A vehicle lamp control method, device and vehicle

Abstract

This invention provides a vehicle headlight control method, device, and vehicle. The method includes: acquiring first distance information in real time, wherein the first distance information is distance information between the vehicle and surrounding objects obtained from image information acquired by an image acquisition device; acquiring second distance information in real time, wherein the second distance information is distance information between the vehicle and surrounding objects obtained by radar; and controlling the on / off state of a target headlight of the vehicle based on the first distance information and the second distance information. Since distance information between the vehicle and surrounding objects acquired by image acquisition devices is often greatly affected by weather conditions, while distance information acquired by radar is less affected by weather conditions, this invention can more accurately determine weather conditions, and thus can more accurately control the on / off state of the headlights.

Description

Technical Field

[0001] This invention relates to the field of vehicle automatic control technology, and in particular to a vehicle lighting control method, device, and vehicle. Background Technology

[0002] When driving in rainy or foggy weather, if visibility is less than 50 meters, drivers should turn on their fog lights, low beam headlights, side marker lights, front and rear position lights, and hazard warning lights. The speed should not exceed 20 kilometers per hour, and the driver should exit the highway as soon as possible from the nearest exit. Currently, turning vehicle lights on or off in rainy or foggy weather relies solely on manual operation by the driver. In heavy fog or smog, drivers often forget to turn on their lights, such as fog lights and hazard warning lights, posing a safety hazard. Summary of the Invention

[0003] The purpose of this invention is to provide a vehicle headlight control method, device, and vehicle, which solves the problem that when driving in rainy or foggy weather, the headlights are turned on or off manually by the driver, who often forgets to turn them on.

[0004] To achieve the above objectives, embodiments of the present invention provide a vehicle lighting control method, including:

[0005] The first distance information is acquired in real time, which is the distance information between the vehicle and the surrounding objects of the vehicle obtained from the image information acquired by the image acquisition device.

[0006] The second distance information is acquired in real time, which is the distance information between the vehicle and the surrounding objects of the vehicle acquired by radar.

[0007] Based on the first distance information and the second distance information, the on / off state of the target headlights of the vehicle is controlled.

[0008] This invention also provides a vehicle lighting control device, comprising:

[0009] The first acquisition module is used to acquire first distance information in real time. The first distance information is the distance information between the vehicle and the surrounding objects of the vehicle, which is acquired based on the image information acquired by the image acquisition device.

[0010] The second acquisition module is used to acquire second distance information in real time, wherein the second distance information is the distance information between the vehicle and the surrounding objects of the vehicle acquired by radar;

[0011] The control module is used to control the on / off state of the target headlights of the vehicle based on the first distance information and the second distance information.

[0012] This invention also provides a vehicle, including the headlight control device provided in this embodiment. In this embodiment, by acquiring first distance information and second distance information in real time, the first distance information is the distance between the vehicle and surrounding objects obtained from image information acquired by an image acquisition device, and the second distance information is the distance between the vehicle and surrounding objects obtained by radar. Based on the first distance information and the second distance information, the on / off state of the vehicle's target headlights is controlled. Since the distance information between the vehicle and surrounding objects obtained from image acquisition devices is often greatly affected by weather, while the distance information between the vehicle and surrounding objects obtained from radar is less affected by weather, the distance information between the vehicle and surrounding objects obtained from both image acquisition devices and radar can more accurately determine weather conditions, thereby enabling more accurate control of the headlights' on / off state. Attached Figure Description

[0013] Figure 1 This is a flowchart illustrating a vehicle lighting control method provided in an embodiment of the present invention;

[0014] Figure 2 This is a schematic diagram of the structure of a vehicle lighting control device provided in an embodiment of the present invention. Detailed Implementation

[0015] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0016] This application provides a vehicle lighting control method. See [link / reference]. Figure 1 , Figure 1 This is a flowchart of the vehicle light control method provided in the embodiments of this application, such as... Figure 1 As shown, an embodiment of the present invention provides a vehicle headlight control method, including the following steps:

[0017] Step S101: Real-time acquisition of first distance information, wherein the first distance information is the distance information between the vehicle and surrounding objects obtained based on image information acquired by the image acquisition device;

[0018] In this embodiment, the image acquisition device is used to acquire image information of objects around the vehicle in real time. For example, the image acquisition device can be a camera. Optionally, the image acquisition device can be located near the front and rear fog lights of the vehicle.

