Cooperative lighting method, cooperative lighting device, vehicle and readable storage medium

Abstract

The invention is suitable for the technical field of intelligent transportation, and provides a cooperative lighting method, a cooperative lighting device, a vehicle and a readable storage medium. The method is applied to a first vehicle in a motorcade, the motorcade comprises M vehicles, the M vehicles comprise one first vehicle and M-1 second vehicles, M is an integer greater than 1, and the method comprises the following steps: acquiring current moment driving information, current moment environment information, current moment light brightness and current moment light directions of the M vehicles; according to the current-moment driving information, the current-moment environment information, the current-moment light brightness and the current-moment light direction of the M vehicles, the next-moment light brightness and the next-moment light direction of the M vehicles are determined; and controlling the M vehicles to carry out light control according to the corresponding light brightness at the next moment and the light direction at the next moment. According to the invention, the lighting effect of the vehicle can be optimized, and the driving safety is improved.

Description

Technical Field

[0001] The present application belongs to the field of intelligent transportation technology, and in particular, relates to a collaborative lighting method, a collaborative lighting device, a vehicle and a readable storage medium. Background Art

[0002] Traditional headlight control methods are usually manually operated by the driver and are difficult to adapt to complex and changing road and environmental conditions. In cities with tall buildings, on highways with complex lighting, and in bad weather, traditional headlight control methods cannot provide better lighting effects, which can easily lead to problems such as poor visibility, severe light pollution, and energy waste, resulting in low driving safety. Summary of the invention

[0003] The embodiments of the present application provide a collaborative lighting method, a collaborative lighting device, a vehicle and a readable storage medium to optimize the lighting effect of the vehicle and improve driving safety.

[0004] In a first aspect, an embodiment of the present application provides a collaborative lighting method, which is applied to a first vehicle in a fleet, wherein the fleet includes M vehicles, the M vehicles include one first vehicle and M-1 second vehicles, where M is an integer greater than 1, and the collaborative lighting method includes:

[0005] Obtaining the current driving information, current environmental information, current light brightness and current light direction of the M vehicles;

[0006] Determine the light brightness and light direction of the M vehicles at a next moment according to the current driving information, the current environmental information, the current light brightness and the current light direction of the M vehicles;

[0007] The M vehicles are controlled to perform lighting control according to the corresponding lighting brightness and lighting direction at the next moment.

[0008] In an embodiment of the present application, the first vehicle in the fleet obtains data affecting the overall lighting effect of the fleet, such as the current driving information, current environmental information, current light brightness, and current light brightness of the M vehicles in the fleet, and determines the light brightness and light direction of the M vehicles at the next moment based on these data. The M vehicles can be controlled to perform light control according to the corresponding light brightness and light direction at the next moment, thereby realizing coordinated control of lights in the fleet, optimizing the overall lighting effect of vehicles in the fleet, and improving driving safety.

[0009] In a second aspect, an embodiment of the present application provides a collaborative lighting device, which is applied to a first vehicle in a fleet, wherein the fleet includes M vehicles, the M vehicles include one first vehicle and M-1 second vehicles, where M is an integer greater than 1, and the collaborative lighting device includes:

[0010] An information acquisition module is used to obtain the current driving information, current environmental information, current light brightness and current light direction of M vehicles in the fleet, where M is an integer greater than 1;

[0011] a light determination module, configured to determine the light brightness and light direction of the M vehicles at a next moment according to the current driving information, the current environmental information, the current light brightness and the current light direction of the M vehicles;

[0012] The lighting control module is used to control the lighting of each of the M vehicles according to the corresponding lighting brightness and lighting direction at the next moment.

[0013] In a third aspect, an embodiment of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the collaborative lighting method as described in the first aspect above is implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the collaborative lighting method as described in the first aspect above is implemented.

[0015] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed on a vehicle, enables the vehicle to execute the collaborative lighting method described in the first aspect.

[0016] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a vehicle networking collaborative lighting system in a fleet mode provided by an embodiment of the present application;

[0019] Figure 2 is a schematic flow chart of the collaborative lighting method provided in an embodiment of the present application;

[0020] Figure 3 is another schematic flow chart of the collaborative lighting method provided in an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of the structure of a collaborative lighting device provided in an embodiment of the present application;

[0022] Figure 5 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0024] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0025] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0026] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0027] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0028] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0029] For example, Figure 1 A schematic diagram of a vehicle networking collaborative lighting system in a fleet mode provided by an embodiment of the present application is shown.

[0030] See also Figure 1 As shown, the system includes a first vehicle 11 and at least one second vehicle 12 ( Figure 1 Only one is shown in the figure). Each vehicle is equipped with an on-board communication module for realizing vehicle-to-vehicle (V2V) communication. V2V technology is a vehicle networking communication technology, which is mainly used for information exchange between vehicles.

[0031] When a fleet is initially established, the on-board computer of a vehicle with the strongest computing power in the fleet can be manually configured as a central control unit (CCU), and the vehicle IDs of non-CCU vehicles in the fleet can be imported into the CCU. The CCU can send its vehicle ID and identity information to all non-CCU vehicles in the fleet through V2V broadcast messages. Non-CCU vehicles can identify CCU vehicles by receiving the vehicle ID and identity information of the CCU vehicle in the broadcast message. Among them, a CCU vehicle may refer to a vehicle whose on-board computer is configured as a CCU and executes a collaborative control scheme, that is, the first vehicle 11. The collaborative control scheme may refer to the scheme for realizing collaborative lighting provided in the present application. A non-CCU vehicle may refer to a vehicle whose on-board computer is not configured as a CCU, that is, the second vehicle 12. Identity information is used to identify whether it is a CCU vehicle. For example, the identity information of a non-CCU vehicle is "non-CCU", and the identity information of a CCU vehicle is "CCU".

