Vehicle lamp control method and device, new energy vehicle and readable storage medium

Abstract

The invention relates to an automobile lamp control method and device, a new energy automobile, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring vehicle environment information and vehicle state information; determining a target control condition matched with the vehicle environment information and the vehicle state information from preset vehicle lamp control conditions; the preset vehicle lamp control conditions comprise a first group of conditions for triggering and switching a high beam state, a second group of conditions for triggering and switching a low beam state, and a third group of conditions for triggering and entering a current vehicle lamp state; controlling the vehicle lamp to enter a state corresponding to the target control condition; wherein under the condition that the vehicle lamp enters the current vehicle lamp state, the vehicle lamp is restrained and automatically switched to the high beam state or the low beam state. The method can automatically switch the high beam and the low beam to ensure that the vehicle lamp state is matched with the actual lighting requirement, so that the driving safety is ensured.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle light control method, device, new energy vehicle, and computer-readable storage medium. Background Art

[0002] The driver can control the headlights to switch between low beam and high beam to meet the lighting needs of different driving environments, but this is highly dependent on the driver's individual status. It is often the case that the headlight status does not match the lighting needs of the driving environment, affecting driving safety. Summary of the invention

[0003] Based on this, it is necessary to provide a headlight control method, device, new energy vehicle, computer-readable storage medium and computer program product to address the above-mentioned technical problems, so as to improve the intelligence of headlight control, that is, to achieve automatic and accurate switching of high and low beam lights, and ensure that the headlight status matches the actual lighting needs, thereby ensuring driving safety.

[0004] In a first aspect, the present application provides a vehicle light control method, comprising:

[0005] Obtain vehicle environment information and vehicle status information;

[0006] Determining a target control condition that matches the vehicle environment information and the vehicle state information from preset vehicle light control conditions; the preset vehicle light control conditions include a first set of conditions for triggering switching to a high beam state, a second set of conditions for triggering switching to a low beam state, and a third set of conditions for triggering entering and maintaining a current vehicle light state;

[0007] The vehicle lights are controlled to enter a state corresponding to the target control condition; wherein, when the vehicle lights enter a state where the current vehicle light state is maintained, the vehicle lights are suppressed from automatically switching to a high beam state or a low beam state.

[0008] In one embodiment, the third group of conditions includes first-level conditions and second-level conditions; the priority of the first-level conditions is higher than the priority of the second-level conditions; the method also includes: when controlling the vehicle lights to enter the third group of conditions corresponding to maintaining the current vehicle light state, if the first-level conditions in the third group of conditions match the vehicle environment information and / or vehicle status information, then before the vehicle environment information / or vehicle status information corresponding to the first-level conditions is released, the vehicle lights are suppressed from automatically switching.

[0009] In one embodiment, the method further comprises:

[0010] When the headlights are controlled to enter the third set of conditions corresponding to maintaining the current headlight state, if the first-level conditions in the third set of conditions do not match the vehicle environment information and the vehicle status information, and the second-level conditions match the vehicle environment information and / or the vehicle status information, then when it is re-determined that the vehicle environment information and the vehicle status information match the first set of conditions, the automatic switching of the headlights is suppressed within a preset time range, and after the preset time range expires, the headlights are controlled to switch from maintaining the current headlight state to the high beam state.

[0011] In one embodiment, the first level condition includes: the vehicle emergency function is activated; the vehicle safety emergency function includes at least one of the following: anti-lock braking function, electronic stability program function, automatic emergency braking function, lane departure warning function, traction control function.

[0012] In one embodiment, determining the target control condition matched by the vehicle environment information and the vehicle state information from the preset vehicle light control conditions includes: when the current vehicle light state is a low beam state, if the vehicle environment information and the vehicle state information meet any one of the following conditions, determining the third group of conditions as the target control condition:

[0013] The vehicle environment brightness is between a first light intensity and a second light intensity; the first light intensity represents the environment light intensity corresponding to the low beam state; the second light intensity represents the environment light intensity corresponding to the high beam state;

[0014] The vehicle safety emergency function is activated;

[0015] The vehicle's turn signals are activated;

[0016] The lateral acceleration of the vehicle is greater than or equal to a preset lateral acceleration threshold;

[0017] The vehicle's steering wheel angle rate is greater than or equal to a preset steering wheel angle rate threshold;

[0018] The yaw rate of the vehicle is greater than or equal to a preset yaw rate threshold;

[0019] Controlling the vehicle lights to enter a state corresponding to the target control condition includes: controlling the vehicle lights to switch from a low beam state to maintaining a current vehicle light state.

[0020] In one embodiment, determining a target control condition that matches the vehicle environment information and the vehicle state information from the preset vehicle light control conditions includes:

[0021] When the current vehicle light state is the high beam state, if the vehicle environment information and the vehicle state information meet any of the following conditions, the third group of conditions is determined as the target control condition:

[0022] The vehicle environment brightness is between a first light intensity and a second light intensity; the first light intensity represents the environment light intensity corresponding to the low beam state; the second light intensity represents the environment light intensity corresponding to the high beam state;

[0023] The vehicle safety emergency function is activated;

[0024] Controlling the vehicle lights to enter a state corresponding to the target control condition includes: controlling the vehicle lights to switch from a high beam state to maintaining a current vehicle light state.

[0025] In one embodiment, determining a target control condition that matches the vehicle environment information and the vehicle state information from the preset vehicle light control conditions includes:

[0026] When the current vehicle light state is low beam, if the vehicle environment information and vehicle state information meet the following conditions, the first set of conditions is determined as the target control conditions:

[0027] The vehicle speed is greater than a preset first vehicle speed threshold;

[0028] The vehicle environment brightness is less than or equal to the second light intensity; the second light intensity represents the ambient light intensity corresponding to the high beam state;

[0029] The wiper oscillation speed is less than a preset oscillation speed threshold;

[0030] There is no target object within the preset distance range in front of the vehicle;

[0031] The vehicle's fog lights and hazard lights are turned off;

[0032] No glare is detected in front of the vehicle;

[0033] Controlling the vehicle lights to enter a state corresponding to the target control condition includes: controlling the vehicle lights to switch from a low beam state to a high beam state.

[0034] In one embodiment, determining a target control condition that matches the vehicle environment information and the vehicle state information from the preset vehicle light control conditions includes:

[0035] When the current vehicle light state is the high beam state, if the vehicle environment information and the vehicle state information meet any of the following conditions, the second set of conditions is determined as the target control condition:

[0036] The vehicle speed is less than a preset second vehicle speed threshold;

[0037] The vehicle environment brightness is greater than or equal to the first light intensity; the first light intensity represents the ambient light intensity corresponding to the low beam state;

[0038] The wiper swing speed is greater than or equal to a preset swing speed threshold;

[0039] There is a target object within a preset distance range in front of the vehicle;

[0040] The vehicle's fog lights and / or hazard lights are on;

[0041] Glare is detected in front of the vehicle;

[0042] Controlling the vehicle lights to enter a state corresponding to the target control condition includes: controlling the vehicle lights to switch from a high beam state to a low beam state.

[0043] In one embodiment, obtaining vehicle environment information includes:

[0044] The data collected by the preset forward-looking integrated machine and the millimeter-wave radar are obtained to obtain the vehicle environment information; the forward-looking integrated machine includes a forward-looking camera and a processor, and the forward-looking integrated machine is used to collect various environmental information of the vehicle.

[0045] In one embodiment, the method is applied to a high and low beam auxiliary system; the method further includes:

[0046] When receiving parking and engine shutdown information, save the on / off status of the vehicle's high and low beam auxiliary system;

[0047] When the vehicle start information is received, the high and low beam auxiliary system is restored based on the saved on and off status.

[0048] In a second aspect, the present application further provides a vehicle light control device, the device comprising:

[0049] An acquisition module, used to acquire vehicle environment information and vehicle status information;

[0050] an analysis module, for determining a target control condition matching the vehicle environment information and the vehicle state information from preset vehicle light control conditions; the preset vehicle light control conditions include a first group of conditions for triggering switching to a high beam state, a second group of conditions for triggering switching to a low beam state, and a third group of conditions for triggering entering and maintaining a current vehicle light state;

[0051] A control module is used to control the headlights to enter a state corresponding to the target control condition; wherein, when the headlights enter the state of maintaining the current headlight state, the headlights are suppressed from automatically switching to the high beam state or the low beam state.

[0052] In a third aspect, the present application also provides a new energy vehicle, including a memory and a controller, wherein the memory stores a computer program, and when the controller executes the computer program, the steps of the vehicle light control method in the first aspect are implemented.

[0053] In a fourth aspect, the present application further provides an automobile control device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the vehicle light control method in the first aspect are implemented.

[0054] In a fifth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle light control method in the first aspect are implemented.

[0055] In a sixth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the vehicle light control method in the first aspect.

[0056] The above-mentioned headlight control method, device, new energy vehicle, computer-readable storage medium and computer program product obtain vehicle environment information and vehicle status information, and determine the target control condition that matches the vehicle environment information and vehicle status information from multiple preset headlight control conditions, so as to automatically control the headlight according to the headlight status corresponding to the target control condition, which realizes the intelligentization of headlight control, that is, automatically switching between high and low beams according to vehicle environment information and vehicle status information, ensuring that the headlight status matches the actual lighting requirements, thereby ensuring driving safety. At the same time, the present application can also automatically suppress the active switching of high and low beams according to vehicle environment information and vehicle status information, that is, control the headlight to maintain the current headlight status, which can provide stable headlight lighting and avoid factors such as changes in the headlight status and frequent changes in the headlight that affect traffic safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions 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 related drawings can be obtained based on these drawings without paying creative work.

