Method and device for reminding to turn off high beam, electronic equipment and storage medium

Abstract

The invention discloses a method and device for reminding to turn off a high beam, electronic equipment and a storage medium, and the method comprises the steps: determining an initial light intensity threshold value according to target environment light information in the driving process of a first vehicle; if it is detected that the light intensity data collected by the vehicle tail light sensor is larger than the initial light intensity threshold value, a sensing information sequence collected by the vehicle tail radar in a preset time period and a detection image sequence collected by the vehicle tail image collection device in the preset time period are obtained; performing speed analysis on the sensing information sequence to obtain a relative speed between the sensing object and the first vehicle, and detecting whether a second vehicle exists in the sensing object according to the relative speed to obtain a radar detection result; performing light source type detection on light in the detection image sequence to obtain a light source type result; according to the radar detection result and the light source type result, the first vehicle is controlled to send out reminding information, so that whether the high beam of the rear vehicle is turned on or not can be accurately judged, and the rear vehicle is automatically reminded to turn off the high beam.

Description

Technical Field

[0001] This application belongs to the field of vehicle control, and particularly relates to a method, device, electronic device and storage medium for reminding to turn off the high beam lights. Background Art

[0002] The function of the high beam lights is to improve visibility in low-light conditions. If the driver of the following vehicle still keeps the high beam lights on for a long time while following the vehicle in front, the strong light of the high beam lights will be directly reflected into the eyes of the driver of the vehicle in front through the interior rearview mirror and side rearview mirror of the vehicle in front, causing the driver of the vehicle in front to be dazzled, affecting the judgment of the road conditions ahead, and increasing the risk of traffic accidents.

[0003] If the vehicle behind keeps the high beam lights on for a long time, the driver of the vehicle in front often manually operates the vehicle's lighting system to generate warning lights. For example, manually controlling the rear fog lights to flash, etc. However, this manual reminder method will have an adverse impact on the driving safety of the driver of the vehicle in front.

[0004] Therefore, how to accurately determine whether the high beam lights of the vehicle behind are on and realize automatically reminding the vehicle behind to turn off the high beam lights is a technical problem to be solved urgently. Summary of the Invention

[0005] This application provides a method, device, electronic device and storage medium for reminding to turn off the high beam lights, which can accurately determine whether the high beam lights of the vehicle behind are on and realize automatically reminding the vehicle behind to turn off the high beam lights.

[0006] On the one hand, an embodiment of this application provides a method for reminding to turn off the high beam lights, and the method includes:

[0007] During the driving of the first vehicle, determine an initial light intensity threshold according to the target ambient light information; the target ambient light information characterizes the light and dark degree of the environment where the first vehicle is located;

[0008] If it is detected that the light intensity data collected by the rear vehicle light sensor is greater than the initial light intensity threshold, obtain the induction information sequence collected by the rear vehicle radar within a preset time period and the detection image sequence collected by the rear vehicle image acquisition device within the preset time period;

[0009] Perform speed analysis on the induction information sequence to obtain the relative speed between the induction object and the first vehicle, and detect whether there is a second vehicle in the induction object according to the relative speed to obtain a radar detection result;

[0010] Perform light source type detection on the lights in the detection image sequence to obtain a light source type result;

[0011] Control the first vehicle to send a reminder message according to the radar detection result and the light source type result; the reminder message is used to remind the second vehicle to turn off the high beam.

[0012] In an exemplary embodiment, the determining the initial light intensity threshold according to the target ambient light information includes:

[0013] Obtain a preset light intensity threshold relationship library; the light intensity threshold relationship library includes the corresponding relationship between the preset ambient light information and the preset light intensity threshold;

[0014] Query the preset light intensity threshold matching the target ambient light information in the preset light intensity threshold relationship library to obtain the initial light intensity threshold.

[0015] In an exemplary embodiment, the method further includes:

[0016] If it is detected that the light intensity data collected by the rear light sensor is greater than the initial light intensity threshold, obtain the light intensity data sequence collected by the rear light sensor within the preset time period;

[0017] If multiple light intensity data in the light intensity data sequence are greater than the initial light intensity threshold, control the first vehicle to send a reminder message according to the radar detection result and the light source type result.

[0018] In an exemplary embodiment, the method further includes:

[0019] Determine the relative distance between the second vehicle and the first vehicle at each preset moment within the preset time period based on the induction information sequence;

[0020] Determine the light intensity threshold adjustment amount corresponding to each relative distance according to the preset mapping relationship; and adjust the initial light intensity threshold according to the light intensity threshold adjustment amount to obtain the target light intensity threshold corresponding to each preset moment; the preset mapping relationship represents the corresponding relationship between the preset relative distance between the second vehicle and the first vehicle and the preset light intensity threshold adjustment amount;

[0021] For each preset moment, if the light intensity data corresponding to the preset moment is greater than the target light intensity threshold corresponding to the preset moment, control the first vehicle to send a reminder message according to the radar detection result and the light source type result.

[0022] In an exemplary embodiment, the performing light source type detection on the lights in the detection image sequence to obtain a light source type result includes:

[0023] For each detected image in the detected image sequence, perform light source color matching processing on the detected image to obtain a spot image corresponding to the target light source color in the detected image;

[0024] Input the spot image into a target light source detection model for light source type detection processing to obtain the light source category corresponding to the spot image;

[0025] Determine the light source type result according to the light source category of each detected image.

