Multi-scene intelligent switching control method and system for vehicle LED light bar

Abstract

The invention discloses a multi-scene intelligent switching control method and system for vehicle LED light bars. The method comprises the steps that a to-be-driven track of a vehicle changing from a first lane to a second lane is planned from driving data of the vehicle; determining a corresponding planning speed curve according to the to-be-driven track, and dividing the planning speed curve into a plurality of speed stages; determining a track point in each speed stage, and calculating whether the expected driving state of the vehicle in different speed stages meets a preset condition or not; if yes, the lighting sequence of lamp beads in the LED lamp strip is determined according to the track points; if not, the road attribute of the road where the track points are located is determined, the planning speed of the track points is updated according to the road attribute, and the lighting sequence of the lamp beads in the LED lamp strip is determined according to the updated track points. According to the invention, the lighting sequence of the LED light bars can be intelligently adjusted based on the planned path of the vehicle in combination with the road attributes, the energy consumption of the LED lights is reduced, and the driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle light bar control, and in particular to a multi-scenario intelligent switching control method and system for a vehicle LED light bar. Background Art

[0002] Autonomous driving technology refers to the technology that enables vehicles to complete driving tasks autonomously without the direct intervention of human drivers. With the development of the automobile industry and the advancement of technology, autonomous driving technology and its intelligent control system have received more and more attention. In particular, intelligent lighting control systems have played an important role in improving driving safety and driving experience. Traditional autonomous driving vehicle lighting control mainly relies on simple automatic sensing mechanisms, which are usually static and require simple on / off control based on fixed logic or sensor signals, such as flashing at a fixed frequency to prompt lane changes. However, this method has a weak visual impact, especially when observed from a distance. The flashing lights with a fixed frequency are usually not easily quickly identified as turn signals, making it difficult for other road users to judge the intention of the vehicle in a timely and accurate manner, increasing the risk of traffic accidents; in addition, this flashing prompt method requires the simultaneous control of the switching of all LED lamp beads, which will increase the energy consumption of the LED lamp and affect the service life of the LED light bar. Summary of the invention

[0003] In order to solve at least one of the technical problems mentioned above, the present invention provides a multi-scene intelligent switching control method and system for a vehicle LED light strip.

[0004] In a first aspect, the present invention provides a multi-scenario intelligent switching control method for a vehicle LED light bar, the method comprising:

[0005] Acquire driving data of the vehicle, and plan a pending driving trajectory of the vehicle for changing lanes from the first lane to the second lane from the driving data;

[0006] The corresponding planned speed curve is determined according to the to-be-traveled trajectory, and the planned speed curve is divided into multiple speed stages; the speed stage includes an acceleration stage, a constant speed stage, and a deceleration stage. The planned speed curve is:

[0007]

[0008] In the formula, v(t) represents the planned speed at time t, v0 represents the initial speed when starting to change lanes, and v f represents the target planned speed at the end of the lane change, e represents the natural constant, μ represents the adjustment factor of the planned speed curve smoothness, and t m Indicates the moment when the planned speed reaches half during the lane change process;

[0009] Determine the trajectory points in each speed stage, and calculate whether the expected driving state of the vehicle in different speed stages meets the preset conditions according to the trajectory points;

[0010] If yes, determine the lighting order of the lamp beads in the LED light bar according to the trajectory points;

[0011] If not, the road attributes of the road where the track point is located are obtained, the planned speed of the track point is updated according to the road attributes, and the lighting order of the lamp beads in the LED light bar is determined according to the updated track point.

[0012] Preferably, the step of calculating whether the expected driving state of the vehicle at different speed stages meets a preset condition according to the trajectory points includes:

[0013] Calculate the velocity change rate of each trajectory point in the planned velocity curve:

[0014]

[0015] In the formula, Δv i represents the velocity change rate of the ith trajectory point, v i represents the planned driving speed of the ith trajectory point in the current speed stage, represents the average planned speed in the current speed stage; k represents the coordinate slope from the i-th trajectory point to the i+1-th trajectory point;

[0016] Calculate the expected driving state f for each trajectory point i :

[0017]

[0018] In the formula, Z -Score represents the Z-Score normalization function, c i represents the road curvature of the road where the ith trajectory point is located, l i represents the distance between the ith trajectory point and the vehicle behind;

[0019] Assume that the expected driving state safety threshold is f0, when f i -1≤f0, it is determined that the expected driving state meets the preset conditions; when f i -1>f0, it is determined that the expected driving state does not meet the preset conditions.