[0058] Figure 1 is a flow chart of a vehicle light control method in one embodiment;

[0059] Figure 2 is another schematic flow chart of a vehicle light control method in one embodiment;

[0060] Figure 3 A schematic diagram of the state transition of HMA in one embodiment;

[0061] Figure 4 is a structural block diagram of a vehicle light control device in one embodiment;

[0062] Figure 5 Schematic diagram of the internal structure of an automobile control device in one embodiment. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] Regarding the high and low beams of car lights, the high beam has a high irradiation angle and a long irradiation distance, while the low beam has a low irradiation angle and a short irradiation distance. The high beam can improve the line of sight and expand the field of observation. Due to different actual driving conditions, different car light states need to be adopted. For example, on a dark road without street lights, the visible range after turning on the high beam is much greater than turning on only the low beam. However, in areas with better lighting conditions, the high beam affects the sight of others due to its high angle and long irradiation distance, thereby affecting traffic safety. At present, most smart cars equipped with intelligent high and low beam systems (HMA, High Beam Assist) use sunlight and rain sensors to judge the ambient brightness and control the lights. Although it can improve driving convenience and safety to a certain extent, it also has the following shortcomings:

[0065] First, it is due to the limitations of the sensor: (1) Environmental dependence: The working principle of the sunlight and rain sensor depends on the changes in light in the external environment and the presence of raindrops. In extreme weather conditions, such as dense fog, heavy snow or sandstorms, the performance of the sensor may be affected, resulting in misjudgment or malfunction. (2) Location limitation: The sensor is usually installed at the front of the vehicle, and its detection range and accuracy may be limited by factors such as vehicle design, installation location, and obstruction by surrounding objects.

[0066] Second, the accuracy is insufficient: (1) Misjudgment of light: In some cases, such as light changes at sunrise and sunset, shadows or reflected light under strong sunlight, etc., using only the sunlight and rain sensors may misjudge the ambient brightness, resulting in the incorrect switching of high and low beam lights. (2) Insufficient rainfall perception: When the rainfall is light, due to the limitations of the working principle of the sensor, it may not be able to accurately perceive the presence or size of raindrops, and thus cannot trigger the wipers or adjust the lights in time.

[0067] The third is redundancy and cost: (1) In modern cars, multiple sensors and cameras have been integrated to achieve multiple functions. The addition of sunlight and rain sensors may increase the redundancy of the system, increase cost and complexity. (2) Additional sensors mean higher production costs and potential maintenance costs. For consumers, this may increase the cost of purchasing a car or subsequent maintenance costs.

[0068] Based on this, even if the vehicle is equipped with an intelligent high and low beam system, it is still difficult for the intelligent high and low beam system to achieve accurate and timely control of the lights, and driver intervention is often still required to make the lights match the current driving conditions.

[0069] Based on the above analysis, the present application provides a method for controlling headlights, which divides the control of headlights into three situations: switching to low beam state, switching to high beam state, and maintaining the current headlight state, and sets corresponding conditions for these three situations. When the vehicle environment information and vehicle status information meet the above conditions, the headlights are controlled accordingly. At the same time, when the headlights enter the situation of maintaining the current headlight state, the automatic switching of the headlights to the high beam state or the low beam state will be suppressed to a certain extent.

[0070] The method is specifically described below by means of multiple embodiments:

[0071] In an exemplary embodiment, Figure 1 As shown, this embodiment uses the method applied to a vehicle as an example, wherein the vehicle may be, but is not limited to, various sedans, SUVs (sport utility vehicles, or suburban utility vehicles), MPVs (multi-Purpose Vehicles), sports cars, trucks, off-road vehicles, motorcycles, tricycles, battery vehicles, dump trucks, tractor trucks, agricultural vehicles, special vehicles (such as sanitation vehicles, snowplows, bulldozers, etc.), and the like. Exemplarily, the vehicle may be a new energy electric vehicle. It is understandable that the method may also be applied to a system including a vehicle and a server, and is implemented through the interaction between the vehicle and the server. In this embodiment, the method includes steps S101 to S103, as follows:

[0072] Step S101: Acquire vehicle environment information and vehicle status information.

[0073] The vehicle environment information may be any information that characterizes the environment in which the vehicle is located, such as the light intensity of the environment in which the vehicle is located, or the vehicle is on a highway and there is a moving truck 200 meters in front of it. The vehicle status information may be information that reflects the vehicle's own operating status, such as the vehicle speed, the activation status of the vehicle's high and low beam lights, etc. The vehicle environment information and vehicle status information may be information at a point in time or information for a period of time.

[0074] For example, the vehicle environment information and vehicle status information can be obtained in real time, or at a certain interval, such as once every 500 milliseconds. For example, the vehicle environment information and vehicle status information can be obtained from various sensor devices, various data recording and processing devices, etc. that come with the vehicle, or an integrated device can be used to collect vehicle environment information and / or vehicle status information to reduce the redundancy and cost of the equipment carried on the vehicle.

[0075] Among them, the aforementioned integrated devices, such as a forward-looking integrated machine, a radar, etc., the forward-looking integrated machine may include an image acquisition unit and an image processing unit, and the image acquisition unit may be used to capture images of the vehicle's environment, especially images of the environment in front of the vehicle.

[0076] Exemplarily, the vehicle status information can also be acquired in real time or periodically through the vehicle CAN bus, and the vehicle environment information can be acquired through other devices carried by the vehicle, so that the acquisition of the vehicle status information and the acquisition of the vehicle environment information can be executed concurrently without interfering with each other, thereby improving robustness.

[0077] Step S102: Determine the target control condition that matches the vehicle environment information and the vehicle status information from the preset headlight control conditions; the preset headlight control conditions include a first set of conditions that trigger switching to the high beam state, a second set of conditions that trigger switching to the low beam state, and a third set of conditions that trigger entering and maintaining the current headlight state.

[0078] Among them, the current light state, that is, the current state of the light, can be a high beam state, a low beam state, or keep (i.e., maintain the current light state), etc. The preset light control conditions, that is, the pre-set conditions for controlling the light state switching, can be multiple groups of conditions, corresponding to different light states, in addition to the control conditions corresponding to the high beam state, low beam state, and keep state, respectively, it also includes control conditions corresponding to the light fault state. When the corresponding conditions are met, the control of the light state will be triggered, for example, switching from the low beam state to the high beam state.

[0079] Exemplarily, the target control conditions that match the vehicle environment information and the vehicle status information can be determined from a plurality of preset headlight control conditions. For example, the third group of conditions can include that the vehicle's emergency function is activated, and the emergency function can include the ABS anti-lock braking function. When the vehicle environment information indicates that the road where the current vehicle is located is snowy and icy, and the vehicle status information indicates that the vehicle's ABS anti-lock braking function is activated, etc., then the vehicle environment information and the vehicle status information can be matched with the third group of conditions for maintaining the current headlight state, so that the target control condition is the third group of conditions.

[0080] Exemplarily, the target control condition matched by the vehicle environment information and the vehicle status information can be determined by matching both the vehicle environment information and the vehicle status information at the same time, or by matching one of the two, or by matching one and using the other to verify the matched target control condition to ensure the accuracy of the match. For example, in the aforementioned example, since the vehicle status information indicates that the ABS anti-lock braking function of the vehicle is activated, this can already match the "vehicle emergency function is activated" in the third group of conditions. At this time, it can be considered that the matched target control condition is the third group of conditions. Of course, the vehicle environment information here can also be used to verify whether the obtained target control condition is accurate.

[0081] Step S103: Control the vehicle lights to enter a state corresponding to the target control condition; wherein, when the vehicle lights enter a state of maintaining the current vehicle light state, the vehicle lights are suppressed from automatically switching to the high beam state or the low beam state.

[0082] Exemplarily, when the target control conditions are obtained through the above steps, the state of the headlights can be automatically controlled. For example, if the target control conditions are the third group of conditions, then the headlights can be controlled to maintain their current state, such as if the current headlight state is the low beam state, then the low beam state is maintained. It should be noted that when the headlights enter the state of maintaining the current headlight state, the headlights will be inhibited from automatically switching to the high beam state or the low beam state. For example, if the current headlights are in the low beam state and the target control conditions are the third group of conditions, the corresponding control headlights enter the state of maintaining the current headlight state. Afterwards, if it is determined again that the first group of conditions are met and some of the conditions in the third group of conditions are also met, the low beam state may still be maintained at this time, and the headlights will not be controlled to switch to the high beam state, that is, the headlights will be inhibited from automatically switching to the high beam state; or, if it is determined again that the first group of conditions are met, the headlights will be inhibited from switching to the high beam state immediately, but will wait for a preset time before switching to the high beam state.

[0083] In this embodiment, by acquiring vehicle environment information and vehicle status information, and determining the target control condition that matches the vehicle environment information and the vehicle status information from a plurality of preset headlight control conditions, the headlights are automatically controlled according to the headlight status corresponding to the target control condition, which realizes the intelligentization of headlight control, that is, automatically switching between high and low beams according to vehicle environment information and vehicle status information, ensuring that the headlight status matches the actual lighting requirements, thereby ensuring driving safety. At the same time, the present application can also automatically suppress the active switching of high and low beams according to vehicle environment information and vehicle status information, that is, control the headlights to maintain the current headlight status, which can provide stable headlight lighting and avoid factors such as changes in the headlight status and frequent changes in the headlights that affect traffic safety.

