A control method and device based on obstacle distance

Abstract

The embodiment of the application discloses a control method and device based on obstacle distance, the method is applied to a vehicle, the vehicle comprises an atmosphere lamp, wherein the implementation of the method comprises the following steps: obtaining the driving state of the vehicle, the driving state comprises a reversing state or a forward state; when it is determined that the vehicle is in the reversing state, switching the flickering mode of the atmosphere lamp to a reversing flickering mode; detecting a target distance between the vehicle and a target obstacle, the target obstacle being an obstacle closest to the vehicle; and dynamically adjusting the reversing flickering mode according to the target distance. According to the method of the embodiment of the application, when it is determined that the vehicle is in the reversing state, the flickering mode of the atmosphere lamp is switched to the reversing flickering mode, and the reversing flickering mode is dynamically adjusted according to the target distance, so that the target distance of the target obstacle is reminded to the vehicle owner in the reversing process through the reversing flickering mode of the atmosphere lamp.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and in particular to a control method and apparatus based on obstacle distance. Background Technology

[0002] With the continuous development of my country's economy, automobiles have become widely used in people's daily lives. Compared to the past when people viewed cars merely as a means of transportation, people now have higher requirements for the intelligence and safety of automobiles. Currently, if a vehicle approaches an obstacle too closely while reversing, the onboard monitoring system mainly issues an alarm to remind the driver to maintain a safe distance from the obstacle. However, the sudden alarm may startle the driver who is concentrating on reversing. Summary of the Invention

[0003] This application provides a control method and device based on obstacle distance. When it is determined that the vehicle is in a reversing state, the flashing mode of the ambient light is switched to a reversing flashing mode, and the reversing flashing mode is dynamically adjusted according to the target distance. By using the reversing flashing mode of the ambient light, the purpose of reminding the driver to pay attention to the target distance of the target obstacle is achieved during the reversing process.

[0004] In a first aspect, embodiments of this application provide a control method based on obstacle distance, applied to a vehicle, the vehicle including ambient lighting, the method comprising:

[0005] Obtain the vehicle's driving status, including reversing or moving forward.

[0006] When it is determined that the vehicle is in reverse, switch the ambient lighting flashing mode to reverse flashing mode;

[0007] Detect the target distance between the vehicle and the target obstacle, which is the obstacle closest to the vehicle;

[0008] The reversing flashing mode is dynamically adjusted based on the target distance.

[0009] In one possible example, the ambient lighting includes brake ambient lighting and non-brake ambient lighting, with the brake ambient lighting located on the vehicle's braking system, which includes a handbrake and / or a foot brake. The method also includes:

[0010] The external audio signal is collected to measure the external volume, and the reference color temperature corresponding to the external volume is determined according to the preset mapping relationship between external volume and color temperature.

[0011] If the volume outside the vehicle is greater than the preset volume threshold, determine the direction of the source of the external audio signal when the volume outside the vehicle reaches its peak, and determine the first weight value based on the direction of the source of the external audio signal.

[0012] The external audio signals are analyzed to determine the level of danger outside the vehicle, and a second weight value is obtained based on the level of danger.

[0013] The target color temperature is obtained by weighting the reference color temperature, the first weight value, and the second weight value.

[0014] Control the color temperature of the brake ambient lighting to the target color temperature;

[0015] Calculate the absolute value of the difference between the reference color temperature and the target color temperature. If the absolute value of the difference is greater than or equal to the first preset difference, then control the color temperature of the non-braking ambient light to be the reference color temperature; otherwise, control the non-braking ambient light to be in the off state.

[0016] Secondly, embodiments of this application provide a control device based on obstacle distance, applied to a vehicle, the vehicle including ambient lighting, the device comprising:

[0017] The acquisition unit is used to acquire the driving status of the vehicle, which includes reversing or forward driving.

[0018] The switching unit is used to switch the flashing mode of the ambient lights to the reversing flashing mode when it is determined that the vehicle is in a reversing state;

[0019] The detection unit is used to detect the target distance between the vehicle and the target obstacle, which is the obstacle closest to the vehicle.

[0020] The adjustment unit is used to dynamically adjust the reversing flashing mode according to the target distance.

[0021] Thirdly, embodiments of this application provide a control device based on obstacle distance, applied to a vehicle, the vehicle including ambient lighting, the device comprising:

[0022] The processor, memory, and communication interface are interconnected and perform communication between them.

[0023] The memory stores executable program code, and the communication interface is used for wireless communication.

[0024] The processor is used to retrieve executable program code stored in memory, and cause the executable program code to perform some or all of the steps described in any of the methods of the first aspect of the embodiments of this application.

[0025] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program for electronic data interchange. The computer program includes execution instructions for performing some or all of the steps described in any method of the first aspect of this application.

[0026] Fifthly, embodiments of this application provide a computer program product, wherein the computer program product includes a computer program operable to cause a computer to perform some or all of the steps described in any method of the first aspect of this application. The computer program product may be a software installation package.

[0027] As can be seen, in this embodiment of the application, by acquiring the driving status of the vehicle, when it is determined that the vehicle is in a reversing state, the flashing mode of the ambient light is switched to the reversing flashing mode. The target distance between the vehicle and the target obstacle is detected. The target obstacle is the obstacle closest to the vehicle. The reversing flashing mode is dynamically adjusted according to the target distance. Visually, this achieves the purpose of reminding the driver to pay attention to the target distance of the target obstacle during the reversing process, thus ensuring the intelligence and safety of the vehicle during the reversing process. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1A This is a schematic diagram of the architecture of a vehicle ambient lighting control system applied in an embodiment of this application;

[0030] Figure 1B This is a schematic diagram of the architecture of a cascaded ambient lighting system design applied in an embodiment of this application;

[0031] Figure 1C This is a flowchart illustrating a control method based on obstacle distance provided in an embodiment of this application;

[0032] Figure 1D This is an example schematic diagram of a control method based on obstacle distance provided in an embodiment of this application;

[0033] Figure 2A This is an example schematic diagram of a control method based on obstacle distance provided in an embodiment of this application;

[0034] Figure 2B This is a schematic diagram illustrating the division of relative position direction in a control method based on obstacle distance provided in an embodiment of this application;

[0035] Figure 3 This is a schematic diagram of the structure of a control device based on obstacle distance provided in an embodiment of this application;

[0036] Figure 4 This is a schematic diagram of another control device based on obstacle distance provided in an embodiment of this application. Detailed Implementation

[0037] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0038] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps is not limited to the steps listed, but may optionally include steps not listed, or may optionally include other steps inherent to these processes, methods, products, or apparatuses.

