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 storage medium, and the method comprises the steps that according to driving data of the vehicle, the transverse displacement of the vehicle is determined; according to the transverse displacement of the vehicle and the lane width of the road surface where the vehicle is located, the lane changing operation state of the vehicle is judged, and the lane changing operation is the operation that the vehicle is switched to other lanes from the current lane; and if the lane changing operation is in the completed state and the steering lamp of the vehicle is in the turned-on state, the steering lamp is controlled to be turned off. According to the scheme, whether the lane changing operation of the vehicle is completed or not can be judged according to the transverse displacement and the lane width of the vehicle, and when the lane changing operation is in the completed state, the turn signal lamp is controlled to be turned off, so that the automatic turn-off function of the turn signal lamp can be achieved, dependence on a visual sensor system is not needed, and cost reduction is facilitated.

Description

Technical Field

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

[0002] During the driving process, the driver may forget to turn off the turn signal after turning it on to change lanes, which may affect the driving of other vehicles in the cycle.

[0003] In order to better meet the needs of intelligence, how to automatically turn off the turn signal and improve the user's driving experience has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a control method and device for a turn signal lamp, a vehicle, and a storage medium. The following introduces various aspects of the embodiments of the present application.

[0005] In a first aspect, a method for controlling a turn signal lamp is provided, comprising: determining a lateral displacement of the vehicle based on driving data of the vehicle; judging a state of a lane changing operation of the vehicle based on the lateral displacement of the vehicle and a lane width of a road surface on which the vehicle is located, wherein the lane changing operation is an operation of the vehicle switching from a current lane to another lane; if the lane changing operation is in a completed state and the turn signal lamp of the vehicle is in an on state, controlling the turn signal lamp to be turned off.

[0006] As a possible implementation manner, determining the lateral displacement of the vehicle based on the vehicle's driving data includes: determining the lateral force of the vehicle's driving wheels and the vehicle's running trajectory based on the vehicle's driving data; determining the lateral displacement of the vehicle based on the lateral force of the driving wheels and the vehicle's running trajectory.

[0007] As a possible implementation manner, determining the lateral force of the driving wheel of the vehicle and the running trajectory of the vehicle based on the driving data of the vehicle includes: determining the lateral force of the driving wheel based on first driving data of the vehicle; wherein the first driving data includes the slip angle of the driving wheel and / or the sideslip angle of the driving wheel.

[0008] As a possible implementation manner, determining the lateral force of the driving wheels of the vehicle and the running trajectory of the vehicle based on the driving data of the vehicle includes: determining the running trajectory of the vehicle based on second driving data of the vehicle; wherein the second driving data includes one or more of the following: the speed of the vehicle, the acceleration of the vehicle, the wheel angle of the vehicle, and the steering angle of the steering wheel of the vehicle.

[0009] As a possible implementation manner, judging the state of the lane changing operation of the vehicle based on the lateral displacement of the vehicle and the lane width of the road surface on which the vehicle is located includes: if the lateral displacement of the vehicle is greater than the lane width of the road surface on which the vehicle is located, determining that the lane changing operation is in a completed state; or if the lateral displacement of the vehicle is less than or equal to the lane width of the road surface on which the vehicle is located, determining that the lane changing operation is in an uncompleted state.

[0010] As a possible implementation manner, before controlling to turn off the turn signal, the method includes: if the lateral displacement of the vehicle is greater than a first threshold and the turn signal is in an off state, controlling to turn on the turn signal.

[0011] As a possible implementation manner, the lateral displacement of the vehicle is a displacement distance of the vehicle in a direction perpendicular to a lane of the vehicle.

[0012] In a second aspect, a turn signal control device includes: a determination module, used to determine the lateral displacement of the vehicle based on the vehicle's driving data; a judgment module, used to judge the state of the vehicle's lane changing operation based on the lateral displacement of the vehicle and the lane width of the road surface where the vehicle is located, wherein the lane changing operation is an operation of the vehicle switching from a current lane to another lane; and a control module, used to control turning off the turn signal if the lane changing operation is in a completed state and the vehicle's turn signal is in an on state.

[0013] In a third aspect, a vehicle is provided, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to control the vehicle to execute the method described in the first aspect or any implementation method of the first aspect.

