in the convoy and the lighting mode of the vehicle lights of the vehicle itself are adjusted to ensure the safety of formation driving.

[0082] Optionally, in the step S210, turning on the vehicle lights of the first motor vehicle according to the lighting mode corresponding to the relative position of the first motor vehicle in the convoy includes at least one of the following:

[0083] (1) If the first motor vehicle is the leading vehicle of the convoy, turn on the headlight and side lights of the first motor vehicle in the standard lighting mode, and turn on the tail light of the first motor vehicle in the energy-saving lighting mode;

[0084] (2) If the first motor vehicle is the trailing vehicle of the convoy, turn on the tail light and side lights of the first motor vehicle in the standard lighting mode, and turn on the headlight of the first motor vehicle in the energy-saving lighting mode;

[0085] (3) If the first motor vehicle is an intermediate vehicle in the convoy, turn on the side lights of the first motor vehicle in the standard lighting mode, and turn on the headlight and tail light of the first motor vehicle in the energy-saving lighting mode;

[0086] Among them, the total brightness of the same vehicle light turned on in the energy-saving lighting mode is lower than the total brightness of the vehicle light turned on in the standard lighting mode.

[0087] In the specific implementation process, for the same vehicle light, the energy-saving lighting mode can directly control the luminous brightness of all the light-emitting devices of the vehicle light to be lower than that of the standard lighting mode; for a headlight or tail light composed of a combination of multiple light-emitting devices (such as a matrix headlight), it is also possible to control the luminous brightness of the part of the light-emitting devices close to the inside to be lower than that of the standard lighting mode, and control the luminous brightness of the part of the light-emitting devices close to the outside to be equal to that of the standard lighting mode (as shown in Figure 7 ), separated by the central axis of the vehicle light, the energy-saving lighting mode controls the light-emitting devices close to the inside to reduce the brightness, and controls the brightness of the light-emitting devices close to the outside to remain unchanged), so as to reduce the brightness of the light irradiated to the previous vehicle or the following vehicle, and keep the brightness of the light irradiated to the outside of the convoy unchanged, so as to balance reducing energy consumption and giving necessary prompts to the outside of the convoy.

[0088] In addition to checking the vehicle lights during the formation driving of the convoy, the vehicle lights can also be checked before the convoy departs to ensure the safety of formation driving.

[0089] Specifically, as Figures 8 to 11 shown, the method further includes:

[0090] S110. Determine whether it is currently stationary.

[0091] If the result of step S110 is yes, execute step S120; if the result of step S110 is no, execute step S210.

[0092] S120. Determine whether to enter the vehicle lamp inspection state.

[0093] If the result of step S120 is yes, execute step S130; if the result of step S120 is no, return to step S110.

[0094] In the specific implementation process, the timing of entering the vehicle lamp inspection state can be set as needed. For example, it enters after the first motor vehicle determines that the vehicle fleet has completed forming a team, or it can also enter after receiving an instruction sent by the user or the vehicle fleet management platform to enter the vehicle lamp inspection state, or it can be other methods, which are not limited here.

[0095] S130. Determine whether there are other motor vehicles of the vehicle fleet in front of the first motor vehicle, and the vehicle in front of the first motor vehicle turns on the tail lamp and side lamp in the standard lighting mode.

[0096] If the result of step S130 is yes, execute step S140; if the result of step S130 is no, return to step S120.

[0097] S140. Turn on the headlamp of the first motor vehicle in the standard lighting mode, collect the rear image of the vehicle in front through the sensor installed on the first motor vehicle, and perform a fault inspection on the tail lamp, side lamp of the vehicle in front and the headlamp of the first motor vehicle according to the rear image.

[0098] In the specific implementation process, before performing the fault inspection, the vehicle in front of the first motor vehicle can also send relevant information (such as the quantity) of its own tail lamp and side lamp to the first motor vehicle, so that the first motor vehicle can perform the inspection according to the collected image.

[0099] If the inspection result of step S140 is that there is a fault, execute step S160; if the inspection result of step S140 is that there is no fault, return to step S110.

[0100] S160. Send a vehicle lamp fault prompt to the user.

[0101] In the specific implementation process, prompts can be given by honking the horn, flashing the lights of vehicles without faults, popping up prompt messages on in-vehicle devices, etc., which are not limited herein. In addition, for the inspection result of the rear lights or side lights of the previous vehicle being faulty, a vehicle lamp fault prompt can be sent to the user by itself according to the steps shown in the figure; or the fault inspection result can be sent to the previous vehicle, and the previous vehicle sends a vehicle lamp fault prompt to the user; this is not limited herein.

[0102] Further, after sending a vehicle lamp fault prompt to the user, the user can repair the faulty vehicle lamp, and the vehicle fleet is allowed to depart only after the repair is completed.

[0103] Correspondingly, as Figure 8 shown, after the step S160, it further includes:

[0104] S170. Receive an instruction from the user indicating that the repair is completed. Return to the step S110.

[0105] Or further, as Figure 9 shown, it is also possible to enter the vehicle lamp inspection state again after the repair is completed for vehicle lamp fault inspection, and allow the motor vehicle to depart only after determining that there is no fault in the vehicle lamp according to the vehicle lamp inspection result. Then, after executing the step S170, return to the step S130.

[0106] In the specific implementation process, when inspecting the vehicle lamps, all motor vehicles in the vehicle fleet except the leading vehicle can simultaneously turn on their headlamps to take images of the vehicle tails for fault inspection, so as to improve the inspection efficiency.

