Turn signal control method, device, vehicle and storage medium

Abstract

The application discloses a kind of turn signal control method, device, vehicle and readable storage medium, method includes: in the case where vehicle is in driving state, the lane center line of the lane that vehicle travels is acquired;Determine the offset speed of vehicle relative to lane and the relative angle of vehicle relative to lane center line;According to offset speed and relative angle, determine the offset tendency of vehicle;Based on offset tendency, determine the steering intention of vehicle;According to steering intention, the turn signal of vehicle is controlled.According to the method of the application, avoid the situation that the steering intention of user cannot be determined when user forgets or is inconvenient to operate turn signal switch, vehicle steering occurs without turning on turn signal, effectively reduce the occurrence of safety accident caused by vehicle steering without turning on turn signal, improve the safety of vehicle driving process.

Description

Technical Field

[0001] This 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 Technology

[0002] Currently, most vehicle turn signal control schemes are implemented through turn signal stalks of combination switches. 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, and the module responsible for vehicle body control detects the turn signal switch signal and controls the corresponding turn signal to flash or turn off.

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

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

[0005] In a first aspect, embodiments of this application provide a turn signal control method, the method comprising:

[0006] While the vehicle is in motion, obtain the center line of the lane in which the vehicle is traveling;

[0007] Determine the vehicle's offset speed relative to the lane and the relative angle between the vehicle and the lane centerline;

[0008] The vehicle's offset trend is determined based on the offset speed and relative angle.

[0009] Based on the offset trend, determine the vehicle's steering intention;

[0010] The vehicle's turn signals are controlled according to the steering intention.

[0011] Secondly, embodiments of this application also provide a turn signal control device, the device comprising:

[0012] The acquisition module is used to acquire the center line of the lane in which the vehicle is traveling when the vehicle is in a driving state.

[0013] The first determining module is used to determine the vehicle's offset speed relative to the lane and the relative angle between the vehicle and the lane centerline;

[0014] The second determining optical module is used to determine the vehicle's offset trend based on the offset speed and relative angle.

[0015] The intent determination module is used to determine the vehicle's steering intent based on the offset trend;

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

[0017] Thirdly, embodiments of this application also provide a vehicle, the vehicle including: one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more application programs are configured to perform the methods described above.

[0018] Fourthly, embodiments of this application also provide a computer-readable storage medium storing processor-executable program code, which, when executed by the processor, causes the processor to perform the above-described method.

[0019] This application provides a turn signal control method, device, vehicle, and computer-readable storage medium. In this application, when the vehicle is in a driving state, the vehicle's offset trend is determined based on its offset speed relative to the driving lane and the relative angle between the vehicle and the lane centerline. Then, the steering intention is determined based on the vehicle's offset trend. Finally, the vehicle's turn signals are controlled according to the steering intention. This allows the corresponding turn signal to be activated automatically when the steering intention is to turn, eliminating the need for manual operation by the user. This avoids situations where the user forgets or is unable to operate the turn signal switch, leading to the vehicle turning without the turn signal being activated. This effectively reduces the occurrence of safety accidents caused by turning without the turn signal being activated and improves the safety of vehicle operation.

[0020] Other features and advantages of the embodiments of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the embodiments of this application. The objects and other advantages of the embodiments of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic diagram of a vehicle hardware environment applicable to embodiments of this application is shown.

[0023] Figure 2A flowchart of a turn signal control method according to an embodiment of this application is shown.

[0024] Figure 3 It shows Figure 2 The steps preceding step S104 in the corresponding embodiment and the flowchart of step S104 in one embodiment.

[0025] Figure 4 A block diagram of a vehicle structure according to an embodiment of this application is shown.

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

[0027] Figure 6 It shows Figure 5 A schematic diagram illustrating the process of determining the driver's steering intention.

[0028] Figure 7 A structural block diagram of a turn signal control device according to an embodiment of this application is shown. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. The components of the embodiments of the present application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.

[0030] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle hardware environment applicable to an embodiment of this application is shown. The vehicle 100 includes a driver assistance system 110. The driver assistance system 110 can have a variety of driver assistance functions built in. The driver assistance system 110 assists the driver in the driving process according to the built-in driver assistance functions (such as driver assistance functions at or above Level 2).

