Steering lamp control method and device, vehicle and storage medium

Abstract

The invention discloses a steering lamp control method and device, a vehicle and a readable storage medium, and the method comprises the steps: obtaining a lane center line of a lane where the vehicle runs under the condition that the vehicle is in a driving state; determining the deviation speed of the vehicle relative to the lane and the relative included angle of the vehicle relative to the lane center line; according to the deviation speed and the relative included angle, the deviation trend of the vehicle is determined; determining a steering intention of the vehicle based on the offset trend; and according to the steering intention, steering lamps of the vehicle are controlled. According to the method, the situation that when a user forgets or inconveniently operates a steering lamp switch, the steering intention of the user cannot be determined, so that the vehicle turns under the condition that the steering lamp is not turned on is avoided, and safety accidents caused when the steering lamp of the vehicle is not turned on are effectively reduced; and the safety of the vehicle in the driving process is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a turn signal control method, device, vehicle and computer-readable storage medium. Background Art

[0002] At present, the vehicle's turn signal control solution is mostly implemented through the turn signal lever of the combination switch. Some vehicles will move the turn signal control switch to the steering wheel. When the user needs to turn, he operates the turn signal switch. The module responsible for body control detects that the turn signal switch signal is triggered and controls the corresponding turn signal to flash or turn off the flashing.

[0003] However, when the user needs to turn, if the user forgets or is inconvenient to operate the turn signal switch, there may be a safety hazard, resulting in lower safety during vehicle driving. Summary of the invention

[0004] The present application proposes a turn signal control method, device, vehicle and computer-readable storage medium to improve the above-mentioned defects.

[0005] In a first aspect, an embodiment of the present application provides a turn signal control method, the method comprising:

[0006] When the vehicle is in a driving state, obtaining a lane center line of a lane in which the vehicle is traveling;

[0007] Determine the deviation speed of the vehicle relative to the lane and the relative angle of the vehicle relative to the centerline of the lane;

[0008] Determine the deviation trend of the vehicle according to the deviation speed and relative angle;

[0009] Determine the vehicle's steering intention based on the deviation trend;

[0010] The vehicle's turn signal is controlled according to the turning intention.

[0011] In a second aspect, an embodiment of the present application further provides a turn signal control device, the device comprising:

[0012] An acquisition module, used for acquiring a lane center line of a lane in which the vehicle is traveling when the vehicle is in a driving state;

[0013] A first determination module is used to determine the deviation speed of the vehicle relative to the lane and the relative angle of the vehicle relative to the center line of the lane;

[0014] The second determination optical module is used to determine the deviation trend of the vehicle according to the deviation speed and the relative angle;

[0015] An intention determination module, for determining a steering intention of the vehicle based on a deviation trend;

[0016] The control module is used to control the vehicle's turn signal according to the turning intention.

[0017] In a third aspect, an embodiment of the present application further provides a vehicle, comprising: one or more processors; a memory; one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above method.

[0018] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores a program code executable by a processor, and when the program code is executed by the processor, the processor executes the above method.

[0019] The present application provides a turn signal control method, device, vehicle and computer-readable storage medium. In the present application, when the vehicle is in a driving state, the deviation trend of the vehicle is determined according to the deviation speed of the vehicle relative to the lane in which it is traveling and the relative angle of the vehicle relative to the center line of the lane, and then the turning intention is determined according to the deviation trend of the vehicle. Then, according to the turning intention, the turn signal of the vehicle is controlled, and when the turning intention is to turn, the corresponding turn signal can be turned on, so that the user does not need to manually operate the turn signal, and the turn signal can be turned on automatically, avoiding the situation where the user forgets or is inconvenient to operate the turn signal switch and the user's turning intention cannot be determined, resulting in the vehicle turning without turning on the turn signal, effectively reducing the occurrence of safety accidents caused by the vehicle turning without turning on the turn signal, and improving the safety of the vehicle driving process.

[0020] Other features and advantages of the embodiments of the present application will be described in the subsequent description, and partly become apparent from the description, or can be understood by practicing the embodiments of the present application. The purposes and other advantages of the embodiments of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic diagram of a vehicle hardware environment suitable for an embodiment of the present application is shown.