[0107] Correspondingly, as Figure 10 shown, before the step S130, it further includes:

[0108] S121. Turn on the rear lights and side lights of the first motor vehicle in the standard lighting mode.

[0109] As Figure 3 shown, before the step S230, it further includes:

[0110] S221. Turn on the rear lights and side lights of the first motor vehicle in the standard lighting mode.

[0111] In this way, after all motor vehicles in the vehicle fleet enter the vehicle lamp inspection state, the rear lights and side lights of the first motor vehicle are simultaneously turned on in the standard lighting mode, which will enable the vehicle behind each motor vehicle in the vehicle fleet except the trailing vehicle to simultaneously turn on its headlamps and take images for vehicle lamp fault inspection, thereby accelerating the overall inspection speed of the vehicle fleet.

[0112] However, in the above-described embodiments, non-adjacent motor vehicles may interfere with the shooting effect of the rear images of adjacent motor vehicles due to the excessive brightness of their headlights, thereby interfering with the determination of the fault inspection results. Therefore, the headlight inspection can be performed in sequence according to the order of the motor vehicles in the vehicle fleet from the front to the rear, and only the taillights and side lights of one motor vehicle and the headlights of the vehicle immediately behind it are turned on each time, so as to avoid the interference of the lights of other motor vehicles.

[0113] Correspondingly, as Figure 11 shown, after step S140, the method further includes:

[0114] S150. Turn on the taillights and side lights of the first motor vehicle in the standard lighting mode.

[0115] As Figure 4 shown, after the step S240, the method further includes:

[0116] S250. Turn on the taillights and side lights of the first motor vehicle in the standard lighting mode.

[0117] In addition, the method further includes (not shown in the figure):

[0118] If the first motor vehicle is the leading vehicle of the vehicle fleet, then after entering the headlight inspection state, turn on the taillights and side lights in the standard lighting mode.

[0119] In this way, the entire vehicle fleet can start from the leading vehicle, turn on the taillights and side lights in sequence and make the vehicle immediately behind the current first motor vehicle turn on its headlights for fault inspection until the last vehicle turns on its side lights and taillights.

[0120] If the first motor vehicle is the last vehicle of the vehicle fleet, then after the step S150 / S250, the method further includes (not shown in the figure):

[0121] Drive in front of the leading vehicle of the vehicle fleet so that after the leading vehicle determines that the last vehicle has turned on its taillights and side lights in the standard lighting mode, turn on the headlights of the first motor vehicle in the standard lighting mode, collect the rear image of the previous vehicle through the sensor installed on the first motor vehicle, and perform fault inspection on the taillights, side lights of the previous vehicle and the headlights of the first motor vehicle according to the rear image.

[0122] In this way, the taillights and side lights of the last vehicle can be fault-inspected by the leading vehicle.

[0123] Optionally, in step S270, according to the fault inspection results of the taillights, side lights of the previous vehicle and the headlights of the first motor vehicle, adjusting the relative position of the first motor vehicle in the vehicle fleet specifically includes:

[0124] If the headlight of the leading vehicle of the fleet or the taillight of the trailing vehicle of the fleet fails, generate formation change information and send the formation change information to other motor vehicles in the fleet; wherein, the formation change information includes the identifiers of the vehicles that need to change their relative positions and the relative position information after the change.

[0125] Receive the formation change information sent by other motor vehicles in the fleet, generate formation change instruction information according to the formation change information, and send the formation change instruction information to the motor vehicle corresponding to the formation change instruction information; wherein, the formation change instruction information includes the identifier of the vehicle that needs to change its position and the position information after the change.

[0126] If the first motor vehicle is the motor vehicle corresponding to the formation change instruction information, change the relative position according to the formation change instruction information, so as to drive at the changed relative position after exiting the headlight inspection state.

[0127] In the specific implementation process, when the headlights of any motor vehicle in the fleet fail, the fault inspection result will be sent to other motor vehicles in the fleet (for example, all other motor vehicles except itself) through the step S250. Then, if the headlight of the leading vehicle of the fleet or the taillight of the trailing vehicle of the fleet fails, each motor vehicle in the fleet will independently decide which motor vehicles in the fleet should change their relative positions through the above process, so as to ensure that the headlights of the leading vehicle and the taillights of the trailing vehicle of the changed fleet can be illuminated in the standard lighting mode, ensuring the safety of the entire fleet during driving. Then, each motor vehicle sends its own decision result to other motor vehicles in the fleet. Each motor vehicle determines the overall decision result of the entire fleet according to the decision results of other vehicles (for example, taking the same formation change information given by the majority of motor vehicles as the formation change instruction information according to the principle of the minority obeying the majority), and notifies the motor vehicles that need to change their relative positions of the final decision result of the entire fleet, so that the motor vehicles that need to change the formation change their relative positions and then drive. In this way, through the negotiation of formation change operations by the motor vehicles in the entire fleet, it is possible to avoid decision-making errors caused by the failure of the communication device or decision-making device of the command vehicle when a certain motor vehicle in the fleet acts as the command vehicle to make a formation change decision, thereby causing danger.

[0128] In the specific implementation process, if a formation change is required due to the failure of the headlight of the leading vehicle, any of the following rules can be used to determine the formation change information:

[0129] (1) If the headlight of any intermediate vehicle (hereinafter referred to as the second motor vehicle for convenience of description) does not fail (for example, select the first motor vehicle with a non-failed headlight in the order from the front to the back of the fleet), the vehicles that need to change their relative positions are the leading vehicle and the second motor vehicle. The leading vehicle and the second motor vehicle exchange their relative positions, and the second motor vehicle becomes the leading vehicle after the formation change of the fleet.