[0026] In an exemplary embodiment, the controlling the first vehicle to send a reminder message according to the radar detection result and the light source type result includes:

[0027] If the radar detection result indicates that there is a second vehicle in the sensing object, and the light source type result indicates that the light source in the detected image sequence is a high beam, control the tail light system of the first vehicle to display a visual reminder message;

[0028] Taking the start time when the tail light system starts to display the visual reminder message as the starting moment, if after a target duration, it is detected that the high beam of the second vehicle is in the on state, control the tail horn system of the first vehicle to send a sound reminder message.

[0029] In an exemplary embodiment, the training process of the target light source detection model includes:

[0030] Obtain sample spot images; the sample spot images are labeled with light source category labels;

[0031] Construct a preset machine learning model; and determine the preset machine learning model as the current machine learning model;

[0032] Input the sample spot image into the current machine learning model for light source type detection processing to obtain a predicted light source category;

[0033] Based on the difference between the predicted light source category and the light source category label, determine a loss value;

[0034] Based on the loss value, update the parameters of the current machine learning model to obtain an updated machine learning model;

[0035] Re - determine the updated machine learning model as the current machine learning model; repeat the step: input the sample spot image into the current machine learning model for light source type detection processing until the training end condition is met;

[0036] Determine the current machine learning model that meets the training end condition as the target light source detection model.

[0037] On the other hand, the present application also provides a device for reminding to turn off the high beam, and the device includes:

[0038] An initial light intensity threshold determination module, configured to determine an initial light intensity threshold according to target ambient light information during the driving of a first vehicle; the target ambient light information characterizes the light and darkness degree of the environment where the first vehicle is located;

[0039] A sequence acquisition module, configured to, if it is detected that the light intensity data collected by the rear vehicle light sensor is greater than the initial light intensity threshold, acquire a sequence of induction information collected by the rear vehicle radar within a preset time period and a sequence of detection images collected by the rear vehicle image acquisition device within the preset time period;

[0040] A radar detection result determination module, configured to perform speed analysis on the sequence of induction information to obtain a relative speed between an induction object and the first vehicle, and detect whether there is a second vehicle in the induction object according to the relative speed to obtain a radar detection result;

[0041] A light source type result determination module, configured to perform light source type detection on the lights in the sequence of detection images to obtain a light source type result;

[0042] A reminder control module, configured to control the first vehicle to send a reminder message according to the radar detection result and the light source type result; the reminder message is used to remind the second vehicle to turn off the high beam.

[0043] A device, the device includes:

[0044] On the other hand, the present application also provides an electronic device, the electronic device includes a processor and a memory, and at least one instruction or at least one segment of program is stored in the memory, and the at least one instruction or the at least one segment of program is loaded and executed by the processor to implement the method for reminding to turn off the high beam as described above.

[0045] On the other hand, the present application also provides a computer storage medium, and at least one instruction or at least one segment of program is stored in the computer storage medium, and the at least one instruction or the at least one segment of program is loaded and executed by a processor to implement the method for reminding to turn off the high beam as described above.

[0046] On the other hand, the present application also provides a computer program product or a computer program, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes to implement the method for reminding to turn off the high beam as described above.

[0047] The method for reminding to turn off the high beam provided by this application has the following technical effects:

[0048] During the driving process of the first vehicle, determine the initial light intensity threshold according to the target ambient light information; if it is detected that the light intensity data collected by the rear light sensor is greater than the initial light intensity threshold, obtain the induction information sequence collected by the rear radar within a preset period and the detection image sequence collected by the rear image acquisition device within a preset period; perform speed analysis on the induction information sequence to obtain the relative speed between the induction object and the first vehicle, and detect whether there is a second vehicle in the induction object according to the relative speed to obtain the radar detection result; perform light source type detection on the lights in the detection image sequence to obtain the light source type result; according to the radar detection result and the light source type result, control the first vehicle to send a reminder message. In the embodiment of this application, by combining the light intensity data, radar data, and image data, it can accurately judge whether the high beam of a second vehicle is on behind the first vehicle during the driving process. At the same time, through the method of combining multiple sensors, the situation of misjudgment and wrong judgment is reduced, and the judgment accuracy rate is effectively improved. And the embodiment of this application can accurately judge whether the high beam of the following vehicle is on and realize automatically reminding the following vehicle to turn off the high beam, improving the driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0050] Figure 1 It is an application environment diagram of the method for reminding to turn off the high beam provided by the embodiment of this application;

[0051] Figure 2 It is a flowchart of the method for reminding to turn off the high beam provided by the embodiment of this application;

[0052] Figure 3 It is a flowchart of determining the target light intensity threshold provided by the embodiment of this application;

[0053] Figure 4 It is a flowchart of controlling the first vehicle to send a reminder message provided by the embodiment of this application;

[0054] Figure 5 It is an overall flowchart of the method for reminding to turn off the high beam provided by the embodiment of this application;

[0055] Figure 6 It is a structural diagram of the device for reminding to turn off the high beam provided by the embodiment of this application;

[0056] Figure 7 It is a hardware structure block diagram of a server for a method of reminding to turn off the high beam provided by an embodiment of the present application. Specific embodiments

[0057] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0058] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0059] Figure 1 It is an application environment diagram of the method for reminding to turn off the high beam provided by an embodiment of the present application.

[0060] As Figure 1 shown, the application environment may at least include a server 01, a terminal device 02, and a terminal device 03.

[0061] In an alternative embodiment, the server 01 may be used to detect whether the high beam of the terminal device 03 is in an on state in response to a high beam detection request sent by the terminal device 02, and send the detection result to the terminal device 02. The server 01 may be an independent physical server, or a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0062] In an alternative embodiment, the terminal device 02 may be a first vehicle, or software running on the first vehicle, such as an application program, a small program, etc. The operating system running on the first vehicle in the embodiments of the present application may include, but is not limited to, Android, IOS, Linux, Windows, etc.