[0032] After the fleet is formed, each time the non-CCU vehicle is turned on, the on-board communication module is activated, and an authentication request can be sent to the CCU through the on-board communication module. The authentication request includes the vehicle ID of the non-CCU vehicle sending the authentication request, the vehicle ID of the CCU vehicle to be connected, a timestamp, a random number and other data. In order to improve the security of these data, the non-CCU vehicle can encrypt these data before sending them to the CCU. After receiving the authentication request, the CCU can determine the legitimacy of the authentication request. After the authentication is passed, the non-CCU vehicle establishes a secure connection with the CCU vehicle and generates a session key to ensure secure communication between the non-CCU vehicle and the CCU vehicle, and begins to periodically send the current driving information, current environmental information, current light brightness and current light direction of the vehicle to the CCU in real time. After obtaining its own current driving information, current environmental information, current light brightness and current light direction data, the CCU vehicle also periodically sends them to the CCU. The CCU integrates these data of all vehicles and performs time synchronization and data preprocessing on these data. The CCU executes the collaborative lighting plan based on the integrated data, calculates the optimal lighting control strategy (i.e. the light brightness and light direction at the next moment), generates corresponding lighting control instructions based on the lighting control strategy, and sends the lighting control instructions to the lighting control module of each vehicle. The lighting control module is used to adjust the light brightness and light direction of the corresponding vehicle according to the lighting control instructions sent by the CCU.

[0033] The driving information at the current moment may refer to the driving information at the current moment, and the driving information includes but is not limited to the position, speed, and driving direction of the vehicle. The environmental information at the current moment may refer to the environmental information at the current moment, and the environmental information includes but is not limited to the light intensity of the vehicle's surrounding environment. The light brightness at the current moment may refer to the light brightness at the current moment, and the light brightness may refer to the brightness of the headlights. The light direction at the current moment may refer to the light direction at the current moment, and the light direction may refer to the direction of the headlights.

[0034] For each vehicle in the fleet, the location of the vehicle can be obtained through the Global Positioning System (GPS) or other positioning technologies. The driving direction is obtained through the vehicle's built-in sensors (such as accelerometers, gyroscopes, etc.). The speed can be parsed from the vehicle's CAN data or the number of pulses obtained from the pulse sensor to calculate the vehicle's speed. Each vehicle also includes an environmental perception system, which includes but is not limited to sensors such as cameras, radars, and lidars for real-time monitoring of the surrounding environment and traffic conditions. For example, real-time collection of environmental information such as road conditions, weather, and light intensity.

[0035] The embodiment of the present application provides a vehicle network collaborative lighting system in a fleet mode, which can achieve collaborative control of lights within the fleet through communication between vehicles, optimize the overall lighting effect, and improve vehicle visibility and driving safety.

[0036] See also Figure 2 , Figure 2 A schematic flow chart of a collaborative lighting method provided in an embodiment of the present application is shown, and the collaborative lighting method is applied to a first vehicle in a fleet, the fleet includes M vehicles, the M vehicles include a first vehicle and M-1 second vehicles, and M is an integer greater than 1. As an example but not a limitation, the collaborative lighting method includes the following steps:

[0037] Step 201, obtaining the current driving information, current environmental information, current light brightness and current light direction of M vehicles.

[0038] Among them, the current driving information, current environmental information, current light brightness and current light direction of the M vehicles include the current driving information, environmental information, light brightness and light direction of the first vehicle, and the current driving information, environmental information, light brightness and light direction of M-1 second vehicles.

[0039] The light direction may refer to the angle of light, and the light direction may be controlled by rotating the headlight. For example, when the headlight is irradiated directly in front of the headlight, the light direction is 0°, when the headlight rotates to the right, the light direction value is a positive number, and when the headlight rotates to the left, the light direction value is a negative number.

[0040] The first vehicle can receive current driving information, current environmental information, current light brightness and current light direction from each second vehicle based on establishing connection with each second vehicle.

[0041] In one possible implementation, in order to achieve connection between the first vehicle and each second vehicle, each second vehicle can broadcast an authentication request to the first vehicle through V2V immediately after each startup. After receiving the authentication request broadcast by any second vehicle, the first vehicle authenticates the second vehicle according to the authentication request; if the second vehicle passes the authentication, the first vehicle is controlled to establish a connection with the second vehicle; when the first vehicle and the second vehicle are connected, the current driving information, current environmental information, current light brightness and current light direction are received from the second vehicle.

[0042] Among them, the above-mentioned authentication request is used to authenticate the second vehicle that sends the authentication request. If the second vehicle passes the authentication, it means that the first vehicle and the second vehicle can establish a connection, and on this basis, data transmission between the first vehicle and the second vehicle can be realized; if the second vehicle fails the authentication, it means that the first vehicle and the second vehicle cannot establish a connection.