[0130] As Figure 12 shown, before the formation change, the vehicle fleet travels in the order of motor vehicles A, B, C, D, and E. After the headlight of motor vehicle A fails and the headlights of the intermediate vehicle C do not fail, the order after the formation change through the above rules is C, B, A, D, E.

[0131] (2) If the headlight of the second motor vehicle does not fail, the vehicles whose relative positions need to be changed are all the motor vehicles from the head vehicle to the third motor vehicle (the third motor vehicle is the second motor vehicle or the motor vehicle at the relative position after the second motor vehicle in the vehicle fleet). All the motor vehicles at the relative positions before the second motor vehicle are swapped with all the motor vehicles from the second motor vehicle to the third motor vehicle as a whole, and the second motor vehicle serves as the head vehicle after the formation change of the vehicle fleet.

[0132] As Figure 13 shown, before the formation change, the vehicle fleet travels in the order of motor vehicles A, B, C, D, and E. After the headlight of motor vehicle A fails and the headlights of the intermediate vehicle C do not fail, the order after the formation change through the above rules is C, D, E, A, B.

[0133] (3) If the headlight of the tail vehicle does not fail, the vehicles whose relative positions need to be changed are all the motor vehicles. The tail vehicle changes its relative position to before the head vehicle, and all the motor vehicles in the vehicle fleet except the tail vehicle move their relative positions in the vehicle fleet one position backward, and the tail vehicle serves as the head vehicle after the formation change of the vehicle fleet.

[0134] As Figure 14 shown, before the formation change, the vehicle fleet travels in the order of motor vehicles A, B, C, D, and E. After the headlight of motor vehicle A fails and the headlights of motor vehicle E do not fail, the order after the formation change through the above rules is E, A, B, C, D.

[0135] In the specific implementation process, since the tail vehicle will temporarily drive in front of the head vehicle to check the tail light and side lights of the tail vehicle when the head vehicle is checking for headlight failures, if the above rule (1) or (2) is adopted, the tail vehicle needs to drive back to the end of the fleet after the head vehicle completes the headlight failure check; if the above rule (3) is adopted, the tail vehicle does not need to drive back to the end of the fleet and can complete the formation change by maintaining its relative position in front of the head vehicle.

[0136] Similarly, if the formation change is required due to the failure of the tail light of the tail vehicle, then any of the following rules can be adopted to determine the formation change information:

[0137] (1) If the tail lights of any intermediate vehicle (hereinafter referred to as the fourth motor vehicle for convenience of description) are not faulty (for example, the first motor vehicle with non-faulty head lights is selected in the order from the rear to the front of the vehicle fleet), the vehicles whose relative positions need to be changed are the leading vehicle and the fourth motor vehicle. The leading vehicle and the fourth motor vehicle exchange their relative positions, and the fourth motor vehicle becomes the tail vehicle after the vehicle fleet changes formation.

[0138] As Figure 15 shown, before the formation change, the vehicle fleet travels in the order of motor vehicles A, B, C, D, E. When the tail lights of motor vehicle E are faulty and the tail lights of intermediate vehicle C are not faulty, the order after the formation change through the above rules is A, B, E, D, C.

[0139] (2) If the head lights of the second motor vehicle are not faulty, the vehicles whose relative positions need to be changed are all the motor vehicles from the leading vehicle to the fifth motor vehicle (the fifth motor vehicle is the fourth motor vehicle or the motor vehicle at the relative position before the fourth motor vehicle in the vehicle fleet). All the motor vehicles at the relative positions after the fourth motor vehicle are exchanged as a whole with all the motor vehicles from the fourth motor vehicle to the fifth motor vehicle as a whole, and the fourth motor vehicle serves as the tail vehicle after the vehicle fleet changes formation.

[0140] As Figure 16 shown, before the formation change, the vehicle fleet travels in the order of motor vehicles A, B, C, D, E. When the tail lights of motor vehicle E are faulty and the tail lights of intermediate vehicle C are not faulty, the order after the formation change through the above rules is D, E, A, B, C.

[0141] (3) If the head lights of the tail vehicle are not faulty and the tail lights of the vehicle immediately in front of the tail vehicle are not faulty, the vehicles whose relative positions need to be changed are all the motor vehicles. The tail vehicle changes its relative position to in front of the leading vehicle, and all the other motor vehicles in the vehicle fleet except the tail vehicle move their relative positions in the vehicle fleet one position backward. The vehicle immediately in front of the tail vehicle serves as the tail vehicle after the vehicle fleet changes formation.

[0142] As Figure 17 shown, before the formation change, the vehicle fleet travels in the order of motor vehicles A, B, C, D, E. When the tail lights of motor vehicle E are faulty and the tail lights of motor vehicle D are not faulty, the order after the formation change through the above rules is E, A, B, C, D.

[0143] In the specific implementation process, when the leading vehicle checks the vehicle lights for faults, the tail vehicle will temporarily drive in front of the leading vehicle to check the tail lights and side lights of the tail vehicle. If the above rules (1) or (2) are adopted, the tail vehicle needs to drive back to the end of the fleet after the leading vehicle finishes checking the vehicle lights for faults; if the above rule (3) is adopted, the tail vehicle does not need to drive back to the end of the fleet, and the formation change can be completed by maintaining its relative position in front of the leading vehicle.