[0020] Preferably, the step of obtaining the road attribute of the road where the trajectory point is located and updating the planned speed of the trajectory point according to the road attribute includes:

[0021] Determine the road properties of the road where the track point is located:

[0022]

[0023] In the formula, A i represents the road safety index of the ith trajectory point, m represents a total of m trajectory points, d i Represents the distance from the i-th trajectory point to the i+1-th trajectory point;

[0024] Update the planned speed of the trajectory point according to the road attributes:

[0025]

[0026] In the formula, v i * represents the updated planning speed, v i+1 Indicates the planned driving speed at the i+1th trajectory point; min indicates the minimum value.

[0027] Preferably, determining the lighting order of the lamp beads in the LED light bar according to the trajectory points includes:

[0028] In the acceleration phase, the total acceleration time T1 is calculated based on the acceleration distance and the acceleration during acceleration, and the total acceleration time T1 is evenly divided into n1 time periods. An LED lamp bead is lit every ΔT1, satisfying ΔT1=T1 / n1;

[0029] In the uniform speed stage, the uniform speed driving distance S2 is divided into n2 distances, and an LED lamp bead is lit every ΔS2 distance, satisfying ΔS2=S2 / n2;

[0030] During the deceleration phase, the total deceleration time T3 is calculated based on the deceleration distance and the acceleration during deceleration. The total deceleration time T3 is evenly divided into n3 time periods, and an LED bead is lit at every interval ΔT3, satisfying ΔT3=T3 / n3.

[0031] Preferably, when the direction of changing lanes from the first lane to the second lane is to change lanes to the right, the order of lighting up the LED lamp beads is from left to right in sequence;

[0032] When the direction of changing lanes from the first lane to the second lane is to change lanes to the left, the LED lamp beads are lit up in sequence from right to left.

[0033] In a second aspect, the present invention further provides a multi-scenario intelligent switching control system for a vehicle LED light bar, the system comprising:

[0034] A data acquisition unit, used to acquire driving data of the vehicle, and plan a to-be-driven trajectory of the vehicle when changing lanes from the first lane to the second lane from the driving data;

[0035] The speed division unit is used to determine the corresponding planned speed curve according to the to-be-traveled trajectory, and divide the planned speed curve into a plurality of speed stages; wherein the speed stage includes an acceleration stage, a constant speed stage and a deceleration stage, and the planned speed curve is:

[0036]

[0037] In the formula, v(t) represents the planned speed at time t, v0 represents the initial speed when starting to change lanes, and v f represents the target planned speed at the end of the lane change, e represents the natural constant, μ represents the adjustment factor of the planned speed curve smoothness, and t m Indicates the moment when the planned speed reaches half during the lane change process;

[0038] A judgment unit, used to determine the trajectory points in each speed stage, and calculate whether the expected driving state of the vehicle in different speed stages meets the preset conditions according to the trajectory points;

[0039] A first lighting unit, used to determine the lighting order of the lamp beads in the LED light bar according to the trajectory points when the expected driving state meets the preset conditions;

[0040] The second lighting unit is used to obtain the road attributes of the road where the trajectory point is located when the expected driving state does not meet the preset conditions, update the planned speed of the trajectory point according to the road attributes, and determine the lighting order of the lamp beads in the LED light bar according to the updated trajectory point.

[0041] In a third aspect, the present invention further provides an electronic device comprising a processor and a memory, wherein the memory is used to store computer program code, and the computer program code comprises computer instructions. When the processor executes the computer instructions, the electronic device executes the method as described in the first aspect above and any possible implementation thereof.

[0042] In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, wherein the computer program includes program instructions, and when the program instructions are executed by a processor of an electronic device, the processor executes the method as described in the first aspect above and any possible implementation thereof.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] 1) The present invention plans the vehicle's lane change trajectory and speed change curve by analyzing the vehicle's driving data, and dynamically adjusts the lighting order of the LED light bar according to the planned speed change, thereby enhancing the intelligence level of the light prompt. Compared with the fixed-frequency flashing prompt, the prompt effect is better and it is easier to expand the use scenario, thereby enhancing the applicability of the automotive LED light bar.

