Vehicle lamp control method and system

Abstract

The invention provides a vehicle lamp control method and system. The method comprises the steps that the position relation between a vehicle and a front lane changing point is obtained; acquiring state information of traffic participants in a preset range, wherein the state information comprises a position, a speed and an accelerated speed; according to the position relation and the state information of the participants, monitoring the vehicle speed information of the target lane, the lane changing space and the state of the potential competitive vehicle, and determining the advance information of turning on the steering lamp; and determining the turn-on time of the turn light based on the advance information, and controlling the turn light to be turned on at the determined turn-on time. By implementing the method, the steering lamp can be turned on in advance according to the lane condition, and the lane changing success rate and safety are improved.

Description

Technical Field

[0001] The present invention relates to the field of automotive assisted driving, and particularly to a method and system for controlling vehicle lights. Background Art

[0002] In recent years, automotive assisted driving functions have been gradually popularized, providing an important guarantee for reducing driver fatigue and improving safe driving. During the driving process, a human driver will actively transmit driving intentions through the longitudinal and lateral control of the vehicle (such as accelerating, decelerating, steering) and the lighting system (such as turn signals, hazard lights), forming an interaction with other traffic participants. For example, turning on the turn signal in advance before changing lanes not only indicates the current intention to change lanes but also implies an adjustment of the future driving trajectory.

[0003] However, the turn signal control logic of existing assisted driving systems has limitations. In the scenario of autonomous lane change, the system only synchronously lights up the turn signal when the lane change condition is determined and the lane change action starts to be executed. The existing such scheme has the following deficiencies:

[0004] The turn signal is used as a "synchronization signal" rather than a "warning signal" for the lane change action, resulting in other traffic participants (such as vehicles in the adjacent lane, vehicles behind) being unable to perceive the intention of the host vehicle to change lanes in advance. In scenarios with heavy traffic or large differences in traffic flow speeds, it is easy to trigger dangerous lane-changing behaviors of other vehicles (such as vehicles in the adjacent lane accelerating to close the lane-changing space), which instead reduces the success rate of lane change.

[0005] The existing system only regards the turn signal as a "mechanical representation" of the lane change action, ignoring its potential as a traffic interaction tool. When the lane change condition is not fully met, a human driver often transmits a tentative intention (such as briefly flashing the turn signal) by turning on the turn signal in advance to guide other vehicles to give way actively. However, the existing system lacks such a hierarchical intention expression mechanism and is difficult to strive for safer lane change conditions.

[0006] The strong coupling control between the turn signal and the lane change action makes it difficult for the driver to predict the system behavior. For example, in a critical lane change condition scenario, the system may suddenly execute a lane change and light up the turn signal, and since the driver does not perceive the light signal in advance, it is easy to have a psychological expectation gap, which may trigger unnecessary nervousness or an emergency lateral takeover, increasing the safety risk instead. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a method and system for controlling vehicle lights, which can turn on the turn signal in advance according to the road conditions of the lane, improving the success rate and safety of lane change.

[0008] As one aspect of the present invention, there is provided a method for controlling vehicle lights, which includes the following steps:

[0009] Obtain the positional relationship between the host vehicle and the forward lane change point;

[0010] Obtain the status information of traffic participants within a predetermined range, where the status information includes position, speed, and acceleration;

[0011] According to the positional relationship and the status information of the participants, monitor the vehicle speed information, lane-changing space, and the status of potential competing vehicles in the target lane, and determine the lead information for turning on the turn signal;

[0012] Based on the lead information, determine the turning-on moment of the turn signal, and control the turn signal to be lit at the determined turning-on moment.

[0013] Among them, obtaining the positional relationship between the host vehicle and the forward lane-changing point includes:

[0014] The autonomous driving domain controller (ADC) obtains from the navigation map through the host vehicle positioning whether there is a lane-changing point within a preset forward distance, as well as the direction and distance of the lane-changing point.