[0032] The driver assistance system 110 may include an onboard data acquisition device 111, one or more (only one is shown in the figure) processors 112, and a memory 113. The onboard data acquisition device 111 may include an inertial navigation unit (IMU) device, and other data acquisition devices may include image sensors (e.g., cameras), radar, a Global Positioning System (GPS), and a Real-Time Kinematic (RTK) system, etc.

[0033] The vehicle-mounted data acquisition device 111 is used to collect environmental information during vehicle operation to determine the size of surrounding vehicles, the lanes in which they are located, and their speeds. For example, the vehicle-mounted data acquisition device 111 may include radar for collecting point cloud data around the vehicle; alternatively, it may include an image sensor for collecting images of the vehicle's surroundings. Exemplary examples include a front-view camera, side-view cameras, surround-view cameras, and rear-view cameras.

[0034] The processor 112 may be a system on chip (SOC), and the SOC has a built-in memory 113, which stores a program that can execute the contents of the following embodiments, and the processor 112 can 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 circuits to connect various parts of the vehicle 100, and performs various functions of the vehicle 10 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] Memory 113 may include random access memory (RAM) or read-only memory (ROM). Memory 15 may be used to store instructions, programs, code, code sets, or instruction sets. 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 touch functionality, sound playback functionality, image playback functionality, etc.), instructions for implementing the various method embodiments described below, etc.

[0037] Please see Figure 2 , Figure 2 A flowchart of a turn signal control method according to an embodiment of this application is shown, for a vehicle, the method comprising:

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

[0039] In this application, the vehicle may be an electric vehicle or a gasoline-powered vehicle, or it may be a sedan, SUV, bus, or truck, etc.

[0040] This can be determined when the vehicle is powered on, started, has a driver in the driver's seat, is in drive gear, and has a speed that is not zero.

[0041] In other words, after the vehicle is powered on and started, if the vehicle is in drive mode, there is a driver in the driver's 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 this application needs to be executed, and the center line of the lane in which the vehicle is traveling is obtained.

[0042] In some implementations, the vehicle can acquire the lane geometry through external ray mapping. This geometry may include the lane centerline, the radius of curvature of the lane centerline, the turning direction, lane boundary lines (left and right lane boundary lines), and lane width. If a lane centerline exists in the actual environment, it is directly acquired using the vehicle's image sensor. If a lane centerline does not exist in the actual environment, the lane edge line can be acquired using the vehicle's image sensor, and the lane centerline can be determined based on the lane boundary lines and the lane width.

[0043] S102. Determine the vehicle's offset speed relative to the lane and the relative angle between the vehicle and the lane centerline.

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

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

[0046] The lane boundary line can refer to either the left lane boundary line or the right lane boundary line. The second offset of the vehicle relative to the lane boundary line can be determined, and the time required for the vehicle to offset the second offset is taken as the second offset time. Then, the ratio of the second offset to the second offset time is determined as the offset speed.

[0047] The target point can be any point within the lane (either on the lane centerline, lane boundary line, or within the driving area of ​​the lane). The lateral distance between the vehicle's center point and the target point is the projection of this distance onto the lane surface. Lateral refers to a direction perpendicular to the lane's extension direction and parallel to the lane surface. The ratio of the lateral distance to the lane width is determined, and the change of this ratio per unit time is recorded as the ratio change value. The product of this ratio change value and the lane width is then used 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 corresponding to the center point of the vehicle on the center line of the lane can be determined; the angle between the reference tangent at the reference point on the center line of the lane and the center line of the vehicle is determined as the relative angle between the vehicle and the center line of the lane.

[0049] The reference point can be a point on the lane centerline that lies on the same horizontal line as the vehicle's center point. The horizontal line refers to the aforementioned horizontal line. The tangent line at the reference point on the lane centerline is determined as the reference tangent line. Then, the angle between the reference tangent line and the vehicle's centerline is determined as the relative angle between the vehicle and the lane centerline.

[0050] S103. Determine the vehicle's offset trend based on the offset speed and relative angle.

