Nighttime vehicle lighting control methods, devices, electronic equipment and storage media

Abstract

This invention discloses a method, device, electronic device, and storage medium for controlling vehicle lights at night. The method includes: during low-speed vehicle operation, using millimeter-wave radar to collect a first point cloud of the surrounding environment to determine if there is a potential danger object (e.g., an animal) ahead of the vehicle; when a danger object is present, determining if there is an obstacle ahead of the vehicle based on the first point cloud. If so, identifying a target headlight in the headlights based on the positions of the obstacle and the danger object; otherwise, identifying the target headlight based on the position of the danger object. The target headlight's light emission mode is controlled to be a high-intensity light mode to repel the danger object. The initial light emission mode of the headlights is an illumination mode, with the high-intensity light mode having a greater light intensity, illumination range, and illumination distance than the illumination mode. When avoiding a danger object, the driver may perform a steering maneuver; the target headlight is used to determine the direction of repelling the danger object, thus preventing the vehicle from colliding with the obstacle or the danger object.

Description

Technical Field

[0001] This invention relates to the field of vehicle lighting technology, and more particularly to a method, apparatus, electronic device, and storage medium for controlling vehicle lights at night. Background Technology

[0002] As a crucial component of vehicle safety systems, vehicle lighting systems play a vital role in vehicle operation. Proper use of lights effectively alerts other road users; conversely, improper use can create significant safety hazards and even lead to serious traffic accidents. Traffic accidents can completely paralyze traffic on a particular road segment, severely impacting travel. This is especially true at night when visibility is reduced and reaction time is slower.

[0003] In order to see the road clearly and to extend the driver's reaction time, drivers tend to keep their high beams on for extended periods. This can impair the vision of some road users and thus affect their judgment. For example, when meeting oncoming traffic, high beams can cause temporary blindness to the oncoming driver, leading to a traffic accident. Or, animals may panic and run around when they suddenly notice high beams, causing a traffic accident. Therefore, people's need for safe driving at night is becoming increasingly urgent. Summary of the Invention

[0004] This invention provides a method for controlling vehicle lights at night to address the problems of drivers using high beams for extended periods, which impairs the judgment of other road users, and animals causing traffic accidents by darting around under high beams.

[0005] In a first aspect, the present invention provides a method for controlling vehicle lights at night, comprising:

[0006] During low-speed vehicle operation, the first point cloud of the surrounding environment is collected by millimeter-wave radar.

[0007] Based on the first point cloud, it is determined whether there is a potential danger in front of the vehicle, and the potential danger is an animal;

[0008] When there is a potential target in front of the vehicle, determine whether there is an obstacle in front of the vehicle based on the first point cloud;

[0009] If so, the target headlight is determined from the two headlights of the vehicle based on the positions of the obstacle and the object of alert;

[0010] If not, the target headlight is determined from the two headlights of the vehicle based on the location of the object of alert.

[0011] The target vehicle's headlights are controlled to emit a high beam mode to drive away the wary object.

[0012] The initial light emission mode of the headlights is the illumination mode, while the light intensity, illumination range, and illumination distance of the high-intensity mode are all greater than those of the illumination mode.

[0013] Secondly, the present invention provides a nighttime vehicle lighting control device, comprising:

[0014] The first point cloud acquisition module is used to acquire the first point cloud of the vehicle's surrounding environment using millimeter-wave radar during low-speed vehicle operation.

[0015] The alert target analysis module is used to determine whether there is an alert target in front of the vehicle based on the first point cloud, wherein the alert target is an animal;

[0016] The obstacle analysis module is used to determine whether there is an obstacle in front of the vehicle based on the first point cloud when there is a warning object in front of the vehicle; if so, the contents of the target headlight determination module are executed; if not, the contents of the second target headlight determination module are executed.

[0017] The first target vehicle light determination module is used to determine the target vehicle light among the two vehicle lights of the front vehicle light based on the position of the obstacle and the object of alert.

[0018] The second target vehicle light determination module is used to determine the target vehicle light among the two headlights of the vehicle based on the position of the object of alert.