[0015] Among them, the monitoring of the vehicle speed information, lane-changing space, and the status of potential competing vehicles in the target lane, and determining the lead information for turning on the turn signal includes:

[0016] Calculate the average speed of vehicles in the target lane within a predetermined range, and based on the difference between the host vehicle speed and the average speed of the target lane, determine the first time for the host vehicle to adjust its speed to match the target lane speed according to the comfortable acceleration / deceleration, where the comfortable acceleration / deceleration is obtained by piecewise linear interpolation based on the vehicle speed;

[0017] Calculate the minimum lane-changing space required for the host vehicle to change to the target lane at the current speed, and perform inflation processing on the minimum lane-changing space with a predetermined inflation coefficient. Determine whether to increase the second time for turning on the turn signal according to whether there are other traffic vehicles within the inflated minimum lane-changing space;

[0018] Monitor whether there are potential competing vehicles in the target lane, and predict the time interval for the potential competing vehicles to invade the lane-changing space of the target lane. When there are multiple invasion targets, take the largest invasion moment as the third time for increasing the turn signal to be turned on.

[0019] Among them, determining the turning-on moment of the turn signal includes:

[0020] Comprehensively consider the first time for the host vehicle to match the target lane speed, the second time for increasing when the lane-changing space is not satisfied, the third time for increasing affected by potential competing vehicles, the average completion time for a single lane change, and the reserved time for manual takeover, and determine the turning-on moment of the turn signal.

[0021] Among them, it further includes:

[0022] Turn off the turn signal after a successful lane change; or

[0023] After the turn signal is turned on for a set time, if the preset lane change success condition is not met and the timeout count reaches the set count threshold, the turn signal will automatically turn off.

[0024] Correspondingly, as another aspect of the present invention, there is also provided a vehicle lamp control system, which includes:

[0025] A position relationship acquisition module for acquiring the position relationship between the host vehicle and the forward lane change point;

[0026] An information collection module for acquiring the status information of traffic participants within a predetermined range, where the status information includes position, speed, and acceleration;

[0027] A status monitoring module for monitoring the vehicle speed information, lane change space, and the status of potential competing vehicles in the target lane according to the position relationship and the status information of the participants, and determining the lead information for turning on the turn signal;

[0028] A turn signal activation processing module for determining the activation time of the turn signal based on the lead information, and controlling the turn signal to be lit at the determined activation time.

[0029] Among them, the position relationship acquisition module specifically obtains from the navigation map through the host vehicle positioning system whether there is a lane change point within a preset distance ahead, as well as the direction and distance of the lane change point.

[0030] Among them, the status monitoring module includes:

[0031] A vehicle speed monitoring and processing unit for calculating the average speed of vehicles in the target lane, and determining the first time for the host vehicle to adjust its speed to match the target lane speed according to the difference between the host vehicle speed and the average speed of the target lane, where the comfort acceleration / deceleration is obtained by piecewise linear interpolation according to the vehicle speed;

[0032] A lane change space monitoring unit for calculating the minimum lane change space required for the host vehicle to change to the target lane at the current speed, and performing inflation processing on the minimum lane change space with a predetermined inflation coefficient, and judging whether to increase the second time for turning on the turn signal according to whether there are other traffic vehicles within the inflated minimum lane change space;

[0033] A competing vehicle status prediction unit for monitoring whether there are potential competing vehicles in the target lane, and predicting the time interval for the potential competing vehicles to invade the lane change space of the target lane. When there are multiple invasion targets, the maximum invasion time is taken as the third time for increasing the turn signal activation.

[0034] Among them, in the steering turn-on processing module, the turn-on moment of the turn signal is determined by comprehensively considering the first time for the vehicle to match the target lane speed, the second time that needs to be increased when the lane-changing space is insufficient, the third time that needs to be increased due to the influence of potential competing vehicles, the average completion time of a single lane change, and the reserved time for manual takeover.

[0035] Among them, it further includes:

[0036] The light-off processing module is used to turn off the turn signal after a successful lane change; or after a set time after the turn signal is turned on, if the preset lane change success condition is not reached and the timeout count reaches the set count threshold, the turn signal is automatically turned off.