[0045] 2) The present invention takes into account the smooth transition speed curve when describing the speed change, and combines the flowing light effect of the LED light bar to significantly improve the efficiency and accuracy of information transmission. Traditional flashing lights usually distract the driver's attention to a certain extent, especially when the flashing frequency is close to the natural rhythm of some people. The present invention adopts a flowing light prompt method, which is softer than the flashing light design and can reduce driving light interference, thereby improving driving safety. By lighting up one by one, the direction of the vehicle's turn can be more intuitively displayed, so that other road users can be aware of the vehicle's intention to change lanes earlier, improving driving safety and reducing potential traffic accident risks. In addition, compared to the flashing prompt that turns on and off all LED lamp beads at the same time, the turning signal control of the flowing light can gradually control the switching of different lamp beads, thereby reducing the energy consumption of the LED light bar and increasing the service life of the LED light bar.

[0046] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the background technology, the drawings required for use in the embodiments of the present invention or the background technology will be described below.

[0048] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used to illustrate the technical solutions of the present disclosure together with the specification.

[0049] Figure 1 A schematic diagram of a flow chart of a multi-scenario intelligent switching control method for a vehicle LED light bar provided by an embodiment of the present invention;

[0050] Figure 2 A schematic diagram of the structure of a multi-scene intelligent switching control system for a vehicle LED light bar provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] 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 invention. The appearance of the phrase in various places 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.

[0053] At present, when the vehicle LED lights are used for lane change prompts, they still use a fixed frequency flashing prompt method. This prompt method has the problems of poor prompt effect, low recognition and high energy consumption. Therefore, the present invention aims to provide a multi-scenario intelligent switching control method for vehicle LED light strips, which can intelligently control the LED lights to display running lights in combination with the planned driving trajectory and speed of the vehicle and the road attributes, thereby enhancing the prompt effect, enabling the driver to more timely and accurately judge the driving intention of the vehicle ahead, increasing driving safety and reducing the energy consumption of the LED light strips.

[0054] See also Figure 1 , Figure 1 The present invention provides a flowchart of a multi-scenario intelligent switching control method for a vehicle LED light bar. Figure 1 As shown, the method includes:

[0055] S10: Acquire driving data of the vehicle, and plan a pending driving trajectory of the vehicle for changing lanes from the first lane to the second lane from the driving data.

[0056] Usually, in the scenario of autonomous driving, a large amount of data will be generated during the driving process of the vehicle, including location information, speed information, acceleration information, steering angle information, timestamp information, etc. Location information usually requires a GPS positioning system to obtain, while speed, acceleration and other information can usually be obtained based on sensors such as gyroscopes and accelerometers. After the driving data is collected, the data is preprocessed first, and the lane change driving path can be planned based on the relevant information that has been driven. Among them, data preprocessing can include filtering, data synchronization and data fusion. Filtering can remove noise from sensor data to ensure the accuracy of the data. Data synchronization is used to ensure that the data from different sensors are consistent in time. Finally, data fusion can combine data from different sensors to form a complete description of the vehicle status.

[0057] Based on the processed data, the vehicle's pending trajectory for changing lanes from the first lane to the second lane is further planned, including:

[0058] Trajectory point recognition: Based on the planned trajectory to be driven, key trajectory points are extracted from the continuous position data. These points should be able to reflect the main movement path of the vehicle. By analyzing the key points, the starting point and end point of the trajectory to be driven are determined.

[0059] Lane change event recognition: If the vehicle is about to move from the first lane to the second lane, it can be identified as a lane change event. The lane change can be divided into left or right lane change, depending on the position relationship between the first lane and the second lane.

[0060] S20: determining a corresponding planned speed curve according to the to-be-traveled trajectory, and dividing the planned speed curve into a plurality of speed stages.