[0084] In one of the embodiments, the third group of conditions in the aforementioned embodiment includes first-level conditions and second-level conditions; the priority of the first-level conditions is higher than the priority of the second-level conditions; the method in the aforementioned embodiment also includes: when controlling the headlights to enter the third group of conditions corresponding to maintaining the current headlight state, if the first-level conditions in the third group of conditions match the vehicle environment information and / or vehicle status information, then before the vehicle environment information / or vehicle status information corresponding to the first-level conditions is released, the headlights are suppressed from automatically switching.

[0085] Exemplarily, the third group of conditions may include first-level conditions and second-level conditions, and the first-level conditions have a higher priority than the second-level conditions. For example, if the actual situation can satisfy both the first and second conditions, the first-level conditions are prioritized over the second-level conditions. Exemplarily, the first-level conditions may represent safety accidents, emergency situations, etc., and thus have a high priority. Of course, the first-level conditions may be pre-set on the production line or customized by the user according to his or her own driving needs.

[0086] Exemplarily, after the vehicle lights are controlled to enter the third group of conditions corresponding to maintaining the current vehicle light state, if the first level condition in the third group of conditions matches the vehicle environment information and / or vehicle state information, the automatic switching of the vehicle lights can be suppressed until the first level condition is no longer met. For example, when the first level condition is met, the automatic switching of the vehicle lights is suppressed, and even if the first group of conditions and / or the second group of conditions are met, the vehicle light state will not be switched until the first level condition is no longer met, and then the automatic switching of the vehicle lights can be restored.

[0087] In this embodiment, since the third group of conditions includes the first-level conditions and the second-level conditions, the first-level conditions have a high priority and are therefore satisfied first. When the first-level conditions are satisfied, the automatic switching of the lights is suppressed until the first-level conditions are no longer satisfied. This can provide stable lighting of the lights in the actual situation corresponding to the first-level conditions, and avoid factors such as changes in the state of the lights and frequent changes in the lights that affect traffic safety. For example, a tire blowout during high-speed driving of a vehicle can be regarded as a situation corresponding to the satisfaction of the first-level conditions. Therefore, when the first-level conditions are satisfied, there will be no glare on other traffic participants due to changes in the state of the lights; at the same time, maintaining the current state of the lights helps the driver to more clearly identify the surrounding environment and take timely measures to ensure driving safety.

[0088] In one embodiment, if Figure 2 As shown, the method in the aforementioned embodiment further includes: when controlling the vehicle lights to enter the third group of conditions corresponding to maintaining the current vehicle light state, if the first level condition in the third group of conditions does not match the vehicle environment information and the vehicle state information, and the second level condition matches the vehicle environment information and / or the vehicle state information, then:

[0089] Step S201: When it is re-determined that the vehicle environment information and the vehicle status information match the first set of conditions, the automatic switching of the headlights is suppressed within a preset time range, and after the preset time range expires, the headlights are controlled to switch from maintaining the current headlight state to the high beam state.

[0090] For example, since the first level conditions are not met, it means that there is no priority situation, such as a safety emergency situation, so the free switching of the lights will not be suppressed until the first level conditions are no longer met. When the second level conditions are met, it is possible that the first group of conditions are also met, and the automatic switching of the lights can be suppressed within a preset time range. After the preset time range expires, the lights are switched to the high beam state to avoid too frequent automatic switching. For example, after switching to the high beam state, the high beam state can be maintained within another preset time range to suppress the free switching of the lights.

[0091] Step S202: as another situation, when it is re-determined that the vehicle environment information and the vehicle state information match the second set of conditions, the vehicle lights are controlled to switch from maintaining the current vehicle light state to the low beam state.

[0092] For example, since the priority of the second level condition is lower than that of the first level condition, the second level condition may correspond to non-safety accidents, such as vehicle turning, etc. When the second level condition is met, the second group of conditions may also be met, and the headlights may be controlled to switch from maintaining the current headlight state to the low beam state.

[0093] For example, the "matching the second set of conditions" in step S202 can be broadly understood, and can be a condition that satisfies one of the second set of conditions or is close to one of them. For example, the second set of conditions may include a situation where the vehicle speed is less than 20 kilometers per hour, and the current vehicle speed is 21 kilometers per hour, which can be considered to match the second set of conditions. At the same time, controlling the lights to switch from maintaining the current light state to the low beam state can be a direct automatic switch, or it can be a recommendation to the driver to switch to the low beam state, and if the driver accepts the recommendation, the switch is performed.

[0094] In the case corresponding to the aforementioned step S202, when it is determined that the vehicle environment information and the vehicle state information match the second set of conditions, the vehicle lights may be automatically switched to the low beam state within a preset time range, and the lights may be switched only after the preset time range expires, so as to avoid frequent switching of the lights. The preset time range here may be the same as or different from the preset time range in the aforementioned step S201.

[0095] Exemplarily, the second-level conditions satisfied in step S201 and step S202 may be different. For example, the second-level condition satisfied in step S201 may be that the current headlights are in low beam state and the current time is less than 300 milliseconds from the last time the high beam was switched to high beam, in which case the headlights may be suppressed from switching to high beam state to avoid the impact of frequent switching of high beams; the second-level condition satisfied in step S202 may be that the current headlights are in high beam state and the vehicle is turning, in which case they may be switched to low beam state to match the lighting requirements of the vehicle turning.

[0096] In this embodiment, the situation where the first-level conditions are not met but the second-level conditions are met is divided into the following: if it is re-determined that the vehicle environment information and the vehicle status information match the first set of conditions, the free switching of the headlights can be suppressed for a period of time to avoid the influence of frequent switching of high beams, etc.; if it is re-determined that the vehicle environment information and the vehicle status information match the second set of conditions, the headlights can be controlled to switch from maintaining the current headlight state to the low beam state to match the actual lighting needs of the vehicle.

[0097] In one of the embodiments, the first level condition in the aforementioned embodiment includes: the vehicle emergency function is activated; the vehicle safety emergency function includes at least one of the following: anti-lock braking function, electronic stability program function, automatic emergency braking function, lane departure warning function, traction control function.

[0098] In this embodiment, by taking the activation of the vehicle emergency function as the first-level condition, the control of the headlights can give priority to vehicle emergency. As long as at least any one of the various vehicle safety emergency functions mentioned above is activated, it can be considered that the first-level condition is met, and the free switching of the headlights is suppressed to serve the handling of emergency situations, helping the driver to identify the surrounding environment more clearly and take timely measures to ensure driving safety.

[0099] In one embodiment, the “determining the target control condition matched by the vehicle environment information and the vehicle status information from the preset vehicle light control conditions” in the aforementioned embodiment may include: when the current vehicle light state is the low beam state, if the vehicle environment information and the vehicle status information meet any of the following conditions, determining the third group of conditions as the target control condition:

[0100] The vehicle's ambient brightness is between a first light intensity and a second light intensity; the first light intensity represents the ambient light intensity corresponding to a low beam state; the second light intensity represents the ambient light intensity corresponding to a high beam state; the vehicle's safety emergency function is activated; the vehicle's turn signal is in an activated state; the vehicle's lateral acceleration is greater than or equal to a preset lateral acceleration threshold; the vehicle's steering wheel angle rate is greater than or equal to a preset steering wheel angle rate threshold; the vehicle's yaw angle rate is greater than or equal to a preset yaw angle rate threshold; the vehicle's lights are controlled to enter a state corresponding to the target control conditions, including: controlling the lights to switch from a low beam state to maintaining the current light state.

[0101] Among them, the first light intensity represents the ambient light intensity corresponding to the low beam state, that is, the ambient light intensity of the vehicle corresponding to the need to switch the headlights to the low beam state. The ambient light intensity here can be the ambient light intensity at a point in time or the ambient light intensity for a period of time. For example, if the first light intensity is 50 lux and this state lasts for 2 seconds, it can be considered that the current environment is bright enough and there is no need to use the high beam, that is, maintain the low beam. The understanding of the first light intensity is the same and will not be repeated. The second light intensity is less than the first light intensity. This is because the headlights in the high beam state can provide more lighting and the corresponding environment is darker. Conversely, when the ambient light conditions are good, that is, the ambient light intensity is large, the low beam state can be used.

[0102] In this embodiment, when the current headlight state is low beam, if the vehicle environment brightness is between the first light intensity and the second light intensity, it means that the lighting conditions of the vehicle environment have not reached the level where the high beam needs to be turned on, so the current headlight state can be maintained. At the same time, the specific conditions corresponding to the third group of conditions are designed from the perspectives of turn signals, lateral acceleration, steering wheel angular rate, yaw rate lights, etc., so that when the vehicle turns or moves sideways, the headlights can be maintained in the low beam state to avoid the wrong use of the high beam, that is, the headlight state is matched with the actual situation.