[0043] In a possible implementation, when the authentication request is encrypted and carries identification information of the vehicle to be connected, identification information of the vehicle sending the authentication request, a timestamp, and a random number; authenticating the second vehicle according to the authentication request includes:

[0044] Determine whether the authentication request is encrypted using a preset encryption method;

[0045] If the authentication request is encrypted using a preset encryption method, the authentication request is decrypted to obtain the identification information of the vehicle to be connected, the identification information of the vehicle sending the authentication request, a timestamp, and a random number;

[0046] If the identification information of the vehicle to be connected is the same as the identification information of the first vehicle, the identification information of the M vehicles includes the identification information of the vehicle sending the authentication request, the error between the timestamp and the current time is within the preset range, and the random number appears for the first time, then the second vehicle is determined to have passed the authentication.

[0047] The vehicle to be connected may refer to the vehicle that the vehicle sending the authentication request wants to connect to. The identification information of the vehicle to be connected may be used to uniquely identify the vehicle to be connected. It should be understood that the identification information may be composed of one or more combinations of letters, numbers, Chinese characters, etc., and this application does not limit this.

[0048] For any second vehicle, for the authentication request, the first vehicle and the second vehicle can pre-negotiate a preset encryption method, for example, use a pre-set key to encrypt the authentication request; if the first vehicle can decrypt the authentication request using the key, it can be determined that the authentication request is encrypted using the preset encryption method; if the first vehicle cannot decrypt the authentication request using the key, it can be determined that the authentication request is not encrypted using the preset encryption method, thereby determining that the second vehicle has failed the authentication.

[0049] After decrypting the authentication request, the first vehicle can obtain the identification information of the vehicle to be connected, the identification information of the vehicle sending the authentication request, the timestamp and the random number and other data. The random number and timestamp are used to ensure the uniqueness of the authentication request and prevent replay attacks. If the identification information of the vehicle to be connected is different from the identification information of the first vehicle, or the identification information of the M vehicles does not contain the identification information of the vehicle sending the authentication request, or the error between the timestamp and the current time is not within the preset range, or the random number is not the first time it appears, it can be determined that the second vehicle has not passed the authentication, and the second vehicle cannot establish a connection with the first vehicle.

[0050] In a possible implementation, after obtaining the current driving information, current environmental information, current light brightness, and current light direction of the M vehicles, the following is further included:

[0051] The current driving information, current environmental information, current light brightness and current light direction of M vehicles are time synchronized and smoothed, and the format of the same type of data is unified.

[0052] After the first vehicle establishes a connection with M-1 second vehicles, in order to reduce the time deviation between the M vehicles, the first vehicle can first use the Network Time Protocol (NTP) or other synchronization algorithms to calibrate the time of itself and the M-1 second vehicles, and then collect data such as the current driving information, the current environmental information, the current light brightness, and the current light direction after the calibration.

[0053] The first vehicle can ensure the consistency and accuracy of the data by performing time synchronization processing on the current driving information, current environmental information, current light brightness, and current light direction of the M vehicles, so that the data after time synchronization processing can reflect the status of the M vehicles at the same time point. As an example but not a limitation, the current driving information, current environmental information, current light brightness, and current light direction may include a timestamp, and the data synchronization of the M vehicles can be achieved based on the timestamp.

[0054] The first vehicle can reduce the impact of short-term fluctuations and noise by smoothing the current driving information, current environmental information, current light brightness, and current light direction of the M vehicles. Optionally, a preset filtering algorithm (such as a Kalman filtering algorithm) can be used to smooth the above data.

[0055] The first vehicle can ensure that the same type of data is consistent in format by processing the current driving information, current environmental information, current light brightness, and current light direction of the M vehicles in a unified format, so as to facilitate subsequent processing. For example, the positions of the M vehicles can be unified in latitude and longitude format, the speeds can be unified in meters per second, and the timestamps can be unified in Coordinated Universal Time (UTC) format.

[0056] Step 202, determining the light brightness and light direction of the M vehicles at the next moment according to the current driving information, current environmental information, current light brightness and current light direction of the M vehicles.

[0057] The first vehicle can more accurately determine the light brightness and light direction of the M vehicles at the next moment based on the current driving information, current environmental information, current light brightness and current light brightness of the M vehicles in the fleet, which data affect the overall lighting effect of the fleet. On this basis, the coordinated control of lights in the fleet can be achieved, the overall lighting effect of the vehicles in the fleet can be optimized, and driving safety can be improved.

[0058] The light brightness of the M vehicles at the next moment may refer to the light brightness of each of the M vehicles at the next moment. The light direction of the M vehicles at the next moment may refer to the light direction of each of the M vehicles at the next moment.

[0059] In a possible implementation, the first vehicle can combine the current driving information, current environmental information, current light brightness, and current light direction of the M vehicles with the Model Predictive Control (MPC) algorithm to predict the next moment light brightness and next moment light direction of the M vehicles. The first vehicle can predefine the control cycle T and prediction time domain N of the MPC algorithm. For example, the control cycle T is 50ms (that is, the MPC algorithm is executed once every 50ms, which can also be understood as updating the next moment light brightness and next moment light direction of the M vehicles every 50ms), and the prediction time domain N is 10 steps.

[0060] As an example but not limitation, the first vehicle may predict the light brightness and light direction of the M vehicles at the next moment through the following steps 301 to 305 .

[0061] Step 301: Use the current driving information and current environmental information of each of the M vehicles as the state variables of the corresponding vehicle at the current moment.