[0039] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0040] The devices involved in the embodiments of this application are described below with reference to the accompanying drawings.

[0041] Figure 1A This is a schematic diagram of the architecture of a vehicle ambient lighting control system applied in an embodiment of this application. Figure 1A As shown, the vehicle ambient lighting control system includes a vehicle, an automotive audio bus A2B, an automotive audio bus A2B IC chip, an audio signal acquisition circuit, a microcontroller unit (MCU), a local area network (LIN) transceiver, a local area network (LIN) bus, and ambient lighting, wherein the ambient lighting includes a main control IC chip and light-emitting diodes (LEDs).

[0042] The vehicle is equipped with an A2B automotive audio bus. The A2B bus collects audio signals and sends them to the A2B IC chip. The A2B IC chip converts the audio signals into analog signals and sends them to the audio signal acquisition circuit. The audio signal acquisition circuit converts the analog signals into digital signals through analog-to-digital conversion and sends the digital signals to the microcontroller unit (MCU). The MCU generates an ambient light control strategy based on the preset audio index values ​​in the received digital signals. The ambient light control strategy is quantized into LIN bus control commands. The MCU sends the LIN bus control commands to the LIN transceiver. After receiving the LIN bus control commands, the LIN transceiver sends them to the main control IC chip in the ambient light through the LIN bus. The main control IC chip in the ambient light receives the LIN bus control commands, parses them, and converts them into corresponding PWM control signals. The LEDs in the ambient light then blink according to the corresponding PWM control signals.

[0043] For example, the preset audio specifications are the frequency characteristics of the audio signal, including the distribution characteristics of high, mid, and low frequencies. The automotive audio bus A2B is a two-core unshielded twisted pair cable. The unshielded twisted pair cable does not contain any metal shielding material, but is only wrapped with a layer of insulating rubber, which reduces the difficulty of installation while ensuring the reliability of audio transmission.

[0044] Alternatively, you can refer to Figure 1B , Figure 1B This is a schematic diagram of the architecture of a cascaded ambient lighting system used in an embodiment of this application, as shown below. Figure 1B As shown, the cascaded ambient lighting system includes a controller, a controller local area network (CAN) transceiver, a controller local area network (CAN) bus, a microcontroller unit (MCU), at least one light-emitting diode (LED) (LED 1, LED 2, ..., LED N) and an LED bus, wherein the controller is cascaded with each of the at least one LED.

[0045] The controller sends control signals to the CAN transceiver of the Controller Area Network (CAN). The CAN transceiver then sends the received control signals to the Microcontroller Unit (MCU) via the CAN bus. The MCU controls the LEDs to blink in the corresponding manner according to the received control signals via the LED bus. The controller, LED1, LED2, ..., LEDN are cascaded together via the LED bus.

[0046] Based on this, this application provides a control method based on obstacle distance. Specifically, when it is determined that the vehicle is in a reversing state, the flashing mode of the ambient light is switched to a reversing flashing mode, and the reversing flashing mode is dynamically adjusted according to the detected target distance between the vehicle and the target obstacle. The following describes the embodiments of this application in detail with reference to the accompanying drawings.

[0047] Please see Figure 1C , Figure 1C This is a flowchart illustrating a control method based on obstacle distance provided in an embodiment of this application, as shown below. Figure 1C As shown, this application provides a control method based on obstacle distance, which is applied to a vehicle including ambient lighting. The obstacle distance-based control method described in this application includes the following steps:

[0048] 101: Obtain the vehicle's driving status, including reversing or moving forward.

[0049] Among them, the reversing state is the behavior of the vehicle moving backward, and the forward state is the behavior of the vehicle moving forward.

[0050] 102: When it is determined that the vehicle is in reverse, switch the ambient lighting flashing mode to the reverse flashing mode.

[0051] For example, the color temperature of the flashing lights in the reversing mode is positively correlated with the target distance; that is, the smaller the target distance, the lower the color temperature of the lights, and the larger the target distance, the higher the color temperature of the lights. Thus, drivers reversing can judge the target distance between their vehicle and the target obstacle based on the specific visual cues provided by the flashing lights. For instance, if the vehicle is very close to the target obstacle (i.e., the target distance is very small), the color temperature of the flashing lights in the reversing mode is low, meaning the light hue is red. This bright red light alerts the driver that the target distance is very small and they need to maintain a safe distance to avoid collisions or scratches during reversing.

[0052] 103: Detects the target distance between the vehicle and the target obstacle, which is the obstacle closest to the vehicle.

[0053] Among them, the target distance detection methods include ultrasonic ranging.

[0054] For example, an ultrasonic ranging method is used to detect the distance to a target. A ranging sensor is installed on the rear bumper of the vehicle. During reversing, the ranging sensor sends ultrasonic waves that hit the target obstacle. The target obstacle then reflects these ultrasonic waves back to the ranging sensor, thereby calculating the target distance between the vehicle and the target obstacle.

[0055] Among them, the obstacle closest to the vehicle is the obstacle with the shortest physical distance from the vehicle.

[0056] 104: Dynamically adjust the reversing flashing mode based on the target distance.

[0057] Among them, dynamic adjustment refers to the fact that the flashing characteristics of the reversing flashing mode change as the target distance changes.