[0103] In one of the embodiments, the "determining the target control conditions that match the vehicle environment information and the vehicle status information from the preset headlight control conditions" in the aforementioned embodiment may include: when the current headlight state is the high beam state, if the vehicle environment information and the vehicle status information meet any one of the following conditions, determining the third group of conditions as the target control conditions: the vehicle environment brightness is between the first light intensity and the second light intensity; the first light intensity is greater than the ambient light intensity corresponding to the low beam state; the second light intensity is less than the ambient light intensity corresponding to the high beam state; the vehicle safety emergency function is activated; the "controlling the headlights to enter a state corresponding to the target control conditions" in the aforementioned embodiment may include: controlling the headlights to switch from the high beam state to maintain the current headlight state.

[0104] For understanding of this embodiment, reference may be made to the relevant parts of the aforementioned embodiments, and repeated contents will not be repeated here.

[0105] In this embodiment, when the current headlight state is high beam, if the vehicle environment brightness is between the first light intensity and the second light intensity, it can also be said that the lighting conditions of the vehicle environment have not reached the level where the low beam needs to be turned on, so the current headlight state can be maintained. At the same time, if the vehicle safety emergency function is activated, the headlight should also be maintained in the high beam state, that is, the current headlight state should be maintained to ensure safety and reduce interference to other traffic participants.

[0106] In one of the embodiments, the "determining the target control conditions that match the vehicle environment information and the vehicle status information from the preset headlight control conditions" in the aforementioned embodiment may include: when the current headlight state is the low beam state, if the vehicle environment information and the vehicle status information meet the following conditions, determining the first group of conditions as the target control conditions: the vehicle speed is greater than a preset first vehicle speed threshold; the vehicle environment brightness is less than or equal to the second light intensity; the wiper swing speed is less than a preset swing speed threshold; there is no target object within a preset distance range in front of the vehicle; the vehicle's fog lights and hazard lights are both in the off state; no glare is detected in front of the vehicle; the "controlling the headlights to enter a state corresponding to the target control conditions" in the aforementioned embodiment includes: controlling the headlights to switch from the low beam state to the high beam state.

[0107] The target object may be a person and / or various objects detected in front of the vehicle during actual driving, which may have a direct or indirect impact on the vehicle's traffic safety, such as an oncoming vehicle, pedestrians, wild boars crossing the road, etc. For example, when an oncoming vehicle is detected, it is not appropriate to use high beam.

[0108] In this embodiment, by taking into account multiple aspects such as vehicle speed, vehicle environment brightness, wiper swing speed, target object conditions within a preset distance range in front, fog lights and double flash conditions, and glare conditions in front of the vehicle, the corresponding specific conditions for switching the headlights from low beam to high beam are obtained to ensure that the vehicle traffic safety will not be affected after the headlights are switched to high beam, so that the headlight status matches the actual lighting needs.

[0109] In one of the embodiments, the "determining the target control conditions that match the vehicle environment information and the vehicle status information from the preset headlight control conditions" in the aforementioned embodiment may include: when the current headlight state is the high beam state, if the vehicle environment information and the vehicle status information meet any one of the following conditions, determining the second set of conditions as the target control conditions: the vehicle speed is less than a preset second vehicle speed threshold; the vehicle environment brightness is greater than or equal to the first light intensity; the wiper swing speed is greater than or equal to the preset swing speed threshold; there is a target object within a preset distance range in front of the vehicle; the vehicle's fog lights and / or hazard lights are on; glare is detected in front of the vehicle; the "controlling the headlights to enter a state corresponding to the target control conditions" in the aforementioned embodiment includes: controlling the headlights to switch from the high beam state to the low beam state.

[0110] For understanding of this embodiment, reference may be made to the relevant parts of the aforementioned embodiments, and repeated contents will not be repeated here.

[0111] In this embodiment, by taking into account multiple aspects such as vehicle speed, vehicle environment brightness, wiper swing speed, target object conditions within a preset distance range in front, fog lights and double flash conditions, and glare conditions in front of the vehicle, the corresponding specific conditions for switching the headlights from high beam to low beam are obtained, so as to ensure that the headlights are switched to low beam in time, avoid the impact of high beam on vehicle traffic safety, and match the headlight status with actual lighting needs.

[0112] In one embodiment, "obtaining vehicle environmental information" in the aforementioned embodiment may include: obtaining data collected by a preset forward-looking integrated device and a millimeter-wave radar to obtain vehicle environmental information; the forward-looking integrated device includes a forward-looking camera and a processor, and the forward-looking integrated device is used to collect various environmental information of the vehicle.

[0113] Among them, the front-view integrated machine, that is, a device that integrates camera functions and image information processing functions, can be installed at the front of the vehicle. The data collected by the front-view integrated machine, that is, the various environmental information of the vehicle, may include specific driving record images, videos, etc., and may also include environmental information obtained by processing the aforementioned images and videos. For example, by extracting features from the pictures collected by the front-view camera, it is determined that the driving weather presented in the picture is foggy. The data collected by the millimeter-wave radar can also be used to determine the vehicle's environmental information. For example, the millimeter-wave radar can be used to detect whether there is a target object in front of the vehicle, the distance to the target object, etc.

[0114] Exemplarily, the data collected by the forward-looking integrated device and the millimeter-wave radar can also be used to verify the accuracy of the vehicle status information. For example, the vehicle status information indicates that the vehicle's fog lights are on, so the image collected by the forward-looking integrated device can be used to verify whether it is foggy. For another example, the vehicle status information indicates that the automatic emergency braking function is activated, and the data collected by the millimeter-wave radar indicates that there is a target object 2 meters in front of the vehicle. At this time, it means that the vehicle has triggered emergency braking to avoid hitting the target object in front, verifying that the vehicle status information is true.

[0115] In this embodiment, the vehicle environment information is obtained by using the front-view integrated machine and the millimeter-wave radar, rather than using conventional rain sensors and other equipment, so there is no dependence on external environmental conditions such as rainfall, which helps to ensure that more accurate and timely vehicle environment information is obtained. At the same time, since the front-view camera and processor are integrated in the front-view integrated machine, it can independently complete a series of tasks such as image acquisition, processing and decision-making, which simplifies the sensor layout of the vehicle and reduces the number of hardware.

[0116] In one of the embodiments, the method in the aforementioned embodiment is applied to a high and low beam auxiliary system; the method also includes: when a parking and engine shutdown information is received, saving the on and off status of the vehicle's high and low beam auxiliary system; when a vehicle startup information is received, restoring the high and low beam auxiliary system based on the saved on and off status.

[0117] In this embodiment, by saving the on and off status of the high and low beam auxiliary system when the vehicle is parked and the engine is turned off, and restoring it the next time the vehicle is started, the user does not need to manually turn on the system again, which helps to improve the continuity and convenience of the vehicle light control.

[0118] In an exemplary embodiment, a vehicle light control method is provided, which is applied to an intelligent high beam assist system (HMA). The system hardware solution corresponding to the system adopts a 1V1R solution, that is, 1 front-view integrated device and 1 forward mid-range millimeter-wave radar, which is specifically described as follows:

[0119] The front-view integrated machine refers to the multi-purpose camera control unit (MPC). The multi-purpose camera assembly includes a metal shell to protect the internal imaging module and electronic components. The imaging module is connected to the printed circuit board (PCB). The imaging module and heat sink are fixed by two screws at the rear, while the camera shell, base plate and electrostatic protection spring are fixed by four screws at the bottom. The front-view integrated machine has the following characteristics: (1) High integration. The MPC integrates the front-view camera and processor (image processing unit, algorithm operation unit, and corresponding control logic) into one device, which can independently complete a series of tasks such as image acquisition, processing and decision-making. It simplifies the sensor layout of the vehicle and reduces the number of hardware. (2) Multi-function in one. The MPC system can simultaneously and independently perform multiple tasks, such as image acquisition, processing and decision-making, which improves the overall performance and efficiency of the system. Ordinary cameras only have the function of image acquisition, and image processing and decision-making logic are often completed by a separate control unit or computing platform.

[0120] This combination of the 1V1R solution has a good degree of lightweight. By combining the data of sensors such as the front-view integrated machine and the millimeter-wave radar, more accurate vehicle / pedestrian detection and light judgment can be achieved. The application of this lightweight sensor not only reduces costs and reduces dependence on sunlight and rain sensors, but also improves the system's integrability and popularity. In specific implementation, the front-view integrated machine is installed behind the front windshield of the vehicle, close to the rearview mirror inside the vehicle. The function of the front-view integrated machine is to capture vehicle / pedestrian information in front of the vehicle, including diversified traffic participants such as motor vehicles, motorcycles, bicycles, and pedestrians. This application can ensure that when the ambient brightness is low, the lighting strategy not only meets the lighting needs of the vehicle itself, but also takes into account road safety. The millimeter-wave radar is installed at the front of the vehicle, above the front license plate. The millimeter-wave radar uses a medium-range millimeter-wave radar. The function of the millimeter-wave radar is to detect the distance and speed between the vehicle and surrounding objects. The data of the millimeter-wave radar is combined with the camera data to provide a more comprehensive environmental perception capability, especially in bad weather or low-light environments.