[0063] In an optional embodiment, the terminal device 03 may be a second vehicle or software running on the second vehicle, such as an application, a mini-program, etc. The operating system running on the second vehicle in the embodiments of the present application may include, but is not limited to, Android, IOS, Linux, Windows, etc.

[0064] Figure 2 It is a schematic flowchart of a process for reminding to turn off the high beam provided by the embodiments of the present application.

[0065] S201: During the driving of the first vehicle, determine an initial light intensity threshold according to the target ambient light information; wherein, the target ambient light information characterizes the brightness of the light in the environment where the first vehicle is located;

[0066] The first vehicle is the self-vehicle in motion. In one example, it may be Figure 1 the terminal device 02 in. In one example, the initial light intensity threshold may be a preset standard threshold, such as 1450 lumens. During the driving of the first vehicle, the driving environment of the vehicle can also be obtained, including but not limited to daytime, night, rain, tunnel, street, etc. The ambient light information in the above driving environment, that is, the target ambient light information, can be obtained through the ambient light sensor mounted on the first vehicle. In the embodiments of the present application, the brightness of the light in the environment affects the determination of the initial light intensity threshold for detecting the high beam. During the driving of the first vehicle, the initial light intensity threshold for detecting the high beam can be dynamically adjusted based on the target ambient light information. In one example, in an environment such as daytime or strong street lights, the light is bright and sufficient, so the light intensity threshold for detecting whether it is a high beam can be increased on the basis of the preset standard threshold, so as to avoid misjudgment. For example, the initial light intensity threshold is increased to 1800 or 2000 lumens; in an environment such as night, rain, tunnel, etc., the light is relatively dim, and the reflection effect of the high beam is obvious in these environments, so the light intensity threshold for detecting whether it is a high beam can be lowered. For example, the initial light intensity threshold remains at 1450 lumens or slightly lower.

[0067] S203: If it is detected that the light intensity data collected by the rear light sensor is greater than the initial light intensity threshold, obtain the induction information sequence collected by the rear radar within a preset period and the detection image sequence collected by the rear image acquisition device within the preset period;

[0068] A rear light sensor is installed at the rear of the first vehicle to collect the rear light intensity data. If the rear light intensity data is greater than the initial light intensity threshold, it indicates that there is strong light behind the first vehicle. However, this strong light can be emitted not only by vehicles but also by other objects, such as pedestrians, street store light signs, etc. Therefore, in the embodiments of the present application, the induction information sequence collected by the rear vehicle radar within a preset period and the detection image sequence collected by the rear vehicle image acquisition device within the preset period are further obtained and analyzed to confirm that the strong light existing behind the first vehicle is the high beam of the rear vehicle, rather than the strong light emitted by other objects.

[0069] A rear vehicle radar is installed at the rear of the first vehicle to sense whether there is a target behind the first vehicle and to determine the relative distance and relative speed between the target and the first vehicle. The rear vehicle radar detects the target by emitting electromagnetic waves and then receiving the reflected waves. The detected target is the induction object. In one implementation, the rear vehicle radar can be a continuous wave radar. In another implementation, the rear vehicle radar can also be a pulsed radar, etc.

[0070] The rear vehicle image acquisition device can be a rear vehicle camera for collecting images behind the first vehicle.

[0071] The preset period can be a period with a preset duration starting from the moment when the light intensity data is detected to be greater than the initial light intensity threshold, such as 5 seconds, etc. The specific duration of the preset period can be determined according to the duration required for actual high beam detection. The induction information sequence can be a sequence formed by the induction information collected by the rear vehicle radar within the preset period according to the collection time; the detection image sequence can be the detection images collected by the rear vehicle image acquisition device within the preset period, that is, the sequence formed by the images behind the vehicle according to the collection time.

[0072] S205: Perform speed analysis on the induction information sequence to obtain the relative speed between the induction object and the first vehicle, and detect whether there is a second vehicle in the induction objects according to the relative speed to obtain the radar detection result;

[0073] By performing speed analysis on the induction information sequence, the relative speed between the induction object and the first vehicle can be obtained. If the relative speed is less than the preset speed threshold, it can be determined that the speed of the induction object is close to the driving speed of the first vehicle, and the induction object is in a following state. Therefore, the induction object can be determined as the second vehicle. If the relative speed is greater than the preset speed threshold and the relative distance between the induction object and the first vehicle decreases, it can be determined that the speed of the induction object is greater than the driving speed of the first vehicle, and the induction object is in a state of approaching rapidly. Therefore, the induction object can also be determined as the second vehicle. The radar detection result can exclude the interference of strong light emitted by roadside stationary objects, such as billboards, etc., on the detection of high beams.

[0074] Specifically, the velocity analysis of the induction information sequence can be based on the Doppler effect. The Doppler effect means that when there is relative motion between the target and the radar, the frequency of the reflected wave will change. If the target approaches the radar, the frequency of the reflected wave increases; if the target moves away from the radar, the frequency of the reflected wave decreases. Therefore, the relative velocity between the target and the radar can be calculated by measuring the frequency shift. The processes of radar speed measurement and ranging are prior arts and will not be elaborated here.