[0019] A high-intensity light control module is used to control the light output mode of the target vehicle headlights to a high-intensity light mode in order to drive away the wary object;

[0020] The initial light emission mode of the headlights is the illumination mode, while the light intensity, illumination range, and illumination distance of the high-intensity mode are all greater than those of the illumination mode.

[0021] Thirdly, the present invention provides an electronic device, the electronic device comprising:

[0022] At least one processor; and

[0023] A memory communicatively connected to the at least one processor; wherein,

[0024] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the nighttime vehicle lighting control method according to the first aspect of the present invention.

[0025] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the nighttime vehicle lighting control method described in the first aspect of the present invention.

[0026] This invention provides a vehicle nighttime lighting control method. During low-speed vehicle operation, a first point cloud of the surrounding environment is collected using millimeter-wave radar. Based on the first point cloud, it is determined whether there is a potential danger object (e.g., an animal) ahead of the vehicle. If a danger object is present, the first point cloud is used to determine whether there is an obstacle ahead of the vehicle. If an obstacle exists, a target headlight is selected from the two headlights based on the positions of the obstacle and the danger object. If no obstacle exists, the target headlight is selected from the two headlights based on the position of the danger object. The target headlight's light emission mode is controlled to be a high-intensity light mode to repel the danger object. The initial light emission mode of the headlights is an illumination mode, and the high-intensity light mode has a greater light intensity, illumination range, and illumination distance than the illumination mode. When driving at low speeds at night, if a vehicle encounters a wary animal, firstly, turning on the target vehicle's headlights in high beam mode will deter the animal, causing it to leave the road and preventing collisions or disruptions to the vehicle. Secondly, to avoid the animal, the driver may need to swerve. Therefore, it's crucial to first assess whether there are obstacles ahead. If so, identify the target vehicle's headlights based on the positions of the obstacle and the animal. Use the target headlights to determine the direction to drive the animal away. For example, drive the animal to the side of the obstacle. When swerving, steer in the opposite direction to the obstacle, avoiding collisions with both the obstacle and the animal while simultaneously deterring the animal. Drivers should avoid using high beams for extended periods, as this can impair the judgment of other road users and cause animals to dart around due to the high beams, potentially leading to accidents.

[0027] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

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

[0029] Figure 1 This is a flowchart of a nighttime vehicle lighting control method provided in Embodiment 1 of the present invention;

[0030] Figure 2This is a flowchart of a nighttime vehicle lighting control method provided in Embodiment 2 of the present invention;

[0031] Figure 3 This is a schematic diagram of a target vehicle headlight emission center determination process provided in Embodiment 2 of the present invention;

[0032] Figure 4 This is a schematic diagram of the structure of a nighttime vehicle lighting control device provided in Embodiment 3 of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0034] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0035] Example 1

[0036] Figure 1 This is a flowchart of a nighttime vehicle headlight control method provided in Embodiment 1 of the present invention. This embodiment is applicable to nighttime vehicle headlight control. The method can be executed by a nighttime vehicle headlight control device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the nighttime vehicle lighting control method includes:

[0037] S101. During low-speed vehicle operation, the first point cloud of the surrounding environment is collected by millimeter-wave radar.

[0038] The advantages of millimeter-wave radar are: moderate cost compared to lidar, strong identification capability, and strong resistance to adverse weather conditions. This is because millimeter-wave radar has a narrow beam, high angular resolution, wide bandwidth, good concealment, and good penetration through smoke, dust, rain, fog, etc.

[0039] In this embodiment, the vehicle is operating at a low speed, such as in a pre-stop state, and has a low demand for long-range environmental information perception. In addition, the scenario in this embodiment is at night, with low visibility. Therefore, millimeter-wave radar can be used to collect point cloud data of the environment around the vehicle to guide the vehicle to drive safely based on the point cloud data.

[0040] Millimeter-wave radar can be installed around the exterior of a vehicle, on its roof, or inside the vehicle. This invention does not limit the installation location or number of millimeter-wave radars.

[0041] S102. Based on the first point cloud, determine whether there is a potential danger in front of the vehicle. The potential danger is an animal.