[0062] As an example and not a limitation, the state variables of the vehicle may be defined as:

[0063]

[0064] Among them, x i (t) represents the state variable of the i-th vehicle at the current moment, p i (t) represents the position of the i-th vehicle at the current moment, v i (t) represents the speed of the i-th vehicle at the current moment, θ i (t) represents the driving direction of the i-th vehicle at the current moment, I i (t) represents the light intensity of the i-th vehicle at the current moment. i (t), v i (t) and θ i (t) is the current driving information of the i-th vehicle, I i (t) is the current environmental information of the i-th vehicle.

[0065] Step 302: The current light brightness and current light direction of each of the M vehicles are used as control inputs of the corresponding vehicle at the current moment.

[0066] As an example and not limitation, the control inputs for the vehicle may be defined as:

[0067]

[0068] Among them, u i (t) represents the control input of the i-th vehicle at the current moment, L i (t) represents the light brightness of the i-th vehicle at the current moment (i.e., the light brightness of the i-th vehicle at the current moment), α i (t) represents the light direction of the i-th vehicle at the current moment (i.e., the light direction of the i-th vehicle at the current moment).

[0069] Step 303, determining the state variables of the M vehicles at N moments according to the state variables and control inputs of the M vehicles at the current moment, and the control inputs of each of the M vehicles at N moments after the current moment.

[0070] Among them, the control inputs at N moments are unknown quantities, and N is an integer greater than 1.

[0071] As an example and not limitation, a dynamic model of a vehicle may be used to describe how state variables change over time:

[0072] x i (t+1)=f(x i (t),u i (t),w i (t))

[0073] Among them, x i (t+1) represents the state variable of the i-th vehicle at the next moment, f(·) represents the dynamic function, x i (t) represents the state variable of the i-th vehicle at the current moment, u i (t) represents the control input of the i-th vehicle at the current moment, w i (t) represents the external disturbance of the i-th vehicle at the current moment. Adding external disturbance can improve the prediction accuracy of the control input. The value of i is an integer greater than 0 and less than or equal to M.

[0074] Step 304, determining the road lighting coverage of the M vehicles at the N+1 moment according to the state variables and control inputs of the M vehicles at the N+1 moment.

[0075] The N+1 moments include the current moment and N moments after the current moment.

[0076] The first vehicle can determine the road lighting coverage of the M vehicles at time N+1 based on the vehicle positions in the state variables of the M vehicles at time N+1 and the light brightness and light direction in the control input.

[0077] In a possible implementation, the first vehicle may determine the road lighting coverage of M vehicles at the N+1 moment according to the first formula.

[0078] The first formula is as follows:

[0079]

[0080] Among them, C i (t+k) represents the road lighting coverage of the i-th vehicle at time t+k, L i (t+k) represents the light brightness of the i-th vehicle at time t+k, α i (t+k) represents the light direction of the i-th vehicle at time t+k, σ represents the standard deviation of the directional distribution function, d i (t+k) represents the distance between the i-th vehicle and any point on the road at time t+k, R(α) represents the maximum coverage radius in the direction α of the light, represents the directional distribution function, which is used to describe the distribution of light in different directions. The value range of k is 0 to N.

[0081] It can be seen from the above first formula that the first vehicle can comprehensively evaluate the lighting coverage of the vehicle on the road (ie, the road lighting coverage rate) by integrally calculating the light intensity of the headlights in various directions and distances.

[0082] The first vehicle can calculate the above d by the following steps i (t+k). Assume that the position of the i-th vehicle at time t+k is p i (t) = (x i '(t+k),y i '(t+k)), the illumination target point is represented in the polar coordinate system as (r, α), which is converted into the rectangular coordinate system as (rcosα, rsinα). The illumination target point can refer to any point on the road where the light brightness shines. The Euclidean distance between the position of the i-th vehicle at time t+k and the illumination target point (i.e., the distance between the i-th vehicle at time t+k and any point on the road) is calculated as:

[0083]

[0084] Step 305, determining the energy consumption of the M vehicles at the N+1 moment according to the control input of each of the M vehicles at the N+1 moment.

[0085] The first vehicle may determine the energy consumption of the M vehicles at time N+1 according to the light brightness in the control input of each of the M vehicles at time N+1.

[0086] In a possible implementation, the first vehicle may determine the energy consumption of M vehicles at N+1 moments according to the second formula.

[0087] The second formula is as follows:

[0088] E i (t+k)=h·L i (t+k)

[0089] Among them, energy consumption is proportional to the brightness of the light, E i (t+k) represents the energy consumption of the i-th vehicle at time t+k, and h represents the proportional constant.

[0090] Step 306, determining the light brightness and light direction of the M vehicles at the next moment while maximizing the road lighting coverage of the M vehicles at the N+1 moment and minimizing the energy consumption of the M vehicles at the N+1 moment.

[0091] The first vehicle determines the light brightness and light direction of the M vehicles at the next moment through step 306, which can achieve better road lighting effects and minimum energy consumption for the M vehicles in the fleet. This can not only improve driving safety, but also optimize vehicle lighting through collaborative work, reduce light interference to drivers and pedestrians, and intelligently allocate light sources to reduce unnecessary energy consumption.

