High beam blinding prevention control method, vehicle and vehicle networking system

Abstract

The invention discloses a distance light blinding prevention control method, a vehicle and a vehicle networking system, the distance light blinding prevention control method is used for a target vehicle, the target vehicle comprises a first image acquisition device and a second image acquisition device which are located at different positions, the first image acquisition device is used for acquiring road condition information in front of the target vehicle, and the second image acquisition device is used for acquiring road condition information in front of the target vehicle; the distance light blindness prevention control method comprises the steps that a first control instruction is received, the first control instruction corresponds to a first preset condition, and the first preset condition is that a target vehicle meets at night, a distance light state is emitted to an opposite vehicle, and a first image acquisition device is in a night blindness state; and controlling the second image acquisition device to start working, so that the second image acquisition device acquires the road condition information in front of the vehicle. By adopting the method, when the first image acquisition device is in the night blind state, the second image acquisition device is used for acquiring the road condition information in front of the vehicle, so that the problem that the first image acquisition device fails in perception in the night blind state is solved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a high-beam blindness prevention control method, a vehicle, and a vehicle networking system. Background Art

[0002] In related technologies, autonomous vehicles typically use a forward-facing camera on the front windshield to collect road condition information for sensing and identifying the road ahead. However, in nighttime encounters, if the oncoming vehicle is using high beams, the forward-facing camera can be blinded by the light source, preventing the vehicle from effectively identifying the road ahead. This can lead to a failure of the autonomous driving function and potentially cause a traffic accident. Summary of the Invention

[0003] The present invention aims to address at least one of the technical problems existing in the prior art. To this end, a first object of the present invention is to provide a high-beam blindness prevention control method. This method utilizes a second image acquisition device to capture road condition information ahead of the vehicle when the first image acquisition device is in a night-blind state. This method resolves the problem of the first image acquisition device failing to perceive the road in the night-blind state, thereby improving vehicle safety.

[0004] The second object of the present invention is to provide a control method for preventing high beam blindness.

[0005] A third object of the present invention is to provide a vehicle.

[0006] A fourth objective of the present invention is to provide a vehicle networking system.

[0007] In order to achieve the above-mentioned purpose, the first aspect of the present invention proposes an anti-high beam blinding control method for a target vehicle, wherein the target vehicle includes a first image acquisition device and a second image acquisition device located at different positions, and the first image acquisition device is used to collect road condition information in front of the target vehicle. The anti-high beam blinding control method includes: receiving a first control instruction, wherein the first control instruction corresponds to a first preset condition, and the first preset condition is that the target vehicle is in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blindness state; and controlling the second image acquisition device to start working so that the second image acquisition device collects the road condition information in front of the vehicle.

[0008] According to the anti-high beam blindness control method of an embodiment of the present invention, when the first image acquisition device is in a night-blindness state, the second image acquisition device is controlled to acquire road condition information in front of the vehicle, and the second image acquisition device is used as a visual redundant perception backup. This visual redundancy design ensures the normal operation of the target vehicle when it is meeting another vehicle at night and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blindness state. It effectively solves the problem of failure of the automatic driving function of the target vehicle due to the first image acquisition device being in a night-blindness state, avoids the occurrence of traffic accidents, and improves the safety and reliability of the target vehicle.

[0009] In some embodiments, the second image acquisition device is retractable between a closed position and a working position along the length direction of the vehicle; and controlling the second image acquisition device to start working includes: controlling the second image acquisition device to extend from the closed position to the working position along the length direction of the target vehicle and starting the image acquisition function.

[0010] In some embodiments, the target vehicle further includes a baffle structure, which includes a movably arranged baffle; controlling the second image acquisition device to start working further includes: controlling the baffle to move from a blocking position in front of the second image acquisition device to a side position of the second image acquisition device, so that the second image acquisition device extends from the closed position to the working position.

[0011] In some embodiments, controlling the second image acquisition device to start working also includes: after the baffle moves to the side of the second image acquisition device, controlling the baffle to switch from a state perpendicular to the length direction of the target vehicle to a state parallel to the length direction of the target vehicle to shield the second image acquisition device.