[0042] Animals include cats, dogs, and some wild animals.

[0043] Specifically, determining whether there is a potential danger object ahead of the vehicle based on the first point cloud includes: determining whether there is a target object ahead of the vehicle, where the target object is an animal; if there is a target object ahead of the vehicle, determining whether the target object's movement direction is towards the vehicle or the road where the vehicle is located, or whether the target object is located on the road where the vehicle is located; if so, treating the target object as a potential danger object and confirming that there is a potential danger object ahead of the vehicle; if not, determining that there is no potential danger object ahead of the vehicle. Specifically, first and second point clouds collected at different acquisition cycles can be acquired; a first image and a second image can be generated based on the first and second point clouds, respectively; the presence and direction of movement of a moving animal ahead can be determined using the first and second images.

[0044] The area in front of the vehicle refers to the road in front of the vehicle and both sides of the road.

[0045] When there is a warning object in front of the vehicle, S103 is executed. When there is no warning object, the vehicle continues to drive in its current state, that is, the headlight settings are not changed.

[0046] When identifying alert targets based on the first point cloud, the first point cloud can be input into a preset recognition model. This recognition model is pre-trained and can identify alert targets of preset categories.

[0047] S103. When there is a target to be wary of in front of the vehicle, determine whether there is an obstacle in front of the vehicle based on the first point cloud.

[0048] If yes, proceed to S104; otherwise, proceed to S105.

[0049] Obstacles can be stones, fences, trees, crops, houses, etc. On the one hand, vehicles may collide with obstacles and cause damage to the vehicle body; on the other hand, when a vehicle hits an obstacle, it may cause damage to the obstacle (such as crops).

[0050] When identifying obstacles based on the first point cloud, the first point cloud can be input into a preset recognition model. This recognition model is pre-trained and can identify obstacles of preset categories.

[0051] This step involves detecting whether there are obstacles in front of the vehicle to prepare data for the vehicle's steering and obstacle avoidance in subsequent steps.

[0052] S104. Based on the position of obstacles and the object of alert, determine the target headlight among the two headlights of the headlight.

[0053] Considering that drivers may swerve to avoid a potential target, when there is a target or obstacle in front of the vehicle, the target headlight can be identified from the two headlights based on the positions of the obstacle and the target. The target headlight can then be used to determine the direction to drive the target away. For example, the target can be driven to the side where the obstacle is located. When the driver swerves, they can swerve in the opposite direction to the obstacle, thus avoiding a collision with both the obstacle and the target while also driving away the target.

[0054] The purpose of identifying the target vehicle light is to determine one of the two headlights suitable for deterring a wary target, while also taking into account the location of obstacles. Therefore, the target vehicle light can be determined from the two headlights by combining the positions of the obstacles and the wary target. It should be noted that in this invention, both the vehicle light and the target vehicle are headlights.

[0055] The target light is determined from the two headlights of the vehicle based on the positions of the obstacle and the object of suspicion. For example, in one optional embodiment, a first line connecting the left headlight to the obstacle and a second line connecting the right headlight to the obstacle are first obtained. Circles are then drawn with the first and second lines as diameters to obtain a first circular area and a second circular area. It is then determined whether the object of suspicion is located within the smaller circular area of ​​the first and second circular areas. If so, the smaller circular area is designated as the target circular area; otherwise, the larger circular area is designated as the target circular area. The headlight corresponding to the target circular area is then designated as the target headlight. This embodiment divides the management range of each headlight into circular areas, prioritizing the smaller circular area as the target circular area because it is closer to the object of suspicion and has a more direct and effective deterrent effect.

[0056] S105. Based on the location of the object of alert, determine the target headlight among the two headlights of the vehicle ahead.

[0057] Considering that the driver may swerve to avoid a potential target, if there is a potential target in front of the vehicle but no obstacles, obstacle avoidance is not necessary. The target's position can be determined by identifying the target headlight between the two headlights of the vehicle ahead, and then using the target headlight to determine the direction to drive the target away.

