Automatic control method and system for vehicle steering lamp

Abstract

The invention discloses an automatic control method and system for a vehicle steering lamp, and the control method comprises the steps: obtaining navigation information, judging the driving road condition of a vehicle according to the navigation information, and obtaining the driving state information of the vehicle under the corresponding driving road condition; vehicle driving scene information is obtained, a steering lamp control strategy is established according to vehicle navigation information, driving road conditions, driving state information and the vehicle driving scene information, and corresponding steering lamps are controlled to be turned on or turned off; the steering intention of the vehicle is automatically judged, turning-on and turning-off of the steering lamp are controlled, the operation burden of a driver in the driving process is relieved, the driver is more focused on the driving task, and the driving comfort and safety are improved; by automatically judging the steering intention of the vehicle and controlling the turn-on and turn-off of the turn signal lamp, the situation that a driver forgets to turn on the turn signal lamp due to negligence or fatigue can be avoided, and therefore the risk of traffic accidents is reduced; by reducing reaction delay caused by manual operation of the steering lamp, the driving efficiency can be improved, especially in emergency, the steering intention of the vehicle can be transmitted more quickly, and traffic accidents are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a method and system for automatically controlling a vehicle turn signal lamp. Background Art

[0002] With the continuous development of automobile technology, automobile intelligence has become the mainstream trend of industry development. In the intelligent driving system, turn signals, as an important communication tool between vehicles and between vehicles and pedestrians, are of great significance to ensure driving safety. However, in existing vehicles, the control of turn signals usually depends on the manual operation of the driver. The driver needs to manually turn on the corresponding turn signal before turning or changing lanes to notify other road users of his intention.

[0003] This traditional control method can cause the driver to be distracted. When operating the turn signal, the driver needs to move one hand from the steering wheel to operate the turn signal lever or button, which will distract the driver and temporarily reduce the control of the vehicle, especially in emergency situations or in complex traffic environments. This may lead to delayed reaction time and increase the risk of traffic accidents; operational errors, the driver may forget to turn on the turn signal, or forget to turn off the turn signal after completing a turn or changing lanes, which will cause misunderstandings to other drivers and increase the possibility of traffic accidents; inconsistent operation, different drivers may have different operating habits. Some drivers may turn on the turn signal very early before turning, while others may turn it on very late. This inconsistency may cause confusion and misjudgment for other drivers. Summary of the invention

[0004] The object of the present invention is to provide a method and system for automatically controlling a vehicle turn signal lamp, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a vehicle turn signal automatic control method, comprising:

[0006] Obtaining navigation information, determining the vehicle's driving conditions based on the navigation information, and obtaining the vehicle's driving status information under the corresponding driving conditions;

[0007] Obtain vehicle driving scene information, establish a turn signal control strategy based on the vehicle's navigation information, driving road conditions and driving status information, as well as the vehicle's driving scene information, and control the corresponding turn signal to turn on or off.

[0008] Furthermore, obtaining navigation information and determining the vehicle driving road condition according to the navigation information also includes:

[0009] Vehicle driving conditions include urban road driving conditions, highway driving conditions, rural road driving conditions, and low-visibility driving conditions.

[0010] Further, the vehicle driving scene information is obtained, and a turn signal control strategy is established according to the vehicle navigation information, driving road condition and driving state information, and the vehicle driving scene information, which also includes:

[0011] Determine that the vehicle is in a city road driving condition based on navigation information;

[0012] Establishing a first turn signal control strategy according to the vehicle's navigation information, the urban road driving condition and driving state information, and the vehicle driving scene information, wherein the turn signal control strategy includes a first turn signal control strategy;

[0013] The first turn strategy includes:

[0014] Obtain the location information of the next intersection based on the navigation information, and determine whether the vehicle is turning at the next intersection;

[0015] When it is determined that the vehicle is turning at the next intersection, a first distance threshold and a second distance threshold between the vehicle and the next intersection are set, wherein the first distance threshold is greater than the second distance threshold;

[0016] When the distance between the vehicle and the next intersection is less than the first distance threshold and greater than the second distance threshold, obtaining road surface image information according to the vehicle driving scene information;

[0017] Determine whether the current vehicle is in a turning lane based on navigation information and road image information;

[0018] If the vehicle is not in the turning lane, turn on the corresponding turn signal according to the navigation information;

[0019] If yes, it is determined whether the distance between the vehicle and the next intersection is less than a second distance threshold. When the distance between the vehicle and the next intersection is less than the second distance threshold, the corresponding turn signal is turned on according to the navigation information.