[0144] Adjust the headlight illumination mode of the first motor vehicle according to the fault inspection results of the tail lights and side lights of the previous vehicle and the headlights of the first motor vehicle, including:

[0145] If the side lights of the previous vehicle of the first motor vehicle fail and the first motor vehicle is not the leading vehicle, turn on the headlights of the first motor vehicle in the standard illumination mode.

[0146] In this way, by illuminating forward by turning on the headlights of the first motor vehicle in the standard illumination mode, the previous vehicle of the first motor vehicle can be illuminated to alert the outside world.

[0147] And / or,

[0148] If the tail lights of the previous vehicle of the first motor vehicle fail and the first motor vehicle is not the leading vehicle, turn on the headlights of the first motor vehicle in the auxiliary warning mode to irradiate the tail lights of the previous vehicle, where the auxiliary warning mode is an illumination mode that makes the headlights irradiate the tail lights of the previous vehicle to reflect the tail lights.

[0149] In the specific implementation process, the auxiliary warning mode can adjust the luminous brightness of the headlights so that the light irradiated on the tail lights of the previous vehicle reflects off the lamp cover of the tail lights to alert the outside world. Further, if the headlights can adjust the illumination direction, the auxiliary warning mode can also adjust the illumination direction of the headlights so as to irradiate the light on the tail lights of the previous vehicle.

[0150] Further, in order to ensure the safety of the fleet formation driving, a projection device that projects text or pictures onto the surrounding ground can be installed on the motor vehicle to prompt the motor vehicles driving on other lanes by projecting text or pictures onto the ground. Then, the method can further include:

[0151] ① When driving in the fleet in sequence, project the formation driving prompt information onto the ground through the projection device installed on the first motor vehicle. For example Figure 18 As shown, project the text "Driving in formation" onto the ground.

[0152] ② If the first motor vehicle is not the leading vehicle and the tail lights of the previous vehicle of the first motor vehicle fail, project the headlight fault information onto the ground through the projection device installed on the first motor vehicle. For example, project the text "Tail light damaged, please pay attention!" onto the ground.

[0153] ③ If the first motor vehicle is not the leading vehicle and the headlights of the leading vehicle fail, project the oncoming vehicle prompt information onto the ground on the left side of the fleet through the projection device installed on the first motor vehicle. For example, project the text "Oncoming vehicle, please pay attention!" onto the ground of the oncoming lane.

[0154] Further, when the number of motor vehicles with headlight failures in the convoy is excessive (for example, more than one-third of the motor vehicles in the convoy have headlight failures), it is possible that no matter how the convoy changes formation, it will not be possible to ensure that the necessary headlights can be turned on normally. Then the convoy needs to stop driving and wait until the headlights are repaired before setting off to ensure traffic safety. The method further includes (not shown in the figure):

[0155] If the number of motor vehicles with headlight failures in the convoy exceeds the threshold, generate docking information and send the docking information to all other motor vehicles in the convoy;

[0156] Receive the docking information sent by other motor vehicles in the convoy, generate docking instruction information according to the docking information, and send the docking instruction information to all other motor vehicles in the convoy;

[0157] Pull over to the side of the road according to the received docking instruction information sent by all other motor vehicles in the convoy.

[0158] In this way, by each motor vehicle sending its own decision result on the convoy pulling over to the side of the road to all other motor vehicles in the convoy, each motor vehicle determines the overall decision result of the entire convoy according to the decision results of other vehicles (for example, when more than half of the motor vehicles decide that they should pull over to the side of the road, then the entire convoy makes an overall decision to pull over to the side of the road), and sends docking instruction information to all other motor vehicles to confirm the decision to pull over to the side of the road. After receiving the confirmed docking instruction information of the entire convoy, then pull over. In this way, through the negotiation of the docking operation by the motor vehicles in the entire convoy and the unification of the final decision result, the entire convoy pulls over to the side of the road as a whole, avoiding the danger caused by only some motor vehicles pulling over alone.

[0159] The motor vehicle to which the embodiment of the present application is applied is equipped with a variety of sensors (such as Figure 5 shown, including an image sensor, a radar) to implement the above-mentioned headlight control method for platooning vehicles. These sensors can also be used to sense the external environment, and the following steps can also be implemented (not shown in the figure):

[0160] Use the sensors installed on the first motor vehicle to collect sensing data to identify the position of the street lamp; wherein the sensors include an image sensor, and the sensing data includes the environmental image captured by the image sensor.

[0161] In the specific implementation process, in addition to the image sensor collecting the environmental image, the position of the street lamp can also be assisted in being identified by the radar (such as lidar, millimeter wave radar, etc.) installed on the first motor vehicle.

[0162] According to the variation law of the lighting information of the street lamps in the multiple environmental images, when any street lamp fails, the fault information of the faulty street lamp is sent to the server.

[0163] When driving at night or other times, the street lamps will turn on for illumination. Since street lamps are generally installed at equal intervals on the roads where they are installed. If none of the street lamps fail, in the environmental images collected by the image sensor on the motor vehicle, the brightness of the street lamps in the images taken at equal-interval positions should be basically the same. Thus, by analyzing the environmental images, if the brightness of a certain street lamp in the corresponding environmental image is significantly lower than the brightness of other street lamps in the images taken at equal-interval positions (for example, the brightness difference from other street lamps is greater than the brightness threshold), it indicates that this street lamp has failed. Then, the fault information of this street lamp is reported to the server for the road maintenance department to carry out repairs.