[0023] Figure 2A flow chart of a turn signal control method proposed according to an embodiment of the present application is shown.

[0024] Figure 3 Shows Figure 2 The steps before step S104 of the corresponding embodiment and the flowchart of step S104 in an embodiment.

[0025] Figure 4 A block diagram of a vehicle structure in an embodiment of the present application is shown.

[0026] Figure 5 A schematic diagram of a turn signal control process in an embodiment of the present application is shown.

[0027] Figure 6 Shows Figure 5 Schematic diagram of the process of determining the driver's steering intention.

[0028] Figure 7 A structural block diagram of a turn signal control device proposed in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] In order to make those skilled in the art better understand the present application scheme, the technical scheme in the present application embodiment will be clearly and completely described below in conjunction with the drawings in the present application embodiment. Obviously, the described embodiment is only a part of the present application embodiment, rather than all the embodiments. The components of the present application embodiment usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application for protection, but merely represents the selected embodiment of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0030] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0031] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle hardware environment suitable for an embodiment of the present application is shown, wherein the vehicle 100 includes an assisted driving system 110, which may have multiple assisted driving functions built in. The assisted driving system 110 assists the driver in the driving process based on the built-in assisted driving functions (e.g., assisted driving functions above level L2).

[0032] The auxiliary driving system 110 may include a vehicle-mounted acquisition device 111, one or more (only one is shown in the figure) processors 112 and a memory 113. The vehicle-mounted acquisition device 111 may include an inertial navigation unit (IMU) device, and other acquisition devices may include image sensors (such as cameras), radars, global positioning systems (GPS), and real-time kinematic systems (RTK).

[0033] The vehicle-mounted acquisition device 111 is used to collect environmental information during the driving process of the vehicle, so as to determine the size of surrounding vehicles, the lanes where surrounding vehicles are located, and the speed of surrounding vehicles based on the environmental information. For example, the vehicle-mounted acquisition device 111 may include a radar, which is used to collect point cloud data around the vehicle. For another example, the vehicle-mounted acquisition device 111 may include an image sensor, which is used to collect images around the vehicle. Exemplarily, the image sensor may include a front-view camera, a vehicle side camera, a surround-view camera, a rear-view camera, etc.

[0034] The processor 112 may be a SOC (system on chip) having a built-in memory 113 . The memory 113 stores a program that can execute the contents of the following embodiments, and the processor 112 may execute the program stored in the memory 113 .

[0035] The processor 112 may include one or more processors. The processor 112 uses various interfaces and lines to connect various parts of the entire vehicle 100, and executes various functions of the vehicle 100 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 113, and calling data stored in the memory 113.

[0036] The memory 113 may include a random access memory (RAM) or a read-only memory (ROM). The memory 15 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 15 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc.

[0037] See also Figure 2 , Figure 2 A flow chart of a turn signal control method proposed in one embodiment of the present application is shown, which is used for a vehicle. The method includes:

[0038] S101. When the vehicle is in a driving state, obtain a lane center line of a lane in which the vehicle is traveling.

[0039] In this application, the vehicle can be an electric vehicle or a fuel vehicle, or it can be a car, SUV, bus, truck, etc.

[0040] The vehicle may be determined to be in a driving state when the vehicle is powered on, the vehicle is started, there is a driver in the main driving seat of the vehicle, the gear position of the vehicle is the driving gear, and the speed of the vehicle is not zero.

[0041] That is to say, after the vehicle is powered on and started, the vehicle's gear is in the driving gear, there is a driver in the main driving seat, and the vehicle speed is not 0, it is determined that the driver is driving the vehicle and the vehicle is in a driving state. At this time, it is determined that the turn signal control method of the present application needs to be executed, and the lane center line of the lane in which the vehicle is traveling is obtained.

[0042] In some embodiments, the vehicle may obtain the geometric shape of the lane through the external ray composition of the vehicle, and the geometric shape may include the lane centerline, lane centerline curvature radius, turning direction, lane boundary line (lane left and right boundary lines), lane width, etc. If the lane where the vehicle is traveling has a lane centerline in the actual environment, the lane centerline is directly obtained through the vehicle's image sensor. If the lane where the vehicle is traveling does not have a lane centerline in the actual environment, the lane edge line of the lane may be obtained through the vehicle's image sensor, and the lane centerline may be determined based on the lane boundary line and the lane width.