[0020] Further, when the distance between the vehicle and the next intersection is less than a second distance threshold, the corresponding turn signal is turned on according to the navigation information, further comprising:

[0021] Obtain navigation lane information based on navigation information, obtain steering wheel angle information and lateral acceleration information based on driving state information, and obtain road surface image information based on vehicle driving scene information;

[0022] Determine whether the vehicle has completed the turn based on navigation lane information, steering wheel angle information, lateral acceleration information and road surface image information;

[0023] If the turn is completed, the turn signal is turned off; if the turn is not completed, the turn signal remains on.

[0024] Furthermore, the vehicle driving scene information is obtained, and a turn signal control strategy is established according to the vehicle navigation information, driving road condition and driving state information, and the vehicle driving scene information, including:

[0025] Judging that the vehicle is in a highway driving condition according to the navigation information;

[0026] Establishing a second turn signal control strategy according to the vehicle's navigation information, highway driving conditions and driving state information, and vehicle driving scene information, wherein the turn signal control strategy includes a second turn signal control strategy;

[0027] The second turn strategy includes:

[0028] determining the vehicle driving speed according to the vehicle driving state information;

[0029] Determine the driving speed of the vehicle in front of the vehicle and the distance between the two vehicles according to the vehicle driving scene information;

[0030] Set a safe distance and determine whether the overtaking conditions are met based on the vehicle's speed, the speed of the vehicle in front and the distance between the two vehicles. If the overtaking conditions are met, determine whether there is an obstacle vehicle within the safe distance in the adjacent lane in the overtaking direction. If so, do not turn on the turn signal. Otherwise, turn on the corresponding turn signal.

[0031] Furthermore, turning on the corresponding turn signal also includes:

[0032] Obtain navigation lane information based on navigation information, obtain steering wheel angle information and lateral acceleration information based on driving state information, and obtain road surface image information based on vehicle driving scene information;

[0033] The system determines whether the vehicle has completed the turn based on the navigation lane information, steering wheel angle information, lateral acceleration information and road surface image information. If the vehicle has completed the turn and entered the adjacent lane in the overtaking direction, the turn signal is turned off.

[0034] Further, the vehicle driving scene information is obtained, and a turn signal control strategy is established according to the vehicle navigation information, driving road condition and driving state information, and the vehicle driving scene information, which also includes:

[0035] Judging that the vehicle is in a rural road driving condition based on navigation information;

[0036] Establishing a third turn signal control strategy according to the vehicle's navigation information, rural road driving conditions and driving state information, and vehicle driving scene information, wherein the turn signal control strategy includes a third turn signal control strategy;

[0037] The third turn strategy includes:

[0038] Obtain navigation lane information based on navigation information, and obtain road sign information based on vehicle driving scene information;

[0039] Determine whether there is a sharp turn ahead based on the navigation lane information;

[0040] If not, the turn signal will not be turned on;

[0041] If there is a sharp turn, turn on the turn signal in the direction of the sharp turn to remind the driver to pay attention to safety;

[0042] Determine whether a sharp turn has been made based on navigation lane information;

[0043] If you have not passed the sharp turn, keep the turn signal on; if you have passed the sharp turn, turn it off.

[0044] Further, the vehicle driving scene information is obtained, and a turn signal control strategy is established according to the vehicle navigation information, driving road condition and driving state information, and the vehicle driving scene information, which also includes:

[0045] Determining that the vehicle is in a low-visibility driving condition based on navigation information;

[0046] Establishing a fourth turn signal control strategy according to the navigation information of the vehicle, the low-visibility driving road condition and driving state information, and the vehicle driving scene information, wherein the turn signal control strategy includes a fourth turn signal control strategy;

[0047] The fourth turning strategy includes:

[0048] Obtaining road visibility information based on vehicle driving scene information;

[0049] Set a visibility threshold. When the road visibility is less than the visibility threshold, the vehicle is judged to be in low-visibility driving conditions. If the vehicle is judged to be in low-visibility driving conditions, the double flashes are turned on to remind the driver and surrounding vehicles to pay attention to safety.