[0164] Currently, autonomous driving technology has developed rapidly, but manual driving of motor vehicles by drivers is still the mainstream situation at present. For some drivers, they may forget to turn on the vehicle lights when driving a motor vehicle in low-light environments such as at night, on cloudy days, or in haze, or the vehicle lights of the motor vehicle they are driving may fail without being discovered in time. Optionally, the method further includes (not shown in the figure):

[0165] Using the image sensor installed on the first motor vehicle to collect images of non-fleet vehicles driving in other lanes, and checking whether the vehicle lights of the non-fleet vehicles are turned on normally according to the images of the non-fleet vehicles. If they are not turned on normally, the information that the vehicle lights of the non-fleet vehicles are not turned on normally is sent to the non-fleet vehicles.

[0166] As an optional implementation manner, the information that the vehicle lights of the non-fleet vehicles are not turned on normally is sent to the non-fleet vehicles through vehicle-to-everything (V2X) wireless communication technology.

[0167] In this way, the first motor vehicle checks the vehicle lights of motor vehicles driving in other lanes and reminds motor vehicles that do not turn on the headlamps, tail lamps, etc., to ensure traffic safety.

[0168] In the specific implementation process, the motorcade can be composed of motor vehicles with the same route (i.e., the same starting point and ending point), or can be composed of motor vehicles with overlapping routes. If it is composed of motor vehicles with overlapping routes, then the first motor vehicle at the same starting point position can report its absolute position and the ending point to the motorcade management platform. The motorcade management platform forms a motorcade from the motor vehicles with overlapping routes according to the ending points of each motor vehicle, and determines the relative positions of each motor vehicle in the motorcade according to the absolute positions of each motor vehicle, and generates the formation information and notifies the corresponding motor vehicle. Each first motor vehicle at the same starting point position sends its destination and relative position in the motorcade to all other motor vehicles in the motorcade from front to back according to the relative positions in the motorcade, so as to verify whether the received formation information is correct, thus completing the formation. For example, in the order determined by the motorcade management platform, the first motor vehicle notifies all other motor vehicles: "This is the first vehicle, and the destination is: XXX", and then the second motor vehicle notifies all other motor vehicles: "This is the second vehicle, and the destination is: XXX, in front of me is XXXX (information of the first vehicle).", and then the third motor vehicle notifies all other motor vehicles: "This is the third vehicle, and the destination is: XXX, in front of me is XXX (information of the second vehicle), in front of the one in front of me is XXX (the first vehicle).". And so on until the last vehicle.

[0169] After the formation is completed, during the process of the motor vehicles driving in formation, there may still be other motor vehicles joining the motorcade and some motor vehicles leaving the motorcade. Then for the situation of other motor vehicles joining the motorcade, optionally, the method further includes (not shown in the figure):

[0170] If the first motor vehicle is the command vehicle of the motorcade, when driving in the motorcade in order, use the image sensor installed on the first motor vehicle to collect multiple images of the non-motorcade motor vehicle and receive the joining request sent by the non-motorcade motor vehicle, and judge whether to allow the non-motorcade motor vehicle to join the motorcade according to the headlight on state of the non-motorcade motor vehicle in the multiple images and the destination information in the joining request of the non-motorcade motor vehicle. If allowing the non-motorcade motor vehicle to join the motorcade, then send the formation change instruction information to some motor vehicles in the motorcade;

[0171] If the first motor vehicle is the motor vehicle corresponding to the formation change instruction information, then change the relative position according to the formation change instruction information, so as to leave a position for the non-motorcade motor vehicle in the motorcade.

[0172] For example, the command vehicle sends formation change instruction information to all motor vehicles from a certain motor vehicle in the vehicle fleet to the last vehicle. These motor vehicles appropriately decelerate, creating a certain gap from the non-decelerating motor vehicles in the vehicle fleet, allowing the non-fleet motor vehicle to insert into the gap and thus join the vehicle fleet. In this way, the relative positions of all motor vehicles from a certain motor vehicle to the last vehicle in the vehicle fleet are shifted backward by one position respectively.

[0173] In the specific implementation process, the non-fleet motor vehicle requesting to join the fleet can indicate its request to join the fleet to the command vehicle by flashing its vehicle lights at a certain frequency (for example, continuously flashing the turn signal three times). In addition, the non-fleet motor vehicle requesting to join the fleet can also honk its horn according to a certain pattern to indicate its request to join the fleet. The command vehicle combines the honking sound information of the non-fleet motor vehicle collected by the installed sound sensor with the vehicle light on state of the non-fleet motor vehicle and the destination information in the fleet entry request of the non-fleet motor vehicle to determine whether to allow it to join the fleet.

[0174] Optionally, for the situation where a motor vehicle leaves the vehicle fleet, the method further includes (not shown in the figure):

[0175] When driving in the vehicle fleet in sequence, use the image sensor installed on the first motor vehicle to collect multiple images of the sixth motor vehicle. Determine whether the sixth motor vehicle is ready to leave the vehicle fleet according to the vehicle light on state of the sixth motor vehicle in the multiple images. If so, determine its relative position in the vehicle fleet after the sixth motor vehicle leaves the vehicle fleet, and notify other motor vehicles in the vehicle fleet that the sixth motor vehicle has left the vehicle fleet, so that other motor vehicles in the vehicle fleet can re-determine their relative positions in the vehicle fleet after the sixth motor vehicle leaves the vehicle fleet; where the sixth motor vehicle is any motor vehicle in the vehicle fleet other than the first motor vehicle.

[0176] In the specific implementation process, the sixth motor vehicle can indicate to other motor vehicles in the vehicle fleet that it will leave the fleet by flashing its vehicle lights at a certain frequency (for example, continuously flashing the turn signal three times). In addition, the sixth motor vehicle can also honk its horn according to a certain pattern to indicate that it will leave the fleet. Other motor vehicles in the vehicle fleet combine the honking sound information of the non-fleet motor vehicle collected by the installed sound sensor with the vehicle light on state of the non-fleet motor vehicle to determine whether it is ready to leave the fleet.