[0043] S102: Determine the deviation speed of the vehicle relative to the lane and the relative angle of the vehicle relative to the center line of the lane.

[0044] The deviation speed is used to indicate how fast a vehicle deviates from its lane. In the present application, the process of determining the deviation speed includes any one of the following: determining the deviation speed based on a first offset of the vehicle relative to the lane centerline of the lane and a first offset time; determining the deviation speed based on a second offset of the vehicle relative to the lane boundary line of the lane and a second offset time; determining the deviation speed based on a proportional change in the lateral distance between the center point of the vehicle and the target point relative to the lane width of the lane.

[0045] The lane centerline can be obtained from the geometry of the lane, and then a first offset of the vehicle relative to the lane centerline and a time required for the vehicle to offset the first offset are determined as a first offset time, and then a ratio of the first offset and the first offset time is determined as an offset speed.

[0046] The lane boundary line may refer to any one of the left lane boundary line and the right lane boundary line. A second offset of the vehicle relative to the lane boundary line and the time required for the vehicle to offset the second offset may be determined as a second offset time, and then a ratio of the second offset and the second offset time may be determined as an offset speed.

[0047] The target point may refer to any point in the lane (it may be a point on the lane centerline, lane boundary line or a point in the driving area of ​​the lane), and the lateral distance between the vehicle center point and the target point refers to the projection of the distance between the vehicle center point and the target point in the lateral direction, where the lateral direction refers to the direction perpendicular to the lane extension direction and parallel to the lane surface. Determine the ratio of the lateral distance to the lane width, determine the change of the ratio in unit time as the ratio change value, and determine the product of the ratio change value and the lane width as the offset speed.

[0048] The relative angle is used to indicate the angle between the vehicle and the center line of the lane. In this application, a reference point on the lane center line corresponding to the center point of the vehicle can be determined; the angle between the reference tangent at the reference point on the lane center line and the center axis of the vehicle is determined as the relative angle of the vehicle relative to the center line of the lane.

[0049] The reference point may refer to a point on the lane centerline that is on the same horizontal line as the center point of the vehicle, and the horizontal line refers to the aforementioned horizontal line. The tangent at the reference point on the lane centerline is determined as the reference tangent, and then the angle between the reference tangent and the center axis of the vehicle is determined as the relative angle of the vehicle relative to the lane centerline.

[0050] S103: Determine the deviation trend of the vehicle according to the deviation speed and the relative angle.

[0051] After the deviation speed and the relative angle are obtained, the deviation trend of the vehicle is comprehensively determined by combining the deviation speed and the relative angle.

[0052] In the present application, when the offset speed is within a preset offset speed range and the relative angle is within a preset relative angle range, the offset trend of the vehicle can be determined as having no offset trend. The preset offset speed range and the preset relative angle range can be set based on demand and are not limited in the present application. For example, the preset offset speed range is no more than 1 m / s, and the preset relative angle range is no more than 1°.

[0053] When the deviation speed is within the preset deviation speed range and the relative angle is within the preset relative angle range, it means that the deviation degree of the vehicle is small, the vehicle has no deviation trend or the deviation trend is very weak. At this time, the deviation trend of the vehicle is determined to be no deviation trend.

[0054] When the deviation speed is not within the preset deviation speed range and / or the relative angle is not within the preset relative angle range, the deviation trend of the vehicle can be determined based on the direction of the deviation speed. The direction of the deviation speed can be determined as the deviation direction pointed to by the deviation trend. For example, if the direction of the deviation speed is leftward, the deviation direction pointed to by the deviation trend is determined to be leftward deviation. For another example, if the direction of the deviation speed is rightward, the deviation direction pointed to by the deviation trend is determined to be rightward deviation.

[0055] That is, if the deviation speed is not within the preset deviation speed range and / or the relative angle is not within the preset relative angle range, it means that the deviation degree of the vehicle is large and the deviation trend of the vehicle is obvious. At this time, the specific deviation trend of the vehicle is determined.