[0037] Implementing the embodiments of the present invention has the following beneficial effects:

[0038] The present invention provides a vehicle lamp control method and system. By reconstructing the control logic of the turn signal, the lane change success rate is significantly improved. The present invention uses an independent module to dynamically sense the traffic state of the target lane, including the traffic flow speed, available lane change space, and the behavior of competing vehicles. When the system anticipates that the lane change conditions are insufficient, it will turn on the turn signal in advance to convey the lane change intention to surrounding vehicles, guiding other traffic participants to actively adjust their driving strategies, thereby creating a safer and more timely lane change window. This interaction mechanism based on intention prediction effectively reduces the competition conflicts during the lane change process. Especially in scenarios with dense traffic flow or limited lane space, it can significantly improve the lane change efficiency.

[0039] In this embodiment, the anthropomorphic light control strategy significantly enhances the driver's trust in the assisted driving system. In traditional systems, the turn signal is often strongly coupled with the lane change execution, resulting in lagging operations or not conforming to human driving habits. The present invention simulates the light usage mode of human drivers, such as turning on the turn signal 3 seconds in advance and turning it off in time after the lane change, making the system behavior more in line with intuitive expectations. This natural human-machine interaction method not only reduces the driver's psychological guard against the assisted driving system but also improves their willingness to use it in complex scenarios, providing a more friendly user foundation for the implementation of high-order intelligent driving functions.

[0040] In this embodiment, through the logic design of forcing "turn on the light first and then change lanes", the traffic violation risk caused by incorrect operation sequences is fundamentally avoided. At the same time, the intelligent turn-off strategy can identify the lane change intention that has not been successful for a long time and automatically turn off the turn signal to prevent signal misguidance. This two-way guarantee mechanism not only meets the mandatory requirements of regulations for the use of turn signals but also reduces the confusion of other traffic participants caused by invalid light signals, thereby improving the overall safety of road interaction.

[0041] In addition, the independent lighting control module provides a technical basis for the future expansion of lateral control functions. For example, in complex scenarios such as obstacle avoidance within a lane or driving along the lane line, the system can achieve more refined path planning by dynamically adjusting the turn signal status and combining the lateral offset of the vehicle. This decoupled design not only makes the lighting control strategy more flexible but also reserves an interface for integrating more advanced autonomous driving algorithms in the future, contributing to the intelligent upgrade of the assisted driving system towards full-scenario coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, obtaining other drawings based on these drawings still belongs to the scope of the present invention;

[0043] Figure 1 It is a schematic main flow chart of an embodiment of a vehicle lamp control method provided by the present invention;

[0044] Figure 2 It is a schematic diagram of the application environment of the method provided by the present invention;

[0045] Figure 3 It is a more detailed schematic flow chart of the method provided by the present invention;

[0046] Figure 4 For Figure 1 It is a schematic diagram of the principle of obtaining the position relationship between the host vehicle and the lane change point in

[0047] Figure 5 For Figure 1 It is a schematic diagram of the principle of calculating the average vehicle speed information in

[0048] Figure 6 For Figure 1 It is a schematic diagram of the principle of determining the expansion interval in

[0049] Figure 7 For Figure 1 It is a schematic diagram of the principle of calculating the time headway of a competing vehicle invading the lane change space of the target lane in

[0050] Figure 8 For Figure 1 It is a schematic diagram of the principle of determining the cross-line moment of a competing vehicle in

[0051] Figure 9 It is a schematic structural diagram of an embodiment of a vehicle lamp control system provided by the present invention;

[0052] Figure 10 For Figure 9Schematic diagram of the structure of the status monitoring module in Specific implementation mode

[0053] To make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0054] As Figure 1 shown, a schematic diagram of the main process of an embodiment of a vehicle lamp control method provided by the present invention is shown; in combination with Figures 8 to 9 shown, in this embodiment, the method at least includes the following steps:

[0055] Step S10, obtaining the positional relationship between the host vehicle and the forward lane change point;

[0056] In this step, it is necessary to use the autonomous driving domain controller (ADC) to obtain whether there is a lane change point within a preset distance (such as L, this distance should be greater than the lane change action initiation distance) in front of the host vehicle from the navigation map through the host vehicle positioning, as well as the direction and distance of the lane change point.