[0050] If it is determined that the vehicle is not in a low-visibility driving condition, the double flash function of the turn signal lamp will not be turned on;

[0051] It is determined based on the road visibility information whether the vehicle has passed the low-visibility driving condition. If it is determined that the vehicle has not passed the low-visibility driving condition, the double flash function of the turn signal lamp is maintained. If it is determined that the vehicle has passed the low-visibility driving condition, the double flash function of the turn signal lamp is turned off.

[0052] Furthermore, the driving habit information of the driver in different vehicle driving scenarios is collected;

[0053] Establish a steering intention training model;

[0054] Train the steering intention training model based on driving habit information;

[0055] Acquire vehicle driving scene information, and establish a turn signal control strategy based on the vehicle's navigation information, driving road conditions and driving status information, as well as the vehicle's driving scene information;

[0056] The control command is generated based on the fusion calculation of the turn signal control strategy and the steering intention training model to control the corresponding turn signal to turn on or off.

[0057] On the other hand, a vehicle turn signal automatic control system is provided, which is applied to any one of the above-mentioned vehicle turn signal automatic control methods, comprising:

[0058] A navigation information acquisition module, used to acquire navigation information;

[0059] A driving status information acquisition module is used to acquire the driving status information of the vehicle under corresponding driving conditions;

[0060] A driving scene information acquisition module is used to acquire vehicle driving scene information;

[0061] A turn signal control module is used to establish a turn signal control strategy and control the corresponding turn signal to turn on or off according to the vehicle's navigation information, road conditions and driving status information, as well as vehicle driving scene information;

[0062] A steering intention training model building module collects the driver's driving habit information in different vehicle driving scenarios, establishes a steering intention training model, and trains the steering intention training model based on the driving habit information;

[0063] The processing module generates a control command based on the fusion calculation of the turn signal control strategy and the steering intention training model to control the corresponding turn signal to turn on or off.

[0064] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention automatically determines the vehicle's turning intention and controls the turning on and off of the turn signal, thereby reducing the driver's operating burden during driving, allowing the driver to focus more on the driving task, and improving driving comfort and safety; by automatically determining the vehicle's turning intention and controlling the turning on and off of the turn signal, the driver can avoid forgetting to turn on the turn signal due to negligence or fatigue, thereby reducing the risk of traffic accidents; by reducing the reaction delay caused by manual operation of the turn signal, the driving efficiency can be improved, especially in emergency situations, the vehicle's turning intention can be conveyed more quickly to avoid traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 This is a flow chart of a method for automatically controlling a vehicle turn signal lamp in an embodiment of the present invention;

[0066] Figure 2This is a flow chart of the turn signal control strategy under urban road conditions in an embodiment of the present invention;

[0067] Figure 3 This is a flow chart of the turn signal control strategy under highway driving conditions in an embodiment of the present invention;

[0068] Figure 4 This is a flow chart of the turn signal control strategy under rural road conditions in an embodiment of the present invention;

[0069] Figure 5 This is a flow chart of a turn signal control strategy under low-visibility driving conditions in an embodiment of the present invention;

[0070] Figure 6 The figure is a connection block diagram of a vehicle turn signal automatic control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0071] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0072] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0073] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] Please refer to the attached drawings of the specification, the present invention provides a technical solution: a vehicle turn signal automatic control method, comprising the following steps:

[0075] S102, obtaining navigation information, determining the vehicle driving condition according to the navigation information, and obtaining driving state information of the vehicle under the corresponding driving condition;

[0076] Specifically, the vehicle driving conditions include urban road driving conditions, highway driving conditions, rural road driving conditions, and low-visibility driving conditions.

[0077] Among them, in this embodiment, navigation information is obtained through the vehicle navigation system, and the navigation information includes the vehicle's driving route, distance, speed, direction and other information; the vehicle's driving status information under corresponding driving conditions includes speed, acceleration, steering wheel angle, etc., which is used to judge the vehicle's steering intention.