[0058] For example, please refer to Figure 1D , Figure 1D This is an example schematic diagram of a control method based on obstacle distance provided in an embodiment of this application, such as... Figure 1D As shown, the vehicle's driving state is detected as reverse. Therefore, the server switches the flashing mode of the ambient lighting inside the vehicle to a reverse flashing mode. The server detects three obstacles behind the vehicle: tree 1, tree 2, and tree 3. Furthermore, the server detects that tree 1 is the closest to the vehicle. Therefore, tree 1 is identified as the target obstacle, and the target distance between the vehicle and tree 1 is detected. The server then dynamically adjusts the reverse flashing mode based on the target distance between the target vehicle and tree 1. Specifically, the closer the target distance, the higher the flashing frequency of the ambient lighting in reverse mode, thus serving as a reminder to the occupants of the vehicle.

[0059] As can be seen, in this embodiment of the application, by acquiring the driving status of the vehicle, when it is determined that the vehicle is in a reversing state, the flashing mode of the ambient light is switched to the reversing flashing mode. The target distance between the vehicle and the target obstacle is detected. The target obstacle is the obstacle closest to the vehicle. The reversing flashing mode is dynamically adjusted according to the target distance. Visually, this achieves the purpose of reminding the driver to pay attention to the target distance of the target obstacle during the reversing process, thus ensuring the intelligence and safety of the vehicle during the reversing process.

[0060] In one possible example, the flashing pattern includes frequency, and the flashing pattern for reversing starts is dynamically adjusted based on the target distance, including:

[0061] Obtain the weather parameters of the vehicle's location, and based on the mapping relationship between the distance and reference frequency corresponding to the weather parameters, obtain the target reference frequency corresponding to the target distance;

[0062] Extract N1 feature points of the target obstacle and calculate the target color value of the target obstacle;

[0063] Extract N2 feature points of the environment surrounding the target obstacle, calculate the color value of the target environment, and ensure that the environment surrounding the target obstacle is within a preset distance threshold of the target obstacle;

[0064] Based on the target color value and the target ambient color value, the total color difference value is calculated using the color difference calculation formula, and the reciprocal of the total color difference value is calculated based on the total color difference value. The product of the total color difference value and the reciprocal of the total color difference value is 1.

[0065] The target frequency value is calculated based on the reference frequency and the reciprocal of the total color difference value, and the ambient light is controlled to blink according to the target frequency value.

[0066] Frequency is the number of times the ambient light flashes per unit time, measured in Hertz (Hz). A higher frequency means more flashes per unit time, while a lower frequency means fewer flashes per unit time.

[0067] The weather parameters include sunny, light rain, heavy rain, heavy snow, and sleet. Different weather parameters can cause the ground to slip to varying degrees, which can cause vehicles to slide while reversing. If a vehicle slides while reversing, it can be dangerous. Therefore, different weather parameters have their own corresponding mapping relationship between distance and reference frequency.

[0068] For example, the mapping relationship between distance and reference frequency corresponding to weather parameters is shown in Table 1. When the weather parameter is sunny and the distance is greater than or equal to 100cm, the corresponding reference frequency is 1Hz; when the weather parameter is heavy rain and the distance is greater than or equal to 100cm, the corresponding reference frequency is 3Hz; and when the weather parameter is heavy rain and the distance is greater than or equal to 50cm and less than 100cm, the corresponding reference frequency is 5Hz. Therefore, if the weather parameter is sunny and the target distance is 100cm, according to the mapping relationship between distance and reference frequency when the weather parameter is sunny, the target reference frequency corresponding to the target distance of 100cm is obtained as 1Hz; if the weather parameter is heavy rain and the target distance is 100cm, according to the mapping relationship between distance and reference frequency when the weather parameter is heavy rain, the target reference frequency corresponding to the target distance of 100cm is obtained as 3Hz; and if the weather parameter is heavy rain and the target distance is 50cm, according to the mapping relationship between distance and reference frequency when the weather parameter is heavy rain, the target reference frequency corresponding to the target distance of 50cm is obtained as 5Hz. That is, for the same target distance, the more severe the ground slippage of the weather parameter, the higher the target reference frequency; for the same weather parameter, the smaller the target distance, the higher the corresponding target reference frequency.

[0069]

[0070] Table 1

[0071] The target color value is calculated as follows: N1 feature points (feature point 1, feature point 2, feature point 3... feature point N1) of the target obstacle are extracted. Each feature point contains M pixels. The average pixel color value of the M pixels in each feature point is calculated and used as the feature point color value of the corresponding feature point, thus obtaining feature point color value 1, feature point color value 2, feature point color value 3... feature point color value N1. Then, the median color value is obtained based on feature point color value 1, feature point color value 2, feature point color value 3... feature point color value N1 as the target color value. If N1 is odd, the feature point color value (N+1) / 2 is taken as the target color value; if N1 is even, the average value between feature point color value N / 2 and feature point color value N / 2+1 is taken as the target color value.

[0072] The calculation method for the target ambient color value uses the same principle as the calculation method for the target color value, and will not be repeated here.

[0073] The formula for calculating color difference is: Total color difference = ((saturation difference)² + (hue difference)² + (brightness difference)²) 1 / 2 Saturation refers to the vividness of a color value; hue refers to the standard for distinguishing different colors, such as red or blue; brightness refers to the lightness or darkness of a color value; saturation difference is the difference between the saturation of the target color value and the saturation of the target ambient color value; hue difference is the difference between the hue of the target color value and the hue of the target ambient color value; and brightness difference is the difference between the brightness of the target color value and the brightness of the target ambient color value.

[0074] The formula for calculating the target frequency value is: Target frequency value = (1 + reciprocal of total color difference value) * target reference frequency;

[0075] For example, among red, magenta, and blue with the same saturation and brightness, the total color difference between red and magenta is less than that between red and blue because the hue difference between red and magenta is less than that between red and blue. When the target color is red and the target ambient color is magenta, the small total color difference may make it difficult for the driver to notice the obstacle while reversing, posing a certain danger. In this case, the reciprocal of the total color difference is larger, resulting in a larger target frequency value. The ambient light uses a rapid flashing frequency to remind the driver that the target obstacle has low color differentiation from the surrounding environment and is difficult to identify, requiring attention to driving safety.