[0014] According to a fourth aspect, a computer-readable storage medium is provided, on which an executable code is stored. When the executable code is executed, the method described in the first aspect or any implementation method of the first aspect can be implemented.

[0015] The present application provides a method for controlling a turn signal lamp, which determines the lateral displacement of the vehicle according to the vehicle's driving data; determines the state of the vehicle's lane change operation according to the lateral displacement of the vehicle and the lane width of the road on which the vehicle is located, wherein the lane change operation is the operation of the vehicle switching from the current lane to another lane; if the lane change operation is in a completed state and the vehicle's turn signal lamp is in an on state, controls the turn signal lamp to be turned off. This solution can determine whether the vehicle has completed the lane change operation through the vehicle's lateral displacement and lane width, and when the lane change operation is in a completed state, controls the turn signal lamp to be turned off, thereby realizing the automatic turning off function of the turn signal lamp, without relying on the visual sensor system, which helps to reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flowchart of a method for controlling a turn signal lamp provided in an embodiment of the present application.

[0017] Figure 2 It is a flowchart of a method for controlling a turn signal lamp provided in another embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of the structure of a control device for a turn signal lamp provided in one embodiment of the present application.

[0019] Figure 4 It is a schematic diagram of the structure of a vehicle provided in one embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0021] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0022] At present, it often happens that when a vehicle is driving, the driver forgets to turn off the turn signal after changing lanes, which causes the vehicle to send wrong information to other vehicles, causing other vehicles to mistakenly believe that the vehicle is going to change lanes or turn, resulting in unnecessary deceleration and avoidance, and even worse, causing traffic accidents.

[0023] In order to better meet the needs of intelligence, intelligent driving technology based on video perception has developed rapidly. In high-level assisted intelligent driving, automatic driving can be performed according to the current traffic conditions, and lane changes can be triggered automatically or manually in a timely manner to ensure driving efficiency; in the process of changing lanes, the visual perception method is used to determine whether the lane change is completed, so that the turn signal of the vehicle in the corresponding direction can be controlled to be turned off. However, the above-mentioned method of automatically turning off the turn signal requires expensive visual sensor hardware equipment, which is a relatively large burden for most low-cost cars.

[0024] In response to the above problems, the present application provides a method for controlling a turn signal, which determines the lateral displacement of the vehicle based on the vehicle's driving data; determines the state of the vehicle's lane change operation based on the vehicle's lateral displacement and the lane width of the road on which the vehicle is located, wherein the lane change operation is the operation of the vehicle switching from the current lane to another lane; if the lane change operation is in a completed state and the vehicle's turn signal is in an on state, the turn signal is controlled to be turned off. This solution can determine whether the vehicle has completed the lane change operation through the vehicle's lateral displacement and lane width, and when the lane change operation is in a completed state, the turn signal is controlled to be turned off, thereby realizing the automatic turning off function of the turn signal, without relying on the visual sensor system, which helps to reduce costs. The control method of the turn signal in the embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0025] Figure 1 A method for controlling a turn signal light is provided in an embodiment of the present application. Figure 1 As shown, the control method 100 of the turn signal lamp may include steps: S110 to S130.

[0026] In step S110, the lateral displacement of the vehicle is determined according to the driving data of the vehicle.

[0027] It should be understood that the lateral displacement of the vehicle may refer to the relative lateral displacement of the vehicle body, that is, the displacement distance of the vehicle body in the direction perpendicular to the lane relative to the lane. For example, the lateral displacement of the vehicle may refer to the displacement distance of the center line of the vehicle along the driving direction in the direction perpendicular to the lane.

[0028] In some implementations, the lateral force of the driving wheels of the vehicle and the running trajectory of the vehicle can be determined based on the driving data of the vehicle; then, the lateral displacement of the vehicle can be determined based on the lateral force of the driving wheels and the running trajectory of the vehicle.

[0029] In the embodiment of the present application, the lateral force of the driving wheel is associated with at least one of the slip angle of the driving wheel and the sideslip angle of the driving wheel. That is, the lateral force of the driving wheel can be determined according to the slip angle of the driving wheel and / or the sideslip angle of the driving wheel (first driving data). As an example, the lateral force of the driving wheel can be calculated according to the slip angle of the driving wheel and the sideslip angle of the driving wheel through a lateral force generation function (LFGF) model.