[0078] S104, obtaining vehicle driving scene information, establishing a turn signal control strategy according to the vehicle's navigation information, driving road conditions and driving status information, and vehicle driving scene information, and controlling the corresponding turn signal to be turned on or off.

[0079] Specifically, it is determined that the vehicle is in an urban road driving condition according to the navigation information; a first turn signal control strategy is established according to the vehicle's navigation information, urban road driving condition and driving state information, and vehicle driving scene information. The first turn signal control strategy includes:

[0080] Obtain the location information of the next intersection based on the navigation information, and determine whether the vehicle is turning at the next intersection;

[0081] When it is determined that the vehicle is turning at the next intersection, a first distance threshold and a second distance threshold between the vehicle and the next intersection are set, wherein the first distance threshold is greater than the second distance threshold;

[0082] When the distance between the vehicle and the next intersection is less than the first distance threshold and greater than the second distance threshold, obtaining road surface image information according to the vehicle driving scene information;

[0083] Determine whether the current vehicle is in a turning lane based on navigation information and road image information;

[0084] If the vehicle is not in the turning lane, turn on the corresponding turn signal according to the navigation information;

[0085] If yes, it is determined whether the distance between the vehicle and the next intersection is less than a second distance threshold. When the distance between the vehicle and the next intersection is less than the second distance threshold, the corresponding turn signal is turned on according to the navigation information.

[0086] The turning intersection is determined according to the driving route planned by the vehicle navigation system. The lane before the intersection is usually provided with a road sign indicating whether the driving lane is a straight lane or a turning lane. In addition, there are also signboards at the intersection indicating the driving route. The vehicle uses the camera to collect images, collects the above information between the first distance threshold and the second distance threshold, and determines whether the corresponding indicator light is turned on or off in combination with the driving route planned by the vehicle navigation system, so as to provide warning information for relevant vehicles in the driving scene; Figure 2 As shown, the first distance threshold is preferably set to 500 meters and the second distance threshold is set to 20 meters.

[0087] Specifically, when the distance between the vehicle and the next intersection is less than a second distance threshold, the corresponding turn signal is turned on according to the navigation information, and further includes:

[0088] Obtain navigation lane information based on navigation information, obtain steering wheel angle information and lateral acceleration information based on driving state information, and obtain road surface image information based on vehicle driving scene information;

[0089] Determine whether the vehicle has completed the turn based on navigation lane information, steering wheel angle information, lateral acceleration information and road surface image information;

[0090] If the turn is completed, the turn signal is turned off; if the turn is not completed, the turn signal remains on.

[0091] Among them, in this embodiment, the navigation lane information, steering wheel angle information, lateral acceleration information and road surface image information are used to determine whether the vehicle has completed the turn. If the turn is completed, the turn signal is turned off; if the turn is not completed, the turn signal remains on, thereby avoiding the situation where the driver forgets to turn on or off the turn signal due to negligence or fatigue, thereby improving driving safety.

[0092] For example, a vehicle traveling on a city road has planned a driving route according to the on-board navigation system, and needs to turn right at the next intersection. When the car approaches the right-turn intersection, the vehicle receives a right-turn signal from the on-board navigation system. At the same time, the vehicle obtains vehicle driving scene information, including the current lane and the target lane, through the on-board camera and / or radar probe, and obtains the vehicle's steering information through the vehicle's steering wheel angle sensor and the vehicle's lateral acceleration sensor. Based on this information, it is determined that the vehicle is about to turn right, and the determination result is sent to the turn signal control module. After receiving the determination result, the turn signal control module controls the right turn signal to turn on, and conveys the vehicle's intention to turn right to surrounding vehicles and pedestrians. When the car completes the right turn operation, the driving status of the vehicle is determined, and it is found that the vehicle has left the right-turn intersection and continues to drive in a straight line, so the new determination result is sent to the turn signal control module. After receiving the new determination result, the turn signal control module controls the right turn signal to turn off.