[0012] In some embodiments, the anti-high beam blinding control method also includes at least one of the following: receiving a second control instruction, the second control instruction corresponds to a second preset condition, the second preset condition is that the target vehicle is not in a state of meeting the oncoming vehicle at night and the high beam is emitted, and the first image acquisition device is in a night blindness state, and controlling the vehicle-mounted prompt device to give an avoidance prompt; receiving a third control instruction, the third control instruction corresponds to a third preset condition, the third preset condition is that the target vehicle is not in a state of meeting the oncoming vehicle at night and the high beam is emitted, the first image acquisition device is not in a night blindness state, and the second image acquisition device is in the working position, controlling the second image acquisition device to retract to the closed position and controlling the baffle to return to the blocking position.

[0013] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a high-beam blindness prevention control method for a server, wherein the high-beam blindness prevention control method includes: obtaining roadside traffic condition determination information and blindness determination information of a first image acquisition device of a target vehicle, wherein the first image acquisition device is used to collect road condition information in front of the target vehicle; when the roadside traffic condition determination information and the blindness determination information meet a first preset condition, issuing a first control instruction, wherein the first preset condition is that the target vehicle is in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blindness state.

[0014] According to the anti-high beam blindness control method of an embodiment of the present invention, by real-time judging whether the roadside traffic condition determination information and the blindness determination information meet the first preset condition, it is possible to dynamically evaluate the working status of the first image acquisition device of the target vehicle, and determine whether to send the first control instruction based on this, so that when the night blindness state of the first image acquisition device is detected, the corresponding control instruction can be sent in time to ensure the reliability of the automatic driving function of the target vehicle.

[0015] In some embodiments, the anti-high beam blindness control method also includes at least one of the following: when the roadside traffic condition determination information and the blindness determination information meet a second preset condition, issuing a second control instruction, wherein the second preset condition is that the vehicle is not in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blindness state, and controlling the on-board prompt device to provide an avoidance prompt; when the roadside traffic condition determination information and the blindness determination information meet a third preset condition, issuing a third control instruction, wherein the third preset condition is that the vehicle is not in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is not in a night-blindness state and the second image acquisition device of the target vehicle is in a working position.

[0016] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a high-beam blindness prevention control method for a roadside perception system, the high-beam blindness prevention control method comprising: obtaining roadside perception fusion information, the roadside perception fusion information being obtained by fusing road surface information detected by a roadside lidar and light source status information detected by a roadside luminance meter; obtaining roadside traffic condition determination information based on the roadside perception fusion information, the roadside traffic condition determination information comprising: the target vehicle being in a state of meeting a vehicle at night and emitting high beams from the oncoming vehicle, the target vehicle not being in a state of meeting a vehicle at night and emitting high beams from the oncoming vehicle; wherein, when the brightness of the light source between the target vehicle and the oncoming vehicle is greater than a preset brightness threshold and the timestamp of the roadside lidar corresponds to a preset night time, the roadside traffic condition determination information is that the target vehicle is in a state of meeting a vehicle at night and emitting high beams from the oncoming vehicle.

[0017] According to the anti-high beam blindness control method of an embodiment of the present invention, roadside traffic condition determination information is obtained through roadside perception fusion information, and a dynamic decision is made whether to issue a control instruction based on the roadside traffic condition determination information. Therefore, when the target vehicle is in a state of meeting another vehicle at night and the oncoming vehicle is emitting high beams, the corresponding control instruction can be issued in a timely manner, thereby ensuring the reliability of the automatic driving function of the target vehicle.

[0018] To achieve the above objectives, a fourth embodiment of the present invention provides a vehicle, comprising: a vehicle body; a first image acquisition device, the first image acquisition device being disposed in front of the vehicle body and configured to acquire road condition information in front of the vehicle; a second image acquisition device, the second image acquisition device being movably disposed on the vehicle body, the second image acquisition device and the first image acquisition device being disposed at different positions on the vehicle body; a communication device, configured to communicate with a roadside sensing system and / or a server; a first drive device, the first drive device being connected to the second image acquisition device and configured to drive the second image acquisition device to extend and retract along the length of the target vehicle between a closed position and an operating position; a baffle structure, the baffle structure comprising a second drive device and a baffle, the second drive device being connected to the baffle and configured to drive the baffle to move between a blocking position and a position to the side of the second image acquisition device, wherein the blocking position is located in front of the second image acquisition device; an on-board prompting device, configured to provide an avoidance prompt; and a controller, the controller being connected to the first image acquisition device, the second image acquisition device, the communication device, the first drive device, the second drive device, and the on-board prompting device, and configured to execute the high-beam blinding prevention control method described in the above embodiment.