[0057] As Figure 4 shown, in an example, it is determined whether there is a lane change point within the L distance in front through the host vehicle positioning information from the navigation map. The turn signal needs to be turned on at most TL (calibration value: 15 s) before the navigation lane change cut-off point. Calculated at the maximum speed of 120 km / h for assisted driving, L = 120 / 3.6*15 = 500 m.

[0058] Step S11, obtaining the status information of traffic participants within a predetermined range, where the status information includes position, speed, and acceleration;

[0059] In a specific example, the ADC obtains the status (position, speed, acceleration) of traffic participants within a certain range through a camera and a millimeter-wave radar.

[0060] Step S12, according to the positional relationship and the status information of the participants, monitoring the vehicle speed information, lane change space, and the status of potential competing vehicles in the target lane, and determining the lead information for turning on the turn signal; in an actual example, the vehicle speed information here is the average vehicle speed information of the vehicles within the predetermined range of the target lane.

[0061] In this step, it specifically includes:

[0062] Step S120, calculating the average speed of the vehicles in the target lane within a predetermined range, and according to the difference between the host vehicle speed and the average speed of the target lane, determining the first time for the host vehicle to adjust the speed to match the target lane speed according to the comfort acceleration / deceleration, where the comfort acceleration / deceleration is obtained by piecewise linear interpolation according to the vehicle speed;

[0063] It is understandable that when the host vehicle changes lanes to the target lane, the speed difference from the traffic flow in the target lane needs to be less than a certain value. If the host vehicle speed is too slow, it is easy to cause the following vehicle to rear-end. If the host vehicle speed is too fast, it is easy to cause a sense of oppression when chasing the vehicle in front. Calculate the time for the host vehicle to decelerate comfortably to a speed difference from the traffic flow in the target lane less than a certain value;

[0064] As Figure 5 shown, in one example, calculate the average speed of the traffic flow in the target lane, V ave =(V1 + V2 + …Vn) / n, and the sampling range of the traffic vehicle is the vehicles in the target lane within a distance of 180m in front of the host vehicle and 100m behind. The front and rear sampling distances are mainly limited by the perception performance;

[0065] As Figure 6 shown, in one example, then according to the current host vehicle speed V, calculate the first time T1 required to increase or decrease to a speed difference between the host vehicle and the traffic flow in the target lane not greater than a predetermined speed difference threshold (e.g., 5km / h) at a comfortable acceleration / deceleration;

[0066] In one example, the comfortable acceleration / deceleration a is defined as shown in Table 1 below:

[0067] Table 1

[0068]

[0069] Step S121, calculate the minimum lane change space (gap) required for the host vehicle to change lanes at the current speed, and perform inflation processing on the minimum lane change space with a predetermined inflation coefficient. Determine whether to increase the second time T2 for turning on the turn signal according to whether there are other traffic vehicles in the inflated minimum lane change space; among them, the purpose of inflation processing is to trigger the turn signal to turn on earlier before the lane change execution, create a better space for the lane change initiation, and determine the time to be increased for turning on the turn signal according to the state of the inflated minimum lane change space;

[0070] Among them, in one example, the minimum lane change space based on safety requirements is defined as shown in Table 2 below:

[0071] Table 2

[0072]

[0073] Inflate the minimum lane change space, and inflate a predetermined proportion (e.g., 25%) of the distance forward and backward respectively based on the position of the host vehicle. When there are other traffic vehicles in the inflated minimum lane change space, it is considered that the time for turning on the turn signal needs to be increased, which helps to expand the minimum lane change space, as specifically Figure 6 shown.