[0093] Specifically, it is determined that the vehicle is in a highway driving condition according to the navigation information; a second turn signal control strategy is established according to the vehicle's navigation information, highway driving condition and driving state information, and vehicle driving scene information. The second turn signal control strategy includes:

[0094] determining the vehicle driving speed according to the vehicle driving state information;

[0095] Determine the driving speed of the vehicle in front of the vehicle and the distance between the two vehicles according to the vehicle driving scene information;

[0096] Set a safe distance and determine whether the overtaking conditions are met based on the vehicle's speed, the speed of the vehicle in front and the distance between the two vehicles. If the overtaking conditions are met, determine whether there is an obstacle vehicle within the safe distance in the adjacent lane in the overtaking direction. If so, do not turn on the turn signal. Otherwise, turn on the corresponding turn signal.

[0097] Among them, the vehicle-mounted radar is used to judge the distance between the vehicle and the vehicle in front and the relative acceleration and speed between the two vehicles. The navigation lane information, steering wheel angle information, lateral acceleration information and road image information are used to judge whether the vehicle has the intention to overtake. If it is judged that there is an intention to overtake, the time required for the vehicle to enter the adjacent overtaking lane is determined. According to the distance between the vehicle and the vehicle in front and the time required for the lane, whether the distance between the two vehicles is within the distance between the vehicle and the vehicle in front; if the distance between the vehicle and the vehicle in front is within the distance between the vehicle and the vehicle in front, the overtaking condition is met, and the turn signal is turned on to prompt the vehicle in the driving scene to pay attention to avoid.

[0098] Specifically, turning on the corresponding turn signal also includes:

[0099] Obtain navigation lane information based on navigation information, obtain steering wheel angle information and lateral acceleration information based on driving state information, and obtain road surface image information based on vehicle driving scene information;

[0100] The system determines whether the vehicle has completed the turn based on the navigation lane information, steering wheel angle information, lateral acceleration information and road surface image information. If the vehicle has completed the turn and entered the adjacent lane in the overtaking direction, the turn signal is turned off.

[0101] Among them, turning off the turn signal after overtaking is completed avoids the situation where the driver forgets to turn off the turn signal due to negligence or fatigue, thereby improving driving safety.

[0102] For example, Figure 3As shown, suppose a car is driving on a highway, and the navigation information shows that there is no exit or service area above 10 kilometers, and the speed of the vehicle in front of the current lane is low. When the speed of the vehicle is reduced to less than 80% of the average speed in the last 5 minutes, the adjacent lane information is obtained through the camera or radar probe, and it is judged that the vehicle has the intention to turn and overtake, and whether the overtaking conditions are met. If the overtaking conditions are met, the turn signal is turned on to remind the owner that he can overtake. The steering wheel offset angle signal and the vehicle lateral acceleration signal are combined with the camera and / or radar probe to judge whether the vehicle has completed the lane change and overtaking. After the overtaking is completed, the steering intention judgment module judges whether the owner has the intention to return to the original driving lane through the steering wheel offset angle signal and the vehicle lateral acceleration signal combined with the camera and / or radar probe. If the speed in the overtaking lane is restored to the average speed in the last 5 minutes, and the vehicle continues to drive in the overtaking lane for more than 1 minute, it is judged that the owner has no intention to return to the original driving lane, and the turn signal control module is notified to turn off the turn signal to prevent misunderstanding of vehicles in other lanes, or even cause traffic accidents.

[0103] Specifically, Figure 4 As shown, it is determined that the vehicle is in a rural road driving condition according to the navigation information;

[0104] According to the vehicle's navigation information, rural road driving conditions and driving status information, and vehicle driving scene information, a third turn signal control strategy is established. The third turn signal control strategy includes:

[0105] Obtain navigation lane information based on navigation information, and obtain road sign information based on vehicle driving scene information;

[0106] Determine whether there is a sharp turn ahead based on the navigation lane information;

[0107] If not, the turn signal will not be turned on;

[0108] If there is a sharp turn, turn on the turn signal in the direction of the sharp turn to remind the driver to pay attention to safety;

[0109] Determine whether a sharp turn has been made based on navigation lane information;

[0110] If you have not passed the sharp turn, keep the turn signal on; if you have passed the sharp turn, turn it off.