[0058] Specifically, based on the location of the object of suspicion, the target headlight can be determined from the two headlights of the vehicle ahead. The headlight closest to the object of suspicion can be used as the target headlight, and the object of suspicion only needs to be driven away.

[0059] S106. Control the target vehicle's headlights to a high-beam mode to deter alerted targets.

[0060] The initial light output mode of the headlights is illumination mode, while the high beam mode has a greater light intensity, illumination range, and illumination distance than the illumination mode. Therefore, when a target vehicle's headlights switch to high beam mode, it will deter potential targets, causing them to leave the road and preventing collisions or disruptions to the vehicle's movement.

[0061] Optionally, the headlights include multiple LEDs, and can also be equipped with adjustable concave or convex mirrors to achieve illumination schemes with different positions, directions, and brightness levels.

[0062] This invention provides a method for controlling vehicle nighttime lighting, comprising: during low-speed vehicle operation, acquiring a first point cloud of the surrounding environment using millimeter-wave radar; determining whether a potential danger object (e.g., an animal) exists ahead of the vehicle based on the first point cloud; when a potential danger object exists ahead of the vehicle, determining whether an obstacle exists ahead of the vehicle based on the first point cloud; when an obstacle exists, identifying a target headlight among the two headlights based on the positions of the obstacle and the potential danger object; when no obstacle exists, identifying the target headlight among the two headlights based on the position of the potential danger object. The target headlight's light emission mode is controlled to be a high-intensity light mode to repel potential danger objects. The initial light emission mode of the headlights is an illumination mode, and the high-intensity light mode has a greater light intensity, illumination range, and illumination distance than the illumination mode. When driving at low speeds at night, if a vehicle encounters a wary animal, firstly, turning on the target vehicle's headlights in high beam mode will deter the animal, causing it to leave the road and preventing collisions or disruptions to the vehicle. Secondly, to avoid the animal, the driver may need to swerve. Therefore, it's crucial to first assess whether there are obstacles ahead. If so, identify the target vehicle's headlights based on the positions of the obstacle and the animal. Use the target headlights to determine the direction to drive the animal away. For example, drive the animal to the side of the obstacle. When swerving, steer in the opposite direction to the obstacle, avoiding collisions with both the obstacle and the animal while simultaneously deterring the animal. Drivers should avoid using high beams for extended periods, as this can impair the judgment of other road users and cause animals to dart around due to the high beams, potentially leading to accidents.

[0063] Example 2

[0064] Figure 2 This is a flowchart of a nighttime vehicle lighting control method provided in Embodiment 2 of the present invention. This embodiment optimizes Embodiment 1 as described above. Figure 2 As shown, the nighttime vehicle lighting control method includes:

[0065] S201. During low-speed vehicle operation, the first point cloud of the surrounding environment is collected by millimeter-wave radar.

[0066] S202. Based on the first point cloud, determine whether there is a potential target in front of the vehicle. The potential target is an animal.

[0067] S203. When there is a potential target in front of the vehicle, determine whether there is an obstacle in front of the vehicle based on the first point cloud.

[0068] If not, proceed to S204; if yes, proceed to S205.

[0069] S201-S203 are similar to S101-S103 in Embodiment 1. For details, please refer to S101-S103, which will not be described here.

[0070] In one optional embodiment, when there is a warning object in front of the vehicle, the method further includes: collecting a second point cloud of the in-vehicle environment via millimeter-wave radar; determining whether the driver is in a state of alertness based on the second point cloud; if so, controlling the in-vehicle lights to a calm mode, which corresponds to a calm mood; if not, controlling the in-vehicle lights to an active mode, which corresponds to an excited mood.

[0071] The driver's state can be determined by using the second point cloud. Specifically, the second point cloud can be input into a preset state recognition model to determine the driver's state. For example, if there is a movement of looking up, down, left, or right to confirm, it can be identified as an alert state. When there is a warning object in front of the vehicle, the driver generally needs to be alert as well. However, due to night driving, the driver may not be alert due to fatigue or other reasons. In this case, the interior lights can be set to active mode. If the driver is already alert, the lights should remain in calm mode.