[0051] After obtaining the offset speed and relative angle, the vehicle's offset trend is determined by combining the offset speed and relative angle.

[0052] In this application, the vehicle's offset trend can be determined to be no offset trend when the offset speed is within a preset offset speed range and the relative angle is within a preset relative angle range. The preset offset speed range and preset relative angle range can be set according to requirements and are not limited in this application. For example, the preset offset speed range can be no more than 1 m / s, and the preset relative angle range can be no more than 1°.

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

[0054] When the offset speed is outside the preset offset speed range and / or the relative angle is outside the preset relative angle range, the vehicle's offset trend can be determined based on the direction of the offset speed. Specifically, the direction of the offset speed can be determined as the offset direction to which the offset trend points. For example, if the offset speed is to the left, the offset direction to which the offset trend points is leftward; similarly, if the offset speed is to the right, the offset direction to which the offset trend points is rightward.

[0055] In other words, if the offset speed is not within the preset offset speed range and / or the relative angle is not within the preset relative angle range, it means that the degree of vehicle offset is large and the trend of vehicle offset is obvious. At this time, the specific offset trend of the vehicle needs to be determined.

[0056] In this embodiment, to avoid the influence of instantaneous changes, after determining the offset speed or relative angle, the validity of the result that the offset speed is within the preset offset speed range can be determined based on the duration of the offset speed within the preset offset speed range, or the distance the vehicle travels while the offset speed is within the preset offset speed range. For example, if the duration of the offset speed within the preset offset speed range exceeds 3 seconds, then the offset speed is determined to be within the preset offset speed range. Similarly, if the distance the vehicle travels while the offset speed is within the preset offset speed range exceeds 3 meters, then the offset speed is determined to be within the preset offset speed range.

[0057] Similarly, the validity of the result that the relative angle is within the preset relative angle range can be determined based on the duration of the relative angle within the preset relative angle range, or the distance the vehicle travels while the relative angle is within the preset relative angle range. For example, if the duration of the relative angle within the preset relative angle range exceeds 3 seconds, then the relative angle is determined to be within the preset relative angle range. Or, if the distance the vehicle travels while 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 vehicle's steering intention based on the offset trend.

[0059] In this application, when the deviation trend is no deviation trend, the steering intention is determined to be no steering intention, that is, to continue driving along the lane where the current vehicle is located.

[0060] If there is a deviation trend, the specific steering intention is determined based on the direction of deviation indicated by the deviation trend. For example, if the deviation trend indicates a leftward deviation, the steering intention is a left turn; if the deviation trend indicates a rightward deviation, the steering intention is a right turn.

[0061] S105. Control the vehicle's turn signals according to the steering intention.

[0062] Upon receiving a steering intention, if the steering intention indicates that the vehicle needs to turn, the corresponding turn signal is activated according to the specific content of the steering intention (left turn or right turn). If the steering intention indicates that the vehicle does not need to turn, the turn signal is kept off.

[0063] In this embodiment, when the vehicle is in a driving state, the vehicle's offset trend is determined based on the vehicle's offset speed relative to the driving lane and the relative angle between the vehicle and the lane centerline. Then, the steering intention is determined based on the vehicle's offset trend. Based on the steering intention, the vehicle's turn signals are controlled. This allows the corresponding turn signals to be activated when the steering intention is to turn, thus automatically activating the turn signals without the user's manual operation. This avoids situations where the vehicle turns without the turn signals being activated because the user forgets or is unable to operate the turn signal switch, effectively reducing the occurrence of safety accidents caused by turning without the turn signals being activated and improving the safety of vehicle driving.

[0064] At the same time, it can significantly reduce the frequency of manually turning on the turn signal. When the driver does not need to operate the turn signal switch very frequently, the design of the turn signal control entry can be greatly simplified, thereby reducing the setup cost of the turn signal switch.

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

[0066] S201. Obtain the ground directional arrows of the lane; determine the vehicle's first steering intention based on the ground directional arrows.

[0067] The vehicle's image sensor can capture the ground directional arrows in the lane where the vehicle is located. The ground directional arrows in this application comply with the provisions of GB5768.3-2009 Road Traffic Signs and Markings Part 3: Road Traffic Markings.