[0061] In this step, the planned trajectory to be driven is further analyzed to plan a matching speed curve. The speed curve is used to characterize the planned speed change of the vehicle from the first lane to the second lane, which usually includes an acceleration phase, a constant speed phase, and a deceleration phase. In the early stage of changing lanes, it is usually necessary to accelerate to another lane. When the lane change is successful, it is transitioned to a constant speed and deceleration state. In this process, the expected driving status of the vehicles in front and behind the target lane needs to be considered. After obtaining the speed change curve, it is usually necessary to determine the driving time used in each speed phase to understand the duration and rhythm of the lane change process.

[0062] In one embodiment, the expression of the planned speed curve is as follows:

[0063]

[0064] In the formula, v(t) represents the planned speed at time t, v0 represents the initial speed when starting to change lanes, and v f represents the target planned speed at the end of the lane change, e represents the natural constant, μ represents the adjustment factor of the planned speed curve smoothness, and t m Indicates the moment when the planned speed reaches half during the lane change process.

[0065] When planning the driving speed, by using the above model to describe the change of speed over time, it is possible to ensure smooth speed changes, avoid the impact caused by abrupt speed changes, and improve the safety of autonomous driving. The parameter μ can adjust the smoothness of the speed change curve, so as to flexibly adjust the planned speed curve of lane change according to actual conditions to adapt to different autonomous driving scenarios and needs.

[0066] S30, determining the trajectory points in each speed stage, and calculating whether the expected driving state of the vehicle in different speed stages meets the preset conditions according to the trajectory points;

[0067] In one embodiment, the step of calculating whether the expected driving state of the vehicle at different speed stages meets a preset condition according to the trajectory points includes:

[0068] Calculate the velocity change rate of each trajectory point in the planned velocity curve:

[0069]

[0070] In the formula, Δv i represents the velocity change rate of the ith trajectory point, v i represents the planned driving speed of the ith trajectory point in the current speed stage, represents the average planned speed in the current speed stage; k represents the coordinate slope from the i-th trajectory point to the i+1-th trajectory point;

[0071] Calculate the expected driving state f for each trajectory point i :

[0072]

[0073] In the formula, Z -Score represents the Z-Score normalization function, c i represents the road curvature of the road where the ith trajectory point is located, l i represents the distance between the ith trajectory point and the vehicle behind;

[0074] Assume that the expected driving state safety threshold is f0, when f i -1≤f0, it is determined that the expected driving state meets the preset conditions; when f i -1>f0, it is determined that the expected driving state does not meet the preset conditions.

[0075] In this embodiment, the difference between the planned speed of the vehicle at each trajectory point and its average speed is first considered, and then the spatial relationship between adjacent trajectory points is combined. Furthermore, according to the vehicle speed, road curvature, speed change rate, and distance from the rear vehicle, these variables are unified to the same scale for comparison through Z-Score normalization, and finally the expected driving state safety threshold is set to determine whether the corresponding expected driving state can meet the preset conditions when driving at the planned speed and trajectory. Therefore, by considering whether the expected driving state meets the preset conditions, it is determined whether the planned speed of the vehicle needs to be optimized, so as to more accurately control the lighting order of the lights. In this way, accurate prediction of the expected driving state of the vehicle can be achieved, improving the overall driving safety and reliability.

[0076] S40: If yes, determine the lighting order of the lamp beads in the LED light bar according to the trajectory points;

[0077] S50: If not, obtain the road attributes of the road where the track point is located, update the planned speed of the track point according to the road attributes, and determine the lighting order of the lamp beads in the LED light bar according to the updated track point.

[0078] It is understandable that if the expected driving state of the vehicle meets the preset conditions, there is no need to optimize the planned speed, that is, the currently planned speed can meet the driving safety requirements, so the LED light bar control process can be directly carried out. If it does not meet the requirements, it is usually necessary to update the planned speed before controlling the LED light bar.

[0079] In one embodiment, obtaining the road attribute of the road where the trajectory point is located, and updating the planned speed of the trajectory point according to the road attribute, includes:

[0080] Determine the road properties of the road where the track point is located:

[0081]

[0082] In the formula, A i represents the road safety index of the ith trajectory point, m represents a total of m trajectory points, d i Represents the distance from the i-th trajectory point to the i+1-th trajectory point;

[0083] Update the planned speed of the trajectory point according to the road attributes:

[0084]

[0085] In the formula, v i * represents the updated planning speed, v i+1 Indicates the planned driving speed at the i+1th trajectory point; min indicates the minimum value.