[0056] In this embodiment, in order to avoid the influence of instantaneous mutations, after the offset speed or the relative angle is determined, it is possible to determine whether the result that the offset speed is within the preset offset speed range is valid based on the duration for which the offset speed is within the preset offset speed range, or the distance for which the vehicle continues to travel when the offset speed is within the preset offset speed range. For example, if the duration for which the offset speed is within the preset offset speed range exceeds 3 seconds, it is determined that the offset speed is within the preset offset speed range. For another example, if the distance for which the vehicle travels when the offset speed is within the preset offset speed range exceeds 3 meters, it is determined that the offset speed is within the preset offset speed range.

[0057] Similarly, whether the result that the relative angle is within the preset relative angle range is valid can be determined based on the duration that the relative angle is within the preset relative angle range, or the distance that the vehicle continues to travel when the relative angle is within the preset relative angle range. For example, if the duration that the relative angle is within the preset relative angle range exceeds 3 seconds, then the relative angle is determined to be within the preset relative angle range. For another example, if the distance that the vehicle travels when the relative angle is within the preset relative angle range exceeds 3 meters, then the relative angle is determined to be within the preset relative angle range.

[0058] S104: Determine the steering intention of the vehicle based on the deviation trend.

[0059] In the present application, when the deviation trend is no deviation trend, it is determined that the steering intention is no steering intention, that is, the vehicle continues to travel along the lane where the current vehicle is located.

[0060] When the deviation trend is a deviation trend, the specific turning intention is determined according to the deviation direction pointed by the deviation trend. For example, if the deviation direction pointed by the deviation trend is a deviation to the left, the turning intention is a left turn. For another example, if the deviation direction pointed by the deviation trend is a deviation to the right, the turning intention is a right turn.

[0061] S105: Control the turn signal of the vehicle according to the turning intention.

[0062] After obtaining the turning intention, if the turning intention indicates that the vehicle needs to turn, the corresponding turn signal is turned on according to the specific content of the turning intention (turn left or turn right). If the turning intention indicates that the vehicle does not turn, the turn signal is controlled to be in the off state.

[0063] In the present embodiment, when the vehicle is in the driving state, the deviation trend of the vehicle is determined according to the deviation speed of the vehicle relative to the lane in which it is traveling and the relative angle of the vehicle relative to the center line of the lane, and then the turning intention is determined according to the deviation trend of the vehicle. Then, according to the turning intention, the turn signal of the vehicle is controlled, and when the turning intention is to need to turn, the corresponding turn signal can be turned on, so that there is no need for the user to manually operate the turn signal, and the turn signal can be turned on automatically, avoiding the situation where the user forgets or is inconvenient to operate the turn signal switch and the user's turning intention cannot be determined, resulting in the vehicle turning without turning on the turn signal, effectively reducing the occurrence of safety accidents caused by the vehicle turning without turning on the turn signal, and improving the safety of the vehicle driving process.

[0064] At the same time, the frequency of manually turning the turn signal can be greatly reduced. When the driver does not need to operate the turn signal switch very frequently, the design of the turn signal control entrance can be greatly simplified to reduce the setting cost of the turn signal switch.

[0065] In one embodiment, if Figure 3 As shown, S104 may include:

[0066] S201. Obtain a ground guide arrow of a lane; and determine a first turning intention of the vehicle according to the ground guide arrow.

[0067] The ground guide arrow of the lane where the vehicle is located can be collected by the vehicle's image sensor. Among them, the ground guide arrow in this application complies with the provisions of "GB5768.3-2009 Road Traffic Signs and Markings Part 3: Road Traffic Markings".

[0068] In the present application, if the ground guide arrow is any one of a left turn guide arrow, a left U-turn wire arrow, a left bend guide arrow, a left merging guide arrow, a composite guide arrow of a left turn and a U-turn combination, the first turning intention is determined to be a left turn. If the ground guide arrow is any one of a right turn guide arrow, a right U-turn wire arrow, a right bend guide arrow, a right merging guide arrow, a right turn and a composite guide arrow of a U-turn combination, the first turning intention is determined to be a right turn, if the wire arrow is a straight guide arrow, the first turning intention is determined to be not turning or keeping straight, for the straight and turning (left turn or right turn) combination of the conforming guide arrow, its meaning is not clear whether to turn, so the first turning intention corresponding to the conforming guide arrow of the straight and turning combination is determined to be not turning or keeping straight. In the present embodiment, the turning intention of keeping straight and not turning both indicate that the vehicle does not turn.