[0075] S207: Detect the light source type of the lights in the detected image sequence to obtain a light source type result;

[0076] The light source type detection can determine whether the lights in the detected image sequence belong to high beams, low beams or other light source types. Specifically, light characteristics such as the light color and light spot can be obtained, and whether it is a high beam can be confirmed according to the light characteristics.

[0077] S209: Control the first vehicle to send a reminder message according to the radar detection result and the light source type result; the reminder message is used to remind the second vehicle to turn off the high beams.

[0078] If the radar detection result indicates that there is a second vehicle behind the first vehicle and the light source type result indicates that the light source type behind the first vehicle is a high beam, it can be determined that there is a situation where the second vehicle behind the first vehicle has the high beams on. In this case, the embodiment of the present application automatically controls the first vehicle to send a reminder message to remind the second vehicle behind to turn off the high beams.

[0079] It should be noted that for the method provided by the present application, it can also be that after step S205 is completed to obtain the radar detection result, if the radar detection result indicates that there is a second vehicle behind the first vehicle, then step S207 is executed; or, it can also be that after step S207 is completed to obtain the light source type result, if the light source type result indicates that the light source type behind the first vehicle is a high beam, then step S205 is executed.

[0080] In the embodiment of the present application, during the driving of the first vehicle, an initial light intensity threshold is determined according to the target ambient light information; if it is detected that the light intensity data collected by the rear light sensor is greater than the initial light intensity threshold, an induction information sequence collected by the rear radar within a preset period and a detection image sequence collected by the rear image acquisition device within a preset period are obtained; the induction information sequence is subjected to speed analysis to obtain the relative speed between the induction object and the first vehicle, and whether there is a second vehicle in the induction object is detected according to the relative speed to obtain a radar detection result; the light source type of the light in the detection image sequence is detected to obtain a light source type result; according to the radar detection result and the light source type result, the first vehicle is controlled to send a reminder message. In the embodiment of the present application, by combining light intensity data, radar data, and image data, it is possible to accurately judge whether the high beam of a second vehicle appears behind the first vehicle during driving, and at the same time, by combining multiple sensors, the situation of misjudgment and wrong judgment is reduced, effectively improving the judgment accuracy. And the embodiment of the present application can accurately judge whether the high beam of the following vehicle is on and realize automatically reminding the following vehicle to turn off the high beam, improving the driving safety.

[0081] In one embodiment, the determining the initial light intensity threshold according to the target ambient light information includes:

[0082] Obtain a preset light intensity threshold relationship library; the light intensity threshold relationship library includes the corresponding relationship between the preset ambient light information and the preset light intensity threshold;

[0083] Query the preset light intensity threshold matching the target ambient light information in the preset light intensity threshold relationship library to obtain the initial light intensity threshold. In one implementation, the preset light intensity threshold relationship library can be in the form of a formula, a table or other forms. No matter which form it is, it includes the corresponding relationship between the preset ambient light information and the preset light intensity threshold. The target ambient light information may include strong light environments such as daytime or strong street lights, and weak light environments such as night, rainy days, and tunnels; the preset light intensity threshold corresponding to the strong light environment may be 1800 lumens, and the preset light intensity threshold corresponding to the weak light environment may be 1450 lumens.

[0084] In the embodiment of the present application, by determining the preset light intensity threshold matching the target ambient light information from the preset light intensity threshold relationship library to obtain the initial light intensity threshold, the dynamic determination of the judgment threshold is realized, and the interference caused by the ambient light can be reduced when judging whether it is a high beam.

[0085] In one embodiment, the method provided by the present application may further include:

[0086] If it is detected that the light intensity data collected by the rear light sensor is greater than the initial light intensity threshold, obtain the light intensity data sequence collected by the rear light sensor within the preset time period. It should be noted that the light intensity data sequence, the induction information sequence, and the detection image sequence are all within the same preset time period.

[0087] If multiple light intensity data in the light intensity data sequence are greater than the initial light intensity threshold, control the first vehicle to send a reminder message according to the radar detection result and the light source type result. If multiple light intensity data in the light intensity data sequence are greater than the initial light intensity threshold, for example, if it is continuously detected that the light intensity data is greater than the initial light intensity threshold for 5 seconds, it can be determined that strong light continuously appears behind the first vehicle for a long time.

[0088] It should be noted that when the target ambient light information changes within the preset time period, correspondingly, the initial light intensity threshold is also adjusted. For example, at the 2nd second, the first vehicle enters a tunnel, then the initial light intensity threshold can be reduced from 1800 lumens to 1450 lumens. If multiple light intensity data corresponding to the first 2 seconds in the light intensity data sequence are greater than 1800 lumens, and the light intensity data after the 2nd second are all greater than 1450 lumens, it can be determined that strong light continuously appears behind the first vehicle for a long time.

[0089] In the embodiment of the present application, by detecting whether strong light continuously appears behind the first vehicle for a long time, misjudgment caused by the switching of the high beam and low beam of the following vehicle is avoided, which is beneficial to improving the accuracy of high beam detection.

[0090] It should be noted that in the embodiment of the present application, the light intensity threshold is further adjusted according to the relative distance between the following vehicle, that is, the second vehicle, and the self-vehicle, that is, the first vehicle, so as to make the light intensity judgment more accurate. Figure 3 It is a flow chart of determining the target light intensity threshold provided by the embodiment of the present application. As Figure 3 shown, the method may further include:

[0091] S301: Based on the induction information sequence, determine the relative distance between the second vehicle and the first vehicle at each preset moment within the preset time period;

[0092] In one implementation, the preset moment can be the moment obtained by time-aligning the induction information sequence and the light intensity data sequence. Specifically, the timestamps of the induction information sequence and the light intensity data sequence can be matched, and the moment with the same timestamp is determined as the preset moment.