[0092] In a possible implementation, determining the light brightness and light direction of the M vehicles at the next moment while maximizing the road lighting coverage of the M vehicles at the N+1 moment and minimizing the energy consumption of the M vehicles at the N+1 moment includes:

[0093] According to the objective formula, the objective function is determined with the goal of maximizing the road lighting coverage of the M vehicles at the N+1 moment and minimizing the energy consumption of the M vehicles at the N+1 moment;

[0094] The target formula is:

[0095]

[0096] Among them, J represents the objective function, Q x represents the weight of the state variable, Q u represents the weight of the control input, x i (t+k) represents the state variable of the i-th vehicle at time t+k, x ref,i (t+k) represents the reference state of the i-th vehicle at time t+k, u i (t+k) represents the control input of the i-th vehicle at time t+k, Q c represents the weight of road lighting coverage, Q e Represents the weight of energy consumption, C i (t+k) represents the road lighting coverage of the i-th vehicle at time t+k, E i (t+k) represents the energy consumption of the i-th vehicle at time t+k, where time t represents the current time;

[0097] Under the condition of satisfying the constraints of the state variables at N+1 moments, the control inputs of M vehicles at N moments are solved by minimizing the objective function. The control inputs at N moments include the light brightness and light direction at the next moment, as well as the light brightness and light direction at N-1 moments after the next moment.

[0098] The constraint is x min ≤x i (t+k)≤x max , x max represents the maximum value of the state variable, x min Indicates the minimum value of the state variable.

[0099] Electronic devices can use optimization algorithms such as linear programming and nonlinear programming to solve the optimal control input so that the objective function is minimized while satisfying the constraints.

[0100] The above state variables can be understood as the actual state of the vehicle, x i (t+k)-xref,i (t+k) can be understood as the deviation between the actual state of the vehicle and the reference state. The weights in the above target formula are all pre-set known quantities. For example, if the control accuracy of the deviation between states is required to be high, a larger Q can be set. x If you have higher requirements on energy consumption and usage cost, you can set a larger Q e .

[0101] Optionally, the reference state is a known quantity and can be predetermined by a path planning algorithm, which usually takes into account factors such as road networks, traffic regulations and destinations.

[0102] In a possible implementation, when the state variables include the position, speed, driving direction, and light intensity of the vehicle, the constraints of the state variables may include:

[0103] p min ≤p i (t+k)≤p max

[0104] v min ≤v i (t+k)≤v max

[0105] θ min ≤θ i (t+k)≤θ max

[0106] I min ≤I i (t+k)≤I max

[0107] Among them, p max Indicates the maximum value of the position, p min Indicates the minimum value of the position, v max Indicates the maximum value of velocity, v min represents the minimum value of velocity, θ max Indicates the maximum value of the driving direction, θ min Indicates the minimum value of the driving direction, I max Indicates the maximum light intensity, I min Indicates the minimum value of light intensity.

[0108] When minimizing the objective function, the first vehicle can maximize the road lighting coverage of the M vehicles at the N+1 moment and minimize the energy consumption of the M vehicles at the N+1 moment.

[0109] It should be understood that although the solution obtained by minimizing the objective function is the light brightness and light direction of M vehicles at the next moment, as well as the light brightness and light direction at N-1 moments after the next moment, in order to enhance the light's responsiveness to environmental changes, only the light brightness and light direction at the next moment can be used to achieve light control.

[0110] Step 203, controlling the M vehicles to perform lighting control according to the corresponding lighting brightness and lighting direction at the next moment.

[0111] Taking the i-th vehicle among M vehicles as an example, controlling the light of the i-th vehicle according to the corresponding light brightness and light direction at the next moment may mean controlling the light brightness of the i-th vehicle at the current moment to be adjusted to the predicted light brightness of the i-th vehicle at the next moment, and controlling the light direction of the i-th vehicle at the current moment to be adjusted to the predicted light direction of the i-th vehicle at the next moment.

[0112] In a possible implementation, controlling the lights of the M vehicles to be controlled according to the corresponding light brightness and light direction at the next moment includes:

[0113] Generate corresponding lighting control instructions according to the lighting brightness and lighting direction of each of the M vehicles at the next moment;

[0114] performing lighting control according to the lighting control instruction corresponding to the first vehicle;

[0115] The corresponding light control instructions are sent to M-1 second vehicles, where the light control instructions are used to control the corresponding second vehicles to perform light control according to the corresponding light brightness and light direction at the next moment.

[0116] The above-mentioned light control instructions include but are not limited to the vehicle identification information, timestamp, light switch status, light brightness at the next moment, and light direction at the next moment.

[0117] The vehicle identification information in the light control command is the identification information of the controlled vehicle (eg, the ID of the controlled vehicle), and is used to ensure that the light control command can be accurately sent to the corresponding vehicle to avoid sending it to the wrong vehicle.

[0118] The timestamp in the light control command can prevent replay attacks, ensure that the light control command received by the vehicle is the latest, and effectively protect the security of the light control command. By checking the timestamp in the light control command, expired or duplicate commands can be filtered out.

[0119] The light switch status is used to indicate whether the vehicle's lights are turned on.

[0120] The first vehicle can perform light control according to its own light brightness and light direction at the next moment according to its own light control instruction, thereby adjusting the light brightness and light direction according to the light control instruction.

[0121] For example, assume that there are three vehicles forming a convoy, i.e., M=3, the control cycle of the MPC algorithm is 50ms, and the prediction time domain is 5 steps (i.e., N=5). The state variables and control inputs of the three vehicles at the current time (t=0) are known. Through the dynamic model x i (t+1)=f(x i (t),u i (t),w i (t)), you can use u i (t) represents the state variables of the three vehicles in the next five steps, namely x i (1), x i (2) x i (3) x i (4), x i (5). The control inputs that need to be solved are the light brightness and light direction of the three vehicles at the next moment, that is, L1(1) and α1(1) of vehicle 1, L2(1) and α2(1) of vehicle 2, and L3(1) and α3(1) of vehicle 3.