[0069] S201: Determine a turning intention of the vehicle based on a first turning intention and a deviation trend.

[0070] After the first turning intention is determined, a comprehensive analysis is required in combination with the first turning intention and the deviation trend to determine the turning intention of the vehicle.

[0071] In one embodiment, S202 may include: if the deviation trend is no deviation trend, obtaining the lane shape of the lane, and determining the turning intention of the vehicle based on the lane shape and the first turning intention.

[0072] That is, when the deviation trend is no deviation trend, it is determined that the degree of vehicle deviation is low and the possibility of vehicle turning is extremely low. At this time, continue to obtain the lane shape of the lane where the vehicle is located, so as to continue to combine the lane shape and the first turning intention to determine the vehicle's turning intention, wherein the lane shape may include curves and straight roads.

[0073] Specifically, when the lane shape is a curve, the first turning intention is obtained as the turning intention of the vehicle; when the lane shape is a straight road, the turning intention of the vehicle is determined to keep going straight. In other words, when the lane shape is a curve, it means that the vehicle needs to turn. At this time, the first turning intention determined based on the ground guide arrow can be obtained as the turning intention of the vehicle; when the lane shape is until, it means that the vehicle does not need to turn. At this time, it is directly determined that the vehicle keeps going straight.

[0074] In another embodiment, S202 may further include: if the deviation trend is the same as the curvature direction of the lane, acquiring a first turning intention as the turning intention of the vehicle.

[0075] The curvature direction of the lane may be determined according to the shape of the lane centerline or the shape of the lane boundary line, and the curvature direction may include left curvature and right curvature. The deviation trend being the same as the curvature direction of the lane means that the deviation direction pointed by the deviation trend and the curvature direction are both left or both right.

[0076] The deviation trend is the same as the curvature direction of the lane, indicating that the vehicle has a large degree of deviation, which means that the vehicle is turning in the curvature direction of the lane, but the turning intention is not clear enough - the specific turning direction is uncertain, while the first turning intention determined based on the ground guide arrow is clear. Therefore, the predetermined first turning intention can be directly determined as the turning intention of the vehicle.

[0077] In another embodiment, S202 may further include: if the deviation trend is different from the curvature direction of the lane, determining the turning intention of the vehicle according to the turning intention of the driver driving the vehicle and the first turning intention.

[0078] The deviation trend and the lane bending direction are different in that the deviation direction pointed to by the deviation trend and the bending direction are respectively left and right.

[0079] The deviation trend is different from the curvature direction of the lane, indicating that the vehicle's deviation is large, which means that the vehicle is not turning in the curvature direction of the lane and the steering intention is ambiguous. At this time, the vehicle's steering intention needs to be determined in combination with the driver's steering intention and the first steering intention.

[0080] Among them, the driver's eye focus area can be obtained; according to the eye focus area, the driver's steering intention is determined.

[0081] Among them, the driver's eye focus area can be collected through the vehicle's image sensor. If the driver's eye focus area includes the left rearview mirror, it is determined that the driver's turning intention is to turn left. If the driver's eye focus area includes the right rearview mirror, it is determined that the driver's turning intention is to turn right.

[0082] Since the driver's steering intention is determined based on the driver's eye focus area, the driver's steering intention more accurately indicates the driver's visual steering intention.

[0083] Specifically, if the driver's steering intention is the same as the deviation trend, the vehicle's steering intention is determined according to the deviation direction pointed to by the deviation trend; if the driver's steering intention is different from the deviation trend, the first steering intention is obtained as the vehicle's steering intention.

[0084] When the direction indicated by the driver's steering intention and the deviation direction indicated by the deviation trend are both left or right, it is determined that the driver's steering intention and the deviation trend are the same; when the direction indicated by the driver's steering intention and the deviation direction indicated by the deviation trend are one left and one right, it is determined that the driver's steering intention and the deviation trend are different.