[0072] Different lighting environments have different emotional effects and require different intensities of light. For example, warm white light gives people a cozy and comfortable feeling, while bright cool white light can improve work efficiency and invigorate people's spirits. Therefore, the driver's mental state can be adjusted through the interior lighting of the car to help the driver stay alert and cautious when encountering suspicious objects.

[0073] S204. Based on the location of the object of alert, determine the target headlight among the two headlights of the vehicle ahead.

[0074] The method for determining the target headlight based on the location of the object of alert involves: calculating the distances from the location of the object of alert to the left headlight and the right headlight, respectively; and selecting the headlight that is closer to the object of alert as the target headlight.

[0075] S205. Determine whether the location of the object of alert is on the road where the vehicle is located.

[0076] If yes, execute S206; otherwise, execute S204.

[0077] S206. Use the headlights that are at a greater distance from the obstacle as the target headlights.

[0078] When the target of alert is located on the road where the vehicle is located, calculate the distance from the obstacle to the left headlight and the right headlight respectively, and take the headlight with the larger distance from the obstacle as the target headlight.

[0079] S207. Determine the first straight line connecting the target vehicle's headlights and the object of alert.

[0080] S208. On the side of the first straight line away from the obstacle, determine a second straight line with a preset angle that makes contact with the first straight line.

[0081] S209. Adjust the deflection angle of the target vehicle headlight based on the second straight line so that the emission center of the target vehicle headlight is on the second straight line.

[0082] Figure 3 A schematic diagram illustrating the process of determining the emission center of a target vehicle's headlights, as shown below. Figure 3 As shown, vehicle a is traveling on road r. A warning object b is located in front of the vehicle, and an obstacle c is also present. To effectively direct the warning object b towards the direction of obstacle c, the deflection angle of the target vehicle's headlights can be adjusted. First, determine a first straight line L1 connecting the target vehicle's headlights and the warning object. On the side of the first straight line L1 furthest from obstacle c, determine a second straight line L2 with a preset angle to the first straight line L1. L2 is then the emission center of the target vehicle's headlights. The deflection angle of the target vehicle's headlights is controlled based on the angle of this emission center, specifically by controlling the angle of the concave mirror in the target vehicle's headlights.

[0083] By adjusting the angle of the target vehicle's headlights, the direction of the vehicle can be more precisely controlled to drive the target away from the obstacle. When the driver wants to avoid the target by steering the vehicle, he can turn the steering wheel in the opposite direction to the obstacle, thus avoiding both the obstacle and the target at the same time. This prevents the vehicle from hitting the obstacle while avoiding the target because the target's movement direction is opposite to the obstacle.

[0084] Of course, the target vehicle's headlights' emission center is located on the second straight line, meaning the vertical plane of the emission center lies on this second straight line. The height of the emission center is also adjustable; specifically, it can be adjusted according to the height of the target vehicle.

[0085] S210: Control the target vehicle's headlights to a high-beam mode to deter alerted targets.

[0086] The initial light output mode of the headlights is the illumination mode, while the high beam mode has a greater light intensity, illumination range, and illumination distance than the illumination mode.

[0087] In one optional embodiment, the high-intensity light mode includes a first sub-high-intensity light mode and a second sub-high-intensity light mode. Controlling the target vehicle headlight's light emission mode to be the high-intensity light mode to repel alerted objects includes: detecting whether there is a high-reflectivity object in front of the vehicle based on a first point cloud, wherein the high-reflectivity object is an object with a reflectivity greater than a preset reflectivity threshold; if so, controlling the target vehicle headlight's light emission mode to be the first sub-high-intensity light mode, wherein the target vehicle headlight emits parallel illumination light and diffused illumination light in the first sub-high-intensity light mode; if not, controlling the target vehicle headlight's light emission mode to be the second sub-high-intensity light mode, wherein the target vehicle headlight emits parallel illumination light in the second sub-high-intensity light mode.