[0177] The embodiment of the present application also provides a vehicle light control device for a motor vehicle, as Figure 19 shown, including:

[0178] The normal lighting control module M3 for the driving state of the vehicle fleet is used to turn on the vehicle lights of the first motor vehicle according to the lighting mode corresponding to the relative position of the first motor vehicle in the vehicle fleet when driving in the vehicle fleet in sequence;

[0179] The vehicle light inspection module M4 for the driving state of the vehicle fleet is used to, if in the process of driving in the vehicle fleet, enter the vehicle light inspection state, and there are other motor vehicles in the vehicle fleet before the first motor vehicle, and the previous vehicle of the first motor vehicle turns on the tail lights and side lights in the standard lighting mode, then turn on the head lights of the first motor vehicle in the standard lighting mode; collect the rear image of the previous vehicle through the sensor installed on the first motor vehicle; perform fault inspection on the tail lights, side lights of the previous vehicle and the head lights of the first motor vehicle according to the rear image, and send the fault inspection result of the tail lights or the side lights of the previous vehicle or the head lights of the first motor vehicle to other motor vehicles in the vehicle fleet;

[0180] The adjustment module M5 is used to adjust the relative position of the first motor vehicle in the vehicle fleet and the lighting mode of the vehicle lights of the first motor vehicle according to the fault inspection results of the tail lights, side lights of the previous vehicle and the vehicle lights of the first motor vehicle.

[0181] Optionally, the device further includes:

[0182] The initial vehicle light inspection module M1 is used to, if entering the vehicle light inspection state when stationary, and there are other motor vehicles in the vehicle fleet before the first motor vehicle, and the previous vehicle of the first motor vehicle turns on the tail lights and side lights in the standard lighting mode, then turn on the head lights of the first motor vehicle in the standard lighting mode; collect the rear image of the previous vehicle through the sensor installed on the first motor vehicle; perform fault inspection on the tail lights, side lights of the previous vehicle and the head lights of the first motor vehicle according to the rear image;

[0183] The fault prompt module M2 is used to send a vehicle light fault prompt to the user if the inspection result is that there is a fault.

[0184] Optionally, after the fault inspection is completed, turn on the tail lights and side lights of the first motor vehicle in the standard lighting mode.

[0185] Optionally, the turning on of the vehicle lights of the first motor vehicle according to the lighting mode corresponding to the relative position of the first motor vehicle in the vehicle fleet includes:

[0186] If the first motor vehicle is the leading vehicle of the vehicle fleet, then turn on the head lights and side lights of the first motor vehicle in the standard lighting mode, and turn on the tail lights of the first motor vehicle in the energy-saving lighting mode; or,

[0187] If the first motor vehicle is the last vehicle in the motorcade, turn on the tail lights and side lights of the first motor vehicle in the standard lighting mode, and turn on the headlamps of the first motor vehicle in the energy-saving lighting mode; or,

[0188] If the first motor vehicle is an intermediate vehicle in the motorcade, turn on the side lights of the first motor vehicle in the standard lighting mode, and turn on the headlamps and tail lights of the first motor vehicle in the energy-saving lighting mode;

[0189] Wherein, the total brightness of the same vehicle lamp turned on in the energy-saving lighting mode is lower than the total brightness of the vehicle lamp turned on in the standard lighting mode.

[0190] Optionally, adjusting the relative position of the first motor vehicle in the motorcade according to the failure inspection results of the tail lights and side lights of the previous vehicle and the vehicle lamps of the first motor vehicle includes:

[0191] If the headlamp of the leading vehicle in the motorcade or the tail lamp of the last vehicle in the motorcade fails, generate information about the proposed formation change, and send the information about the proposed formation change to other motor vehicles in the motorcade; wherein, the information about the proposed formation change includes the identification of the vehicle that needs to change the relative position and the information about the changed relative position;

[0192] Receive the information about the proposed formation change sent by other motor vehicles in the motorcade, generate formation change instruction information according to the information about the proposed formation change, and send the formation change instruction information to the motor vehicle corresponding to the formation change instruction information; wherein, the formation change instruction information includes the identification of the vehicle that needs to change the position and the information about the changed position;

[0193] If the first motor vehicle is the motor vehicle corresponding to the formation change instruction information, change the relative position according to the formation change instruction information, so as to drive at the changed relative position after exiting the vehicle lamp inspection state;

[0194] Adjusting the lighting mode of the vehicle lamps of the first motor vehicle according to the failure inspection results of the tail lights and side lights of the previous vehicle and the vehicle lamps of the first motor vehicle includes:

[0195] If the side light of the vehicle in front of the first motor vehicle fails and the first motor vehicle is not the leading vehicle, turn on the headlamp of the first motor vehicle in the standard lighting mode; and / or,

[0196] If the tail light of the vehicle in front of the first motor vehicle fails and the first motor vehicle is not the leading vehicle, turn on the headlamp of the first motor vehicle in the auxiliary warning mode to irradiate the tail light of the previous vehicle, where the auxiliary warning mode is a lighting mode in which the headlamp irradiates the tail light of the previous vehicle to make the tail light reflect light.