[0122] The objective function includes minimizing the energy consumption of all vehicles (i.e., the consumption of light brightness) and maximizing the road lighting coverage. Optimization algorithms such as linear programming or nonlinear programming are used to solve the optimal control input under the premise of satisfying the constraints to minimize the objective function.

[0123] Assume that the optimization solution results are as follows:

[0124] For vehicle 1, L1(1)=80%, α1(1)=10°.

[0125] Vehicle 2 has L2(1)=70%, α2(1)=5°.

[0126] Vehicle 3 has L3(1)=70% and α3(1)=-5°.

[0127] It should be noted that the optimization results also include L1(2) and α1(2), L1(3) and α1(3), L1(4) and α1(4), L1(5) and α1(5) of vehicle 1; L2(2) and α2(2), L2(3) and α2(3), L2(4) and α2(4), L2(5) and α2(5) of vehicle 2; L3(2) and α3(2), L3(3) and α3(3), L3(4) and α3(4), L3(5) and α3(5) of vehicle 3. In order to enhance the responsiveness of the lights to environmental changes, only L1(1) and α1(1) of vehicle 1, L2(1) and α2(1) of vehicle 2, and L3(1) and α3(1) of vehicle 3 are used when controlling the lights of these three vehicles.

[0128] As an example and not a limitation, the light brightness can be expressed as 0% to 100%, where 0% is the minimum light brightness and 100% is the maximum light brightness. When the light brightness is 0%, it indicates that the light switch state of the vehicle is off, and when the light brightness is greater than 0%, it indicates that the light switch state of the corresponding vehicle is on.

[0129] According to the optimization results, the generated lighting control instructions can be:

[0130] The lighting control instruction content of vehicle 1 may be: the lighting brightness is set to 80%, and the lighting direction is set to 10°;

[0131] The lighting control instruction content of vehicle 2 may be: the lighting brightness is set to 70%, and the lighting direction is set to 5°;

[0132] The light control instruction content of vehicle 3 may be: the light brightness is set to 60%, and the light direction is set to -5°.

[0133] Vehicle 1 adjusts its light brightness to 80% and its light direction to 10° according to its corresponding light control instruction.

[0134] Vehicle 2 adjusts its light brightness to 70% and its light direction to 5° according to its corresponding light control instruction.

[0135] Vehicle 3 adjusts its light brightness to 60% and its light direction to -5° according to its corresponding light control instruction.

[0136] In an embodiment of the present application, the first vehicle in the fleet obtains data affecting the overall lighting effect of the fleet, such as the current driving information, current environmental information, current light brightness, and current light brightness of the M vehicles in the fleet, and determines the light brightness and light direction of the M vehicles at the next moment based on these data. The M vehicles can be controlled to perform light control according to the corresponding light brightness and light direction at the next moment, thereby realizing coordinated control of lights in the fleet, optimizing the overall lighting effect of vehicles in the fleet, and improving driving safety.

[0137] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0138] Corresponding to the collaborative lighting method described in the above embodiment, Figure 4 The schematic diagram of the structure of the cooperative lighting device provided in the embodiment of the present application is shown. The cooperative lighting device can be applied to a first vehicle in a fleet, the fleet includes M vehicles, the M vehicles include one first vehicle and M-1 second vehicles, and M is an integer greater than 1. For ease of description, only the parts related to the embodiment of the present application are shown.

[0139] Reference Figure 4 , the collaborative lighting device comprises:

[0140] The information acquisition module 41 is used to acquire the current driving information, current environmental information, current light brightness and current light direction of the M vehicles;

[0141] A light determination module 42, configured to determine the light brightness and light direction of the M vehicles at a next moment according to the current driving information, the current environmental information, the current light brightness and the current light direction of the M vehicles;

[0142] The light control module 43 is used to control the lights of the M vehicles according to the corresponding light brightness and light direction at the next moment.

[0143] Optionally, the light determination module 42 includes:

[0144] A first determining unit, configured to use the current driving information and the current environmental information of each of the M vehicles as a state variable of the corresponding vehicle at the current moment;

[0145] A second determining unit is used to use the current light brightness and the current light direction of each of the M vehicles as a control input of the corresponding vehicle at the current moment;

[0146] a third determining unit, configured to determine the state variables of the M vehicles at N moments according to the state variables and control inputs of the M vehicles at the current moment and the control inputs of each of the M vehicles at N moments after the current moment, wherein the control inputs at the N moments are unknown quantities, and N is an integer greater than 1;

[0147] a fourth determining unit, configured to determine the road lighting coverage of the M vehicles at the N+1 moment according to the state variables and control inputs of the M vehicles at the N+1 moment, wherein the N+1 moment includes the current moment and the N moment;

[0148] a fifth determining unit, configured to determine the energy consumption of the M vehicles at the N+1 moment according to the control input of each of the M vehicles at the N+1 moment;

[0149] The sixth determination unit is used to determine the light brightness and light direction of the M vehicles at the next moment while maximizing the road lighting coverage of the M vehicles at the N+1 moment and minimizing the energy consumption of the M vehicles at the N+1 moment.