[0093] S303: Determine the light intensity threshold adjustment amount corresponding to each relative distance according to the preset mapping relationship; and adjust the initial light intensity threshold according to the light intensity threshold adjustment amount to obtain the target light intensity threshold corresponding to each preset moment;

[0094] Wherein, the preset mapping relationship represents the corresponding relationship between the preset relative distance between the second vehicle and the first vehicle and the preset light intensity threshold adjustment amount;

[0095] The preset mapping relationship can be in the form of a formula, a table or other forms. In one implementation, when the following vehicle turns on the high beam, the light intensity data collected by the rear light intensity sensor at different relative distances can be determined in advance, so as to establish the corresponding relationship between the relative distance and the light intensity threshold adjustment amount, and obtain the preset mapping relationship.

[0096] In an example, if the relative distance is less than 50 meters, the preset light intensity threshold adjustment amount can be 0; if the relative distance is greater than 100 meters, the preset light intensity threshold adjustment amount can be 350;

[0097] S305: For each preset moment, if the light intensity data corresponding to the preset moment is greater than the target light intensity threshold corresponding to the preset moment, control the first vehicle to send a reminder message according to the radar detection result and the light source type result.

[0098] In the embodiment of the present application, the relative distance between the following vehicle and the own vehicle can be determined through the sensing information of the radar, and the judgment threshold of the rear light intensity is dynamically adjusted according to the relative distance, so that the judgment threshold for comparing the light intensity data is more accurate, which is beneficial to accurately judging whether the high beam of the following vehicle is turned on subsequently.

[0099] In one embodiment, the detecting the light source type of the lights in the detected image sequence to obtain the light source type result may include:

[0100] For each detected image in the detected image sequence, perform light source color matching processing on the detected image to obtain a spot image corresponding to the target light source color in the detected image;

[0101] Since most high beams are white lights, the present application can perform light source color matching processing on the detected image, so that the white light area is segmented from the detected image to obtain a spot image.

[0102] Input the spot image into a target light source detection model for light source type detection processing to obtain the light source category corresponding to the spot image;

[0103] In one embodiment, the position distribution of the spot image in the detected image can be further obtained; if the position distribution meets the preset distribution condition, then perform the step of inputting the spot image into the target light source detection model for light source type detection processing. In one embodiment, the preset distribution condition may be that two spot images are included in the same detected image, and the positions of the two spot images are symmetric along the vertical direction.

[0104] Determine the light source type result according to the light source category of each detected image.

[0105] In one implementation, if the light source category of each detected image is a high beam, the light source type result is a high beam; if the light source category of each detected image is a non-high beam, the light source type result is a non-high beam. In another implementation, the proportion of the light source category being a high beam in the detected image sequence can also be counted. If the proportion is greater than a preset proportion threshold, it is determined that the light source type result is a high beam.

[0106] In the embodiments of the present application, by first performing color matching and then using the spot image for type detection, on the one hand, the light source type detection can be made more accurate. On the other hand, when the color matching is not failed, that is, when the detected image does not contain white light, the determination result that the light source type is a non-high beam can be immediately obtained, thereby saving computing resources.

[0107] Specifically, the training process of the above target light source detection model may include:

[0108] Obtain a sample spot image; the sample spot image is labeled with a light source category label. In one implementation, if the sample spot image is a spot of a high beam, the light source category label can be set to 1, and if not, the light source category label can be set to 0.

[0109] Construct a preset machine learning model; and determine the preset machine learning model as the current machine learning model. In one implementation, the preset machine learning model can be a pre-trained classification model, and the target light source detection model can be obtained through fine-tuning training. In another implementation, the preset machine learning model can also be an initial classification model, and the model parameters are initialized by parameter initialization methods such as random initialization and Xavier initialization.

[0110] Input the sample spot image into the current machine learning model for light source type detection processing to obtain a predicted light source category;

[0111] Determine a loss value based on the difference between the predicted light source category and the light source category label;

[0112] Update the parameters of the current machine learning model based on the loss value to obtain an updated machine learning model;

[0113] Re-consider the updated machine learning model as the current machine learning model; repeat the step: input the sample spot image into the current machine learning model for light source type detection processing until the training end condition is met;

[0114] Determine the current machine learning model that meets the training end condition as the target light source detection model.

[0115] In the embodiments of the present application, by obtaining a sample spot image, inputting the sample spot image into the preset machine learning model for light source type detection processing to obtain a predicted light source category, and training the preset machine learning model based on the difference between the predicted light source category and the light source category label, a target light source detection model is obtained. This model can be used to classify and identify the spots formed by lights, thereby improving the accuracy of light source detection.

[0116] Figure 4 It is a schematic flowchart of controlling a first vehicle to send a reminder message provided by the embodiments of the present application. As Figure 4 shown, controlling the first vehicle to send a reminder message according to the radar detection result and the light source type result includes:

[0117] S401: If the radar detection result indicates that there is a second vehicle in the sensing object, and the light source type result indicates that the light source in the detected image sequence is a high beam, control the rear light system of the first vehicle to display a visual reminder message;

[0118] If the radar detection result indicates that there is a second vehicle in the sensing object, and the light source type result indicates that the light source in the detected image sequence is a high beam, it can be determined that there is a situation where a second vehicle behind the first vehicle has its high beam on. In this case, the embodiments of the present application first control the rear light system of the first vehicle to display a visual reminder message. The visual reminder message can be a flashing rear fog lamp, or it can be to display a preset reminder text on the rear display screen, etc. The present application does not limit the specific form of the visual reminder message.