[0076] For example, N1 = 4, N2 = 4, see [link to relevant documentation] Figure 2A , Figure 2A This is an example schematic diagram of a control method based on obstacle distance provided in an embodiment of this application, such as... Figure 2A As shown, the server obtains the weather parameters for the vehicle's location as heavy rain and the target distance between the vehicle and the target obstacle as L. Based on the mapping relationship between the weather parameters and the reference frequency, the server obtains the target reference frequency H corresponding to the target distance. The server extracts four feature points of the target obstacle to calculate the target color value M, and extracts four feature points of the surrounding environment to calculate the target environment color value N. Then, based on the target color value M and the target environment color value N, the server calculates the total color difference value X. Based on the total color difference value X, the server calculates the reciprocal of the total color difference value (1 / X). Based on the reference frequency H and the reciprocal of the total color difference value (1 / X), the server calculates the target frequency value Hx. Thus, the server controls the ambient light to flash according to the target frequency value Hx. In this way, the ambient light can remind the people in the vehicle through high-frequency flashing when the weather conditions are bad and the color difference between the target obstacle and the surrounding environment is small.

[0077] As can be seen, in this embodiment, by obtaining the weather parameters of the vehicle's location, and based on the mapping relationship between the distance and the reference frequency corresponding to the weather parameters, the target reference frequency corresponding to the target distance is obtained. The total color difference value is calculated based on the target color value and the target ambient color value. The reciprocal of the total color difference value is calculated. The target frequency value is calculated based on the reference frequency and the reciprocal of the total color difference value. The ambient light is controlled to flash according to the target frequency value. Thus, under adverse reversing conditions such as slippery ground due to weather and small color difference between the target obstacle and the surrounding environment, the ambient light will flash at a target frequency value adapted to the adverse reversing conditions, reminding the driver to increase attention while reversing to avoid traffic accidents, thereby improving the intelligence and safety of the reversing process.

[0078] In one possible example, the flashing pattern includes color temperature, and the flashing pattern for reversing starts is dynamically adjusted based on the target distance, including:

[0079] If the target distance is detected to be less than or equal to the first preset distance, the color temperature of the ambient light is switched to the first color temperature;

[0080] If the detected target distance is greater than the first preset distance and less than or equal to the second distance, the color temperature of the ambient light is switched to the second color temperature, which is higher than the first color temperature.

[0081] If the target distance is detected to be greater than the second distance, the color temperature of the ambient light is switched to the third color temperature, which is higher than the second color temperature.

[0082] Color temperature, measured in Kelvin (K), is a unit of measurement for the color components in light. A lower color temperature results in a warmer light tone, while a higher color temperature results in a cooler light tone. Color temperatures below 3000K are considered low color temperatures, producing a reddish hue and a warm visual experience; color temperatures between 3000 and 5000K are considered medium color temperatures, providing a comfortable visual experience; and color temperatures above 5000K are considered high color temperatures, producing a bluish hue and a cool visual experience.

[0083] For example, the first preset distance is 50cm, the second preset distance is 100cm, the first color temperature is 1600K (i.e., the light tone is red), the second color temperature is 3000K (i.e., the light tone is yellow), and the third color temperature is 12000K (i.e., the light tone is blue). If the detected target distance is 30cm, which is less than the first preset distance, the ambient light color temperature is switched to 1600K, and the ambient light color tone is red. The bright red light reminds the driver that the target distance is very small and that they need to maintain a safe distance to avoid collisions or scratches during reversing. If the detected target distance is 60cm, which is greater than the first preset distance but less than the second preset distance, the ambient light color temperature is switched to 3000K, and the ambient light color tone is yellow. The pleasant yellow light indicates to the driver that the target distance is moderate. If the detected target distance is 120cm, which is greater than the second preset distance, the ambient light color temperature is switched to 12000K, and the ambient light color tone is blue. The cool blue light informs the driver that the target distance is large and it is safe to reverse.

[0084] As can be seen, in this embodiment of the application, by detecting the relationship between the target distance and the first preset distance and the second preset distance, the hue of the ambient light is switched accordingly, so that the ambient light presents different color temperatures according to the size of the target distance, which provides a visual prompt to the driver. This allows the driver to know the size of the target distance based on the color temperature of the ambient light during reversing, and thus complete the reversing of the vehicle smoothly and safely, ensuring the intelligence and safety of the reversing process.

[0085] In one possible example, the target obstacle may be in motion or stationary state, and the above method also includes:

[0086] When the target obstacle is stationary, the first frequency is determined based on the vehicle's reversing speed; the faster the reversing speed, the higher the first frequency.

[0087] When the target obstacle is in motion, the first frequency is determined based on the absolute value of the speed difference between the vehicle's reversing speed and the target obstacle's moving speed. The larger the absolute value of the speed difference, the larger the first frequency.

[0088] In this context, the target obstacle is stationary, meaning its speed is 0.

[0089] The larger the absolute value of the speed difference, the greater the first frequency. This means that when the vehicle's reversing speed is much faster than the target obstacle's speed, or when the target obstacle's speed is much faster than the vehicle's reversing speed, the first frequency will increase.

[0090] For example, if the target obstacle is a child walking near the vehicle, and the vehicle's reversing speed is faster than the child's walking speed (i.e., the speed of movement), meaning the absolute value of the difference between the vehicle's reversing speed and the child's speed of movement is large, then the first frequency is larger, meaning the ambient light flashes more times per unit time. By using the larger flashing frequency of the ambient light, the driver is reminded to reduce the reversing speed to avoid a collision, thereby ensuring the child's personal safety.