[0121] After introducing the above hardware, let's introduce HMA. HMA has multiple states, as shown in the following table:

[0122]

[0123] like Figure 3 As shown, HMA can change between the above states, and different state transitions can correspond to different serial numbers. The state transitions of each serial number are described below, wherein the state transition conditions correspond to the preset vehicle light control conditions in the above embodiment:

[0124] Regarding T1, it represents Passive→Keep, the low beam is switched to the high beam and the low beam is suppressed, and the low beam remains unchanged. The corresponding state flow conditions are explained below: In order to ensure that the low beam state is maintained under certain circumstances and avoid unnecessary high beam switching, the HMA system of this application sets a series of low beam maintenance conditions. Specifically, when any of the following conditions is met, the system will maintain the low beam mode and will not automatically switch to the high beam mode:

[0125] a. Turn signal activation: If the vehicle's left or right turn signal is activated, indicating that the driver is preparing to change lanes or turn, the high beam should not be activated at this time.

[0126] b. The vehicle's lateral acceleration is too high: When the vehicle's lateral acceleration exceeds 3 m / s², it indicates that the vehicle is making a rapid turn and is not suitable for using high beams.

[0127] c. Steering wheel angle rate is too high: If the steering wheel angle rate exceeds 55° / second, it usually means that the driver is making a fast or sharp turn, so it is not appropriate to use high beam.

[0128] d. The vehicle's yaw rate is too high: When the vehicle's yaw rate exceeds 0.19 rad / s, this indicates that the vehicle is experiencing a large lateral movement and is not suitable for using high beams.

[0129] e. The ambient brightness is low but not enough to trigger a high beam request: In the case of low ambient brightness, if the brightness level has not yet reached the high beam turn-on threshold required by the system, the system will maintain the low beam state.

[0130] f. Anti-lock Braking System (ABS) Activation: When the ABS system is activated, it indicates that the vehicle is in emergency braking state. At this time, the current headlight status should be maintained to reduce interference with other traffic participants.

[0131] g. Electronic Stability Program (ESP) activation: If the ESP system is activated, it means that the vehicle may be in an unstable state, such as skidding. At this time, the current headlight status should be maintained to ensure safety while reducing interference to other traffic participants.

[0132] Regarding T2, it represents Keep→Passive, the inhibition state is released, and its corresponding state flow condition is: the flow condition of T6 is met, and the holding conditions in T1 are not met.

[0133] Regarding T3, it represents Keep→Active, the inhibition state is released, and its corresponding state flow condition is: the flow condition of T5 is met, and the holding conditions in T4 are not met.

[0134] Regarding T4, it represents Active→Keep, the high beam is switched to the low beam and the high beam is kept unchanged. The corresponding state flow conditions are explained below: The HMA system of this application sets a series of low beam maintenance conditions. Specifically, when any of the following conditions is met, the high beam state will be maintained without automatically switching to the low beam:

[0135] a. Ambient brightness is high but not enough to trigger low beam request: When the ambient brightness is above a certain level but still not enough to automatically switch to low beam, the system will maintain high beam. This setting is designed to ensure that sufficient lighting is still provided in relatively dim conditions.

[0136] b. Anti-lock Braking System (ABS) Activated: If the ABS is activated, it indicates that the vehicle is in emergency braking or the road conditions are poor. At this time, maintaining the current headlights will help the driver better observe the road conditions ahead and improve safety.

[0137] c. Electronic Stability Program (ESP) Activation: When ESP is activated, it means that the vehicle is experiencing an unstable state, such as oversteering or understeering. In this case, maintaining the current headlight status helps the driver to more clearly identify the surrounding environment and take timely measures to ensure driving safety.

[0138] Regarding T5, it represents Passive→Active, the low beam switches to high beam, and the corresponding state flow conditions are explained below: The HMA system of this application sets a series of conditions for switching from low beam to high beam. Specifically, the following jump conditions need to be met at the same time and last for 5s: a. The vehicle speed is greater than 40km / h; b. The brightness of the external environment is lower than the calibration value of the low beam. During the specific implementation, engineers need to calibrate the brightness during the simulation test and the actual vehicle test. After the calibration is completed, the actual vehicle will be input into the MPC for comprehensive evaluation based on the image obtained by the front camera. On the basis of meeting the above jump conditions, if any of the following situations occurs, the system prohibits turning on the high beam:

[0139] a. Front camera self-glare state: when the camera system detects the glare caused by its own light source.

[0140] b. The wipers are running at high speed: This indicates that the current weather conditions are not conducive to turning on the high beam.

[0141] c. Hazard warning lights (double flash) are on: Generally, turning on the hazard warning lights means that the vehicle is in an emergency or abnormal state, and it is not appropriate to use high beams at this time.

[0142] d. Fog lights on: Fog lights are usually used in environments with low visibility, when high beams may increase visual interference.

[0143] e. There is a moving motor vehicle target within 150 meters ahead: If other motor vehicles with headlights or taillights turned on are detected within 150 meters ahead, the system will not activate the high beam.

[0144] This helps to ensure that the system does not switch quickly from low beam → Keep → high beam. Once it enters Keep, the system will be forced to suppress it for a period of time. Conditions abcde mainly focus on whether it is appropriate to turn on the high beam in the current state. These conditions are mainly to avoid safety hazards that may be caused by turning on the high beam in certain situations. If these conditions are incorporated into the low beam hold state, the system will keep the low beam unchanged for a certain period of time even when the high beam is not needed, which may affect the normal lighting use logic.

[0145] For example, in condition c, the user turns on the hazard lights: when the user turns off the hazard lights, the low beam lights can be switched to the high beam lights immediately, instead of being suppressed for a while. In condition b, the user turns on the wipers at high speed: when the wiper speed drops, the low beam lights can be switched to the high beam lights immediately, instead of being suppressed for a while.

[0146] Regarding T6, it represents Active→Passive, and the high beam switches to the low beam. The corresponding state flow conditions are explained below: The HMA of this application will automatically switch the high beam to the low beam state when any of the following conditions are met to ensure driving safety and compliance with road traffic regulations. The specific conditions are as follows:

[0147] a. Vehicle speed is less than 20 km / h: When the vehicle speed drops below 20 km / h, the system will automatically switch to low beam mode to meet the lighting needs when driving at lower speeds.

[0148] b. The ambient brightness is higher than the high beam calibration value and lasts for more than 2 seconds: If the ambient brightness sensor detects that the surrounding brightness reaches or exceeds 50 lux and this state lasts for at least 2 seconds, the system will consider the current environment to be bright enough and no longer needs to use the high beam.

[0149] c. Self-glare detected by the front camera: If the front camera captures glare caused by the lights of your own vehicle, indicating that the current high beam may cause unclear vision or interfere with other road users, the system will automatically turn off the high beam.

[0150] d. The wipers are running at high speed: When the wipers are running at high speed due to heavy rain or other reasons, the system will automatically switch to low beam mode to reduce the glare effect caused by rain reflection.

[0151] e. Hazard warning lights (double flash lights) turned on: If the driver activates the hazard warning lights (double flash lights), it indicates that the vehicle may be in an emergency or parked state. At this time, the system will turn off the high beam to avoid interfering with other vehicles.

[0152] f. Fog lights are on: When the fog lights are activated, it indicates that the current environment may have low visibility. The system will automatically switch to low beam mode and use the fog lights to improve visibility and ensure safety.

[0153] g. Moving targets (including motor vehicles, non-motor vehicles, pedestrians, etc.) are detected within 150 meters ahead: The system uses the front camera and radar sensor to detect any moving objects within the front range. Once a target is detected (including but not limited to vehicles with turned on headlights or taillights, pedestrians, etc.), the system will immediately switch to low beam mode to avoid glare to other road users.

[0154] Regarding T7, it represents OFF→Passive, and the state of the off state switches to the low beam state. The corresponding state flow conditions are explained below: When all the following conditions of the HMA of this application are true, the system state machine switches from the off state to the low beam state:

[0155] a. System power supply status: The vehicle power is turned on (ignition switch is in the ON position), ensure that the system has power supply.

[0156] b. Function enabled status: The HMA system software switch is in the on state, allowing the system to work normally.

[0157] c. Operation mode: The lighting control knob is set to the "AUTO" position, indicating that the system is in automatic control mode.

[0158] d. Low beam status: The low beam is currently on, and the status feedback from the BCM (body control module) is bcm_lowBeamSts=0x1:ON, which means the low beam is on.

[0159] e. System health status: The HMA system has no known faults and the HMA associated components have no known faults

[0160] In the specific implementation, there are no permanent system and related hardware failures, nor temporary system and related hardware failures. (See the failure table below)

[0161] Regarding T8, it represents Passive / Keep / Active→OFF, and the low beam / keep / high beam state jumps to the off state. The corresponding state flow conditions are explained below: The HMA system of this application will switch the low beam or high beam state of the HMA system to the off state when any of the following conditions are met:

[0162] a. System power failure: The vehicle power is turned off (ignition switch is in the off position), causing the system to lose power supply.

[0163] b. Function disabled: The HMA system software switch is set to the off state, prohibiting the system from running.

[0164] c. Operation mode changed: The lighting control knob is no longer in the "AUTO" position, indicating that the system is in manual control mode rather than automatic control mode.

[0165] d. Low beam off: The current low beam status is off, that is, the status feedback from the body control module (BCM) is bcm_lowBeamSts=0x0:OFF, that is, the low beam is off.

[0166] Regarding T9, it represents the transition from Failure→Passive fault state to low beam state. The corresponding state flow conditions are explained below: The following system faults disappear: 1. Permanent system and related hardware failures; 2. Temporary system and related hardware failures; For specific implementation, see the fault table.