[0085] If the driver's steering intention is the same as the deviation trend, it means that the deviation direction pointed by the deviation trend is the direction the vehicle wants to turn. Therefore, the deviation direction pointed by the deviation trend is determined, and the steering direction indicated by the vehicle's steering intention is determined. For example, if the deviation direction pointed by the deviation trend is to the left, then the vehicle's steering intention is to turn left.

[0086] If the driver's steering intention is different from the deviation trend, it means that the deviation direction pointed to by the deviation trend is not the direction the vehicle wants to turn, and the first steering intention determined based on the ground guide arrow is clear. Therefore, the predetermined first steering intention can be directly determined as the vehicle's steering intention.

[0087] The turn signal control method of the present application can be configured as an optional solution, for example, an "automatic turn signal control function" option is set in the vehicle's central control screen, and the customer can turn on the automatic turn signal control function by himself (manually checking the function or turning it on by voice input "turn on the automatic turn signal control function").

[0088] After turning on the "automatic turn signal control function", the vehicle can determine the turning intention according to the above method and automatically turn on the turn signal according to the turning intention. If the user does not need to turn, the user can operate the turn signal switch in the same direction / reverse direction to manually turn off the turn signal.

[0089] At the same time, the automatic turn signal control function can be sent to the vehicle via OTA (Over-the-Air Technology) so that the vehicle can configure the automatic turn signal control function according to the OTA file.

[0090] In this embodiment, Figure 4As shown, the vehicle includes an external camera, an internal camera, a steering wheel angle sensor, a control module, a left turn signal and a right turn signal; the external camera collects information such as the vehicle center line, lane edge line, ground guide arrow and the like of the lane, the internal camera collects the driver's image, the steering wheel angle sensor is used to collect the turning direction of the steering wheel, the control module is used to determine a first turning intention according to the ground guide arrow, determine the vehicle's offset speed relative to the lane and the relative angle of the vehicle relative to the lane center line, and determine the driver's turning intention according to the driver's image, and determine the turning intention in combination with the first turning intention, the driver's turning intention, the offset speed, the relative angle and the lane shape, and control the turn signal according to the turning intention: turn off the turn signal, turn on the left turn signal and turn on the right turn signal.

[0091] In this embodiment, the turn signal control process is as follows: Figure 5 As shown, after the vehicle is powered on, if the vehicle is started, there is a driver in the main driving seat, the gear is in the driving gear, and the vehicle speed is not zero, it is determined that the vehicle is in the driving state, the driver's steering intention is determined, and the vehicle's turn signal is controlled according to the steering intention. If any of the following conditions is not met: the vehicle is started, there is a driver in the main driving seat, the gear is in the driving gear, and the vehicle speed is not zero, it is determined that the vehicle is not in the driving state, and the turn signal control process is exited.

[0092] in, Figure 5 The process of determining the driver's steering intention in Figure 6 As shown, a ground guide arrow is obtained, and a first turning intention is determined according to the ground guide arrow. Then, the geometric shape of the lane where the vehicle is located is extracted. The geometric shape may include the lane centerline, lane centerline curvature radius, turning direction, lane boundary lines (lane left and right boundary lines), lane width, etc. The offset speed of the vehicle relative to the lane and the relative angle relative to the lane centerline are determined according to the geometric shape, so as to determine the secondary turning intention according to the offset speed and the relative angle.

[0093] The secondary steering intention determination process includes: if the offset speed is within the preset offset speed range and the relative angle is within the preset relative angle range, the lane shape of the lane is obtained; if the lane shape is a straight line, the steering intention is determined to be to keep going straight; if the lane shape is a curve, the steering intention is determined to be maintained - the first steering intention is taken as the steering intention; if the offset speed is not within the preset offset speed range and / or the relative angle is within the preset relative angle range, and at the same time, the offset trend is the same as the lane bending direction, the steering intention is determined to be maintained - the first steering intention is taken as the steering intention; if the offset speed is not within the preset offset speed range and / or the relative angle is within the preset relative angle range, and at the same time, the offset trend is the same as the lane bending direction, three judgments are made in combination with the driving steering intention and the first steering intention.