[0019] The objects surrounding the aforementioned vehicle may include, but are not limited to, fixed objects such as vehicles, road signs, and pedestrians, as well as moving objects.

[0020] The aforementioned first distance information can be understood as the distance information between the vehicle and surrounding objects obtained from the camera.

[0021] Understandably, the image acquisition device can transmit the acquired image information to the vehicle control module, which then analyzes the image information to obtain the distance information between the vehicle and surrounding objects.

[0022] The vehicle control module mentioned above can be a reused existing vehicle control module, such as an Advanced Driver Assistance System (ADAS); or it can be a newly added control module. This embodiment does not limit this.

[0023] In some optional embodiments, the camera can be a binocular camera or a monocular camera, and the newly added control module can be a video analysis controller or the like capable of real-time image analysis and ranging.

[0024] In some optional embodiments, the vehicle acquires the first distance information through a vehicle control module, which can be an Advanced Driver Assistance Systems (ADAS) control module, for example; the image acquisition device and the ADAS control module can be connected via a wireless local area network, Bluetooth or Ethernet.

[0025] For example, a camera installed on the vehicle can collect image information of objects around the vehicle in real time, and transmit the collected image information to the ADAS control module via a wireless local area network. The ADAS control module then analyzes the image information to obtain distance information between the vehicle and surrounding objects.

[0026] Step S102: Real-time acquisition of second distance information, the second distance information being the distance information between the vehicle and surrounding objects acquired by radar.

[0027] In this embodiment, the radar can calculate the distance information from each object around the vehicle to the vehicle surface in real time based on the relative distance, relative speed, angle, and direction of movement between the vehicle and other objects.

[0028] The aforementioned second distance information can be understood as the distance information between the vehicle and surrounding objects obtained by radar.

[0029] For example, radar can be used to calculate the distance information from various objects around the vehicle to the vehicle surface in real time and feed it back to the ADAS control module, enabling the vehicle to obtain the distance information between the vehicle and surrounding objects based on the radar in real time. In this embodiment, the radar is preferably a combination of millimeter-wave radar and lidar, which can be installed on the front and rear bumpers of the vehicle. Alternatively, a data aggregation controller can be set up to connect to each radar in the vehicle, aggregate and denoise the distance information collected by each radar, and then feed the distance information back to the ADAS control module. The aforementioned second distance information can be transmitted to the ADAS control module via wireless LAN, Bluetooth, or Ethernet.

[0030] In some optional embodiments, the radar described above may also support functions such as identification, detection and tracking of static and dynamic objects, and acquisition of physical environment information around the vehicle body.

[0031] Step S103: Control the on / off state of the target headlights of the vehicle according to the first distance information and the second distance information.

[0032] The first distance information mentioned above, which is based on the distance between the vehicle and surrounding objects obtained by image acquisition equipment, is often greatly affected by weather. For example, in low-visibility conditions such as rain or fog, cameras may not be able to capture images or may only capture images within the visible range. The second distance information, on the other hand, which is based on the distance between the vehicle and surrounding objects obtained by radar, is less affected by weather. Due to the inherent characteristics of radar, its ranging range is not affected by visibility. Therefore, the weather conditions can be accurately determined based on the first and second distance information, thereby controlling the on / off state of the vehicle lights.

[0033] The aforementioned target vehicle lights can be understood as vehicle lights that need to be turned on in extreme environments, such as front and rear fog lights and hazard warning flashers. In some optional embodiments, low beam headlights and side marker lights are also included.