[0167] Regarding T10, it represents Passive / Keep / Active→Failure, and the low beam / high beam state jumps to the fault state. The corresponding state flow conditions include the occurrence of the following system failures: 1. Permanent system and related hardware failures; 2. Temporary system and related hardware failures; for specific implementation, see the fault table.

[0168] Regarding T11, it represents Failure→OFF, and the fault state jumps to the closed state. Its corresponding state flow conditions include: when any of the following conditions is met and all existing faults have been eliminated, it will switch from the fault state to the closed state:

[0169] a. System power failure: The vehicle power supply is cut off and the system loses power supply.

[0170] b. Function off: The HMA system function is manually turned off or the software switch is in the off state.

[0171] c. Operation mode is not AUTO: The lighting control knob is not set to the "AUTO" position, that is, the system is not in automatic control mode.

[0172] d. Low beam off state: The low beam is currently off, and the state fed back by the BCM (body control module) is bcm_lowBeamSts = 0x0:OFF, which means the low beam is off.

[0173] Regarding T12, it represents OFF→Failure, and the OFF state jumps to the Failure state. Its corresponding state flow conditions include: When any of the following conditions is met and the system detects a permanent or temporary hardware failure (HMA system failure, associated component failure), it will switch from the OFF state to the Failure state:

[0174] a. System power failure: The vehicle power supply is cut off and the system loses power supply.

[0175] b. Function off: The HMA system function is manually turned off or the software switch is in the off state.

[0176] c. Operation mode is not AUTO: The lighting control knob is not set to the "AUTO" position, that is, the system is not in automatic control mode.

[0177] d. Low beam off state: The low beam is currently off, and the state fed back by the BCM (body control module) is bcm_lowBeamSts = 0x0:OFF, which means the low beam is off.

[0178] Regarding T5 mentioned above, i.e. the request to switch from low beam to high beam, when certain conditions are met, the body control module (BCM) is requested to turn on the high beam, and the request is cancelled when the conditions are no longer met. The specific instructions are as follows:

[0179] (I) Enabling conditions (&&)

[0180] The HMA function allows a request to switch on high beam only if all of the following conditions are met:

[0181] a. Vehicle power status: The vehicle power is on, and the power mode reported by PEPS (keyless entry and start system) is PEPS_PowerMode = 0x3: ON.

[0182] b.HMA function status: The HMA function is turned on, that is, the status reported by the multi-function camera control unit (MPC) is MPC_hmaOnOffSts = 0x1: ON.

[0183] c. System health status: There is no fault in the HMA function system, that is, MPC_HMAStatus≠0x2: Failure and MPC_HMAFault = 0x0: No Fault.

[0184] d. Lighting control mode: The lighting control knob is in the automatic position and the low beam is on, that is, CS_KnobKeySts = 0x1: AUTO and BCM_LowBeamStatus = 0x1: ON.

[0185] (II) Trigger conditions

[0186] The vehicle speed is greater than 40 km / h, and the external environment brightness is lower than the high beam brightness calibration value, and this state lasts for at least 5 seconds (there are no other suppression conditions during this period).

[0187] (III) Execution output

[0188] When the above enabling conditions and triggering conditions are met, the HMA system will perform the following operations:

[0189] 1. Request high beam to turn on:

[0190] MPC sends MPC_HMAHighbeamReq = 0x1: High Beam Request to BCM, requesting BCM to turn on the high beam. (Note: MPC will continue to send this request signal if the conditions are met.)

[0191] If the high beam hard switch is turned on manually, the BCM will give priority to the command from the combination switch (CS).

[0192] 2. The HMA function indicator lights up:

[0193] After receiving the HMA function status signal MPC_hmaStatus = 0x3: ACTIVE and BCM_HighBeamStatus = 0x1: ON sent by MPC, the instrument panel control unit (IC) turns on the HMA instrument indicator light.

[0194] (IV) BCM responds to driver operations first

[0195] The intelligent High Beam Assist (HMA) system is designed for use when the lighting control is set to AUTO. When the user manually adjusts the high beam, low beam or passing lights, the HMA function will not be available.

[0196] The specific logic is described as follows:

[0197] 1. Light control in AUTO gear: When the vehicle's light control knob is set to AUTO gear, the BCM (body control module) automatically turns on the low beam. In specific implementation, the turning on state of the high beam depends on the request of the MPC (multi-function camera control unit) or the state of the high beam hard switch, and the BCM responds to the driver's operation first.

[0198] 2. The driver operates the passing lights and suppresses the HMA function: After the MPC requests to turn on the high beam, if the driver operates the passing light switch, the HMA intelligent high beam function will be suppressed. In specific implementation, the suppression logic is: MPC sends MPC_HMAHighbeamReq = 0x0: No Request and sets the HMA status to MPC_HMAStatus = 0x2: Passive. After the passing lights are turned off for 3 seconds, the MPC re-evaluates the conditions and, if the conditions are met, re-requests to turn on the high beam (sends MPC_HMAHighbeamReq = 0x1: High Beam Request).

[0199] 3. The driver operates the high beam and suppresses the HMA function: After the MPC requests to turn on the high beam, if the driver operates the high beam switch (the high beam lighting state of the BCM remains unchanged at this time), the HMA intelligent high beam function will be continuously suppressed. In specific implementation, the suppression logic is: MPC sends MPC_HMAHighbeamReq = 0x0: No Request and sets the HMA status to MPC_HMAStatus = 0x2: Passive. After the driver operates the high beam switch again to manually turn off the high beam, after another 3 seconds, MPC re-evaluates the conditions. If the conditions are met, it will re-request to turn on the high beam (send MPC_HMAHighbeamReq = 0x1: High Beam Request).

[0200] For example, the inner direction of the headlight control knob is overtaking, and the outer direction is high beam. In specific implementation, since the headlight knob designs of different models are different, it is necessary to consider the actual situation according to the headlight control knobs of different models.

[0201] Regarding T6 mentioned above, i.e. the request to switch from high beam to low beam, when it is detected that the vehicle environment does not meet the conditions for turning on the high beam, the body control module (BCM) will be requested to turn off the high beam. The specific instructions are as follows:

[0202] (I) Enabling conditions (&&)

[0203] The HMA function only allows a request to switch off the high beam if all of the following conditions are met:

[0204] a. Vehicle power status: The vehicle power is on, and the power mode reported by PEPS (keyless entry and start system) is PEPS_PowerMode = 0x3: ON.

[0205] b.HMA function status: The HMA function is turned on and the high beam is currently on, that is, BCM_HighBeamStatus = 0x1: ON and MPC_HMAOnOffSts = 0x1: ON.

[0206] c. System health status: There is no fault in the HMA function system, that is, ADS_HMAFunctionStatus ≠ 0x2: Failure and MPC_HMAFault = 0x0: No Fault.

[0207] d. Lighting control mode: The lighting control knob is in the automatic position, and the high beam is currently on, that is, BCM_autoLampSwSts = 0x1: AUTO and BCM_HighBeamStatus = 0x1: ON.

[0208] (II) Trigger conditions

[0209] When any of the following conditions are met, the HMA system will trigger a request to turn off the high beam: a. Vehicle speed condition: Vehicle speed is less than 20 km / h. b. Ambient brightness condition: The external environment brightness is higher than the high beam brightness calibration value, and this state lasts for at least 2 seconds. c. The front camera is self-dazzled. d. The wipers are running at high speed. e. The double flash lights are turned on. f. The fog lights are turned on. g. Moving target detection in front: Moving targets (including motor vehicles, non-motor vehicles, and pedestrians) are detected within 150 meters in front.

[0210] (III) Execution output

[0211] When the above enabling conditions and triggering conditions are met, the HMA system will perform the following operations:

[0212] 1. Request to turn off the high beam: MPC sends MPC_HMAHighbeamReq = 0x0: No Request and ADS_HiBeamReq = 0x1: OFF to BCM, requesting BCM to turn off the high beam. (Note: If the high beam hard switch is turned off, BCM responds to the command from the combination switch (CS) first.)

[0213] 2. The HMA function indicator light is off: After the instrument panel control unit (IC) receives the HMA function status signal MPC_hmaStatus = 0x2: PASSIVE and BCM_HighBeamStatus = 0x0: OFF sent by the MPC, it turns off the HMA instrument indicator light.

[0214] Regarding the function suppression (Keep state) mentioned above, HMA will suppress the light change (Keep in the state machine) under certain conditions, that is, maintain the current light state without reallocation request. The specific instructions are as follows:

[0215] 1. High priority suppression. High priority suppression means that under certain specific conditions, the currently used lighting state will be maintained, and the system will not change the lighting allocation request even if another lighting condition is met. In specific implementation, the high dynamic working conditions of this application are as follows: If ABS (anti-lock braking system) or ESC (electronic stability control system) is activated, the system will not change the current lighting allocation request. This means that even if the high beam is currently in use, as long as ABS or ESC is activated, the system will maintain the use of the high beam. This corresponds to the first level condition of the third group of conditions in the aforementioned embodiment.