[0088] When there is a highly reflective object in front of a vehicle, if parallel lighting is used, the highly reflective object will reflect a large amount of light back to the area where the vehicle is located, affecting the driver's vision and thus affecting driving. Therefore, when there is a highly reflective object in front of the vehicle, controlling the vehicle's target headlights to emit parallel lighting and diffused lighting can reduce the light returned by the highly reflective object, avoid glare affecting the driver's operation and judgment, and improve traffic safety.

[0089] In an optional embodiment, after controlling the target vehicle headlights to emit light in a high-intensity mode to deter potential targets, the method further includes: acquiring a new third point cloud; detecting, based on the third point cloud, whether there is oncoming traffic in the straight-ahead direction of the vehicle; if so, issuing a deceleration notification; and, when a vehicle deceleration signal is detected, controlling the target vehicle headlights to reduce their luminous intensity.

[0090] In high beam mode, the light intensity, illumination range, and illumination distance are all greater than in regular lighting mode. When there is oncoming traffic, the high beam may strongly irritate the eyes of the oncoming driver. Therefore, when meeting oncoming traffic, a slowdown notice should be issued first, and the vehicle should slow down to give the driver enough room and time to avoid the object of suspicion. At the same time, the feelings of the oncoming driver should be taken into account to avoid affecting the judgment of traffic participants and to ensure traffic safety.

[0091] This embodiment determines a first straight line connecting the target vehicle headlight and the object of alert; on the side of the first line away from the obstacle, determines a second straight line with a preset angle to the first line; based on the second straight line, adjusts the deflection angle of the target vehicle headlight so that the emission center of the target vehicle headlight is on the second straight line. By adjusting the angle of the target vehicle headlight, the direction of driving away the object of alert can be more accurately adjusted, allowing the object of alert to avoid the side where the obstacle is located. When the driver wants to avoid the object of alert by operating the vehicle steering, he can turn the steering wheel in the opposite direction to the obstacle, thereby avoiding both the obstacle and the object of alert at the same time, and preventing the vehicle from hitting the obstacle when avoiding the object of alert because the movement direction of the object of alert is opposite to that of the obstacle.

[0092] Example 3

[0093] Figure 4 This is a schematic diagram of a nighttime vehicle lighting control device provided in Embodiment 3 of the present invention. Figure 4 As shown, the nighttime vehicle lighting control device includes:

[0094] The first point cloud acquisition module 401 is used to acquire the first point cloud of the environment around the vehicle using millimeter-wave radar during low-speed vehicle operation.

[0095] The alert object analysis module 402 is used to determine whether there is an alert object in front of the vehicle based on the first point cloud, wherein the alert object is an animal.

[0096] The obstacle analysis module 403 is used to determine whether there is an obstacle in front of the vehicle based on the first point cloud when there is a warning object in front of the vehicle; if yes, it executes the contents of the first target headlight determination module 404; if no, it executes the contents of the second target headlight determination module 405.

[0097] The first target vehicle light determination module 404 is used to determine the target vehicle light among the two vehicle lights of the front vehicle light based on the position of the obstacle and the object of alert.

[0098] The second target vehicle light determination module 405 is used to determine the target vehicle light among the two vehicle lights of the front vehicle light based on the position of the alerted object.

[0099] The high-intensity light control module 406 is used to control the light emission mode of the target vehicle headlights to a high-intensity light mode in order to drive away the wary object;

[0100] The initial light emission mode of the headlights is the illumination mode, while the light intensity, illumination range, and illumination distance of the high-intensity mode are all greater than those of the illumination mode.

[0101] In an optional embodiment, the obstacle analysis module 403 includes:

[0102] The second point cloud acquisition submodule is used to acquire the second point cloud of the in-vehicle environment using millimeter-wave radar when there is a warning object in front of the vehicle.

[0103] The alert status confirmation submodule is used to determine whether the driver is in an alert state based on the second point cloud.

[0104] The Calm Mode Control Submodule is used to control the interior lights to a calm mode if the driver is in an alert state, and the calm mode corresponds to a calm mood.

[0105] The active mode control submodule is used to control the interior lights to active mode if the driver is not in an alert state. The active mode corresponds to an excited mood.