[0030] In an embodiment of the present application, the running trajectory of the above-mentioned vehicle is associated with one or more of the following driving data: the speed of the vehicle, the acceleration of the vehicle, the wheel angle of the vehicle, and the steering wheel steering angle of the vehicle. In other words, the running trajectory of the vehicle can be determined based on at least one driving data such as the speed of the vehicle, the acceleration of the vehicle, the wheel angle of the vehicle, and the steering wheel steering angle of the vehicle. As an example, the running trajectory of the vehicle can be solved using a numerical integration method (such as a fourth-order Runge-Kutta method) based on the speed of the vehicle, the acceleration of the vehicle, the wheel angle of the vehicle, and the steering wheel steering angle of the vehicle.

[0031] In some implementations, a wheel speed sensor may be installed on the vehicle. For example, each wheel may be equipped with a Hall effect or magnetoresistive sensor to measure the vehicle speed using the magnetic field changes generated by the rotation of the wheel, ensuring that the data refresh rate is greater than or equal to 100 Hz.

[0032] In some implementations, an acceleration sensor may be installed on the vehicle. For example, a three-axis accelerometer may be installed near the center of gravity of the vehicle to monitor the acceleration changes of the vehicle in the X, Y, and Z directions, and to capture the dynamic behavior of the vehicle in detail. The sampling frequency may be greater than or equal to 200 Hz.

[0033] Furthermore, in the process of detecting vehicle acceleration using an acceleration sensor, high-frequency noise (such as vehicle vibration noise) can be removed by low-pass filtering, thereby avoiding deviation data caused by vehicle vibration and improving the accuracy of acceleration measurement. In some implementations, Kalman filtering can also be used to fuse multiple sets of acceleration measurement data to improve signal stability and accuracy.

[0034] It should be noted that for dynamic driving data in different scenarios, an adaptive threshold algorithm can be introduced to dynamically adjust the filtering threshold in data processing to adapt to the data fluctuation range in different driving scenarios (such as high-speed cruising and urban congestion).

[0035] In some implementations, a steering angle sensor may be installed on the vehicle. For example, a high-precision potentiometer or magnetic encoder may be selected and installed between the steering wheel and the steering column to monitor the change in the steering angle of the steering wheel in real time with an accuracy of ±1°.

[0036] It should be noted that the wheel angle of the vehicle mentioned above may refer to the deflection angle of the front wheels of the vehicle relative to the longitudinal axis of the vehicle. When the vehicle turns, the front wheels will deflect to the left or right by a certain angle, and this angle is the wheel angle. The wheel angle can determine the turning radius of the vehicle.

[0037] In some implementations, a non-visual navigation and positioning system (such as GPS) or road features (such as landmarks and road signs) may be used to verify the lateral displacement calculated above to reduce calculation deviation.

[0038] In step S120, the state of the vehicle's lane change operation is determined based on the lateral displacement of the vehicle and the lane width of the road on which the vehicle is located.

[0039] In the embodiment of the present application, the calculated lateral displacement of the vehicle can be compared with the lane width to determine whether the vehicle has completed the lane change operation. For example, if the lateral displacement of the vehicle is greater than the lane width of the road where the vehicle is located, it is determined that the lane change operation is in a completed state; for another example, if the lateral displacement of the vehicle is less than or equal to the lane width of the road where the vehicle is located, it is determined that the lane change operation is in an uncompleted state.

[0040] In some implementations, lane width information of the road where the vehicle is located may be extracted or queried based on current map navigation data.

[0041] In step S130, if the lane change operation is in a completed state and the turn signal lamp of the vehicle is in an on state, the control turns off the turn signal lamp.

[0042] According to the above content, it can be seen that the embodiment of the present application can determine whether the vehicle has completed the lane change operation through the lateral displacement of the vehicle and the lane width. When the lane change operation is in the completed state, the turn signal is controlled to be turned off, thereby realizing the automatic turning off function of the turn signal, without relying on the visual sensor system, which helps to reduce costs.