[0119] S403: Starting from the moment when the rear light system starts to display the visual reminder message, if after a target duration, it is detected that the high beam of the second vehicle is in the on state, control the rear horn system of the first vehicle to send a sound reminder message.

[0120] If after the rear light system displays the visual reminder message for the target duration, the embodiments of the present application detect again whether the high beam of the second vehicle is in the on state. Specifically, the detected image collected by the rear image acquisition device can be obtained again, and the light source type detection can be performed according to the above embodiments, so as to determine whether the high beam of the second vehicle is still in the on state. If so, control the rear horn system of the first vehicle to send a sound reminder message.

[0121] It should be noted that when it is determined that there is a second vehicle behind the first vehicle with its high beam on, a sound reminder message can also be sent while displaying the visual reminder message.

[0122] In the embodiments of the present application, through reminder information in various forms such as visual reminder information and sound reminder information, the reminder efficiency is improved. At the same time, the present application can automatically remind the second vehicle behind to turn off the high beam, avoiding manual operation of the lights by the driver and ensuring driving safety.

[0123] Figure 5 It is a schematic diagram of the overall process of the method for reminding to turn off the high beam provided by the embodiments of the present application. As Figure 5 shown, in the embodiments of the present application, the radar detection result of the rear vehicle radar, the light intensity comparison result between the light intensity data of the rear vehicle light sensor and the target light intensity threshold, and the light source type result of the rear vehicle image acquisition device can also be used as parallel judgment conditions. If the radar detection result indicates that there is a second vehicle behind the first vehicle, and the light intensity comparison result indicates that the light intensity data is greater than the target light intensity threshold, and the light source type result indicates that the light source type behind the first vehicle is the high beam, it can be confirmed that there is a situation where the vehicle behind the first vehicle has not turned off the high beam. At this time, a signal is sent to the electrical system of the first vehicle. After receiving the signal, the electrical system controls the rear fog lamp of the vehicle to flash and controls the rear vehicle horn to play an alarm sound, thereby reminding the second vehicle behind to turn off the high beam, effectively reducing the risk of traffic accidents caused by interference to the driver of the vehicle in front.

[0124] Figure 6 It is a schematic structural diagram of the device for reminding to turn off the high beam provided by the embodiments of the present application.

[0125] As Figure 6 shown, the device 600 may include:

[0126] An initial light intensity threshold determination module 601, configured to determine an initial light intensity threshold according to target ambient light information during the driving process of the first vehicle; the target ambient light information characterizes the light and dark degree of the environment where the first vehicle is located;

[0127] A sequence acquisition module 602, configured to, if it is detected that the light intensity data collected by the rear vehicle light sensor is greater than the initial light intensity threshold, acquire an induction information sequence collected by the rear vehicle radar within a preset time period and a detection image sequence collected by the rear vehicle image acquisition device within the preset time period;

[0128] A radar detection result determination module 603, configured to perform speed analysis on the induction information sequence to obtain the relative speed between the induction object and the first vehicle, and detect whether there is a second vehicle in the induction object according to the relative speed to obtain a radar detection result;

[0129] A light source type result determination module 604, configured to perform light source type detection on the lights in the detection image sequence to obtain a light source type result;

[0130] A reminder control module 605, configured to control the first vehicle to send a reminder message according to the radar detection result and the light source type result; the reminder message is used to remind the second vehicle to turn off the high beam.

[0131] In some embodiments, the initial light intensity threshold determination module may include:

[0132] A relationship database acquisition sub-module, configured to acquire a preset light intensity threshold relationship database; the light intensity threshold relationship database includes the correspondence between preset ambient light information and a preset light intensity threshold;

[0133] A threshold query sub-module, configured to query a preset light intensity threshold matching the target ambient light information in the preset light intensity threshold relationship database to obtain the initial light intensity threshold.

[0134] In some embodiments, the device 600 may further include:

[0135] A light intensity data sequence acquisition module, configured to acquire a light intensity data sequence collected by the rear light sensor within the preset period if it is detected that the light intensity data collected by the rear light sensor is greater than the initial light intensity threshold;

[0136] A first light intensity detection module, configured to control the first vehicle to send a reminder message according to the radar detection result and the light source type result if multiple light intensity data in the light intensity data sequence are greater than the initial light intensity threshold.

[0137] In some embodiments, the device 600 may further include:

[0138] A relative distance determination module, configured to determine the relative distance between the second vehicle and the first vehicle at each preset moment within the preset period based on the induction information sequence;

[0139] A threshold adjustment module, configured to determine a light intensity threshold adjustment amount corresponding to each relative distance according to a preset mapping relationship; and adjust the initial light intensity threshold according to the light intensity threshold adjustment amount to obtain a target light intensity threshold corresponding to each preset moment; the preset mapping relationship represents the correspondence between a preset relative distance between the second vehicle and the first vehicle and a preset light intensity threshold adjustment amount;

[0140] A second light intensity detection module, configured to, for each preset moment, control the first vehicle to send a reminder message according to the radar detection result and the light source type result if the light intensity data corresponding to the preset moment is greater than the target light intensity threshold corresponding to the preset moment.

[0141] In some embodiments, the light source type result determination module may include:

[0142] A light source color matching sub-module, which is used for each detected image in the detected image sequence, to perform light source color matching processing on the detected image, and obtain a spot image corresponding to the target light source color in the detected image;

[0143] A model detection sub-module, which is used to input the spot image into a target light source detection model for light source type detection processing, and obtain the light source category corresponding to the spot image;

[0144] A light source type result determination sub-module, which is used to determine the light source type result according to the light source category of each detected image.