[0111] For example, suppose a car is driving on a rural road and there is a sharp turn at the intersection ahead. The navigation signal receiving module will receive the sharp turn signal from the on-board navigation system and obtain the sharp turn sign on the road in combination with the camera. The turning intention judgment module determines that a sharp turn is about to take place ahead and notifies the turn signal control module to turn on the turn signal to remind the owner. After determining that the sharp turn has been passed, the turning intention judgment module notifies the turn signal control module to turn off the turn signal.

[0112] Specifically, Figure 5 As shown, it is determined that the vehicle is in a low-visibility driving condition according to the navigation information; a fourth turn signal control strategy is established according to the navigation information of the vehicle, the low-visibility driving condition and driving state information, and the vehicle driving scene information. The fourth turn signal control strategy includes:

[0113] Obtaining road visibility information based on vehicle driving scene information;

[0114] Set a visibility threshold. When the road visibility is less than the visibility threshold, the vehicle is judged to be in low-visibility driving conditions. If the vehicle is judged to be in low-visibility driving conditions, the double flashes are turned on to remind the driver and surrounding vehicles to pay attention to safety.

[0115] If it is determined that the vehicle is not in a low-visibility driving condition, the double flash function of the turn signal lamp will not be turned on;

[0116] It is determined based on the road visibility information whether the vehicle has passed the low-visibility driving condition. If it is determined that the vehicle has not passed the low-visibility driving condition, the double flash function of the turn signal lamp is maintained. If it is determined that the vehicle has passed the low-visibility driving condition, the double flash function of the turn signal lamp is turned off.

[0117] For example, suppose a car is driving on a road with low visibility due to heavy fog, etc., and obtains information such as the visibility of the surrounding environment and whether the surrounding vehicles have turned on the double flash through the camera and / or radar probe. If it is determined that the current road is on a road with low visibility, the double flash will be turned on to remind the owner and surrounding vehicles to pay attention to driving safety. After passing the section with low visibility, the visibility of the surrounding environment and whether the surrounding vehicles have turned on the double flash are obtained through the camera and / or radar probe. After determining that the vehicle has passed the section with low visibility, the turn signal control module is notified to turn off the double flash.

[0118] Optionally, collecting driving habit information of the driver in different vehicle driving scenarios;

[0119] Establish a steering intention training model;

[0120] Train the steering intention training model based on driving habit information;

[0121] Acquire vehicle driving scene information, and establish a turn signal control strategy based on the vehicle's navigation information, driving road conditions and driving status information, as well as the vehicle's driving scene information;

[0122] The control command is generated based on the fusion calculation of the turn signal control strategy and the steering intention training model to control the corresponding turn signal to turn on or off.

[0123] Among them, this embodiment collects data from actual driving scenes, including data of the driver during driving, such as steering wheel angle, vehicle speed, lateral acceleration, navigation information, front and rear vehicle distance, driving lane, etc., annotates the collected data, and clarifies the driver's turning intention corresponding to each data point, such as left turn, right turn, straight driving, etc.; cleans, denoises and normalizes the collected raw data to improve data quality, and selects features that have a significant impact on the steering intention according to the needs of the driver's steering intention judgment. These features may include steering wheel angle, vehicle speed, lateral acceleration, distance to the next intersection, driving lane, etc., and selects a convolutional neural network (CNN) algorithm to train and optimize the steering intention judgment model for the above feature data, so that the model can adapt to various complex situations to improve the accuracy of judgment.

[0124] On the other hand, Figure 6 As shown, a vehicle turn signal automatic control system is provided, which is applied to any of the above-mentioned vehicle turn signal automatic control methods, including:

[0125] A navigation information acquisition module 10, used to acquire navigation information;

[0126] The driving state information acquisition module 20 is used to acquire the driving state information of the vehicle under corresponding driving conditions;

[0127] A driving scene information acquisition module 30 is used to acquire vehicle driving scene information;

[0128] The turn signal control module 40 is used to establish a turn signal control strategy according to the vehicle's navigation information, driving road conditions and driving state information, and vehicle driving scene information, and control the corresponding turn signal to turn on or off;

[0129] A turning intention training model building module 50 collects driving habit information of the driver in different vehicle driving scenarios, establishes a turning intention training model, and trains the turning intention training model according to the driving habit information;

[0130] The processing module 60 generates a control command based on the fusion calculation of the turn signal control strategy and the turn intention training model to control the corresponding turn signal to turn on or off.