[0068] In this application, if the ground directional arrow is any one of the following: a left turn directional arrow, a left U-turn guide arrow, a left bend directional arrow, a left merging directional arrow, or a composite directional arrow combining left turn and U-turn, the first steering intention is determined to be a left turn. If the ground directional arrow is any one of the following: a right turn directional arrow, a right U-turn guide arrow, a right bend directional arrow, a right merging directional arrow, or a composite directional arrow combining right turn and U-turn, the first steering intention is determined to be a right turn. If the guide arrow is a straight-ahead directional arrow, the first steering intention is determined to be no turn or maintaining straight-ahead. For directional arrows combining straight-ahead and turning (left turn or right turn), the meaning is not clear as to whether to turn; therefore, the first steering intention corresponding to directional arrows combining straight-ahead and turning is determined to be no turn or maintaining straight-ahead. In this embodiment, both "maintaining straight-ahead" and "no turn" indicate that the vehicle does not turn.

[0069] S201. Based on the first steering intention and the offset trend, determine the vehicle's steering intention.

[0070] After determining the initial steering intention, it is necessary to combine the initial steering intention with the offset trend for comprehensive analysis to determine the vehicle's steering intention.

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

[0072] In other words, if the deviation trend is zero, it is determined that the degree of vehicle deviation is low and the possibility of vehicle turning is extremely low. At this time, the lane shape of the lane where the vehicle is located is obtained, and the lane shape and the first turning intention are combined to determine the turning intention of the vehicle. The lane shape can include curves and straight roads.

[0073] Specifically, when the lane is a curve, the first steering intention is obtained as the vehicle's steering intention; when the lane is a straight road, the vehicle's steering intention is determined to remain straight. In other words, a curve means the vehicle needs to turn, and in this case, the first steering intention determined based on the ground directional arrows can be obtained as the vehicle's steering intention; a straight lane means the vehicle does not need to turn, and in this case, the vehicle is directly determined to remain straight.

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

[0075] The direction of lane curvature can be determined based on the shape of the lane centerline or lane boundary lines, and can include left and right bends. A deviation trend that is the same as the lane curvature direction means that both the deviation trend and the curvature direction are either left or both are right.

[0076] If the deviation trend is the same as the curvature of the lane, it indicates that the vehicle's deviation is relatively large, meaning that the vehicle is turning in the curvature of the lane, but the steering intention is not clear enough—the specific steering direction is uncertain. However, 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.

[0077] In another embodiment, S202 may further include: if the deviation trend is different from the curvature direction of the lane, determining the vehicle's steering intention based on the driver's steering intention and a first steering intention.

[0078] The offset trend and the lane curvature direction are not the same, meaning that the offset trend points to the left and the curvature direction is the right.

[0079] If the deviation trend is not the same as the curvature of the lane, it indicates that the vehicle's deviation is large, meaning that the vehicle is not turning in the direction of the lane's curvature, and the steering intention is ambiguous. In this case, it is necessary to combine the driver's steering intention and the first steering intention to determine the vehicle's steering intention.

[0080] Among these features, the driver's eye focus area can be obtained; based on the eye focus area, the driver's steering intention can be determined.

[0081] Specifically, the vehicle's image sensor can capture the area of ​​the driver's eye focus. If the driver's eye focus area includes the left rearview mirror, the driver's steering intention is determined to be a left turn; if the driver's eye focus area includes the right rearview mirror, the driver's steering intention is determined to be a right turn.

[0082] Since the driver's steering intention is determined based on the area of ​​the driver's eye focus, the driver's steering intention is a more accurate indication of the driver's visual steering intention.

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

[0084] When the direction the driver intends to turn and the direction the offset trend points to are both left or both right, it is determined that the driver's steering intention and the offset trend are the same; when the direction the driver intends to turn and the direction the offset trend points to are one left and one right, it is determined that the driver's steering intention and the offset trend are different.

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

[0086] If the driver's steering intention is different from the offset trend, it means that the offset direction pointed to by the offset trend is not the direction that the vehicle wants to turn. However, 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 this application can be configured as an optional solution, such as setting an "automatic turn signal control function" option in the vehicle's central control screen, which can be turned on by the customer (either by manually selecting the function or by voice inputting "turn on automatic turn signal control function").