[0086] The road safety index is calculated based on the distance from each trajectory point to the next trajectory point by weighted average. The longer the distance, the greater the impact on the safety index. The vehicle speed is then adjusted based on the road safety index and the speed change and speed average planned for the current speed stage. In summary, by analyzing the road properties of the road traveled by the trajectory point, the planned speed is optimized and updated, which can ensure more accurate and refined control of the LED lights.

[0087] In one embodiment, determining the lighting order of the lamp beads in the LED light bar according to the trajectory points includes:

[0088] In the acceleration phase, the total acceleration time T1 is calculated based on the acceleration distance and the acceleration during acceleration, and the total acceleration time T1 is evenly divided into n1 time periods. An LED lamp bead is lit every ΔT1, satisfying ΔT1=T1 / n1;

[0089] In the uniform speed stage, the uniform speed driving distance S2 is divided into n2 distances, and an LED lamp bead is lit every ΔS2 distance, satisfying ΔS2=S2 / n2;

[0090] During the deceleration phase, the total deceleration time T3 is calculated based on the deceleration distance and the acceleration during deceleration. The total deceleration time T3 is evenly divided into n3 time periods, and an LED bead is lit at every interval ΔT3, satisfying ΔT3=T3 / n3.

[0091] It can be understood that when the direction of changing lanes from the first lane to the second lane is to change lanes to the right, the order of lighting up the LED lamp beads is from left to right; when the direction of changing lanes from the first lane to the second lane is to change lanes to the left, the order of lighting up the LED lamp beads is from right to left.

[0092] The above scheme can flexibly configure the values ​​of n1, n2, and n3 according to different driving scenarios, such as urban roads, highways, etc., so that the control of the LED light bar is more adaptable to different driving environments, and the versatility and applicability of the system are improved. Through the above embodiment, the selection interval of the trajectory point can be dynamically adjusted according to the planned speed of the vehicle in the different planned speed stages to ensure that the lighting frequency of the LED lamp beads matches the moving speed of the vehicle. In the acceleration stage, this dynamic lighting prompt can help other road users better understand the vehicle's acceleration intention and reduce accidents caused by sudden acceleration. In the deceleration stage, the lighting prompt is more continuous and smooth, which improves the foresight of other vehicle drivers for deceleration actions and reduces the possibility of accidents such as rear-end collisions.

[0093] In addition, by accurately calculating the lighting time or distance interval of the LED lamp beads in each stage, unnecessary lighting of lights is reduced, thereby reducing overall energy consumption. This energy-saving design helps to extend the service life of the LED light bar and reduce the overall energy consumption of the vehicle. Therefore, the intelligent switching control process of the above-mentioned LED light bar dynamically adjusts the lighting order of the LED lamp beads so that the light prompts can be highly matched with the expected driving state of the vehicle (acceleration, constant speed, deceleration), which not only improves driving safety, enhances the accuracy and timeliness of information transmission, but also improves the driving experience, reduces energy consumption, and adapts to the needs of various driving scenarios.

[0094] In summary, the method provided by the embodiment of the present invention can at least achieve the following beneficial effects:

[0095] 1) The present invention plans the vehicle's lane change trajectory and speed change curve by analyzing the vehicle's driving data, and dynamically adjusts the lighting order of the LED light bar according to the planned speed change, thereby enhancing the intelligence level of the light prompt. Compared with the fixed-frequency flashing prompt, the prompt effect is better and it is easier to expand the use scenario, thereby enhancing the applicability of the automotive LED light bar.

[0096] 2) The present invention takes into account the smooth transition speed curve when describing the speed change, and combines the flowing light effect of the LED light bar to significantly improve the efficiency and accuracy of information transmission. Traditional flashing lights usually distract the driver's attention to a certain extent, especially when the flashing frequency is close to the natural rhythm of some people. The present invention adopts a flowing light prompt method, which is softer than the flashing light design and can reduce driving light interference, thereby improving driving safety. By lighting up one by one, the direction of the vehicle's turn can be more intuitively displayed, so that other road users can be aware of the vehicle's intention to change lanes earlier, improving driving safety and reducing potential traffic accident risks. In addition, compared to the flashing prompt that turns on and off all LED lamp beads at the same time, the turning signal control of the flowing light can gradually control the switching of different lamp beads, thereby reducing the energy consumption of the LED light bar and increasing the service life of the LED light bar.