[0216] 2. Low priority suppression. Low priority suppression means that in the current state, although the light allocation request remains unchanged, if the low beam conditions are met, the system will recommend the use of low beam. This corresponds to the second level of the third group of conditions in the aforementioned embodiment. Specifically, it may include the following: (1) Curvature suppression: If the left or right turn signal of the vehicle is activated, the light change will be suppressed. If the lateral acceleration of the vehicle exceeds 3 m / s², the light change will be suppressed. If the yaw rate of the vehicle exceeds 0.19 rad / s, the light change will be suppressed. (2) Vehicle speed suppression: If the vehicle speed (measured by the instrument panel control unit IC) is lower than a certain threshold (for example, 40 km / h) but greater than 20 km / h, the light change will be suppressed. (3) Ambient brightness suppression: If the ambient brightness is high but has not reached the level of low beam request (the specific threshold is determined by MPC), the light change will be suppressed.

[0217] 3. Request to use high beam. If the system currently requests to use low beam, once the low beam condition and the light change suppression condition are no longer met, the system will request to use high beam. As an optional strategy, if the system currently requests to use high beam, in order to avoid the high beam activation time being too short, a minimum duration can be set for the high beam request, such as 2 seconds.

[0218] 4. High beam continuous request limit. To prevent high beam requests from being too frequent, the time interval between two high beam requests should be greater than 3 seconds after the HMA function is activated.

[0219] The advantages and innovations of this design are: 1. Enhanced safety: By distinguishing between high-priority suppression and low-priority suppression, it ensures that the current light state is maintained first under dynamic driving conditions, avoiding safety hazards caused by frequent changes in lights. 2. Optimized user experience: Under low-priority suppression conditions, the system can intelligently recommend the use of low beams, avoiding unnecessary use of high beams and improving the driving experience. 3. System robustness: A variety of suppression conditions are introduced to ensure that the system can still operate stably in complex driving environments, enhancing the reliability and robustness of the system.

[0220] For the fault table mentioned in the previous text, please see the following table:

[0221]

[0222] Regarding the HMA system described above, the following is a possible specific method for developing and deploying tools:

[0223] 1. Software development tools: (1) Development environment. The programming language is jointly developed using C++ / MATLAB / Simulink; IDE (Integrated Development Environment): Visual Studio Code and MATLAB are used; Version control: Git is used for version control. (2) Modeling and simulation tools: State machine design: Simulink Stateflow / UML state diagram tools (such as Enterprise Architect) are used to design the state machine model of the HMA function; Simulation environment: MATLAB / Simulink is used for simulation verification, or professional automotive simulation software such as CarMaker and PreScan are used for more complex scenario simulation. (3) Testing framework: Unit testing: Google Test or CppUnit is used for unit testing to ensure the correctness of each module; Integration testing: Jenkins or GitLab CI / CD pipeline is used for continuous integration testing; System testing: CANoe or Vector CANalyzer are used for system-level testing to ensure communication and collaboration between components.

[0224] 2. Hardware platform: (1) Main control unit (ECU): uses a Horizon J3 chip. The ECU needs to support the CAN (Controller Area Network) communication protocol to exchange data with other vehicle systems. (2) Sensors and actuators: A multi-function camera: used for environmental perception, identification of vehicles, pedestrians, traffic signs, etc.; a millimeter-wave radar: to obtain the current speed information of the vehicle; BCM (body control module): responsible for controlling the opening and closing of the lighting system; instrument panel control unit (IC): used to display HMA status and alarm information.

[0225] The vehicle light control method and the corresponding HMA system provided in this embodiment have the following functions: First, by adopting the 1V1R solution to replace the traditional sunlight and rain sensor, the system is lightweight and the hardware cost is reduced. Second, the suppression state (Keep) is introduced, that is, the current light state is maintained under specific conditions to avoid unnecessary light changes, thereby enhancing the intelligence and safety of the system. This multi-state management method makes the HMA function more comprehensive and can better cope with complex driving environments. Third, the user is provided with the option to turn on or off the HMA function, and the system status is fed back in real time through the dashboard indicator light, so that the driver can clearly understand the current working mode and improve the transparency of the system. Fourth, the combination of intelligent and manual modes: while realizing the automatic switching of high and low beam lights in the intelligent mode, the logic of the user's manual operation is fully considered to ensure that the system can also smoothly transition during the manual operation process, avoiding the inconvenience caused by frequent switching, and improving the driving comfort and safety. Fifth, system reliability and stability: by introducing high priority and low priority suppression mechanisms, it is ensured that the current light state is maintained first under dynamic driving conditions, avoiding the safety hazards caused by frequent changes in lights, and enhancing the reliability and stability of the system. Sixth, easy maintenance and upgrade: simplifying hardware configuration and reducing the number of sensors make the system easier to maintain and upgrade, reducing long-term operating costs.

[0226] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0227] Based on the same inventive concept, the embodiment of the present application also provides a vehicle light control device for implementing the vehicle light control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle light control device embodiments provided below can refer to the limitations of the vehicle light control method above, and will not be repeated here.

[0228] In an exemplary embodiment, Figure 4 As shown, a vehicle light control device 400 is provided, the device comprising:

[0229] The acquisition module 401 is used to acquire vehicle environment information and vehicle status information;

[0230] The analysis module 402 is used to determine the target control condition that matches the vehicle environment information and the vehicle state information from the preset vehicle light control conditions; the preset vehicle light control conditions include a first group of conditions for triggering switching to a high beam state, a second group of conditions for triggering switching to a low beam state, and a third group of conditions for triggering entering and maintaining the current vehicle light state;

[0231] The control module 403 is used to control the headlights to enter a state corresponding to the target control condition; wherein, when the headlights enter the state of maintaining the current headlight state, the headlights are suppressed from automatically switching to the high beam state or the low beam state.

[0232] Based on the above-mentioned headlight control device 400, vehicle environment information and vehicle status information can be obtained through the acquisition module 401, the current driving condition of the vehicle can be analyzed through the analysis module 402 to determine the matching target control conditions, and the headlights can be controlled according to the target control conditions through the control module 403, so that the lighting provided by the headlights meets the actual lighting needs and ensures driving safety.

[0233] In one embodiment, the analysis module 402 is also used for the third group of conditions including the first-level conditions and the second-level conditions; the priority of the first-level conditions is higher than the priority of the second-level conditions; when controlling the headlights to enter the third group of conditions corresponding to maintaining the current headlight state, if the first-level conditions in the third group of conditions match the vehicle environment information and / or vehicle status information, then before the vehicle environment information / or vehicle status information corresponding to the first-level conditions is released, the headlights are suppressed from automatically switching.

[0234] In one embodiment, the control module 403 is also used to control the headlights to enter a third group of conditions corresponding to maintaining the current headlight state. If the first-level conditions in the third group of conditions do not match the vehicle environment information and the vehicle status information, and the second-level conditions match the vehicle environment information and / or the vehicle status information, then when it is re-determined that the vehicle environment information and the vehicle status information match the first group of conditions, the headlights are suppressed from automatically switching within a preset time range, and after the preset time range expires, the headlights are controlled to switch from maintaining the current headlight state to the high beam state; or, when it is re-determined that the vehicle environment information and the vehicle status information match the second group of conditions, the headlights are controlled to switch from maintaining the current headlight state to the low beam state.

[0235] In one embodiment, the analysis module 402 is also used for the first level conditions including: the vehicle emergency function is activated; the vehicle safety emergency function includes at least one of the following: anti-lock braking function, electronic stability program function, automatic emergency braking function, lane departure warning function, traction control function.

[0236] In one embodiment, the analysis module 402 is also used to determine the target control condition that matches the vehicle environment information and the vehicle status information from the preset headlight control conditions, including: when the current headlight state is the low beam state, if the vehicle environment information and the vehicle status information meet any of the following conditions, determine the third group of conditions as the target control condition: the vehicle environment brightness is between the first light intensity and the second light intensity; the first light intensity represents the ambient light intensity corresponding to the low beam state; the second light intensity represents the ambient light intensity corresponding to the high beam state; the vehicle safety emergency function is activated; the vehicle's turn signal is in an activated state; the vehicle's lateral acceleration is greater than or equal to a preset lateral acceleration threshold; the vehicle's steering wheel angle rate is greater than or equal to a preset steering wheel angle rate threshold; the vehicle's yaw angle rate is greater than or equal to a preset yaw angle rate threshold; the control module 403 is also used to control the headlights to enter a state corresponding to the target control condition, including: controlling the headlights to switch from the low beam state to maintain the current headlight state.

[0237] In one of the embodiments, the analysis module 402 is also used to determine the target control conditions that match the vehicle environment information and the vehicle status information from the preset headlight control conditions, including: when the current headlight state is the high beam state, if the vehicle environment information and the vehicle status information meet any of the following conditions, determine the third group of conditions as the target control conditions: the vehicle environment brightness is between the first light intensity and the second light intensity; the first light intensity represents the ambient light intensity corresponding to the low beam state; the second light intensity represents the ambient light intensity corresponding to the high beam state; the vehicle safety emergency function is activated; the control module 403 is also used to control the headlights to enter a state corresponding to the target control conditions, including: controlling the headlights to switch from the high beam state to maintain the current headlight state.

[0238] In one of the embodiments, the analysis module 402 is also used to determine the target control conditions that match the vehicle environment information and the vehicle status information from the preset headlight control conditions, including: when the current headlight state is the low beam state, if the vehicle environment information and the vehicle status information meet the following conditions, determine the first group of conditions as the target control conditions: the vehicle speed is greater than a preset first vehicle speed threshold; the vehicle environment brightness is less than or equal to the second light intensity; the second light intensity represents the ambient light intensity corresponding to the high beam state; the wiper swing speed is less than the preset swing speed threshold; there is no target object within a preset distance range in front of the vehicle; the vehicle's fog lights and hazard lights are both in the off state; no glare is detected in front of the vehicle; the control module 403 is also used to control the headlights to enter a state corresponding to the target control conditions, including: controlling the headlights to switch from the low beam state to the high beam state.