[0088] After activating the "Automatic Turn Signal Control Function," the vehicle can determine the steering intention as described above and automatically activate the turn signal accordingly. If the user does not need to turn, they can manually deactivate the turn signal by operating the turn signal switch in the same or opposite direction.

[0089] Meanwhile, 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, as 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 lines, and ground guide arrows of the lane. The internal camera collects images of the driver. The steering wheel angle sensor is used to collect the direction of steering wheel rotation. The control module is used to determine the first steering intention based on the ground guide arrows, determine the vehicle's offset speed relative to the lane and the relative angle between the vehicle and the lane center line, and determine the driver's steering intention based on the driver's image. Combining the first steering intention, the driver's steering intention, the offset speed, the relative angle, and the lane shape, the control module determines the steering intention and controls the turn signals according to the steering intention: turning off the turn signals, turning on the left turn signal, and turning 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 starts, there is a driver in the driver's seat, the gear is in drive, and the vehicle speed is not zero, it is determined that the vehicle is in driving mode. The driver's steering intention is determined, and the vehicle's turn signals are controlled according to the steering intention. If any one of the following conditions is not met: the vehicle starts, there is a driver in the driver's seat, the gear is in drive, or the vehicle speed is not zero, it is determined that the vehicle is not in driving mode, and the turn signal control process is exited.

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

[0093] The secondary steering intention determination process includes: if the offset speed is within a preset offset speed range and the relative angle is within a preset relative angle range, the lane shape is obtained; if the lane shape is a straight line, the steering intention is determined to maintain straight driving; if the lane shape is a curve, the steering intention is determined to maintain – the first steering intention is used 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 the offset trend is the same as the lane curvature direction, the steering intention is determined to maintain – the first steering intention is used 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 the offset trend is different from the lane curvature direction, a third determination is made by combining the driving steering intention and the first steering intention.

[0094] The three-stage determination process includes: determining whether the driver's steering intention and the offset trend are the same; if the driver's steering intention and the offset trend are the same, the vehicle's steering intention is determined according to the offset direction pointed to by the offset trend (the offset direction pointed to by the offset trend is taken as the steering direction of the steering intention); if the driver's steering intention and the offset trend are different, the steering intention is determined to be intention to maintain - the first steering intention is obtained 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 steering intention determined by the driver's eye focus area, the steering wheel rotation direction, offset, and included angle. The steering intention combines information from multiple dimensions, resulting in a high accuracy rate. This makes the control process of controlling the turn signal based on the steering intention more accurate, reduces the safety hazards caused by inaccurate turn signal control, and further improves the safety of vehicle driving.

[0096] See appendix Figure 7 , Figure 7 This diagram illustrates a structural block diagram of a turn signal control device according to an embodiment of this application. The device 1200 includes:

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

[0098] The first determining module 1220 is used to determine the vehicle's offset speed relative to the lane and the relative angle between the vehicle and the lane centerline;

[0099] The second determining optical module 1230 is used to determine the vehicle's offset trend based on the offset speed and relative angle.

[0100] The intent determination module 1240 is used to determine the vehicle's steering intent based on the offset trend;

[0101] The control module 1250 is used to control the vehicle's turn signals according to the steering intention.

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

[0103] Optionally, the intent determination module 1240 is further configured to acquire the ground guide arrows of the lane; determine the first steering intent of the vehicle based on the ground guide arrows; and determine the vehicle's steering intent based on the first steering intent and the offset trend.

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

[0105] Optionally, the intent determination module 1240 is further configured to, when the lane shape is a curve, obtain a first steering intent as the vehicle's steering intent; and when the lane shape is a straight road, determine the vehicle's steering intent as maintaining a straight course.

[0106] Optionally, the intention determination module 1240 is further configured 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; and to obtain the first steering intention as the vehicle's steering intention if the driver's steering intention is different from the offset trend.

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

[0108] Optionally, the first determining module 1220 is further configured to determine a reference point on the lane centerline corresponding to the center point of the vehicle; and to determine the angle between the reference tangent at the reference point on the lane centerline and the vehicle's centerline as the relative angle between the vehicle and the lane centerline.