[0094] The three determination processes include: determining whether the driver's steering intention is the same as the deviation trend; if the driver's steering intention is the same as the deviation trend, determining the vehicle's steering intention according to the deviation direction pointed to by the deviation trend (the deviation direction pointed to by the deviation trend is used as the steering direction of the steering intention); if the driver's steering intention is different from the deviation trend, determining the steering intention as intention maintenance - obtaining the first steering intention as the vehicle's steering intention.

[0095] In this embodiment, the steering intention is determined by combining multiple elements such as the ground guide arrow, the second turning intention determined by the driver's eye focus area, the steering wheel's turning direction, the offset and the angle. The steering intention combines information from multiple dimensions, and the accuracy of the steering intention is relatively high, which makes the control process of the turn signal according to the steering intention more accurate, reduces the safety hazards caused by inaccurate control of the turn signal, and further improves the safety of the vehicle driving process.

[0096] See attached Figure 7 , Figure 7 The structure block diagram of a turn signal control device proposed in one embodiment of the present application is shown. The device 1200 includes:

[0097] The acquisition module 1210 is used to acquire the lane center line of the lane in which the vehicle is traveling when the vehicle is in a driving state;

[0098] A first determination module 1220, for determining an offset speed of the vehicle relative to the lane and a relative angle of the vehicle relative to the center line of the lane;

[0099] The second determination optical module 1230 is used to determine the deviation trend of the vehicle according to the deviation speed and the relative angle;

[0100] an intention determination module 1240 for determining a steering intention of the vehicle based on the deviation trend;

[0101] The control module 1250 is used to control the turn signal of the vehicle according to the turning intention.

[0102] Optionally, the second determination module 1230 is further used to determine that the vehicle's deviation trend is no deviation trend when the deviation speed is within a preset deviation speed range and the relative angle is within a preset relative angle range; and to determine the vehicle's deviation trend based on the direction of the deviation speed when the deviation speed is not within the preset deviation speed range and / or the relative angle is not within the preset relative angle range.

[0103] Optionally, the intention determination module 1240 is further used to obtain a ground guide arrow of the lane; determine the first turning intention of the vehicle according to the ground guide arrow; and determine the turning intention of the vehicle based on the first turning intention and the deviation trend.

[0104] Optionally, the intention determination module 1240 is also used to obtain the lane shape of the lane if the deviation trend is no deviation trend, and determine the vehicle's turning intention based on the lane shape and the first turning intention; if the deviation trend is the same as the curvature direction of the lane, obtain the first turning intention as the vehicle's turning intention; if the deviation trend is different from the curvature direction of the lane, determine the vehicle's turning intention based on the driver's steering intention of the driver driving the vehicle and the first turning intention.

[0105] Optionally, the intention determination module 1240 is further used to obtain the first turning intention as the turning intention of the vehicle when the lane shape is a curve; and to determine that the turning intention of the vehicle is to keep going straight when the lane shape is a straight road.

[0106] Optionally, the intention determination module 1240 is also used to determine the vehicle's steering intention based on the offset direction pointed to by the offset trend if the driver's steering intention is the same as the offset trend; if the driver's steering intention is different from the offset trend, obtain the first steering intention as the vehicle's steering intention.

[0107] Optionally, the first determination module 1220 is also used to perform any of the following: determining an offset speed based on a first offset of the vehicle relative to a lane centerline of the lane and a first offset time; determining an offset speed based on a second offset of the vehicle relative to a lane boundary line of the lane and a second offset time; determining an offset speed based on a proportional change in the lateral distance between the center point of the vehicle and the target point relative to the lane width of the lane.

[0108] Optionally, the first determination module 1220 is also used to determine a reference point on the lane centerline corresponding to the center point of the vehicle; determine the angle between the reference tangent at the reference point on the lane centerline and the central axis of the vehicle as the relative angle of the vehicle relative to the lane centerline.

[0109] In several embodiments provided in the present application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0110] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0111] On the other hand, the present application also provides a computer-readable storage medium, in which program code is stored. The program code can be called by a processor to execute the method described in the above method embodiment.