[0091] As can be seen from this embodiment, the first frequency is determined based on the absolute value of the speed difference between the vehicle's reversing speed and the target obstacle's moving speed. When the target obstacle is stationary (i.e., its moving speed is 0), the faster the vehicle's reversing speed, the higher the first frequency, reminding the driver to maintain a moderate reversing speed through the frequency of the ambient lights. When the target obstacle is moving, the higher the absolute value of the speed difference between the vehicle's reversing speed and the target obstacle's moving speed, the higher the first frequency, reminding the driver to pay attention to the speed difference between the vehicle and the target obstacle through the frequency of the ambient lights. When the vehicle's reversing speed is faster than the target obstacle's moving speed, a higher light frequency reminds the driver to reduce the reversing speed. Conversely, when the target obstacle's moving speed is faster than the vehicle's reversing speed, a higher light frequency also reminds the driver to pay attention to the target obstacle, as its moving speed is relatively fast. By enhancing the driver's attention to the target obstacle through the first frequency of the ambient lights, the possibility of collision or scraping with the target obstacle during reversing is reduced, thus ensuring the safety of both the vehicle and the target obstacle during reversing.

[0092] In one possible example, the ambient lighting includes interior ambient lighting and exterior ambient lighting. The exterior ambient lighting includes a first area exterior ambient lighting, a second area exterior ambient lighting, a third area exterior ambient lighting, and a fourth area exterior ambient lighting. When the target obstacle is in motion, the lighting further includes:

[0093] The relative position and direction between the target obstacle and the vehicle are detected. The relative position and direction include the first area, the second area, the third area, and the fourth area.

[0094] If the target obstacle is located at 0-90° east of the center point of the vehicle, it is determined that the target obstacle is located in the first area. The exterior ambient lights of the first area are switched to a prompt flashing mode, and the interior ambient lights are switched to a low-activity flashing mode.

[0095] If the target obstacle is located at 0-90° north of the vehicle's center point, it is determined that the target obstacle is located in the second area. The exterior ambient lights in the second area are switched to a prompt flashing mode, and the interior ambient lights are switched to a low-activity flashing mode.

[0096] If the target obstacle is located at 0-90° west of south of the vehicle's center point, it is determined that the target obstacle is located in the third area, and the ambient lights outside the vehicle in the third area are switched to a prompt flashing mode.

[0097] If the target obstacle is located at 0-90° south of the vehicle's center point, it is determined that the target obstacle is located in the fourth zone, and the ambient lighting outside the vehicle in the fourth zone is switched to a warning flashing mode.

[0098] Please refer to Figure 2B , Figure 2B This is a schematic diagram illustrating the division of relative position direction in a control method based on obstacle distance provided in an embodiment of this application, as shown below. Figure 2B As shown, with the center point of the vehicle as the center point, the direction of the front of the vehicle is north, the direction of the rear of the vehicle is south, the right side of the vehicle is east, and the left side of the vehicle is west. That is, when the target obstacle is located in the first area or the second area, it is within the visible area of ​​the driver's front of the vehicle.

[0099] The low-activity flashing mode includes either direct off or low-frequency flashing, where low frequency is less than or equal to 1 / 3 Hz. When the target obstacle is located in the first or second zone, switching the interior ambient lighting to a low-activity flashing mode is to prevent both the exterior and interior ambient lights from flashing simultaneously and interfering with the driver's vision, thus avoiding visual disturbance to the driver who is reversing, especially when the target obstacle is within the driver's field of vision.

[0100] For example, if the target obstacle is located at 45° east of north of the vehicle's center point, it is determined that the target obstacle is located in the first area, and the exterior ambient lights in the first area are switched to a prompt flashing mode while the interior ambient lights are directly turned off.

[0101] As can be seen, in this embodiment of the application, by detecting the relative position and direction between the target obstacle and the vehicle, the corresponding exterior ambient light in the same area as the target obstacle will flash in a prompt manner, thereby reminding the target obstacle to pay attention to and avoid the reversing vehicle from the outside. At the same time, the interior ambient light can determine the flashing mode according to the area where the target obstacle is located, so that while reminding the target obstacle to pay attention to and avoid it through the exterior ambient light, the driver's vision is also avoided from being interfered with by multiple flashing lights, ensuring the intelligence and safety of the reversing process.

[0102] In one possible example, the obstacle distance-based control method also includes the following steps:

[0103] Detect the presence of surrounding obstacles. Surrounding obstacles are those that are less than or equal to a third preset distance from the target obstacle.

[0104] If there are surrounding obstacles, the flashing characteristics of the reversing flashing mode are enhanced. The flashing characteristics include at least one of the following: color temperature, frequency, and brightness.

[0105] After the target obstacle and surrounding obstacles exchange identities, the ambient light color changes to the flashing pattern when reversing.

[0106] One method for detecting the presence of surrounding obstacles is ultrasonic ranging.

[0107] Enhancing the flashing characteristics of the reversing flashing mode can be achieved by increasing the color temperature, increasing the frequency, and increasing the brightness.

[0108] Among them, changing the color of the ambient light with the reverse flashing mode can be achieved by increasing the color temperature of the light while keeping the frequency and brightness of the reverse flashing mode unchanged.

[0109] For example, an ultrasonic ranging method is used to detect the presence of surrounding obstacles. A ranging sensor is installed on the vehicle body. During reversing, the ranging sensor sends ultrasonic waves within a range of less than or equal to a third preset distance from the target obstacle. If an object other than the target obstacle reflects this ultrasonic wave to the ranging sensor within a range of less than or equal to the third preset distance from the target obstacle, it is determined that there is a surrounding obstacle.

[0110] For example, if an obstacle is detected in the surrounding area, the color temperature of the reversing flashing mode is increased for the first time, and the frequency and brightness of the reversing flashing mode are increased. When the target obstacle and the surrounding obstacle exchange identities, that is, when the surrounding obstacle becomes the obstacle closest to the vehicle, the color temperature after the first increase is increased a second time while keeping the frequency and brightness of the reversing flashing mode unchanged, so as to obtain the color temperature after the two increases.