[0074] Then, it is determined whether the second time T2 for turning on the turn signal needs to be increased according to whether there are other traffic vehicles in the minimum lane-changing space after expansion;

[0075] The increase in the T2 time is mainly to strive for the minimum lane-changing space required for lane-changing from the target lane. When the minimum lane-changing space of the target lane is satisfied depends on the running state of the traffic vehicle. For example, whether other traffic vehicles yield after the self-vehicle turns on the turn signal is difficult to predict. Currently, T2 is set as a calibrated value, T2 = 4s.

[0076] Step S122, monitor whether there are potential competing vehicles in the target lane, and predict the time interval for the potential competing vehicles to invade the lane-changing space of the target lane. When there are multiple invasion targets, take the largest invasion moment as the third time for increasing the turn signal to be turned on. It can be understood that judging whether there are competing vehicles in the target lane, predicting the time interval for the competing vehicles to invade the minimum lane-changing space of the target lane, and judging the time for increasing the turn signal to be turned on according to the invasion time interval of the competing vehicles are aimed at reminding the competing vehicles and helping to maintain a safe lane-changing space;

[0077] In a specific example, as Figure 7 shown, it is necessary to consider the possibility and moment of potential competing vehicles invading the minimum lane-changing space. As shown in the figure, the red competing vehicles (including vehicles in the self-lane and adjacent lanes) are considered. By prediction, the target competing vehicle (the vehicle that invades the minimum lane-changing space after expansion of the target lane within 2s) is determined, and the invasion moment T3 is calculated. When there are multiple invasion targets, take the largest invasion moment, and it is necessary to satisfy that the maximum value of T3 is limited within 2s;

[0078] T3 = the cross-line distance of the competing vehicle invading the minimum lane-changing space / the speed of the competing vehicle

[0079] It can be understood that considering that the self-vehicle also travels a certain distance after the T3 moment, as Figure 8 shown, L3 needs to satisfy the distance of the minimum lane-changing space after expansion, that is, the minimum lane-changing space moves with the self-vehicle, and the movement distance of the minimum lane-changing space needs to be considered in the calculation of the invasion moment.

[0080] Step S13, based on the advance information, determine the turn signal on moment, and control the turn signal to be lit at the determined on moment.

[0081] In this step, it is necessary to comprehensively consider the first time for the self-vehicle to match the target lane speed, the second time that needs to be increased when the lane-changing space is not satisfied, the third time that needs to be increased due to the influence of potential competing vehicles, the average completion time of a single lane change, and the reserved time for manual takeover to determine the turn signal on moment.

[0082] It is understandable that in a specific example, according to the verification of the actual vehicle, the average time taken to complete a single full lane change is T4 (calibrated value: 4s), and a time interval of T4 needs to be reserved before the navigation lane change cut-off point;

[0083] Considering the situation of manual takeover due to continuous unsuccessful lane changes, a distance of L5 (calibrated value: 50m) is reserved as the takeover distance, that is, a manual takeover time T5 is reserved, and T5 = L5 / V.

[0084] The lights need to be turned on when the time interval from the end of the navigation lane change is T:

[0085] T = T1 (the time for the vehicle to match the traffic flow in the target lane) + T2 (the additional time required when the minimum lane change space is not satisfied) + T3 (the additional time due to the existence of potential competing vehicles) + T4 (the average time taken to complete a single lane change) + T5 (the reserved time for manual takeover);

[0086] In a specific example, when there are no other vehicles affecting the lane-changing behavior of the vehicle itself, that is, T1, T2, and T3 are all 0, the lane-changing light control no longer considers the interaction function with other traffic vehicles, and the moment of turning on the turn signal is only related to the state of the vehicle itself.

[0087] In a specific example, the method provided by the present invention further includes the following steps:

[0088] Turn off the turn signal after a successful lane change; or

[0089] Set a time after the turn signal is turned on. If the preset lane change success condition is not reached and the number of timeout times reaches the set number threshold, the turn signal is automatically turned off.