[0097] See also Figure 2 The embodiment of the present invention also provides a multi-scenario intelligent switching control system for a vehicle LED light bar, the system comprising:

[0098] The data acquisition unit 100 is used to acquire the driving data of the vehicle and plan a trajectory of the vehicle to be driven when changing lanes from the first lane to the second lane from the driving data;

[0099] The speed division unit 200 is used to determine the corresponding planned speed curve according to the to-be-traveled trajectory, and divide the planned speed curve into a plurality of speed stages; wherein the speed stage includes an acceleration stage, a uniform speed stage and a deceleration stage, and the planned speed curve is:

[0100]

[0101] In the formula, v(t) represents the planned speed at time t, v0 represents the initial speed when starting to change lanes, and v f represents the target planned speed at the end of the lane change, e represents the natural constant, μ represents the adjustment factor of the planned speed curve smoothness, and t m Indicates the moment when the planned speed reaches half during the lane change process;

[0102] A judgment unit 300 is used to determine the trajectory points in each speed stage, and calculate whether the expected driving state of the vehicle in different speed stages meets the preset conditions according to the trajectory points;

[0103] The first lighting unit 400 is used to determine the lighting order of the lamp beads in the LED light bar according to the track points when the expected driving state meets the preset conditions;

[0104] The second lighting unit 500 is used to obtain the road attributes of the road where the trajectory point is located when the expected driving state does not meet the preset conditions, update the planned speed of the trajectory point according to the road attributes, and determine the lighting order of the lamp beads in the LED light bar according to the updated trajectory point.

[0105] It can be understood that the functions or modules included in the system provided in this embodiment can be used to execute the method described in the above method embodiment. Its specific implementation can refer to the description of the above method embodiment. For the sake of brevity, it will not be repeated here.

[0106] The present invention also provides an electronic device, including a processor and a memory, wherein the memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the electronic device executes a method as described in any possible implementation manner.

[0107] The present invention also provides a computer-readable storage medium, in which a computer program is stored. The computer program includes program instructions. When the program instructions are executed by a processor of an electronic device, the processor executes a method as described in any possible implementation manner.

[0108] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein 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 invention.

[0109] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. Those skilled in the art can also clearly understand that the descriptions of the various embodiments of the present invention have different focuses. For the convenience and brevity of description, the same or similar parts may not be repeated in different embodiments. Therefore, for parts not described or not described in detail in a certain embodiment, refer to the records of other embodiments.

Claims

1. A multi-scene intelligent switching control method for a vehicle LED light bar, characterized in that: The method comprises: Acquire driving data of the vehicle, and plan a pending driving trajectory of the vehicle for changing lanes from the first lane to the second lane from the driving data; The corresponding planned speed curve is determined according to the to-be-traveled trajectory, and the planned speed curve is divided into multiple speed stages; the speed stage includes an acceleration stage, a constant speed stage, and a deceleration stage. The planned speed curve is: In the formula, v(t) represents the planned speed at time t, v0 represents the initial speed when starting to change lanes, and v f represents the target planned speed at the end of the lane change, e represents the natural constant, μ represents the adjustment factor of the planned speed curve smoothness, and t m Indicates the moment when the planned speed reaches half during the lane change process; Determine the trajectory points in each speed stage, and calculate whether the expected driving state of the vehicle in different speed stages meets the preset conditions according to the trajectory points; If yes, determine the lighting order of the lamp beads in the LED light bar according to the trajectory points; If not, the road attributes of the road where the track point is located are obtained, the planned speed of the track point is updated according to the road attributes, and the lighting order of the lamp beads in the LED light bar is determined according to the updated track point.