[0034] For example, the ADAS control module on the vehicle can determine whether the vehicle is in an environment where the headlights need to be turned on based on the first and second distance information obtained above, and control the headlights to turn on and off. In some optional embodiments, the status information of each headlight can also be obtained in real time and fed back to the ADAS control module to form a closed loop.

[0035] In this embodiment, since the distance information between the vehicle and surrounding objects obtained by the image acquisition device is often greatly affected by the weather, while the distance information between the vehicle and surrounding objects obtained by the radar is less affected by the weather, the distance information between the vehicle and surrounding objects obtained by the image acquisition device and the distance information between the vehicle and surrounding objects obtained by the radar can accurately determine the weather conditions, and thus can more accurately control the turning on or off of the vehicle lights.

[0036] In some optional embodiments, controlling the on / off state of the target vehicle lights based on the first distance information and the second distance information includes at least one of the following:

[0037] If the first condition is met, the target vehicle lights are controlled to be turned on.

[0038] If the first condition is not met, the target vehicle lights are controlled to be in an off state;

[0039] The first condition includes any one of the following:

[0040] The first distance information could not be successfully obtained, but the second distance information was successfully obtained;

[0041] The consistency between the first distance information and the second distance information is less than or equal to a first threshold.

[0042] All distance values ​​included in the first distance information are within a first distance range, and at least one distance value included in the second distance information is within a second distance range; all distance values ​​within the first distance range are less than the distance values ​​within the second distance range.

[0043] The failure to successfully acquire the first distance information can be understood as an anomaly in the acquired first distance information data, meaning the image acquisition device cannot normally capture images of the vehicle's surrounding environment. This could be due to two scenarios: one, the image acquisition device cannot acquire images and distance information normally due to object obstruction; two, extreme weather conditions with very low visibility, such as heavy rain or fog, prevent the image acquisition device from providing image information. Since radar cannot successfully acquire normal distance information if there is object obstruction, the first scenario is excluded if the second distance information is successfully acquired.

[0044] The aforementioned consistency can be understood as whether the distance information between the vehicle and surrounding objects acquired by the image acquisition device is consistent with the distance information between the vehicle and surrounding objects acquired by the radar; that is, the degree of overlap between the surrounding object information acquired by the image acquisition device and the surrounding object information acquired by the radar. Since image acquisition devices and radars have different characteristics, their ranging performance is affected differently by extreme environments. Therefore, the consistency of their ranging information can be used to determine whether the target vehicle lights need to be turned on in the current weather conditions. Specific methods for determining consistency can include first matching the objects acquired by the image acquisition device and the radar, and then comparing whether there are differences in the distance information; or directly pairing all similar distance information acquired by the two devices and determining consistency by the coverage rate of the paired information among all acquired information.

[0045] The first threshold can be set by the user or a system default value can be selected. For example, if the first threshold is set to 0.8, and the consistency between the first distance information and the second distance information is less than or equal to 0.8, then it is determined that the first distance information and the second distance information are not consistent.

[0046] The aforementioned first distance range can be understood as the distance range of visibility that requires turning on the headlights. For example, when the visibility is less than 200 meters, the corresponding headlights need to be turned on, and the upper limit of the first distance range is 200 meters. All distance values ​​included in the first distance information are within the first distance range, that is, the visibility range detected by the image acquisition device meets the visibility range required to turn on the headlights.

[0047] The aforementioned second distance range can be understood as the distance range outside the first distance. Because radar has better penetration of smoke and dust and is less affected by weather, its performance in measuring the distance, speed and angle of targets is also better than that of image acquisition equipment. Among the distance values ​​included in the second distance information, at least one distance value is within the second distance range, that is, the radar can collect distance information of objects outside the visibility range that meets the requirements for turning on the headlights.