[0090] In a specific example, when the moment of turning on the turn signal is met, the ADC sends an enable instruction for the corresponding turn signal to the CCU (Central Domain Controller), and then the CCU drives the corresponding turn signal to turn on according to the instruction; after the light is turned on, a timer T6 (calibrated value: 4s) is set, that is, the turn signal is turned on for 4 seconds. If the lane change or lane change cancellation is completed within 4s, a request to turn off the turn signal is sent to the CCU, and the CCU stops driving the corresponding turn signal to work and immediately turns off the turn signal; if the lane change is not completed within the first 4s, it is judged whether the timeout reaches 3 times. If not, it stops for 1s, and then re-judges the conditions to determine whether to turn on the turn signal again. If the lane change fails to be completed continuously for more than 3 times, the turn signal is turned off to prevent artificial confusion caused by the long-term opening of the turn signal. For details, please refer to Figure 3 as shown.

[0091] It can be understood that in the embodiments of the present invention, an anthropomorphic method is adopted to determine the lighting control strategy according to the current traffic conditions. By calculating the traffic flow, monitoring the lane change gap, and predicting potential competing vehicles, the lighting on and off times are determined by comprehensively considering these three factors. When the lane change conditions are not met, opportunities for lane change are sought. The ultimate goal is to improve the success rate and safety of lane change.

[0092] The present invention obtains the position of the vehicle itself from the navigation map relative to the navigation lane change point, triggers the monitoring of the traffic flow speed, lane change space, and the status of competing vehicles in the target lane based on the position relationship, and determines the on or off time of the turn signal based on the calculation results. When setting relevant trigger thresholds, the principle that the turn signal on condition takes precedence over lane change is followed, that is, the turn signal is triggered first and then the lane change is triggered, to avoid legal issues of changing lanes without turning on the signal. In addition, the present invention also pays attention to the turn signal off strategy to prevent the problem of long-term lighting confusion caused by continuous inability to change lanes.

[0093] As Figure 9 shown, a schematic structural diagram in an embodiment of a vehicle lamp control system provided by the present invention is shown. In a specific example, it is applied to an environment such as Figure 2 and, as shown in Figure 10 in this embodiment, the vehicle lamp control system 1 at least includes:

[0094] A position relationship acquisition module 10, configured to acquire the position relationship between the vehicle itself and the front lane change point; in an example, the position relationship acquisition module 10 specifically acquires from the navigation map through the vehicle positioning system whether there is a lane change point within a preset distance ahead, as well as the direction and distance of the lane change point;

[0095] An information acquisition module 11, configured to acquire the status information of traffic participants within a predetermined range, where the status information includes position, speed, and acceleration;

[0096] A status monitoring module 12, configured to monitor the vehicle speed information, lane change space, and the status of potential competing vehicles in the target lane according to the position relationship and the status information of the participants, and determine the lead information for turning on the turn signal;

[0097] A turn signal on processing module 13, configured to determine the on time of the turn signal based on the lead information, and control the turn signal to be lit at the determined on time;

[0098] An extinguishing processing module 14, configured to turn off the turn signal after a successful lane change; or after a set time after the turn signal is turned on, if the preset lane change success condition is not met and the timeout count reaches the set count threshold, the turn signal is automatically turned off.

[0099] As Figure 10 shown, in a specific example, the status monitoring module 12 includes:

[0100] A vehicle speed monitoring and processing unit 120 is configured to calculate the average speed of vehicles in the target lane, and determine a first time for the host vehicle to adjust its speed to match the target lane speed according to the comfort acceleration / deceleration based on the difference between the host vehicle speed and the average speed of the target lane, wherein the comfort acceleration / deceleration is obtained by piecewise linear interpolation according to the vehicle speed;

[0101] A lane change space monitoring unit 121 is configured to calculate the minimum lane change space required for the host vehicle to change to the target lane at the current speed, perform an inflation process on the minimum lane change space with a predetermined inflation coefficient, and determine whether to increase the second time for turning on the turn signal according to whether there are other traffic vehicles in the inflated minimum lane change space;

[0102] A competing vehicle state prediction unit 122 is configured to monitor whether there are potential competing vehicles in the target lane, and predict the time interval for the potential competing vehicles to invade the lane change space of the target lane. When there are multiple invasion targets, the maximum invasion moment is taken as the third time for increasing the turn signal to be turned on.