[0112] The computer readable storage medium can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a cluster of ROMs. Alternatively, the computer readable storage medium includes a non-transitory computer-readable storage medium. The computer readable storage medium has a storage space for the program code of any method step in the above method. These program codes can be read from or written into one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A turn signal control method, characterized in that: The method comprises: When the vehicle is in a driving state, obtaining a lane center line of a lane in which the vehicle is traveling; Determining an offset speed of the vehicle relative to the lane and a relative angle of the vehicle relative to a centerline of the lane; Determining a deviation trend of the vehicle according to the deviation speed and the relative angle; determining a steering intention of the vehicle based on the deviation trend; According to the turning intention, a turn signal of the vehicle is controlled.

2. The method according to claim 1, characterized in that The determining the deviation trend of the vehicle according to the deviation speed and the relative angle includes: When the deviation speed is within a preset deviation speed range and the relative angle is within a preset relative angle range, determining that the deviation trend of the vehicle is no deviation trend; When the deviation speed is not within a preset deviation speed range and / or the relative angle is not within a preset relative angle range, a deviation trend of the vehicle is determined based on the direction of the deviation speed.

3. The method according to claim 1, characterized in that The determining the steering intention of the vehicle based on the deviation trend includes: Obtaining a ground guide arrow of the lane; determining a first turning intention of the vehicle according to the ground guide arrow; A steering intention of the vehicle is determined based on the first steering intention and the deviation trend.

4. The method according to claim 3, characterized in that The determining the turning intention of the vehicle based on the first turning intention and the deviation trend includes: If the deviation trend is no deviation trend, obtaining a lane shape of the lane, and determining a turning intention of the vehicle based on the lane shape and the first turning intention; If the deviation trend is the same as the curvature direction of the lane, acquiring the first turning intention as the turning intention of the vehicle; If the deviation trend is different from the curvature direction of the lane, a steering intention of the vehicle is determined according to a steering intention of a driver driving the vehicle and the first steering intention.

5. The method according to claim 4, characterized in that The determining the turning intention of the vehicle based on the lane shape and the first turning intention includes: When the lane shape is a curve, acquiring the first turning intention as the turning intention of the vehicle; When the lane shape is a straight road, it is determined that the turning intention of the vehicle is to keep going straight.

6. The method according to claim 4, characterized in that The determining the steering intention of the vehicle according to the steering intention of the driver driving the vehicle and the first steering intention comprises: If the driver's steering intention is the same as the deviation trend, determining the vehicle's steering intention according to the deviation direction pointed to by the deviation trend; If the driver's steering intention is different from the deviation trend, the first steering intention is acquired as the steering intention of the vehicle.

7. The method according to claim 1, characterized in that Determining the deviation speed of the vehicle relative to the lane includes any one of the following: determining the offset speed based on a first offset of the vehicle relative to a lane centerline of the lane and a first offset time; determining the offset speed based on a second offset of the vehicle relative to a lane boundary line of the lane and a second offset time; The deviation speed is determined based on a proportional change in a lateral distance between the vehicle center point and a target point relative to a lane width of the lane.

8. The method according to claim 1, characterized in that Determining the relative angle of the vehicle with respect to the center line of the lane includes: Determining a reference point on the lane centerline corresponding to the center point of the vehicle; An angle between a reference tangent line at the reference point on the lane centerline and a central axis of the vehicle is determined as a relative angle of the vehicle relative to the lane centerline.

9. A turn signal control device, characterized in that: The device comprises: An acquisition module, used for acquiring a lane center line of a lane in which the vehicle is traveling when the vehicle is in a driving state; A first determination module, used to determine the deviation speed of the vehicle relative to the lane and the relative angle of the vehicle relative to the center line of the lane; A second determination optical module is used to determine the deviation trend of the vehicle according to the deviation speed and the relative angle; an intention determination module, configured to determine a steering intention of the vehicle based on the deviation trend; A control module is used to control the turn signal of the vehicle according to the turning intention.

10. A vehicle, characterized in that: include: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program code executable by a processor, and when the program code is executed by the processor, the processor executes the method according to any one of claims 1 to 8.

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