2. The multi-scenario intelligent switching control method of the vehicle LED light bar according to claim 1 is characterized in that: The step of calculating whether the expected driving state of the vehicle at different speed stages meets preset conditions according to the trajectory points includes: Calculate the velocity change rate of each trajectory point in the planned velocity curve: In the formula, Δv i represents the velocity change rate of the ith trajectory point, v i represents the planned driving speed of the ith trajectory point in the current speed stage, represents the average planned speed in the current speed stage; k represents the coordinate slope from the i-th trajectory point to the i+1-th trajectory point; Calculate the expected driving state f for each trajectory point i : In the formula, Z -Score represents the Z-Score normalization function, c i represents the road curvature of the road where the ith trajectory point is located, and li represents the distance between the ith trajectory point and the rear vehicle; Assume that the expected driving state safety threshold is f0, when f i -1≤f0, it is determined that the expected driving state meets the preset conditions; when f i -1>f0, it is determined that the expected driving state does not meet the preset conditions.

3. The multi-scenario intelligent switching control method of the vehicle LED light bar according to claim 2 is characterized in that: The obtaining of the road attribute of the road where the trajectory point is located and updating the planned speed of the trajectory point according to the road attribute includes: Determine the road properties of the road where the track point is located: In the formula, A i represents the road safety index of the ith trajectory point, m represents a total of m trajectory points, d i Represents the distance from the i-th trajectory point to the i+1-th trajectory point; Update the planned speed of the trajectory point according to the road attributes: In the formula, v i * represents the updated planning speed, v i+1 Indicates the planned driving speed at the i+1th trajectory point; min indicates the minimum value.

4. The multi-scenario intelligent switching control method of the vehicle LED light bar according to claim 1 is characterized in that: The step of determining the lighting order of the lamp beads in the LED light bar according to the track points includes: In the acceleration phase, the total acceleration time T1 is calculated based on the acceleration distance and the acceleration during acceleration, and the total acceleration time T1 is evenly divided into n1 time periods. An LED lamp bead is lit every ΔT1, satisfying ΔT1=T1 / n1; In the uniform speed stage, the uniform speed driving distance S2 is divided into n2 distances, and an LED lamp bead is lit every ΔS2 distance, satisfying ΔS2=S2 / n2; During the deceleration phase, the total deceleration time T3 is calculated based on the deceleration distance and the acceleration during deceleration. The total deceleration time T3 is evenly divided into n3 time periods, and an LED bead is lit at every interval ΔT3, satisfying ΔT3=T3 / n3.

5. The multi-scenario intelligent switching control method of the vehicle LED light bar according to claim 4 is characterized in that: When the direction of changing lanes from the first lane to the second lane is to change lanes to the right, the order of lighting up the LED lamp beads is from left to right; When the direction of changing lanes from the first lane to the second lane is to change lanes to the left, the LED lamp beads are lit up in sequence from right to left.

6. A multi-scene intelligent switching control system for automotive LED light strips, characterized in that: The system comprises: A data acquisition unit, used to acquire driving data of the vehicle, and plan a to-be-driven trajectory of the vehicle when changing lanes from the first lane to the second lane from the driving data; The speed division unit is used to determine the corresponding planned speed curve according to the to-be-traveled trajectory, and divide the planned speed curve into a plurality of speed stages; wherein the speed stage includes an acceleration stage, a constant speed stage and a deceleration stage, and the planned speed curve is: In the formula, v(t) represents the planned speed at time t, v0 represents the initial speed when starting to change lanes, and v f represents the target planned speed at the end of the lane change, e represents the natural constant, μ represents the adjustment factor of the planned speed curve smoothness, and t m Indicates the moment when the planned speed reaches half during the lane change process; A judgment unit, used to determine the trajectory points in each speed stage, and calculate whether the expected driving state of the vehicle in different speed stages meets the preset conditions according to the trajectory points; A first lighting unit, used to determine the lighting order of the lamp beads in the LED light bar according to the trajectory points when the expected driving state meets the preset conditions; The second lighting unit is used to obtain the road attributes of the road where the trajectory point is located when the expected driving state does not meet the preset conditions, update the planned speed of the trajectory point according to the road attributes, and determine the lighting order of the lamp beads in the LED light bar according to the updated trajectory point.

7. An electronic device, characterized in that: include: A processor and a memory, the memory being used to store computer program codes, the computer program codes comprising computer instructions, and when the processor executes the computer instructions, the electronic device executes the multi-scene intelligent switching control method for the automotive LED light strip as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor of an electronic device, the processor executes the multi-scene intelligent switching control method for a vehicle LED light strip according to any one of claims 1 to 5.

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