[0103] More specifically, in the turn signal activation processing module 13, it is necessary to comprehensively consider the first time for the host vehicle to match the target lane speed, the second time that needs to be increased when the lane change space is not satisfied, the third time that needs to be increased due to the influence of potential competing vehicles, the average completion time of a single lane change, and the reserved time for manual takeover to determine the activation moment of the turn signal.

[0104] For more details, reference can be made to and combined with the foregoing description of Figures 1 to 8 which will not be elaborated here.

[0105] Implementing the embodiments of the present invention has the following beneficial effects:

[0106] The present invention provides a vehicle lamp control method and system, which significantly improves the lane change success rate by reconstructing the control logic of the turn signal. The present invention uses an independent module to dynamically sense the traffic state of the target lane, including the traffic flow speed, available lane change space, and the behavior of competing vehicles. When the system anticipates that the lane change conditions are insufficient, it will turn on the turn signal in advance to convey the lane change intention to surrounding vehicles, guiding other traffic participants to actively adjust their driving strategies, thereby creating a safer and more timely lane change window. This interaction mechanism based on intention pre - notice effectively reduces the competition conflicts during the lane change process, especially in scenarios with dense traffic flow or limited lane space, and can significantly improve the lane change efficiency.

[0107] In this embodiment, the anthropomorphic lighting control strategy significantly enhances the driver's trust in the assisted driving system. In traditional systems, the turn signal is often strongly coupled with lane change execution, resulting in operation lags or non-compliance with human driving habits. However, the present invention simulates the lighting usage pattern of human drivers, such as turning on the turn signal 3 seconds in advance and turning it off in a timely manner after lane change, making the system behavior more in line with intuitive expectations. This natural human-machine interaction method not only reduces the driver's psychological guard against the assisted driving system but also enhances their willingness to use it in complex scenarios, providing a more user-friendly foundation for the implementation of high-order intelligent driving functions.

[0108] In this embodiment, through the logical design of forcing "turn on the light before changing lanes", the risk of traffic violations caused by incorrect operation sequences is fundamentally avoided. At the same time, the intelligent turn-off strategy can identify a lane change intention that has not been successfully executed for a long time and automatically turn off the turn signal to prevent signal misguidance. This two-way guarantee mechanism not only meets the mandatory requirements of regulations for turn signal usage but also reduces the confusion of other road users caused by invalid light signals, thereby enhancing the overall safety of road interaction.

[0109] In addition, the independent lighting control module provides a technical basis for the future expansion of lateral control functions. For example, in complex scenarios such as obstacle avoidance within a lane or riding on the lane line, the system can dynamically adjust the turn signal state and combine the vehicle's lateral offset to achieve more refined path planning. This decoupled design not only makes the lighting control strategy more flexible but also reserves an interface for subsequent integration of more advanced autonomous driving algorithms, contributing to the intelligent upgrade of the assisted driving system towards full-scenario coverage.

[0110] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0111] The above-disclosed is only a preferred embodiment of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A vehicle light control method, characterized in that: It includes the following steps: Obtain the positional relationship between the vehicle and the lane change point ahead; Acquire status information of traffic participants within a predetermined range, the status information including position, speed and acceleration; According to the position relationship and the status information of the participants, the vehicle speed information, lane change space and the status of potential competing vehicles in the target lane are monitored to determine the advance amount information for turning on the turn signal; Based on the advance amount information, a turn signal light activation time is determined, and the turn signal light is controlled to be lit at the determined activation time.

2. The method according to claim 1, characterized in that Obtain the positional relationship between the vehicle and the lane change point ahead, including: The autonomous driving domain controller (ADC) obtains information from the navigation map through the vehicle's positioning to determine whether there is a lane change point within a preset distance ahead, as well as the direction and distance of the lane change point.