[0106] In an optional embodiment, the first target vehicle light determination module 404 includes:

[0107] The location determination submodule is used to determine whether the location of the alerted object is on the road where the vehicle is located; if yes, execute the contents of the first target vehicle light determination submodule; if no, execute the contents of the second target vehicle light determination module 405.

[0108] The first target headlight determination submodule is used to identify headlights that are at a greater distance from the obstacle as target headlights.

[0109] In an optional embodiment, the first target vehicle light determination module 404 further includes:

[0110] The first straight line determination submodule is used to determine the first straight line connecting the target vehicle headlight and the object of alert.

[0111] The second line determination submodule is used to determine a second line on the side of the first line away from the obstacle, with a preset angle between the second line and the first line.

[0112] The deflection angle adjustment submodule is used to adjust the deflection angle of the target vehicle light based on the second straight line, so that the emission center of the target vehicle light is on the second straight line.

[0113] In an optional embodiment, the second target vehicle light determination module 405 includes:

[0114] The distance calculation submodule is used to calculate the distances from the alerted object to the left headlight and the right headlight, respectively.

[0115] The second target vehicle light determination submodule is used to identify the headlights of vehicles that are close to the object of alert as target vehicle lights.

[0116] In an optional embodiment, the high-intensity light mode includes a first sub-high-intensity light mode and a second sub-high-intensity light mode, and the high-intensity light control module 406 includes:

[0117] The high reflectivity object detection submodule is used to detect whether there is a high reflectivity object in front of the vehicle based on the first point cloud. The high reflectivity object is an object with a reflectivity greater than a preset reflectivity threshold. If so, the contents of the first sub-intense light mode control submodule are executed; otherwise, the contents of the second sub-intense light mode control submodule are executed.

[0118] The first sub-high light mode control submodule is used to control the light output mode of the target vehicle light to the first sub-high light mode, in which the target vehicle light emits parallel illumination light and diffused illumination light.

[0119] The second sub-high light mode control submodule is used to control the light output mode of the target vehicle light to the second sub-high light mode, in which the target vehicle light emits parallel illumination light.

[0120] In an optional embodiment, the nighttime vehicle lighting control device further includes:

[0121] The third point cloud acquisition module is used to acquire new third point clouds;

[0122] The oncoming traffic confirmation module is used to detect whether there is oncoming traffic in the straight-ahead direction of the vehicle based on the third point cloud; if so, it executes the content of the deceleration notification sending module.

[0123] The deceleration notification sending module is used to send deceleration notifications;

[0124] The luminous intensity reduction module is used to control the luminous intensity of the target vehicle light to decrease when a vehicle deceleration signal is detected.

[0125] The nighttime vehicle lighting control device provided in this embodiment of the invention can execute the nighttime vehicle lighting control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0126] Example 4

[0127] Figure 5 A schematic diagram of an electronic device 40 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0128] like Figure 5 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded into the RAM 43 from storage unit 48. The RAM 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0129] Multiple components in electronic device 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0130] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 41 performs the various methods and processes described above, such as nighttime vehicle lighting control methods.

[0131] In some embodiments, the nighttime vehicle lighting control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the nighttime vehicle lighting control method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the nighttime vehicle lighting control method by any other suitable means (e.g., by means of firmware).

[0132] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0133] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0134] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0135] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0136] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0137] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0138] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0139] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for controlling vehicle lights at night, characterized in that, include: During low-speed vehicle operation, the first point cloud of the surrounding environment is collected by millimeter-wave radar. Based on the first point cloud, it is determined whether there is a potential danger in front of the vehicle, and the potential danger is an animal; When there is a potential target in front of the vehicle, determine whether there is an obstacle in front of the vehicle based on the first point cloud; If so, the target headlight is determined from the two headlights of the vehicle based on the positions of the obstacle and the object of alert; If not, the target headlight is determined from the two headlights of the vehicle based on the location of the object of alert. The target vehicle's headlights are controlled to emit a high beam mode to drive away the wary object. The initial light emission mode of the headlights is the illumination mode, and the light intensity, illumination range, and illumination distance of the high-intensity mode are all greater than those of the illumination mode. The step of determining the target headlight among the two headlights of the vehicle based on the positions of the obstacle and the object of alert includes: Determine whether the location of the object of alert is on the road where the vehicle is located; If so, the headlight that is at a greater distance from the obstacle shall be used as the target headlight; If not, the target headlight is determined from the two headlights of the vehicle based on the location of the object of alert. After specifying the headlights that are at a greater distance from the obstacle as the target headlights, the method further includes: Determine the first straight line connecting the target vehicle headlights and the object of alert; On the side of the first straight line away from the obstacle, determine a second straight line that forms a preset angle with the first straight line. Adjust the deflection angle of the target vehicle headlight based on the second straight line so that the emission center of the target vehicle headlight is on the second straight line.