[0048] In this embodiment, when the first distance information and the second distance information meet the first condition, the target vehicle headlight is controlled to be on, so as to determine whether the current environment of the vehicle needs to be turned on based on the acquired first distance information and second distance information. This allows the vehicle to automatically control the headlights to be turned on or off according to the environment, avoiding the need for the user to switch the headlights on and off repeatedly according to the weather and environment while driving. This simplifies the operation steps of turning the headlights on and off when driving in special environments and also improves the user experience.

[0049] Optionally, the vehicle light control method further includes:

[0050] Determine the distance value pairs corresponding to the same object in the first distance information and the second distance information, wherein the distance value pairs include two distance values ​​corresponding to the same object in the first distance information and the second distance information;

[0051] Calculate the difference between the two distance values ​​for each distance value pair to obtain the difference corresponding to each distance value pair;

[0052] The first number of distance value pairs whose difference is less than the second threshold and the second number of distance value pairs whose difference is greater than the second threshold are counted.

[0053] The consistency between the first distance information and the second distance information is determined based on the first quantity and the second quantity.

[0054] In this embodiment, the distance value pair corresponding to the same object can be understood as two distance values ​​for the same object obtained by mapping the image acquisition information and the environmental information acquired by the radar. For example, if a vehicle camera detects a road sign behind the vehicle, the lidar can continuously scan the target object with pulsed lasers to obtain data on all target points on the target object. After imaging processing with this data, an accurate three-dimensional image can be obtained. The obtained three-dimensional image also contains the road sign behind the vehicle. By comparing the two acquired images, it is determined that the detected road sign is the same. At this time, a mapping relationship is established between the distance information for the road sign in the image acquisition distance information and the distance information for the same road sign in the radar acquisition distance information.

[0055] The second threshold can be set by the user or the system default value can be adopted. For example, if the user sets the maximum value of the second threshold to 0.05m, then if the difference between the two distance values ​​in the mapping relationship is less than or equal to 0.05m, it is considered to be consistent and counted in the first quantity; if the difference is greater than 0.05m, it is considered to be inconsistent and counted in the second quantity.

[0056] The first quantity can be understood as the number of times the image acquisition information and radar simultaneously detect the same object in the current environment. The second quantity can be understood as the distance information that cannot be matched. The reason for the mismatch is most likely due to the influence of the environment, weather, etc., resulting in low visibility. The image acquisition device cannot acquire the target, but the radar can. Therefore, the larger the value of the second quantity, the lower the consistency between the first distance information and the second distance information, and the greater the demand for turning on the headlights in the current environment.

[0057] In this process, after mapping all the obtained distance values, calculating the difference, and counting the number, the consistency between the first distance information and the second distance information is determined based on the first number and the second number. The specific definition of this consistency can also be set by the user. For example, if the ratio of the first number to the total number exceeds 0.8, it is considered to be consistent; or, as long as the first number is greater than the second number, it is considered to be consistent, etc.

[0058] In this embodiment, after forming a mapping relationship for the distance values ​​of the same object, the consistency between the first distance information and the second distance information is determined by statistically analyzing the difference between the two distance values ​​corresponding to the same object in the first distance information and the second distance information. This helps to improve the accuracy of the consistency determination between the first distance information and the second distance information, so that the weather conditions can be judged more accurately, and thus the vehicle lights can be controlled to turn on or off more accurately.

[0059] Optionally, the vehicle light control method further includes:

[0060] Two distance values ​​in the first distance information and the second distance information whose difference is less than the third threshold are identified as distance value pairs corresponding to the same object;

[0061] Calculate the ratio of the number of distance value pairs to the number of distance values ​​in the first distance information to obtain a first ratio;

[0062] Calculate the ratio of the number of distance value pairs to the number of distance values ​​in the second distance information to obtain a second ratio;

[0063] The consistency between the first distance information and the second distance information is determined based on whether both the first ratio and the second ratio meet the fourth threshold.