[0043] In some implementations, before controlling the turn signal to be turned off, the turn signal of the vehicle is also turned on to prompt surrounding vehicles that the current vehicle is ready to change lanes. For example, the driver can manually turn on the turn signal switch.

[0044] In some implementations, in order to prevent the user from forgetting to turn on the turn signal when changing lanes, a turn signal activation threshold may also be set. When the lateral displacement of the vehicle reaches a predetermined threshold, the turn signal is automatically turned on. For example, if the lateral displacement of the vehicle is greater than a first threshold and the turn signal is not turned on, the turn signal is turned on. The first threshold may be set as required, and this application does not impose any specific restrictions on this.

[0045] It should be understood that during the lane change operation, the vehicle's turn signal lamps operate in a normal lighting state.

[0046] In some implementations, in order to more accurately detect the lateral displacement of the vehicle, an accurate vehicle dynamic model can be established based on a single-track model or a more complex multi-body dynamics model, combined with factors such as vehicle mass distribution, tire-ground friction coefficient, and vehicle moment of inertia.

[0047] Through actual vehicle testing, a large amount of data is collected to train the above vehicle dynamic model. Furthermore, system identification technology can be used to calibrate the vehicle dynamic model parameters to reduce model errors, thereby more accurately estimating the lateral displacement of the vehicle.

[0048] In some implementations, a fuzzy controller may be used to dynamically adjust the timing of turning on and off the turn signal according to the relative position of the vehicle and the new and old lane lines to ensure the timeliness and accuracy of the signal.

[0049] The following describes the embodiments of the present application in more detail with reference to specific examples. Figure 2 It is only to help those skilled in the art understand the embodiments of the present application, and is not intended to limit the embodiments of the present application to the specific values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the examples given, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0050] Figure 2 Another control method of a turn signal lamp provided in the embodiment of the present application is shown in FIG. Figure 2 The control method of the turn signal lamp may include the following steps: S201 to S206.

[0051] In step S201: the driver flicks the turn switch and the turn signal works.

[0052] In step S202: the vehicle dynamic parameter collection and processing module may be used to collect dynamic driving data of the vehicle.

[0053] The vehicle dynamic parameter acquisition and processing module may include a steering angle sensor, a wheel speed sensor and an acceleration sensor.

[0054] Steering angle sensor: Use a high-precision potentiometer or magnetic encoder, installed between the steering wheel and the steering column, to monitor the changes in the steering angle of the steering wheel in real time with an accuracy of ±1°.

[0055] Wheel speed sensor: Each wheel is equipped with a Hall effect or magnetoresistive sensor, which uses the changes in the magnetic field generated by the rotation of the wheel to measure the vehicle speed, ensuring that the data refresh rate is greater than or equal to 100Hz.

[0056] Acceleration sensor: A three-axis accelerometer is installed near the center of gravity of the vehicle to monitor the acceleration changes of the vehicle in the X, Y, and Z directions, and to capture the dynamic behavior of the vehicle in detail. The sampling frequency can be greater than or equal to 200Hz.

[0057] The vehicle dynamic parameter acquisition and processing module can also be used for data preprocessing and filtering. For example, the vehicle dynamic parameter acquisition and processing module can be used to implement a multi-stage filtering strategy, first applying low-pass filtering to remove high-frequency noise, such as misreading caused by vehicle vibration, and then using Kalman filtering to fuse multiple sets of data to improve signal stability and accuracy.

[0058] It should be noted that for dynamic driving data in different scenarios, an adaptive threshold algorithm can be introduced to dynamically adjust the filtering threshold in data processing to adapt to the data fluctuation range in different driving scenarios (such as high-speed cruising and urban congestion).

[0059] In step S203: the road information query module can be used to extract and query the lane information of the road where the vehicle is currently located from the current map navigation data. The lane information includes lane width information, road curvature, road signs and other information.

[0060] In step S204: the lateral displacement of the vehicle is calculated. For example, the lateral force of the driving wheel of the vehicle and the running track of the vehicle can be determined according to the driving data of the vehicle; then, the lateral displacement of the vehicle is determined according to the lateral force of the driving wheel and the running track of the vehicle.