[0111] As can be seen from this embodiment, when a surrounding obstacle less than or equal to a third preset distance from the target obstacle is detected, the flashing characteristics of the reversing flashing mode are enhanced, and the ambient light color of the reversing flashing mode changes after the target obstacle and the surrounding obstacle exchange identities. By enhancing the flashing characteristics of the reversing flashing mode, the driver is reminded that there are surrounding obstacles besides the target obstacle near the vehicle, i.e., there is more than one obstacle nearby. Furthermore, the color change of the ambient light in the reversing flashing mode reminds the driver that the obstacle closest to the vehicle has changed from the target obstacle to the aforementioned surrounding obstacle, and the driver should pay attention to the distance between the vehicle and the surrounding obstacle. This enhances the intelligence of the ambient light's response to obstacles and makes it more user-friendly.

[0112] In one possible example, the ambient lighting includes a first-direction ambient light and a second-direction ambient light, and the above method also includes:

[0113] If the target distance is less than the fourth preset distance, then obtain the vehicle center point position and the target position of the obstacle;

[0114] Based on the relationship between the vehicle's center point and the target position, the target position direction of the obstacle and the vehicle is determined. The target position direction includes a first direction and a second direction.

[0115] If the target location direction is the first direction, then control the ambient light in the first direction to turn off, and switch the ambient light in the second direction at the fourth frequency;

[0116] If the target location direction is the second direction, then the ambient light in the second direction is turned off, and the frequency of switching the ambient light in the first direction is the fourth frequency.

[0117] For example, with the front of the vehicle as the front and the rear as the rear, the first direction is the left side of the vehicle, and the second direction is the right side. The ambient light in the first direction is the left ambient light, and the ambient light in the second direction is the right ambient light. If the target obstacle is located on the left side of the vehicle (i.e., the target position direction is left), the left ambient light is off, and the frequency of switching the right ambient light is the fourth frequency, indicating to the driver that there is a target obstacle on the left and the vehicle should not veer to the left but should be adjusted to the right. If the target obstacle is located on the right side of the vehicle (i.e., the target position direction is right), the right ambient light is off, and the frequency of switching the left ambient light is the fourth frequency, indicating to the driver that there is a target obstacle on the right and the vehicle should not veer to the right but should be adjusted to the left. In other words, some ambient lights on the side closer to the target obstacle will be off, while some ambient lights on the side farther from the target obstacle will flash at the fourth frequency, thus indicating to the driver that there is a target obstacle on the side where the off ambient lights are located, and the side where the flashing ambient lights are located is the safe side where there is no target obstacle.

[0118] As can be seen, in this embodiment of the application, the ambient light is divided into a first-direction ambient light and a second-direction ambient light. When the target distance is less than a fourth preset distance, the first-direction ambient light and the second-direction ambient light are controlled to flash in different ways by determining the target obstacle and the target position direction of the vehicle. This provides visual guidance to the driver, reminding the driver that there is a target obstacle in one of the first or second directions, and the vehicle should be turned in the other direction, thus ensuring the intelligence and safety of the reversing process.

[0119] In one possible example, the ambient lighting includes brake ambient lighting located on the vehicle's braking system, which includes a foot brake and / or a handbrake. The method further includes:

[0120] Obtain the vehicle's travel distance and tire rotation distance within the same time period;

[0121] The current slip ratio of the vehicle is calculated based on the distance traveled by the vehicle body and the distance the tires rotate.

[0122] If the current slip ratio is greater than or equal to the preset slip ratio, then the target distance will be matched with the preset safety distance.

[0123] If the target distance is less than the preset safe distance, the flashing mode of the brake ambient light will be switched to the brake reminder flashing mode.

[0124] Among them, the vehicle body travel distance refers to the straight-line displacement of the vehicle during the reversing process, and the tire rotation distance refers to the straight-line rolling distance of the tire tread.

[0125] Slippage refers to the phenomenon where, during the reversing process, the distance the vehicle travels is greater than the distance the tires rotate. A high slippage rate indicates poor tire grip and deteriorated braking performance.

[0126] The formula for calculating the current slip ratio is: Current slip ratio = (vehicle travel distance - tire rotation distance) * 100%.

[0127] The preset slip ratio is any percentage between 5% and 10%.

[0128] Among them, the braking reminder flashing method can be that the ambient light presents a flashing effect with a low color temperature, high frequency, and high brightness, so as to remind the driver to pay attention to the use of the braking device in a conspicuous flashing manner.

[0129] As can be seen from this embodiment, the flashing mode of the brake ambient light is determined by the vehicle's current slip ratio and target distance. When the current slip ratio is greater than or equal to a preset slip ratio and the target distance is less than a preset safety distance, i.e., the vehicle is in a relatively dangerous situation where a collision is likely to occur, the flashing mode of the brake ambient light is switched to a brake warning flashing mode, thereby reminding the driver that the current road conditions are poor and that they should pay attention to the use of the braking device and brake in time to avoid a collision.

[0130] In one possible example, the ambient lighting includes brake ambient lighting and non-brake ambient lighting, with the brake ambient lighting located on the vehicle's braking system, which includes a handbrake and / or a foot brake. The method also includes:

[0131] The external audio signal is collected to measure the external volume, and the reference color temperature corresponding to the external volume is determined according to the preset mapping relationship between external volume and color temperature.

[0132] If the volume outside the vehicle is greater than the preset volume threshold, determine the direction of the source of the external audio signal when the volume outside the vehicle reaches its peak, and determine the first weight value based on the direction of the source of the external audio signal.

[0133] The external audio signals are analyzed to determine the level of danger outside the vehicle, and a second weight value is obtained based on the level of danger.

[0134] The target color temperature is obtained by weighting the reference color temperature, the first weight value, and the second weight value.

[0135] Control the color temperature of the brake ambient lighting to the target color temperature;

[0136] Calculate the absolute value of the difference between the reference color temperature and the target color temperature. If the absolute value of the difference is greater than or equal to the first preset difference, then control the color temperature of the non-braking ambient light to be the reference color temperature; otherwise, control the non-braking ambient light to be in the off state.