[0197] Optionally, the device further includes:

[0198] A street lamp inspection module M6, configured to identify the positions of street lamps by using sensors installed on the first motor vehicle to collect sensing data; wherein the sensors include image sensors, and the sensing data includes environmental images captured by the image sensors; according to the variation law of the illumination information of the street lamps in the multiple environmental images, when it is determined that any street lamp fails, fault information of the faulty street lamp is sent to the server.

[0199] Optionally, the device further includes:

[0200] A non-fleet vehicle headlight inspection module M7, configured to collect images of non-fleet vehicles driving in other lanes by using an image sensor installed on the first motor vehicle, check whether the headlights of the non-fleet vehicles are normally turned on according to the images of the non-fleet vehicles, and if not, send information indicating that the headlights of the non-fleet vehicles are not normally turned on to the non-fleet vehicles.

[0201] It should be noted that the division of modules in the embodiments of the present application is illustrative, merely a logical function division, and there may be other division methods in actual implementation. In addition, in each embodiment of the present application, the modules may be integrated in a processing unit, or each module may exist physically alone, or two or more modules may be integrated in one module. The above integrated modules may be implemented in the form of hardware or in the form of software functional units.

[0202] Since the specific manners in which the modules of the vehicle headlight control device for platoon driving vehicles perform operations have been described in detail in the embodiments of the vehicle headlight control method for platoon driving vehicles, they will not be elaborated herein.

[0203] An embodiment of the present application further provides a device, as Figure 20 shown, including: a processor 110 and a memory 120 for storing executable instructions of the processor 110; wherein the processor 110 is configured to execute the instructions to implement the vehicle headlight control method for platoon driving vehicles.

[0204] In the specific implementation process, the devices may vary greatly due to different configurations or performances, and may include one or more processors 110, a memory 120, and a storage medium 130. One or more application programs 131 or data 132 are included in the memory 120 and / or the storage medium 130. One or more operating systems 133 may also be included in the memory 120 and / or the storage medium 130, such as Windows, Mac OS, Linux, IOS, Android, Unix, FreeBSD, etc. Among them, the memory 120 and the storage medium 130 may be transient storage or persistent storage. The application program 131 may include one or more of the above-mentioned modules ( Figure 20 not shown in the figure), and each module may include a series of instruction operations. Further, the processor 110 may be set to communicate with the storage medium 130 and execute a series of instruction operations in the storage medium 130 on the electronic device. The electronic device may also include one or more network interfaces 140, and the network interface 140 includes a wired network interface 141 and / or a wireless network interface 142; one or more input / output interfaces 143. The device may be installed in the cockpit of a motor vehicle as shown in Figure 5 the figure and connected to the sensors, power system, and headlight system of the whole vehicle.

[0205] An embodiment of the present application also provides a storage medium storing a computer program, and the computer program is used to implement the headlight control method for platooning vehicles.

[0206] Since the principle of solving problems by the above storage medium can refer to the implementation of the method, the repeated parts will not be described again.

[0207] An embodiment of the present application also provides a computer program product, and the computer program product includes computer program code, and the computer program code is used to implement the headlight control method for platooning vehicles.

[0208] Since the principle of solving problems by the above storage medium can refer to the implementation of the method, the repeated parts will not be described again.

[0209] The headlight control method, device, equipment, and storage medium for platooning vehicles provided by the embodiments of the present application can reduce the energy consumption of some motor vehicles by adjusting the lighting mode of the headlights according to the relative position of the motor vehicle in the platoon during the platooning process of the motor vehicle. At the same time, in order to ensure driving safety, the headlights of the motor vehicles in the platoon are checked for faults during driving, and the relative position in the platoon and the lighting mode of the headlights of the vehicle are adjusted after the headlights of the vehicle or the previous vehicle fail to ensure the safety of platooning.

[0210] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0211] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0212] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0213] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0214] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

Claims

1. A method for controlling the vehicle lights of vehicles driving in formation, characterized in that, it is applied to the first motor vehicle in a fleet composed of multiple motor vehicles, where the first motor vehicle is any motor vehicle in the fleet, and the method includes: Turn on the vehicle lights of the first motor vehicle according to the lighting mode corresponding to the relative position of the first motor vehicle in the fleet; If, during the driving process in the fleet, it enters the vehicle light inspection state, and there are other motor vehicles in the fleet in front of the first motor vehicle, and the previous vehicle of the first motor vehicle turns on the tail lights and side lights in the standard lighting mode, then turn on the headlights of the first motor vehicle in the standard lighting mode; Collect the rear image of the previous vehicle through a sensor installed on the first motor vehicle; Conduct a fault inspection on the tail lights, side lights of the previous vehicle and the headlights of the first motor vehicle according to the rear image, and send the fault inspection results of the tail lights of the previous vehicle or the side lights of the previous vehicle or the headlights of the first motor vehicle to other motor vehicles in the fleet; Adjust the relative position of the first motor vehicle in the fleet and the lighting mode of the vehicle lights of the first motor vehicle according to the fault inspection results of the tail lights, side lights of the previous vehicle and the vehicle lights of the first motor vehicle; Wherein, the lighting mode at least includes a standard lighting mode and an energy-saving lighting mode; the total brightness of the same vehicle light turned on in the energy-saving lighting mode is lower than the total brightness of the vehicle light turned on in the standard lighting mode.

2. The method according to claim 1, characterized in that, the method further includes: If it enters the vehicle light inspection state when stationary, and there are other motor vehicles in the fleet in front of the first motor vehicle, and the previous vehicle of the first motor vehicle turns on the tail lights and side lights in the standard lighting mode, then turn on the headlights of the first motor vehicle in the standard lighting mode; Collect the rear image of the previous vehicle through a sensor installed on the first motor vehicle, and conduct a fault inspection on the tail lights, side lights of the previous vehicle and the headlights of the first motor vehicle according to the rear image; If the inspection result is a fault, then send a vehicle light fault prompt to the user.