[0061] In some implementations, the lateral force of the driving wheel may be determined according to the slip angle of the driving wheel and / or the sideslip angle of the driving wheel (first driving data). As an example, the lateral force of the driving wheel may be calculated according to the slip angle of the driving wheel and the sideslip angle of the driving wheel by a lateral force generation function (LFGF) model.

[0062] In some implementations, the running trajectory of the vehicle may be determined based on at least one driving data such as the speed of the vehicle, the acceleration of the vehicle, the wheel angle of the vehicle, and the steering wheel angle of the vehicle. As an example, the running trajectory of the vehicle may be solved using a numerical integration method (such as a fourth-order Runge-Kutta method) based on the speed of the vehicle, the acceleration of the vehicle, the wheel angle of the vehicle, and the steering wheel angle of the vehicle.

[0063] In step S205: determine whether the lateral displacement of the vehicle is greater than the lane width. If the lateral displacement of the vehicle is greater than the lane width of the road where the vehicle is located, jump to step S206; if the lateral displacement of the vehicle is less than or equal to the lane width of the road where the vehicle is located, jump to step S204.

[0064] In step S206: controlling the vehicle's turn signal lamp to be turned off.

[0065] Combination of the above Figure 1 to Figure 2 The method embodiment of the present application is described in detail. Figure 3 to Figure 4 The device embodiment of the present application is described in detail. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, so the parts not described in detail can refer to the previous method embodiment.

[0066] Figure 3FIG. 3 is a schematic diagram of a structure of a turn signal control device provided by an embodiment of the present application. The turn signal control device 300 may include a determination module 310 , a judgment module 320 and a control module 330 .

[0067] The determination module 310 is used to determine the lateral displacement of the vehicle according to the driving data of the vehicle.

[0068] The judgment module 320 is used to judge the state of the vehicle performing a lane change operation based on the lateral displacement of the vehicle and the lane width of the road surface where the vehicle is located, wherein the lane change operation is the operation of the vehicle switching from the current lane to another lane.

[0069] The control module 330 is configured to control turning off the turn signal lamp if the lane change operation is in a completed state and the turn signal lamp of the vehicle is in an on state.

[0070] Optionally, the determination module 310 is used to: determine the lateral force of the driving wheels of the vehicle and the running trajectory of the vehicle according to the driving data of the vehicle; determine the lateral displacement of the vehicle according to the lateral force of the driving wheels and the running trajectory of the vehicle.

[0071] Optionally, determining the lateral force of the driving wheel of the vehicle and the running trajectory of the vehicle based on the driving data of the vehicle includes: determining the lateral force of the driving wheel based on first driving data of the vehicle; wherein the first driving data includes the slip angle of the driving wheel and / or the sideslip angle of the driving wheel.

[0072] Optionally, determining the lateral force of the driving wheels of the vehicle and the running trajectory of the vehicle based on the driving data of the vehicle includes: determining the running trajectory of the vehicle based on second driving data of the vehicle; wherein the second driving data includes one or more of the following: the speed of the vehicle, the acceleration of the vehicle, the wheel angle of the vehicle, and the steering angle of the steering wheel of the vehicle.

[0073] Optionally, the judgment module 320 is used to: determine that the lane change operation is in a completed state if the lateral displacement of the vehicle is greater than the lane width of the road surface where the vehicle is located; or determine that the lane change operation is in an uncompleted state if the lateral displacement of the vehicle is less than or equal to the lane width of the road surface where the vehicle is located.

[0074] Optionally, the device 300 further includes: a second control module, configured to control turning on the turn signal if the lateral displacement of the vehicle is greater than a first threshold and the turn signal is in an off state before the control turns off the turn signal.

[0075] Optionally, the lateral displacement of the vehicle is the displacement distance of the vehicle in a direction perpendicular to the lane of the vehicle.

[0076] Combine the following Figure 4 The present invention introduces a vehicle 400 in an embodiment of the present application. The vehicle 400 can be used to implement the method described in the above method embodiment.

[0077] The vehicle 400 may include one or more processors 410. The processor 410 may support the vehicle 400 to implement the method described in the above method embodiment.

[0078] The processor 410 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0079] The vehicle 400 may further include one or more memories 420. The memory 420 stores a program that can be executed by the processor 410 to control the vehicle 400 to execute the method described in the above method embodiment. The memory 420 may be independent of the processor 410 or integrated in the processor 410.