[0239] In one of the embodiments, the analysis module 402 is also used to determine the target control conditions that match the vehicle environment information and the vehicle status information from the preset headlight control conditions, including: when the current headlight state is the high beam state, if the vehicle environment information and the vehicle status information meet any of the following conditions, determine the second group of conditions as the target control conditions: the vehicle speed is less than a preset second vehicle speed threshold; the vehicle environment brightness is greater than or equal to the first light intensity; the first light intensity represents the ambient light intensity corresponding to the low beam state; the wiper swing speed is greater than or equal to the preset swing speed threshold; there is a target object within a preset distance range in front of the vehicle; the vehicle's fog lights and / or double flash lights are on; glare is detected in front of the vehicle; the control module 403 is also used to control the headlights to enter a state corresponding to the target control conditions, including: controlling the headlights to switch from the high beam state to the low beam state.

[0240] In one embodiment, the acquisition module 401 is also used to obtain vehicle environmental information, including: obtaining data collected by a preset forward-looking integrated machine and a millimeter-wave radar to obtain vehicle environmental information; the forward-looking integrated machine includes a forward-looking camera and a processor, and the forward-looking integrated machine is used to collect various environmental information of the vehicle.

[0241] In one of the embodiments, the method is applied to a high and low beam auxiliary system; the control module 403 is also used to save the on and off status of the vehicle's high and low beam auxiliary system when parking and engine shutdown information is received; and to restore the high and low beam auxiliary system based on the saved on and off status when vehicle startup information is received.

[0242] Each module in the above-mentioned vehicle light control device can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the new energy vehicle in the form of hardware, or can be stored in the memory in the new energy vehicle in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0243] In an exemplary embodiment, a vehicle control device is provided, the internal structure of which can be shown as follows: Figure 5 As shown. The automobile control device includes a processor, a memory, an input / output interface, and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the automobile control device is used to provide computing and control capabilities. The memory of the automobile control device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the automobile control device is used to exchange information between the processor and an external device. The communication interface of the automobile control device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a method for controlling a vehicle light is implemented.

[0244] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present application, and does not constitute a limitation on the automobile control device to which the scheme of the present application is applied. The specific automobile control device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0245] In one embodiment, a vehicle control device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the vehicle light control method in the above-mentioned embodiment when executing the computer program.

[0246] In one embodiment, a new energy vehicle is provided, including a memory and a controller, wherein the memory stores a computer program, and the controller implements the steps of the vehicle light control method in the aforementioned embodiment when executing the computer program.

[0247] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle light control method in the aforementioned embodiment are implemented.

[0248] In one embodiment, a computer program product is provided, including a computer program, which implements the steps of the vehicle light control method in the above-mentioned embodiment when executed by a processor.

[0249] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0250] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0251] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle light control method, characterized in that: The method comprises: Obtain vehicle environment information and vehicle status information; Determining a target control condition that matches the vehicle environment information and the vehicle state information from preset vehicle light control conditions; the preset vehicle light control conditions include a first group of conditions for triggering switching to a high beam state, a second group of conditions for triggering switching to a low beam state, and a third group of conditions for triggering entering and maintaining a current vehicle light state; Control the vehicle lights to enter a state corresponding to the target control condition; wherein, when the vehicle lights enter the state of maintaining the current vehicle lights, the vehicle lights are suppressed from automatically switching to the high beam state or the low beam state.

2. The method according to claim 1, characterized in that The third group of conditions includes first-level conditions and second-level conditions; the priority of the first-level conditions is higher than the priority of the second-level conditions; The method further comprises: When controlling the headlights to enter the maintaining current headlight state corresponding to the third group of conditions, if the first-level conditions in the third group of conditions match the vehicle environment information and / or the vehicle status information, then before the vehicle environment information / or the vehicle status information corresponding to the first-level conditions are released, the headlights are suppressed from automatically switching to the high beam state or the low beam state.

3. The method according to claim 2, characterized in that The method further comprises: When the headlights are controlled to enter the maintain current headlight state corresponding to the third group of conditions, if the first-level conditions in the third group of conditions do not match the vehicle environment information and the vehicle status information, and the second-level conditions match the vehicle environment information and / or the vehicle status information, then when it is re-determined that the vehicle environment information and the vehicle status information match the first group of conditions, the automatic switching of the headlights is suppressed within a preset time range, and after the preset time range expires, the headlights are controlled to switch from the maintain current headlight state to the high beam state.

4. The method according to claim 2, characterized in that: The first level of conditions include: the vehicle emergency function is activated; The vehicle safety emergency function includes at least one of the following: an anti-lock braking function, an electronic stability program function, an automatic emergency braking function, a lane departure warning function, and a traction control function.

5. The method according to claim 4, characterized in that The determining, from the preset vehicle light control conditions, a target control condition that matches the vehicle environment information and the vehicle state information includes: When the current vehicle light state is the low beam state, if the vehicle environment information and the vehicle state information meet any of the following conditions, the third group of conditions is determined as the target control condition: The vehicle environment brightness is between a first light intensity and a second light intensity; the first light intensity represents the environment light intensity corresponding to the low beam state; the second light intensity represents the environment light intensity corresponding to the high beam state; The vehicle safety emergency function is activated; The turn signal lamp of the vehicle is activated; The lateral acceleration of the vehicle is greater than or equal to a preset lateral acceleration threshold; The steering wheel angle rate of the vehicle is greater than or equal to a preset steering wheel angle rate threshold; The yaw rate of the vehicle is greater than or equal to a preset yaw rate threshold; The controlling the vehicle light to enter a state corresponding to the target control condition includes: controlling the vehicle light to switch from the low beam state to maintaining the current vehicle light state.

6. The method according to claim 4, characterized in that The determining, from the preset vehicle light control conditions, a target control condition that matches the vehicle environment information and the vehicle state information includes: When the current vehicle light state is the high beam state, if the vehicle environment information and the vehicle state information meet any of the following conditions, the third group of conditions is determined as the target control condition: The vehicle environment brightness is between a first light intensity and a second light intensity; the first light intensity is greater than the environment light intensity corresponding to the low beam state; the second light intensity is less than the environment light intensity corresponding to the high beam state; The vehicle safety emergency function is activated; The controlling the vehicle light to enter a state corresponding to the target control condition includes: controlling the vehicle light to switch from the high beam state to maintaining the current vehicle light state.

7. The method according to claim 1, characterized in that The determining, from the preset vehicle light control conditions, a target control condition that matches the vehicle environment information and the vehicle state information includes: When the current vehicle light state is the low beam state, if the vehicle environment information and the vehicle state information meet the following conditions, the first group of conditions is determined as the target control condition: The vehicle speed is greater than a preset first vehicle speed threshold; The vehicle environment brightness is less than or equal to the second light intensity; the second light intensity is less than the environment light intensity corresponding to the high beam state; The wiper oscillation speed is less than a preset oscillation speed threshold; There is no target object within the preset distance range in front of the vehicle; The vehicle's fog lights and hazard lights are turned off; No glare is detected in front of the vehicle; The controlling the vehicle light to enter a state corresponding to the target control condition includes: controlling the vehicle light to switch from the low beam state to the high beam state.

8. The method according to claim 1, characterized in that The determining, from the preset vehicle light control conditions, a target control condition that matches the vehicle environment information and the vehicle state information includes: When the current vehicle light state is the high beam state, if the vehicle environment information and the vehicle state information meet any one of the following conditions, the second group of conditions is determined as the target control condition: The vehicle speed is less than a preset second vehicle speed threshold; The vehicle environment brightness is greater than or equal to the first light intensity; the first light intensity is greater than the ambient light intensity corresponding to the low beam state; The wiper swing speed is greater than or equal to a preset swing speed threshold; There is a target object within a preset distance range in front of the vehicle; The vehicle's fog lights and / or hazard lights are on; Glare is detected in front of the vehicle; The controlling the vehicle light to enter a state corresponding to the target control condition includes: controlling the vehicle light to switch from the high-beam state to the low-beam state.

9. The method according to any one of claims 1 to 8, characterized in that: The obtaining of vehicle environment information includes: Acquire data collected by a preset front-view integrated device and a millimeter-wave radar to obtain the vehicle environment information; The front-view integrated device includes a front-view camera and a processor, and the front-view integrated device is used to collect various environmental information of the vehicle.

10. A vehicle light control device, characterized in that: The device comprises: An acquisition module, used to acquire vehicle environment information and vehicle status information; an analysis module, for determining a target control condition matching the vehicle environment information and the vehicle state information from preset vehicle light control conditions; the preset vehicle light control conditions include a first group of conditions for triggering switching to a high beam state, a second group of conditions for triggering switching to a low beam state, and a third group of conditions for triggering entering and maintaining a current vehicle light state; A control module is used to control the headlights to enter a state corresponding to the target control condition; wherein, when the headlights enter the state of maintaining the current headlight state, the headlights are suppressed from automatically switching to the high beam state or the low beam state.

11. A new energy vehicle, comprising a memory and a controller, wherein the memory stores a computer program, characterized in that: When the controller executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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