2. The nighttime vehicle lighting control method as described in claim 1, characterized in that, When there is a potential target in front of the vehicle, it also includes: Second point cloud data of the in-vehicle environment is collected using millimeter-wave radar; Based on the second point cloud, determine whether the driver is in a state of alertness; If so, control the interior lights to calm mode, which corresponds to a calm mood; If not, control the interior lights to active mode, which corresponds to an excited mood.

3. The nighttime vehicle lighting control method as described in any one of claims 1-2, characterized in that, The step of determining the target headlight among the two headlights of the vehicle based on the position of the object of alert includes: Calculate the distances from the object of alert to the left headlight and the right headlight, respectively; The headlights of vehicles that are relatively close to the object of vigilance are designated as target headlights.

4. The nighttime vehicle lighting control method as described in any one of claims 1-2, characterized in that, The high-intensity light mode includes a first sub-high-intensity light mode and a second sub-high-intensity light mode. Controlling the target vehicle's headlights to emit light in the high-intensity light mode, in order to repel the wary object, includes: Based on the first point cloud detection, it is determined whether there is a high reflectivity object in front of the vehicle. The high reflectivity object is an object with a reflectivity greater than a preset reflectivity threshold. If so, the light emission mode of the target vehicle headlight is controlled to be the first sub-high intensity mode, and the target vehicle headlight emits parallel illumination light and diffused illumination light in the first sub-high intensity mode; If not, the target vehicle headlight is controlled to emit light in the second sub-high beam mode, and the target vehicle headlight emits parallel illumination light in the second sub-high beam mode.

5. The nighttime vehicle lighting control method as described in any one of claims 1-2, characterized in that, After controlling the target vehicle's headlights to emit light in a high-intensity mode to repel the wary object, the method further includes: Collect new third point clouds; The third point cloud detection detects whether there is oncoming traffic in the straight-ahead direction of the vehicle; If so, issue a deceleration notice; When a vehicle deceleration signal is detected, the luminous intensity of the target vehicle headlight is reduced.

6. A nighttime vehicle lighting control device, characterized in that, A method for performing nighttime vehicle lighting control as described in any one of claims 1-5, comprising: The first point cloud acquisition module is used to acquire the first point cloud of the vehicle's surrounding environment using millimeter-wave radar during low-speed vehicle operation. The alert target analysis module is used to determine whether there is an alert target in front of the vehicle based on the first point cloud, wherein the alert target is an animal; The obstacle analysis module is used to determine whether there is an obstacle in front of the vehicle based on the first point cloud when there is a warning object in front of the vehicle; if so, the first target headlight determination module is executed; if not, the second target headlight determination module is executed. The first target vehicle light determination module is used to determine the target vehicle light among the two vehicle lights of the front vehicle light based on the position of the obstacle and the object of alert. The second target vehicle light determination module is used to determine the target vehicle light among the two headlights of the vehicle based on the position of the object of alert. A high-intensity light control module is used to control the light output mode of the target vehicle headlights to a high-intensity light mode in order to drive away the wary object; The initial light emission mode of the headlights is the illumination mode, while the light intensity, illumination range, and illumination distance of the high-intensity mode are all greater than those of the illumination mode.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the nighttime vehicle lighting control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the nighttime vehicle lighting control method according to any one of claims 1-5.

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