[0150] Optionally, the sixth determining unit is specifically configured to:

[0151] According to the objective formula, the objective function is determined with the goal of maximizing the road lighting coverage of the M vehicles at the N+1 moment and minimizing the energy consumption of the M vehicles at the N+1 moment;

[0152] The target formula is:

[0153]

[0154] Where J represents the objective function, Q x represents the weight of the state variable, Q u represents the weight of the control input, x i (t+k) represents the state variable of the i-th vehicle at time t+k, x ref,i (t+k) represents the reference state of the i-th vehicle at time t+k, u i (t+k) represents the control input of the i-th vehicle at time t+k, Q c represents the weight of road lighting coverage, Q e Represents the weight of energy consumption, C i(t+k) represents the road lighting coverage rate of the i-th vehicle at time t+k, E i (t+k) represents the energy consumption of the i-th vehicle at time t+k, where time t represents the current time;

[0155] Under the condition that the constraint conditions of the state variables at the N+1 moments are satisfied, the control inputs of the M vehicles at the N moments are solved by minimizing the objective function, where the control inputs at the N moments include the light brightness at the next moment and the light direction at the next moment, as well as the light brightness and light direction at N-1 moments after the next moment;

[0156] The constraint condition is x min ≤x i (t+k)≤x max , x max represents the maximum value of the state variable, x min Indicates the minimum value of the state variable.

[0157] Optionally, the information acquisition module 41 includes:

[0158] a vehicle authentication unit, configured to authenticate the second vehicle according to the authentication request after receiving the authentication request broadcast by any second vehicle;

[0159] a connection control unit, configured to control the first vehicle to establish a connection with the second vehicle if the second vehicle passes the authentication;

[0160] An information receiving unit is used to receive the current driving information, the current environmental information, the current light brightness and the current light direction from the second vehicle when the first vehicle is connected to the second vehicle.

[0161] Optionally, when the authentication request is encrypted and carries the identification information of the vehicle to be connected, the identification information of the vehicle sending the authentication request, a timestamp and a random number; the vehicle authentication unit is specifically used to:

[0162] Determining whether the authentication request is encrypted using a preset encryption method;

[0163] If the authentication request is encrypted using the preset encryption method, decrypting the authentication request to obtain the identification information of the vehicle to be connected, the identification information of the vehicle sending the authentication request, the timestamp and the random number;

[0164] If the identification information of the vehicle to be connected is the same as the identification information of the first vehicle, the identification information of the M vehicles includes the identification information of the vehicle that sends the authentication request, the error between the timestamp and the current moment is within a preset range, and the random number appears for the first time, then it is determined that the second vehicle has passed the authentication.

[0165] Optionally, the lighting control module 43 is specifically used for:

[0166] Generate corresponding light control instructions according to the light brightness at the next moment and the light direction at the next moment of each of the M vehicles;

[0167] Performing light control according to the light control instruction corresponding to the first vehicle;

[0168] The light control instructions corresponding to each of the M-1 second vehicles are sent, where the light control instructions are used to control the corresponding second vehicles to perform light control according to the corresponding light brightness at the next moment and the light direction at the next moment.

[0169] Optionally, the collaborative lighting device further includes:

[0170] The data processing module is used to perform time synchronization processing, smoothing processing and format unification processing of the current driving information, the current environmental information, the current light brightness and the current light direction of the M vehicles, as well as format unification processing of the same type of data.

[0171] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0172] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Figure 5 As shown, the vehicle 5 of this embodiment includes: at least one processor 50 ( Figure 5 Only one is shown in the figure), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50, wherein the processor 50 implements the steps of any of the above-mentioned collaborative lighting method embodiments when executing the computer program 52.

[0173] The vehicle may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that Figure 5 It is only an example of the vehicle 5 and does not constitute a limitation on the vehicle 5. The vehicle 5 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0174] The processor 50 may be a CCU, or a central processing unit (CPU), other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (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 any conventional processor, etc.

[0175] In some embodiments, the memory 51 may be an internal storage unit of the vehicle 5, such as a hard disk or memory of the vehicle 5. In other embodiments, the memory 51 may also be an external storage device of the vehicle 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the vehicle 5. Further, the memory 51 may also include both an internal storage unit of the vehicle 5 and an external storage device. The memory 51 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program. The memory 51 may also be used to temporarily store data that has been output or is to be output.

[0176] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0177] An embodiment of the present application also provides a vehicle, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps of any of the above-mentioned method embodiments when executing the computer program.

[0178] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0179] An embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle, the vehicle can implement the steps in the above-mentioned method embodiments when the computer program product is executed.

[0180] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the device / vehicle, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0181] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0182] Those of ordinary skill 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 this application.

[0183] In the embodiments provided in the present application, it should be understood that the disclosed devices / vehicles and methods can be implemented in other ways. For example, the device / vehicle embodiments described above are merely schematic. For example, the division of the modules or 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.

[0184] 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.

[0185] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A collaborative lighting method, characterized in that: Applied to a first vehicle in a fleet, the fleet includes M vehicles, the M vehicles include one first vehicle and M-1 second vehicles, M is an integer greater than 1, the coordinated lighting method includes: Obtaining the current driving information, current environmental information, current light brightness and current light direction of the M vehicles; Determine the light brightness and light direction of the M vehicles at a next moment according to the current driving information, the current environmental information, the current light brightness and the current light direction of the M vehicles; The M vehicles are controlled to perform lighting control according to the corresponding lighting brightness and lighting direction at the next moment.