[0064] In this embodiment, the distance values ​​in the first distance information and the distance values ​​in the second distance information are directly compared and matched. For example, if the distance values ​​in the obtained second distance information include 5.02m and 12.22m, and the distance values ​​in the obtained second distance information include 5.00m, 72.21m and 317.75m, then if the third threshold is set to 0.05m, the 5.02m in the first distance information and the 5.00m in the second distance information are determined to be a distance value pair corresponding to the same object because the difference is less than the third threshold.

[0065] The first and second ratios mentioned above can be considered as the coverage of consistent distance values ​​across all collected distance values. The fourth threshold can be set by the user or use the system default value. Taking the previous example: after 5.02m in the first distance information and 5.00m in the second distance information are determined to be distance value pairs corresponding to the same object, the resulting first ratio is 0.5 and the second ratio is 0.33. If the fourth threshold is set to 0.6 at this time, neither the first nor the second ratio meets the fourth threshold, and therefore, it is determined that the first and second distance information are inconsistent.

[0066] In this embodiment, the obtained distance values ​​are directly matched, reducing the steps of comparing and analyzing each object one by one. This simplifies the calculation process of the consistency between the first distance information and the second distance information, thereby saving computing time and computing resources.

[0067] Optionally, the vehicle headlight control method, which controls the on / off state of the target headlight of the vehicle based on the first distance information and the second distance information, further includes:

[0068] If it is necessary to determine the target vehicle light to be turned on based on the first distance information and the second distance information, an activation signal is sent to the target vehicle light via the Controller Area Network (CAN) to turn on the target vehicle light;

[0069] If it is determined that the target headlight of the vehicle needs to be turned off based on the first distance information and the second distance information, a turn-off signal is sent to the target headlight through the CAN network to turn off the target headlight.

[0070] In this embodiment, the ADAS control module sends the on / off signal of the target vehicle light from the CAN network to the corresponding target vehicle light module. Using the CAN network for transmission offers stronger real-time performance, stronger resistance to electromagnetic interference, and relatively lower cost.

[0071] In some optional embodiments, other communication methods may also be included for transmitting the turn-on or turn-off commands, such as wireless local area network and Bluetooth. Using different communication methods will not affect the implementation of the basic functions of the vehicle lighting control method.

[0072] This invention also provides a vehicle lighting control device. For example... Figure 2 As shown in the schematic diagram, an embodiment of the present invention provides a vehicle lighting control device 20, which includes:

[0073] The first acquisition module 21 is used to acquire first distance information in real time. The first distance information is the distance information between the vehicle and the surrounding objects of the vehicle, which is acquired based on the image information acquired by the image acquisition device.

[0074] The second acquisition module 22 is used to acquire second distance information in real time, wherein the second distance information is the distance information between the vehicle and the surrounding objects of the vehicle acquired by radar;

[0075] The control module 23 is used to control the on / off state of the target headlights of the vehicle based on the first distance information and the second distance information.

[0076] It should be noted that, Figure 2 The system shown is merely an example in an embodiment of the present invention. Some of the modules included in the system may be virtual modules, while others may be virtual modules combined with hardware, or hardware modules. The present invention does not limit this.

[0077] Optionally, the device further includes:

[0078] The first control unit is used to control the target vehicle light to be turned on when the first condition is met;

[0079] The second control unit is used to control the target vehicle light to be in an off state if the first condition is not met.

[0080] The first condition includes any one of the following:

[0081] The first distance information could not be successfully obtained, but the second distance information was successfully obtained;

[0082] The consistency between the first distance information and the second distance information is less than or equal to a first threshold.

[0083] All distance values ​​included in the first distance information are within a first distance range, and at least one distance value included in the second distance information is within a second distance range; all distance values ​​within the first distance range are less than the distance values ​​within the second distance range.