3. The method according to claim 2, characterized in that The monitoring of the vehicle speed information, lane change space and status of potential competing vehicles in the target lane to determine the advance amount information for turning on the turn signal includes: Calculating an average speed of vehicles within a predetermined range of the target lane, and determining a first time at which the vehicle needs to adjust its speed to match the target lane speed according to a comfort acceleration / deceleration based on a difference between the vehicle speed and the average speed of the target lane, wherein the comfort acceleration / deceleration is obtained by piecewise linear interpolation of the vehicle speed; Calculate the minimum lane-changing space required for the vehicle to change to the target lane at the current speed, and expand the minimum lane-changing space with a predetermined expansion coefficient, and determine whether to increase the second time of turning on the turn signal according to whether there are other traffic vehicles in the expanded minimum lane-changing space; Monitor whether there are potential competing vehicles in the target lane, and predict the time interval for potential competing vehicles to invade the lane change space of the target lane. When there are multiple intrusion targets, take the one with the largest intrusion moment as the third time to increase the turn signal.

4. The method according to claim 3, characterized in that Determine the timing of turning on the turn signal, including: The time to turn on the turn signal is determined by comprehensively considering the first time when the vehicle matches the target lane speed, the second time that needs to be increased when lane change space is not met, the third time that needs to be increased due to the influence of potential competing vehicles, the average completion time of a single lane change, and the reserved time for manual takeover.

5. The method according to claim 4, characterized in that Further including: Turn off the turn signal after successfully changing lanes; or Set a time after the turn signal is turned on. If the preset lane change success conditions are not met and the number of timeouts reaches the set threshold, the turn signal will automatically turn off.

6. A vehicle light control system, characterized in that: The system comprises: A position relationship acquisition module is used to obtain the position relationship between the vehicle and the lane change point ahead; An information collection module, used to obtain status information of traffic participants within a predetermined range, wherein the status information includes position, speed and acceleration; A state monitoring module, for monitoring the vehicle speed information, lane change space and the state of potential competing vehicles in the target lane according to the position relationship and the state information of the participants, and determining the advance amount information for turning on the turn signal; The turn signal opening processing module is used to determine the opening time of the turn signal lamp based on the advance information, and control the lighting of the turn signal lamp at the determined opening time.

7. The system according to claim 6, characterized in that The position relationship acquisition module specifically acquires from the navigation map whether there is a lane change point within a preset distance ahead, as well as the direction and distance of the lane change point through the vehicle positioning system.

8. The system according to claim 7, characterized in that The status monitoring module comprises: a vehicle speed monitoring processing unit, used to calculate an average speed of vehicles in a target lane, and determine a first time at which the vehicle needs to adjust its speed to match the target lane speed according to a comfort acceleration / deceleration based on a difference between the vehicle speed and the average speed of the target lane, wherein the comfort acceleration / deceleration is obtained according to a piecewise linear interpolation of the vehicle speed; A lane change space monitoring unit is used to calculate the minimum lane change space required for the vehicle to change to the target lane at the current speed, and to expand the minimum lane change space by a predetermined expansion coefficient, and to determine whether it is necessary to increase the second time of turning on the turn signal according to whether there are other traffic vehicles in the expanded minimum lane change space; The competing vehicle status prediction unit is used to monitor whether there are potential competing vehicles in the target lane and predict the time interval for the potential competing vehicle to invade the lane change space of the target lane. When there are multiple intrusion targets, the one with the largest intrusion moment is taken as the third time for adding the turn signal.

9. The system according to claim 8, characterized in that In the turn signal activation processing module, the first time when the vehicle matches the target lane speed, the second time that needs to be increased when the lane change space is not met, the third time that needs to be increased due to the influence of potential competing vehicles, the average completion time of a single lane change, and the time reserved for manual takeover are comprehensively considered to determine the time to turn on the turn signal.

10. The system according to any one of claims 6 to 9, characterized in that: Further including: The light-off processing module is used to turn off the turn signal after a successful lane change; or to set a time after the turn signal is turned on. If the preset lane change success conditions are not met and the number of timeouts reaches the set number threshold, the turn signal will be automatically turned off.

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