[0137] If the external volume is less than or equal to a preset volume threshold, the brake ambient light will not flash and the non-brake ambient light will maintain its current flashing pattern.

[0138] Among them, the first weight value is determined based on the source direction of the external audio signal, which means that the first weight value is determined based on the danger of the source direction to the vehicle.

[0139] The analysis of external audio signals involves analyzing parameters such as amplitude and reverberation duration. Based on the amplitude and reverberation duration, the type of obstacle emitting the external audio signal is inferred. Obstacle types include large trucks, cars, electric bicycles, etc. The degree of external danger is determined based on the obstacle type, and a second weight value is obtained based on the degree of external danger.

[0140] The first weight value is 0 to 1, the second weight value is 0 to 1, and the first weight value is not equal to the second weight value. The calculation formula for weighting the reference color temperature, the first weight value, and the second weight value is: Target color temperature = Reference color temperature - |Second weight value - First weight value| * Reference color temperature;

[0141] For example, if the source direction is directly behind the vehicle, the danger is greater, and if the source direction is to the sides of the vehicle, the danger is relatively smaller. Therefore, the first weight value determined when the source direction is directly behind the vehicle will be less than the first weight value determined when the source direction is to the sides of the vehicle.

[0142] For example, after analyzing the amplitude and reverberation duration of the external audio signal, if the amplitude of the external audio signal is large and the reverberation duration is long, it is inferred that the external audio signal is emitted by a large truck, and the external danger level is determined to be the first danger level. If the amplitude of the external audio signal is moderate and the reverberation duration is short, it is inferred that the external audio signal is emitted by a car, and the external danger level is determined to be the second danger level. According to the kinetic energy calculation formula: kinetic energy = 0.5 * mass of object * speed², at the same speed, the kinetic energy of the large truck, which has a larger mass, is significantly greater than that of the car. Therefore, the second weight value corresponding to the first danger level is greater than the second weight value corresponding to the second danger level.

[0143] For example, if the source direction is directly behind the vehicle and the external audio signal is emitted by a large truck, the vehicle is in a relatively dangerous situation. According to the weighted calculation formula, the target color temperature and the reference color temperature have a certain difference and the target color temperature is lower than the reference color temperature. The driver can realize that the current reversing situation is dangerous based on the lower color temperature of the brake ambient light and needs to pay more attention and make good use of the braking device to avoid a collision.

[0144] As can be seen from the embodiments of this application, the color temperature of the brake ambient light can react differently according to the actual situation outside the vehicle. When the situation outside the vehicle is dangerous, the brake ambient light flashes with a lower color temperature to remind the driver that the traffic situation outside the vehicle is dangerous and that they should pay more attention to avoid traffic accidents. Furthermore, the color temperature of the non-brake ambient light is controlled to be the reference color temperature only if the absolute value of the difference between the reference color temperature and the target color temperature is greater than or equal to a first preset difference. When the absolute value of the difference is less than the first preset difference, the non-brake ambient light is controlled to be in an off state. This effectively prevents the driver from being unaware of the danger of the current traffic situation outside the vehicle due to the small color difference between the brake ambient light and the non-brake ambient light, thus improving intelligence and safety.

[0145] With the above Figure 1C The embodiments shown are consistent; please refer to [link / reference]. Figure 3 , Figure 3 This is a schematic diagram of a control device based on obstacle distance provided in an embodiment of this application, as shown below. Figure 3 As shown:

[0146] A control device based on obstacle distance, applied to a vehicle, the vehicle including ambient lighting, the device comprising:

[0147] 301: Acquisition unit, used to acquire the driving status of the vehicle, including reversing or forward driving status;

[0148] 302: Switching unit, used to switch the ambient light flashing mode to the reversing flashing mode when it is determined that the vehicle is in a reversing state;

[0149] 303: Detection unit, used to detect the target distance between the vehicle and the target obstacle, which is the obstacle closest to the vehicle;

[0150] 304: Adjustment unit, used to dynamically adjust the reversing flashing mode according to the target distance.

[0151] As can be seen, the device described in this application embodiment acquires the vehicle's driving state through an acquisition unit, switches the ambient light flashing mode to a reversing flashing mode when the vehicle is determined to be in a reversing state through a switching unit, detects the target distance between the vehicle and the target obstacle through a detection unit, and dynamically adjusts the reversing flashing mode according to the target distance through an adjustment unit. The obstacle-based ambient light control device described in this application embodiment uses the reversing flashing mode of the ambient light to remind the driver of the target distance between the vehicle and the target obstacle, providing a visual reminder and ensuring the safety and intelligence of the vehicle during reversing.

[0152] Specifically, in this application embodiment, the device can be divided into functional units according to the above method example. For example, each function can be divided into its own functional unit, or two or more functions can be integrated into one processing unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0153] In one possible example, the flickering mode includes color temperature, and the aforementioned adjustment unit includes:

[0154] The first color temperature module is used to switch the color temperature of the ambient light to the first color temperature if the detected target distance is less than or equal to the first preset distance.

[0155] The second color temperature module is used to switch the color temperature of the ambient light to the second color temperature when the detected target distance is greater than the first preset distance and less than or equal to the second preset distance. The second color temperature is higher than the first color temperature.

[0156] The third color temperature module is used to switch the ambient light's color temperature to the third color temperature if the detected target distance is greater than the second preset distance. The third color temperature is higher than the second color temperature.

[0157] With the above Figure 1C The embodiments shown are consistent; please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram of another control device based on obstacle distance provided in an embodiment of this application, as shown below. Figure 4 As shown:

[0158] A control device based on obstacle distance, applied to a vehicle, the vehicle including ambient lighting, the device comprising:

[0159] The processor, memory, and communication interface are interconnected and perform communication between them.

[0160] The memory stores executable program code, and the communication interface is used for wireless communication.