[0084] Optionally, the device further includes:

[0085] The first determining module is used to determine a distance value pair between the first distance information and the second distance information that corresponds to the same object, wherein the distance value pair includes two distance values ​​between the first distance information and the second distance information that correspond to the same object;

[0086] The first calculation module is used to calculate the difference between the two distance values ​​of each distance value pair to obtain the difference corresponding to each distance value pair.

[0087] The statistics module is used to count the first number of distance value pairs whose difference is less than the second threshold and the second number of distance value pairs whose difference is greater than the second threshold.

[0088] The second determining module is used to determine the consistency between the first distance information and the second distance information based on the first quantity and the second quantity.

[0089] Optionally, the device further includes:

[0090] The third determining module is used to determine two distance values ​​in the first distance information and the second distance information whose difference is less than a third threshold as distance value pairs corresponding to the same object;

[0091] The second calculation module is used to calculate the ratio of the number of distance value pairs to the number of distance values ​​in the first distance information, and obtain a first ratio;

[0092] The third calculation module is used to calculate the ratio of the number of distance value pairs to the number of distance values ​​in the second distance information, and obtain a second ratio.

[0093] The fourth determining module is used to determine the consistency between the first distance information and the second distance information based on whether both the first ratio and the second ratio meet a fourth threshold.

[0094] In this embodiment, the vehicle lighting control device can achieve... Figures 1 to 2 The method provided in the illustrated embodiment, namely Figures 1 to 2 The methods provided in the embodiments can all be implemented by the vehicle lighting control device and can achieve the same beneficial effects. To avoid repetition, they will not be described again here.

[0095] In addition, this invention also provides a vehicle including a vehicle light control device according to any embodiment of this invention.

[0096] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0097] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0098] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A vehicle headlight control method, characterized in that, include: The first distance information is acquired in real time, which is the distance information between the vehicle and the surrounding objects of the vehicle obtained from the image information acquired by the image acquisition device. The second distance information is acquired in real time, which is the distance information between the vehicle and the surrounding objects of the vehicle acquired by radar. Based on the first distance information and the second distance information, control the on / off state of the target headlights of the vehicle; The step of controlling the on / off state of the target vehicle lights based on the first distance information and the second distance information includes at least one of the following: If the first condition is met, the target vehicle lights are controlled to be turned on. If the first condition is not met, the target vehicle lights are controlled to be in an off state; The first condition includes any one of the following: The first distance information could not be successfully obtained, but the second distance information was successfully obtained; The consistency between the first distance information and the second distance information is less than or equal to a first threshold. All distance values ​​included in the first distance information are within a first distance range, and at least one distance value included in the second distance information is within a second distance range; all distance values ​​within the first distance range are less than the distance values ​​within the second distance range. The method further includes: Determine the distance value pairs corresponding to the same object in the first distance information and the second distance information, wherein the distance value pairs include two distance values ​​corresponding to the same object in the first distance information and the second distance information; Calculate the difference between the two distance values ​​for each distance value pair to obtain the difference corresponding to each distance value pair; The first number of distance value pairs whose difference is less than the second threshold and the second number of distance value pairs whose difference is greater than the second threshold are counted. The consistency between the first distance information and the second distance information is determined based on the first quantity and the second quantity.

2. The vehicle light control method according to claim 1, characterized in that, The method further includes: Two distance values ​​in the first distance information and the second distance information whose difference is less than the third threshold are identified as distance value pairs corresponding to the same object; Calculate the ratio of the number of distance value pairs to the number of distance values ​​in the first distance information to obtain a first ratio; Calculate the ratio of the number of distance value pairs to the number of distance values ​​in the second distance information to obtain a second ratio; The consistency between the first distance information and the second distance information is determined based on whether both the first ratio and the second ratio meet the fourth threshold.