[0131] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vehicle turn signal automatic control method, characterized in that: include: Obtaining navigation information, determining the vehicle's driving conditions based on the navigation information, and obtaining the vehicle's driving status information under the corresponding driving conditions; Obtain vehicle driving scene information, establish a turn signal control strategy based on the vehicle's navigation information, driving road conditions and driving status information, as well as the vehicle's driving scene information, and control the corresponding turn signal to turn on or off.

2. The method for automatically controlling a vehicle turn signal lamp according to claim 1, characterized in that: Obtaining navigation information and judging the vehicle's driving conditions based on the navigation information also includes: Vehicle driving conditions include urban road driving conditions, highway driving conditions, rural road driving conditions, and low-visibility driving conditions.

3. The method for automatically controlling a vehicle turn signal lamp according to claim 2, characterized in that: Obtain vehicle driving scene information, and establish a turn signal control strategy based on the vehicle's navigation information, driving road conditions and driving status information, as well as the vehicle's driving scene information, including: Determine that the vehicle is in a city road driving condition based on navigation information; Establishing a first turn signal control strategy according to the vehicle's navigation information, the urban road driving condition and driving state information, and the vehicle driving scene information, wherein the turn signal control strategy includes a first turn signal control strategy; The first turn strategy includes: Obtain the location information of the next intersection based on the navigation information, and determine whether the vehicle is turning at the next intersection; When it is determined that the vehicle is turning at the next intersection, a first distance threshold and a second distance threshold between the vehicle and the next intersection are set, wherein the first distance threshold is greater than the second distance threshold; When the distance between the vehicle and the next intersection is less than the first distance threshold and greater than the second distance threshold, obtaining road surface image information according to the vehicle driving scene information; Determine whether the current vehicle is in a turning lane based on navigation information and road image information; If the vehicle is not in the turning lane, turn on the corresponding turn signal according to the navigation information; If yes, it is determined whether the distance between the vehicle and the next intersection is less than a second distance threshold. When the distance between the vehicle and the next intersection is less than the second distance threshold, the corresponding turn signal is turned on according to the navigation information.

4. The method for automatically controlling a vehicle turn signal lamp according to claim 3, characterized in that: When the distance between the vehicle and the next intersection is less than a second distance threshold, the corresponding turn signal is turned on according to the navigation information, and further includes: Obtain navigation lane information based on navigation information, obtain steering wheel angle information and lateral acceleration information based on driving state information, and obtain road surface image information based on vehicle driving scene information; Determine whether the vehicle has completed the turn based on navigation lane information, steering wheel angle information, lateral acceleration information and road surface image information; If the turn is completed, the turn signal is turned off; if the turn is not completed, the turn signal remains on.

5. The method for automatically controlling a vehicle turn signal lamp according to claim 2, characterized in that: Obtain vehicle driving scene information, and establish a turn signal control strategy based on the vehicle's navigation information, driving road conditions and driving status information, as well as the vehicle's driving scene information, including: Judging that the vehicle is in a highway driving condition according to the navigation information; Establishing a second turn signal control strategy according to the vehicle's navigation information, highway driving conditions and driving state information, and vehicle driving scene information, wherein the turn signal control strategy includes a second turn signal control strategy; The second turn strategy includes: determining the vehicle driving speed according to the vehicle driving state information; Determine the driving speed of the vehicle in front of the vehicle and the distance between the two vehicles according to the vehicle driving scene information; Set a safe distance and determine whether the overtaking conditions are met based on the vehicle's speed, the speed of the vehicle in front and the distance between the two vehicles. If the overtaking conditions are met, determine whether there is an obstacle vehicle within the safe distance in the adjacent lane in the overtaking direction. If so, do not turn on the turn signal; otherwise, turn on the corresponding turn signal.