[0145] In some embodiments, the reminder control module may include:

[0146] A visual reminder sub-module, which is used to control the tail light system of the first vehicle to display visual reminder information if the radar detection result indicates that there is a second vehicle in the sensed object, and the light source type result indicates that the light source in the detected image sequence is a high beam;

[0147] A sound reminder sub-module, which is used to start from the moment when the tail light system starts to display visual reminder information. If after a target duration, it is detected that the high beam of the second vehicle is in the on state, control the tail horn system of the first vehicle to emit sound reminder information.

[0148] In some embodiments, the device 600 may further include:

[0149] A sample acquisition module, which is used to acquire a sample spot image; the sample spot image is labeled with a light source category label;

[0150] A model construction module, which is used to construct a preset machine learning model; and determine the preset machine learning model as the current machine learning model;

[0151] A predicted light source category determination module, which is used to input the sample spot image into the current machine learning model for light source type detection processing, and obtain a predicted light source category;

[0152] A loss value determination module, which is used to determine a loss value based on the difference between the predicted light source category and the light source category label;

[0153] A model parameter update module, which is used to update the parameters of the current machine learning model based on the loss value to obtain an updated machine learning model;

[0154] A target light source detection model determination module, configured to re-use the updated machine learning model as the current machine learning model; repeat the steps of inputting the sample spot image into the current machine learning model for light source type detection processing until a training end condition is met; and determine the current machine learning model that meets the training end condition as the target light source detection model.

[0155] The device in the device embodiment and the method embodiment are based on the same inventive concept.

[0156] An embodiment of the present application provides an electronic device, which includes a processor and a memory. At least one instruction or at least one segment of program is stored in the memory, and the at least one instruction or at least one segment of program is loaded and executed by the processor to implement the method provided in the above method embodiment.

[0157] An embodiment of the present application further provides a computer storage medium, which can be disposed in a terminal to store at least one instruction or at least one segment of program related to implementing a method as provided in the above method embodiment. The at least one instruction or at least one segment of program is loaded and executed by the processor to implement the method provided in the above method embodiment.

[0158] An embodiment of the present application further provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes to implement the method provided in the above method embodiment.

[0159] Optionally, in the embodiment of the present application, the storage medium may be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media that can store program codes such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disc.

[0160] The memory in the embodiments of the present application can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0161] The method provided by the embodiments of the present application can be executed on a mobile terminal, a computer terminal, a server, or a similar computing device. Taking running on a server as an example, Figure 7 is a hardware structure block diagram of a server for a method of reminding to turn off the high beam provided by the embodiments of the present application. As Figure 7 shown, the server 700 may vary greatly due to configuration or performance, and may include one or more central processing units (CPUs) 710 (the central processing unit 710 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 730 for storing data, and one or more storage media 720 for storing application programs 723 or data 722 (such as one or more mass storage devices). Among them, the memory 730 and the storage media 720 can be short-term storage or persistent storage. The programs stored in the storage media 720 can include one or more modules, and each module can include a series of instruction operations on the server. Further, the central processing unit 710 can be set to communicate with the storage media 720 and execute a series of instruction operations in the storage media 720 on the server 700. The server 700 can also include one or more power supplies 760, one or more wired or wireless network interfaces 750, one or more input / output interfaces 740, and / or one or more operating systems 721, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, and so on.

[0162] The input / output interface 740 can be used to receive or transmit data via a network. Specific examples of the above-mentioned network may include a wireless network provided by the communication provider of the server 700. In one example, the input / output interface 740 includes a Network Interface Controller (NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the input / output interface 740 can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0163] Those of ordinary skill in the art can understand that Figure 7 The structure shown is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the server 700 may also include more or fewer components than those shown in Figure 7 or have a configuration different from that shown in Figure 7 the figure.

[0164] From the embodiments of the method, device, electronic device, and storage medium for reminding to turn off the high beam provided by the present application above, it can be seen that during the driving of the first vehicle, the present application determines an initial light intensity threshold according to the target ambient light information; if it is detected that the light intensity data collected by the rear vehicle light sensor is greater than the initial light intensity threshold, an induction information sequence collected by the rear vehicle radar within a preset period and a detection image sequence collected by the rear vehicle image acquisition device within a preset period are obtained; the induction information sequence is subjected to speed analysis to obtain the relative speed between the induction object and the first vehicle, and whether there is a second vehicle in the induction object is detected according to the relative speed to obtain a radar detection result; the light source type of the light in the detection image sequence is detected to obtain a light source type result; according to the radar detection result and the light source type result, the first vehicle is controlled to send a reminder message. The embodiments of the present application combine light intensity data, radar data, and image data to accurately judge whether the high beam of a second vehicle appears behind the first vehicle during driving, and at the same time, through the combination of multiple sensors, the situation of misjudgment and wrong judgment is reduced, effectively improving the judgment accuracy. And the embodiments of the present application can accurately judge whether the high beam of the following vehicle is on and realize automatically reminding the following vehicle to turn off the high beam, improving the driving safety.

[0165] It should be noted that: the above sequence of embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. Moreover, the specific embodiments of this specification have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0166] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the embodiments of the device, equipment, and storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0167] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above embodiments can be completed by hardware or can be completed by a program instructing relevant hardware. The program can be stored in a computer storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk, an optical disk, or the like.