3. The vehicle light control method according to any one of claims 1 to 2, characterized in that, The step of controlling the on / off state of the target vehicle lights based on the first distance information and the second distance information includes: If it is necessary to determine the target headlight of the vehicle to be turned on based on the first distance information and the second distance information, an activation signal is sent to the target headlight through the Controller Area Network (CAN) to turn on the target headlight. If it is determined that the target headlight of the vehicle needs to be turned off based on the first distance information and the second distance information, a turn-off signal is sent to the target headlight through the CAN network to turn off the target headlight.

4. A vehicle lighting control device, characterized in that, include: The first acquisition module is used to acquire first distance information in real time. The first distance information is the distance information between the vehicle and the surrounding objects of the vehicle, which is acquired based on the image information acquired by the image acquisition device. The second acquisition module is used to acquire second distance information in real time, wherein the second distance information is the distance information between the vehicle and the surrounding objects of the vehicle acquired by radar; The control module is used to control the on / off state of the target headlights of the vehicle based on the first distance information and the second distance information; The first control unit is used to control the target vehicle light to be turned on when the first condition is met; The second control unit is used to control the target vehicle light to be in an off state if the first condition is not met. The first condition includes any one of the following: The first distance information could not be successfully obtained, but the second distance information was successfully obtained; The consistency between the first distance information and the second distance information is less than or equal to a first threshold. All distance values ​​included in the first distance information are within a first distance range, and at least one distance value included in the second distance information is within a second distance range; all distance values ​​within the first distance range are less than the distance values ​​within the second distance range. The first determining module is used to determine the distance value pairs corresponding to the same object in the first distance information and the second distance information, wherein the distance value pairs include two distance values ​​corresponding to the same object in the first distance information and the second distance information; The first calculation module is used to calculate the difference between the two distance values ​​of each distance value pair to obtain the difference corresponding to each distance value pair. The statistics module is used to count the first number of distance value pairs whose difference is less than the second threshold and the second number of distance value pairs whose difference is greater than the second threshold. The second determining module is used to determine the consistency between the first distance information and the second distance information based on the first quantity and the second quantity.

5. The vehicle lighting control device according to claim 4, characterized in that, The control module includes at least one of the following: The first control unit is used to control the target vehicle light to be turned on when the first condition is met; The second control unit is used to control the target vehicle light to be in an off state if the first condition is not met. The first condition includes any one of the following: The first distance information could not be successfully obtained, but the second distance information was successfully obtained; The consistency between the first distance information and the second distance information is less than or equal to a first threshold. All distance values ​​included in the first distance information are within a first distance range, and at least one distance value included in the second distance information is within a second distance range; all distance values ​​within the first distance range are less than the distance values ​​within the second distance range.

6. The vehicle lighting control device according to claim 5, characterized in that, The device further includes: The first determining module is used to determine the distance value pairs corresponding to the same object in the first distance information and the second distance information, wherein the distance value pairs include two distance values ​​corresponding to the same object in the first distance information and the second distance information; The first calculation module is used to calculate the difference between the two distance values ​​of each distance value pair to obtain the difference corresponding to each distance value pair. The statistics module is used to count the first number of distance value pairs whose difference is less than the second threshold and the second number of distance value pairs whose difference is greater than the second threshold. The second determining module is used to determine the consistency between the first distance information and the second distance information based on the first quantity and the second quantity.

7. The vehicle lighting control device according to claim 5, characterized in that, The device further includes: The third determining module is used to determine two distance values ​​in the first distance information and the second distance information whose difference is less than a third threshold as distance value pairs corresponding to the same object; The second calculation module is used to calculate the ratio of the number of distance value pairs to the number of distance values ​​in the first distance information, and obtain a first ratio; The third calculation module is used to calculate the ratio of the number of distance value pairs to the number of distance values ​​in the second distance information, and obtain a second ratio. The fourth determining module is used to determine the consistency between the first distance information and the second distance information based on whether both the first ratio and the second ratio meet a fourth threshold.

8. A vehicle, characterized in that, Includes the vehicle lighting control device as described in any one of claims 4-7.

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