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

[0110] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0111] On the other hand, this application also provides a computer-readable storage medium storing program code that can be called by a processor to execute the methods described in the above method embodiments.

[0112] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or a cluster of ROMs. Optionally, computer-readable storage media include non-volatile computer-readable storage media. The computer-readable storage medium has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed, for example, in a suitable form.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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 this application.

Claims

1. A winker control method, characterized in that, The method comprises: acquiring a lane center line of a lane on which a vehicle travels, when the vehicle is in a driving state; determining a deviation speed of the vehicle relative to the lane and a relative angle of the vehicle relative to the lane center line; determining a deviation trend of the vehicle according to the deviation speed and the relative angle; determining a first steering intention of the vehicle according to a ground guide arrow of the lane; if the deviation trend is a no-deviation trend, acquiring a lane shape of the lane, and determining a steering intention of the vehicle based on the lane shape and the first steering intention; if the deviation trend is the same as a bending direction of the lane, acquiring the first steering intention as the steering intention of the vehicle; if the deviation trend is different from the bending direction of the lane, determining the steering intention of the vehicle according to a driver steering intention of a driver driving the vehicle and the first steering intention; controlling a steering lamp of the vehicle according to the steering intention.

2. The method of claim 1, wherein, The determining of the deviation trend of the vehicle according to the deviation speed and the relative angle comprises: if 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 a no-deviation trend; 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, determining the deviation trend of the vehicle based on a direction of the deviation speed.

3. The method of claim 1, wherein, The determining of the steering intention of the vehicle based on the lane shape and the first steering intention comprises: if the lane shape is a curved lane, acquiring the first steering intention as the steering intention of the vehicle; if the lane shape is a straight lane, determining that the steering intention of the vehicle is to keep straight driving.

4. The method of claim 1, wherein, The determining of the steering intention of the vehicle according to the driver steering intention of the driver driving the vehicle and the first steering intention comprises: if the driver steering intention is the same as the deviation trend, determining the steering intention of the vehicle according to a deviation direction indicated by the deviation trend; if the driver steering intention is different from the deviation trend, acquiring the first steering intention as the steering intention of the vehicle.

5. The method of claim 1, wherein, The determining of the deviation speed of the vehicle relative to the lane comprises any of the following: determining the deviation speed based on a first deviation amount and a first deviation time of the vehicle relative to a lane center line of the lane; determining the deviation speed based on a second deviation amount and a second deviation time of the vehicle relative to a lane boundary line of the lane; determining the deviation speed based on a proportional change of a lateral distance between a center point of the vehicle and a target point relative to a lane width of the lane.

6. The method of claim 1, wherein, The determining of the relative angle of the vehicle relative to the lane center line comprises: determining a reference point on the lane center line corresponding to a center point of the vehicle; determining an angle between a reference tangent line at the reference point on the lane center line and a center axis of the vehicle as the relative angle of the vehicle relative to the lane center line.

7. A winker control device, characterized in that The device comprises: An acquisition module is configured to acquire a lane centerline of a lane on which a vehicle travels when the vehicle is in a driving state. A first determination module is configured to determine an offset speed of the vehicle relative to the lane and a relative included angle of the vehicle relative to the lane centerline. A second determination module is configured to determine an offset trend of the vehicle according to the offset speed and the relative included angle. An intention determination module is configured to determine a first steering intention of the vehicle according to a ground guide arrow of the lane, determine a steering intention of the vehicle based on a lane shape of the lane and the first steering intention if the offset trend is no offset trend, acquire the first steering intention as the steering intention of the vehicle if the offset trend is the same as a bending direction of the lane, and determine the steering intention of the vehicle according to a driver steering intention of a driver driving the vehicle and the first steering intention if the offset trend is different from the bending direction of the lane. A control module is configured to control a steering lamp of the vehicle according to the steering intention.

8. A vehicle characterized by comprising: comprise: one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more application programs are configured to perform the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores processor-executable program code which, when executed by the processor, causes the processor to perform the method according to any one of claims 1-6.

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