6. A vehicle turn signal automatic control method according to claim 5, characterized in that: Turn on the corresponding turn signal, including: Obtain navigation lane information based on navigation information, obtain steering wheel angle information and lateral acceleration information based on driving state information, and obtain road surface image information based on vehicle driving scene information; The system determines whether the vehicle has completed the turn based on the navigation lane information, steering wheel angle information, lateral acceleration information and road surface image information. If the vehicle has completed the turn and entered the adjacent lane in the overtaking direction, the turn signal is turned off.

7. The method for automatically controlling a vehicle turn signal lamp according to claim 2, characterized in that: Obtain vehicle driving scene information, and establish a turn signal control strategy based on the vehicle's navigation information, driving road conditions and driving status information, as well as the vehicle's driving scene information, including: Judging that the vehicle is in a rural road driving condition based on navigation information; Establishing a third turn signal control strategy according to the vehicle's navigation information, rural road driving conditions and driving state information, and vehicle driving scene information, wherein the turn signal control strategy includes a third turn signal control strategy; The third turn strategy includes: Obtain navigation lane information based on navigation information, and obtain road sign information based on vehicle driving scene information; Determine whether there is a sharp turn ahead based on the navigation lane information; If not, the turn signal will not be turned on; If there is a sharp turn, turn on the turn signal in the direction of the sharp turn to remind the driver to pay attention to safety; Determine whether a sharp turn has been made based on navigation lane information; If you have not passed the sharp turn, keep the turn signal on; if you have passed the sharp turn, turn it off.

8. The method for automatically controlling a vehicle turn signal lamp according to claim 2, characterized in that: Obtain vehicle driving scene information, and establish a turn signal control strategy based on the vehicle's navigation information, driving road conditions and driving status information, as well as the vehicle's driving scene information, including: Determining that the vehicle is in a low-visibility driving condition based on navigation information; Establishing a fourth turn signal control strategy according to the navigation information of the vehicle, the low-visibility driving road condition and driving state information, and the vehicle driving scene information, wherein the turn signal control strategy includes a fourth turn signal control strategy; The fourth turning strategy includes: Obtaining road visibility information based on vehicle driving scene information; Set a visibility threshold. When the road visibility is less than the visibility threshold, the vehicle is judged to be in low-visibility driving conditions. If the vehicle is judged to be in low-visibility driving conditions, the double flashes are turned on to remind the driver and surrounding vehicles to pay attention to safety; If it is determined that the vehicle is not in a low-visibility driving condition, the double flash function of the turn signal lamp will not be turned on; It is determined based on the road visibility information whether the vehicle has passed the low-visibility driving condition. If it is determined that the vehicle has not passed the low-visibility driving condition, the double flash function of the turn signal lamp is maintained. If it is determined that the vehicle has passed the low-visibility driving condition, the double flash function of the turn signal lamp is turned off.

9. A vehicle turn signal automatic control method according to any one of claims 1 to 8, characterized in that: include: Collect information about the driver's driving habits in different driving scenarios; Establish a steering intention training model; Train the steering intention training model based on driving habit information; Acquire vehicle driving scene information, and establish a turn signal control strategy based on the vehicle's navigation information, driving road conditions and driving status information, as well as the vehicle's driving scene information; The control command is generated based on the fusion calculation of the turn signal control strategy and the steering intention training model to control the corresponding turn signal to turn on or off.

10. A vehicle turn signal automatic control system, applied to a vehicle turn signal automatic control method according to any one of claims 1 to 9, characterized in that: include: A navigation information acquisition module, used to acquire navigation information; A driving status information acquisition module is used to acquire the driving status information of the vehicle under corresponding driving conditions; A driving scene information acquisition module is used to acquire vehicle driving scene information; A turn signal control module is used to establish a turn signal control strategy and control the corresponding turn signal to turn on or off according to the vehicle's navigation information, road conditions and driving status information, as well as vehicle driving scene information; A steering intention training model building module collects the driver's driving habit information in different vehicle driving scenarios, establishes a steering intention training model, and trains the steering intention training model based on the driving habit information; The processing module generates a control command based on the fusion calculation of the turn signal control strategy and the steering intention training model to control the corresponding turn signal to turn on or off.

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