[0168] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A method for reminding to turn off the high beam headlights, characterized in that, The method includes: During the driving of the first vehicle, determining an initial light intensity threshold according to target ambient light information; the target ambient light information characterizes the light and darkness degree of the environment where the first vehicle is located; If it is detected that the light intensity data collected by the rear light sensor is greater than the initial light intensity threshold, obtaining a sequence of sensing information collected by the rear radar within a preset time period and a sequence of detection images collected by the rear image acquisition device within the preset time period; Performing speed analysis on the sequence of sensing information to obtain the relative speed between the sensing object and the first vehicle, and detecting whether there is a second vehicle in the sensing object according to the relative speed to obtain a radar detection result; Performing light source type detection on the lights in the sequence of detection images to obtain a light source type result; Controlling the first vehicle to send a reminder message according to the radar detection result and the light source type result; the reminder message is used to remind the second vehicle to turn off the high beam.

2. The method according to claim 1, wherein The determining the initial light intensity threshold according to the target ambient light information includes: Obtaining a preset light intensity threshold relationship library; the light intensity threshold relationship library includes the corresponding relationship between preset ambient light information and preset light intensity thresholds; Querying in the preset light intensity threshold relationship library for the preset light intensity threshold that matches the target ambient light information to obtain the initial light intensity threshold.

3. The method according to claim 1, wherein The method further includes: If it is detected that the light intensity data collected by the rear light sensor is greater than the initial light intensity threshold, obtaining a sequence of light intensity data collected by the rear light sensor within the preset time period; If multiple light intensity data in the sequence of light intensity data are all greater than the initial light intensity threshold, controlling the first vehicle to send a reminder message according to the radar detection result and the light source type result.

4. The method according to claim 3, wherein The method further includes: Determining the relative distance between the second vehicle and the first vehicle at each preset moment within the preset time period based on the sequence of sensing information; Determining a light intensity threshold adjustment amount corresponding to each relative distance according to a preset mapping relationship; and adjusting the initial light intensity threshold according to the light intensity threshold adjustment amount to obtain a target light intensity threshold corresponding to each preset moment; the preset mapping relationship characterizes the corresponding relationship between a preset relative distance between the second vehicle and the first vehicle and the preset light intensity threshold adjustment amount; For each preset moment, if the light intensity data corresponding to the preset moment is greater than the target light intensity threshold corresponding to the preset moment, controlling the first vehicle to send a reminder message according to the radar detection result and the light source type result.

5. The method according to claim 1, wherein The performing light source type detection on the lights in the sequence of detection images to obtain a light source type result includes: For each detection image in the sequence of detection images, performing light source color matching processing on the detection image to obtain a spot image corresponding to the target light source color in the detection image; Inputting the spot image into a target light source detection model for light source type detection processing to obtain the light source category corresponding to the spot image; Determining the light source type result according to the light source category of each detection image.

6. The method according to claim 1, wherein Controlling the first vehicle to send a reminder message according to the radar detection result and the light source type result includes: If the radar detection result indicates that there is a second vehicle among the sensed objects, and the light source type result indicates that the light source in the detected image sequence is a high beam, controlling the rear light system of the first vehicle to display a visual reminder message; Taking the start time when the rear light system starts to display the visual reminder message as the starting moment, if after a target duration, it is detected that the high beam of the second vehicle is in the on state, controlling the rear horn system of the first vehicle to send out an audible reminder message.

7. The method according to claim 5, characterized in that, The training process of the target light source detection model includes: Obtaining a sample spot image; the sample spot image is labeled with a light source category label; Constructing a preset machine learning model; and determining the preset machine learning model as the current machine learning model; Inputting the sample spot image into the current machine learning model for light source type detection processing to obtain a predicted light source category; Determining a loss value based on the difference between the predicted light source category and the light source category label; Updating the parameters of the current machine learning model based on the loss value to obtain an updated machine learning model; Regarding the updated machine learning model as the current machine learning model again; repeating the steps: inputting the sample spot image into the current machine learning model for light source type detection processing until the training end condition is met; Determining the current machine learning model that meets the training end condition as the target light source detection model.

8. A device for reminding to turn off the high beam headlights, characterized in that, The device includes: An initial light intensity threshold determination module, configured to determine an initial light intensity threshold according to target ambient light information during the driving of the first vehicle; the target ambient light information characterizes the light and dark degree of the environment where the first vehicle is located; A sequence acquisition module, configured to, if it is detected that the light intensity data collected by the rear light sensor is greater than the initial light intensity threshold, acquire an induction information sequence collected by the rear radar within a preset time period and a detection image sequence collected by the rear image acquisition device within the preset time period; A radar detection result determination module, configured to perform speed analysis on the induction information sequence to obtain the relative speed between the sensed object and the first vehicle, and detect whether there is a second vehicle among the sensed objects according to the relative speed to obtain a radar detection result; A light source type result determination module, configured to perform light source type detection on the lights in the detection image sequence to obtain a light source type result; A reminder control module, configured to control the first vehicle to send a reminder message according to the radar detection result and the light source type result; the reminder message is used to remind the second vehicle to turn off the high beam.

9. An electronic device, characterized in that, The electronic device includes: a processor and a memory, and at least one instruction or at least one program segment is stored in the memory, and the at least one instruction or at least one program segment is loaded and executed by the processor to implement the method for reminding to turn off the high beam as described in any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores at least one instruction or at least one program segment, and the at least one instruction or at least one program segment is loaded and executed by a processor to implement the method for reminding to turn off the high beam lights as described in any one of claims 1-7.

Images