[0161] The processor is used to retrieve executable program code stored in memory and execute some or all of the steps of any obstacle distance-based control method described in the above method embodiments. The computer described above includes an in-vehicle terminal device.

[0162] The memory can be volatile memory such as dynamic random access memory (DRAM) or non-volatile memory such as hard disk drive (HDD). The memory stores a set of executable program code, and the processor calls the executable program code stored in the memory to execute some or all of the steps of any of the obstacle distance-based control methods described in the above embodiments of the obstacle distance-based control method.

[0163] The aforementioned wireless communications may use any communication standard or protocol, including but not limited to GSM (Global System for Mobile communication), GPRS (General Packet Radio Service), CDMA2000 (Code Division Multiple Access 2000), WCDMA (Wideband Code Division Multiple Access), TD-SCDMA (Time Division-Synchronous Code Division Multiple Access), etc.

[0164] This application provides a computer-readable storage medium storing a computer program for electronic data interchange. The computer program includes execution instructions for performing some or all of the steps of any obstacle distance-based control method described in the above embodiments of the obstacle distance-based control method. The computer includes an in-vehicle terminal device.

[0165] This application provides a computer program product, which includes a computer program operable to enable the computer to perform some or all of the steps of any obstacle distance-based control method described in the above method embodiments. The computer program product may be a software installation package.

[0166] It should be noted that, for the sake of simplicity, each of the aforementioned embodiments of the obstacle distance-based control method is described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to this application.

[0167] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple instances. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce a good effect.

[0168] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principle and implementation of a control method and device based on obstacle distance. The description of the above embodiments is only for the purpose of helping to understand the method and its core ideas. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​a control method and device based on obstacle distance in this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0169] This application is described with reference to flowchart illustrations and / or block diagrams of methods, hardware products, and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0170] Obviously, those skilled in the art can make various modifications and variations to the obstacle distance-based control method and apparatus provided in this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A control method based on obstacle distance, applied to vehicles, characterized in that, The vehicle includes ambient lighting, and the method includes: The driving status of the vehicle is obtained, including reversing or moving forward. When it is determined that the vehicle is in the reversing state, the flashing mode of the ambient light is switched to the reversing flashing mode; The target distance between the vehicle and the target obstacle is detected, where the target obstacle is the obstacle closest to the vehicle. The reversing flashing mode is dynamically adjusted based on the target distance; The flashing pattern includes a frequency, and the step of dynamically adjusting the reversing flashing pattern according to the target distance includes: Obtain the weather parameters of the vehicle's location, and based on the mapping relationship between the distance and reference frequency corresponding to the weather parameters, obtain the target reference frequency corresponding to the target distance; Extract N1 feature points of the target obstacle and calculate the target color value of the target obstacle; N2 feature points of the environment surrounding the target obstacle are extracted, and the color value of the target environment is calculated. The environment surrounding the target obstacle is located within a preset distance threshold of the target obstacle. Based on the target color value and the target ambient color value, the total color difference value is calculated using the color difference calculation formula, and the reciprocal of the total color difference value is calculated based on the total color difference value. The product of the total color difference value and the reciprocal of the total color difference value is 1. The target frequency value is calculated based on the reference frequency and the reciprocal of the total color difference value, and the ambient light is controlled to flash according to the target frequency value. ； The formula for calculating the target frequency value is: Target frequency value = (1 + reciprocal of total color difference value) * target reference frequency.

2. The method according to claim 1, characterized in that, The flashing mode includes color temperature, and the dynamic adjustment of the reversing flashing mode according to the target distance includes: If the target distance is detected to be less than or equal to the first preset distance, the color temperature of the ambient light is switched to the first color temperature; If the target distance is detected to be greater than the first preset distance and less than or equal to the second distance, the color temperature of the ambient light is switched to the second color temperature, which is higher than the first color temperature. If the target distance is detected to be greater than the second distance, the color temperature of the ambient light is switched to a third color temperature, which is higher than the second color temperature.

3. The method according to claim 1, characterized in that, The method further includes: Detect the presence of surrounding obstacles, wherein the surrounding obstacles are obstacles that are less than or equal to a third preset distance from the target obstacle; If the surrounding obstacles are present, the flashing characteristics of the reversing flashing mode are enhanced, and the flashing characteristics include at least one of the following: color temperature, frequency, and brightness; After the target obstacle and the surrounding obstacles exchange identities, the ambient light color of the reversing flashing mode is changed.

4. The method according to claim 1, characterized in that, The ambient lighting includes brake ambient lighting and non-brake ambient lighting, the brake ambient lighting being located on the vehicle's braking system, the braking system including a handbrake and / or a foot brake, and the method further includes: The vehicle external audio signal is collected to measure the external volume, and the reference color temperature corresponding to the external volume is determined according to the preset mapping relationship between the external volume and color temperature. If the external volume is greater than a preset volume threshold, determine the source direction of the external audio signal when the external volume reaches its peak, and determine a first weight value based on the source direction of the external audio signal. The external audio signal is analyzed to determine the degree of danger outside the vehicle, and a second weight value is obtained based on the degree of danger outside the vehicle. The target color temperature is obtained by weighting the reference color temperature, the first weight value, and the second weight value. The color temperature of the brake ambient light is controlled to the target color temperature; Calculate the absolute value of the difference between the reference color temperature and the target color temperature. If the absolute value of the difference is greater than or equal to a first preset difference, then control the color temperature of the non-braking ambient light to be the reference color temperature; otherwise, control the non-braking ambient light to be in the off state. Target color temperature = Reference color temperature - |Second weight value - First weight value| * Reference color temperature.

5. A control device based on obstacle distance, applied to a vehicle, the vehicle including ambient lighting, characterized in that, The device includes: The processor, the memory, and the communication interface are interconnected and perform communication between them. The memory stores executable program code, and the communication interface is used for wireless communication. The processor is used to retrieve the executable program code stored in the memory and execute the obstacle distance-based control method as described in any one of claims 1-4.

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