3. The method according to claim 1 or 2, characterized in that, after completing the fault inspection, the method further includes: Turn on the tail lights and side lights of the first motor vehicle in the standard lighting mode.

4. The method according to claim 1, characterized in that, the turning on the vehicle lights of the first motor vehicle according to the lighting mode corresponding to the relative position of the first motor vehicle in the fleet includes: If the first motor vehicle is the leading vehicle of the fleet, then turn on the headlights and side lights of the first motor vehicle in the standard lighting mode, and turn on the tail lights of the first motor vehicle in the energy-saving lighting mode; or, If the first motor vehicle is the trailing vehicle of the fleet, then turn on the tail lights and side lights of the first motor vehicle in the standard lighting mode, and turn on the headlights of the first motor vehicle in the energy-saving lighting mode; or, If the first motor vehicle is an intermediate vehicle in the fleet, then turn on the side lights of the first motor vehicle in the standard lighting mode, and turn on the headlights and tail lights of the first motor vehicle in the energy-saving lighting mode.

5. The method according to claim 1, wherein, adjusting the relative position of the first motor vehicle in the vehicle fleet according to the fault inspection results of the tail lights, side lights of the previous vehicle and the vehicle lights of the first motor vehicle includes: if the headlight of the leading vehicle of the vehicle fleet or the tail light of the trailing vehicle of the vehicle fleet fails, generating virtual formation change information and sending the virtual formation change information to other motor vehicles in the vehicle fleet; wherein, the virtual formation change information includes the identification of the vehicle that needs to change the relative position and the changed relative position information; receiving the virtual formation change information sent by other motor vehicles in the vehicle fleet, generating formation change instruction information according to the virtual formation change information, and sending the formation change instruction information to the motor vehicle corresponding to the formation change instruction information; wherein, the formation change instruction information includes the identification of the vehicle that needs to change the position and the changed position information; if the first motor vehicle is the motor vehicle corresponding to the formation change instruction information, changing the relative position according to the formation change instruction information so as to travel at the changed relative position after exiting the vehicle light inspection state; adjusting the vehicle light illumination mode of the first motor vehicle according to the fault inspection results of the tail lights, side lights of the previous vehicle and the vehicle lights of the first motor vehicle includes: if the side light of the previous vehicle of the first motor vehicle fails and the first motor vehicle is not the leading vehicle, turning on the headlight of the first motor vehicle in the standard illumination mode; and / or, the illumination mode further includes an auxiliary warning mode; if the tail light of the previous vehicle of the first motor vehicle fails and the first motor vehicle is not the leading vehicle, turning on the headlight of the first motor vehicle in the auxiliary warning mode to irradiate the tail light of the previous vehicle, wherein the auxiliary warning mode is an illumination mode in which the headlight irradiates the tail light of the previous vehicle to make the tail light reflect light.

6. The method according to claim 1, wherein, the method further includes: collecting sensing data by using a sensor installed on the first motor vehicle to identify the position of a street lamp; wherein the sensor includes an image sensor, and the sensing data includes an environmental image captured by the image sensor; determining that a street lamp fails according to the change rule of the illumination information of the street lamps in multiple environmental images, and sending the fault information of the failed street lamp to a server.

7. The method according to claim 1, wherein, the method further includes: collecting an image of a non-fleet vehicle traveling in another lane by using an image sensor installed on the first motor vehicle, checking whether the vehicle lights of the non-fleet vehicle are normally turned on according to the image of the non-fleet vehicle, and if not, sending the information that the vehicle lights of the non-fleet vehicle are not normally turned on to the non-fleet vehicle.

8. A vehicle light control device for vehicles traveling in formation, wherein, it includes: a normal illumination control module for vehicle fleet driving, configured to turn on the vehicle lights of the first motor vehicle according to the illumination mode corresponding to the relative position of the first motor vehicle in the vehicle fleet; The vehicle convoy driving status headlight inspection module is used to turn on the headlights of the first motor vehicle in the standard lighting mode if, during the driving process in the vehicle convoy, the headlight inspection state is entered, there are other motor vehicles of the vehicle convoy in front of the first motor vehicle, and the vehicle in front of the first motor vehicle turns on its taillights and side lights in the standard lighting mode; Collect the rear image of the vehicle in front through the sensor installed on the first motor vehicle; conduct fault inspections on the taillights, side lights of the vehicle in front and the headlights of the first motor vehicle according to the rear image, and send the fault inspection results of the taillights or the side lights of the vehicle in front or the headlights of the first motor vehicle to other motor vehicles in the vehicle convoy; The adjustment module is used to adjust the relative position of the first motor vehicle in the vehicle convoy and the lighting mode of the headlights of the first motor vehicle according to the fault inspection results of the taillights, side lights of the vehicle in front and the headlights of the first motor vehicle; Wherein, the lighting mode at least includes a standard lighting mode and an energy-saving lighting mode; the total brightness of the same headlight turned on in the energy-saving lighting mode is lower than the total brightness of the headlight turned on in the standard lighting mode.

9. An electronic device, Characterized in that, It includes: A processor and a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the headlight control method for formation driving vehicles as described in any one of claims 1-7.

10. A storage medium, Characterized in that, The storage medium stores a computer program, and the computer program is used to implement the headlight control method for formation driving vehicles as described in any one of claims 1-7.

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