2. The collaborative lighting method according to claim 1, characterized in that: The determining the light brightness and light direction of the M vehicles at a next moment according to the current driving information, the current environmental information, the current light brightness and the current light direction of the M vehicles comprises: Taking the current driving information and the current environmental information of each of the M vehicles as the state variables of the corresponding vehicle at the current moment; Using the current light brightness and the current light direction of each of the M vehicles as the control input of the corresponding vehicle at the current moment; Determine the state variables of the M vehicles at N moments according to the state variables and control inputs of the M vehicles at the current moment and the control inputs of each of the M vehicles at N moments after the current moment, where the control inputs at the N moments are unknown quantities and N is an integer greater than 1; Determine the road lighting coverage of the M vehicles at the N+1 moment according to the state variables and control inputs of each of the M vehicles at the N+1 moment, where the N+1 moment includes the current moment and the N moment; Determining the energy consumption of the M vehicles at the N+1 moment according to the control input of each of the M vehicles at the N+1 moment; The light brightness and light direction of the M vehicles at the next moment are determined while maximizing the road lighting coverage of the M vehicles at the N+1 moment and minimizing the energy consumption of the M vehicles at the N+1 moment.

3. The collaborative lighting method according to claim 2, characterized in that: The step of determining the light brightness and light direction of the M vehicles at the next moment while maximizing the road lighting coverage of the M vehicles at the N+1 moment and minimizing the energy consumption of the M vehicles at the N+1 moment includes: According to the objective formula, the objective function is determined with the goal of maximizing the road lighting coverage of the M vehicles at the N+1 moment and minimizing the energy consumption of the M vehicles at the N+1 moment; The target formula is: Where J represents the objective function, Q x represents the weight of the state variable, Q u represents the weight of the control input, x i (t+k) represents the state variable of the i-th vehicle at time t+k, x ref,i (t+k) represents the reference state of the i-th vehicle at time t+k, u i (t+k) represents the control input of the i-th vehicle at time t+k, Q c represents the weight of road lighting coverage, Q e Represents the weight of energy consumption, C i (t+k) represents the road lighting coverage rate of the i-th vehicle at time t+k, E i (t+k) represents the energy consumption of the i-th vehicle at time t+k, where time t represents the current time; Under the condition that the constraint conditions of the state variables at the N+1 moments are satisfied, the control inputs of the M vehicles at the N moments are solved by minimizing the objective function, where the control inputs at the N moments include the light brightness at the next moment and the light direction at the next moment, as well as the light brightness and light direction at N-1 moments after the next moment; The constraint condition is x min ≤x i (t+k)≤x max , x max represents the maximum value of the state variable, x min Indicates the minimum value of the state variable.

4. The collaborative lighting method according to any one of claims 1 to 3, characterized in that: The method for acquiring the current driving information, the current environmental information, the current light brightness and the current light direction of the M-1 second vehicles includes: After receiving an authentication request broadcast by any second vehicle, authenticating the second vehicle according to the authentication request; If the second vehicle passes the authentication, controlling the first vehicle to establish a connection with the second vehicle; When the first vehicle is connected to the second vehicle, the current driving information, the current environmental information, the current light brightness and the current light direction are received from the second vehicle.

5. The collaborative lighting method according to claim 4, characterized in that: In the case where the authentication request is encrypted and carries identification information of the vehicle to be connected, identification information of the vehicle sending the authentication request, a timestamp and a random number; The authenticating the second vehicle according to the authentication request comprises: Determining whether the authentication request is encrypted using a preset encryption method; If the authentication request is encrypted using the preset encryption method, decrypting the authentication request to obtain the identification information of the vehicle to be connected, the identification information of the vehicle sending the authentication request, the timestamp and the random number; If the identification information of the vehicle to be connected is the same as the identification information of the first vehicle, the identification information of the M vehicles includes the identification information of the vehicle that sends the authentication request, the error between the timestamp and the current moment is within a preset range, and the random number appears for the first time, then it is determined that the second vehicle has passed the authentication.

6. The collaborative lighting method according to any one of claims 1 to 3, characterized in that: The controlling the M vehicles to perform lighting control according to the corresponding lighting brightness at the next moment and the lighting direction at the next moment includes: Generate corresponding light control instructions according to the light brightness at the next moment and the light direction at the next moment of each of the M vehicles; Performing light control according to the light control instruction corresponding to the first vehicle; The light control instructions corresponding to each of the M-1 second vehicles are sent, where the light control instructions are used to control the corresponding second vehicles to perform light control according to the corresponding light brightness at the next moment and the light direction at the next moment.

7. The collaborative lighting method according to any one of claims 1 to 3, characterized in that: After obtaining the current driving information, current environmental information, current light brightness and current light direction of the M vehicles, the method further includes: The current driving information, the current environmental information, the current light brightness and the current light direction of the M vehicles are time synchronized, smoothed and the format of the same type of data is unified.

8. A collaborative lighting device, characterized in that: Applied to a first vehicle in a fleet, the fleet includes M vehicles, the M vehicles include one first vehicle and M-1 second vehicles, M is an integer greater than 1, the cooperative lighting device includes: An information acquisition module, used to acquire the current driving information, current environmental information, current light brightness and current light direction of the M vehicles; a light determination module, configured to determine the light brightness and light direction of the M vehicles at a next moment according to the current driving information, the current environmental information, the current light brightness and the current light direction of the M vehicles; The lighting control module is used to control the lighting of each of the M vehicles according to the corresponding lighting brightness and lighting direction at the next moment.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the collaborative lighting method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the collaborative lighting method according to any one of claims 1 to 7 is implemented.

Images