[0080] The vehicle 400 may further include a transceiver 430. The processor 410 may communicate with other devices via the transceiver 430. For example, the processor 410 may transmit and receive data with other devices via the transceiver 430.

[0081] The present application also provides a chip in an embodiment, including a processor, which can be used to call and run a computer program from a memory, so that a vehicle equipped with the chip executes the method described in the above method embodiment. It is understood that the processor can be any type of processor mentioned above. It is understood that the memory can be independent of the chip or integrated in the chip.

[0082] The embodiment of the present application also provides a machine-readable storage medium for storing a program, and the program enables a computer to execute the method in each embodiment of the present application.

[0083] The embodiment of the present application also provides a computer program product. The computer program product includes a program. The program enables a computer to execute the method in each embodiment of the present application.

[0084] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a machine-readable storage medium, or transmitted from one machine-readable storage medium to another machine-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The machine-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0085] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments of the present disclosure can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present disclosure.

[0086] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0087] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0088] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0089] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A method for controlling a turn signal lamp, characterized in that: include: Determining the lateral displacement of the vehicle according to the driving data of the vehicle; Determining a lane-changing state of the vehicle according to the lateral displacement of the vehicle and the lane width of the road on which the vehicle is located, wherein the lane-changing operation is an operation of the vehicle switching from a current lane to another lane; If the lane change operation is in a completed state and the turn signal lamp of the vehicle is in an on state, control is performed to turn off the turn signal lamp.

2. The method according to claim 1, characterized in that Determining the lateral displacement of the vehicle according to the driving data of the vehicle includes: Determining the lateral force of the driving wheels of the vehicle and the running track of the vehicle according to the driving data of the vehicle; The lateral displacement of the vehicle is determined according to the lateral force of the driving wheel and the running track of the vehicle.

3. The method according to claim 2, characterized in that The determining, based on the driving data of the vehicle, the lateral force of the driving wheel of the vehicle and the running track of the vehicle comprises: determining a lateral force of the driving wheel according to first driving data of the vehicle; The first driving data includes a slip angle of the driving wheel and / or a sideslip angle of the driving wheel.

4. The method according to claim 2, characterized in that: The determining, based on the driving data of the vehicle, the lateral force of the driving wheel of the vehicle and the running track of the vehicle comprises: Determining a running track of the vehicle according to the second driving data of the vehicle; The second driving data includes one or more of the following: the speed of the vehicle, the acceleration of the vehicle, the wheel angle of the vehicle, and the steering wheel steering angle of the vehicle.

5. The method according to claim 1, characterized in that The determining, based on the lateral displacement of the vehicle and the lane width of the road on which the vehicle is located, a state of the vehicle performing a lane change operation includes: If the lateral displacement of the vehicle is greater than the lane width of the road surface on which the vehicle is located, determining that the lane change operation is in a completed state; or If the lateral displacement of the vehicle is less than or equal to the lane width of the road surface where the vehicle is located, it is determined that the lane change operation is in an incomplete state.

6. The method according to claim 1, characterized in that Before controlling to turn off the turn signal lamp, the method includes: If the lateral displacement of the vehicle is greater than a first threshold and the turn signal lamp is in an off state, control is performed to turn on the turn signal lamp.

7. The method according to any one of claims 1 to 6, characterized in that The lateral displacement of the vehicle is the displacement distance of the vehicle in the direction perpendicular to the lane of the vehicle.

8. A turn signal control device, characterized in that: include: A determination module, used to determine the lateral displacement of the vehicle according to the driving data of the vehicle; a judgment module, configured to judge the state of the vehicle performing a lane change operation according to the lateral displacement of the vehicle and the lane width of the road where the vehicle is located, wherein the lane change operation is an operation of the vehicle switching from a current lane to another lane; The control module is used for controlling to turn off the turn signal lamp if the lane change operation is in a completed state and the turn signal lamp of the vehicle is in an on state.

9. A vehicle, characterized in that: include: A processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to control the vehicle to execute the method as described in any one of claims 1-7.

10. A computer-readable storage medium having executable code stored thereon, characterized in that: The code is used to implement the method according to any one of claims 1 to 7.

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