[0019] According to the vehicle of the embodiment of the present invention, the controller is capable of executing the anti-high beam blindness control method described in the embodiment of the present invention. By using this method, when the first image acquisition device is in a night blindness state, the second image acquisition device can be used to collect road condition information in front of the vehicle, thereby solving the problem of perception failure of the first image acquisition device in the night blindness state and improving the safety of the vehicle.

[0020] In order to achieve the above-mentioned objectives, the fifth aspect of the present invention proposes a vehicle networking system, including: the vehicle described in the above embodiment; a roadside perception system, the roadside perception system including a roadside lidar, a roadside luminance meter, an edge computing unit and a roadside communication module, the edge computing unit is used to execute the anti-high beam blinding control method described in the above embodiment; a server, the server communicates with the roadside communication module and the vehicle, and is used to execute the anti-high beam blinding control method described in the above embodiment.

[0021] According to the vehicle networking system of the embodiment of the present invention, the server is capable of executing the anti-high beam blindness control method described in the embodiment of the present invention. By adopting this method, when the first image acquisition device is in a night blindness state, the second image acquisition device can be used to collect road condition information in front of the vehicle, thereby solving the problem of perception failure of the first image acquisition device in the night blindness state and improving the safety of the vehicle.

[0022] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which: Figure 1 is a structural block diagram of a vehicle networking system according to an embodiment of the present invention; Figure 2 is a flow chart of a high beam blindness prevention control method according to one embodiment of the present invention; Figure 3 is a schematic diagram of a second image acquisition device in a closed position according to one embodiment of the present invention; Figure 4 is a schematic diagram of a second image acquisition device in a working position according to one embodiment of the present invention; Figure 5 is a schematic top view of a second image acquisition device in a closed position according to one embodiment of the present invention; Figure 6 is a schematic top view of a second image acquisition device in a working position according to one embodiment of the present invention; Figure 7 is a schematic diagram of issuing a first control instruction according to an embodiment of the present invention; Figure 8 is a flow chart of a high beam blindness prevention control method according to another embodiment of the present invention; Figure 9 A flowchart of a high beam blindness prevention control method according to another embodiment of the present invention; Figure 10 is a schematic diagram of a vehicle according to one embodiment of the present invention; Figure 11 is a schematic diagram of a vehicle networking system according to an embodiment of the present invention; Figure 12 3 is a schematic diagram of the functional logic of a high beam blindness prevention control method according to an embodiment of the present invention.

[0024] Reference numerals: Internet of Vehicles System 100; Vehicle 10; Roadside Perception System 20; Server 30; Vehicle body 1; first image acquisition device 2; second image acquisition device 3; communication device 4; first drive device 5; baffle structure 6; vehicle-mounted prompt device 7; controller 8; Second driving device 61; baffle 62; baffle slide rail 63; third driving device 64; Left baffle 621; right baffle 622; Roadside laser radar 21; roadside luminance meter 22; edge computing unit 23; roadside communication module 24. DETAILED DESCRIPTION

[0025] The embodiments of the present invention will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0026] The anti-high beam blinding control method provided by the present invention can be applied to Figure 1 The vehicle networking system 100 includes a vehicle 10, a roadside perception system 20, and a server 30. The vehicle 10 can communicate with the roadside perception system 20, with the server 30, and with the vehicle 10. The server 30, acting as the cloud, issues control commands to the vehicle 10. The roadside perception system 20, acting as the roadside end, provides roadside information to the server 30. The vehicle 10, acting as the vehicle end, provides vehicle-side information to the roadside perception system 20, thereby forming integrated vehicle-road-cloud communication.

[0027] It is understandable that Figure 1 Only one target vehicle is shown in the figure. In actual situations, the Internet of Vehicles system may include more vehicles.

[0028] Reference below Figure 1 and Figure 2 The anti-blinding control method of the first embodiment of the present invention is described. In the embodiment, the anti-blinding control method of the first embodiment of the present invention can be applied to Figure 1 The target vehicle 10 in FIG.

[0029] The anti-high beam blinding control method of an embodiment of the present invention is used for a target vehicle, which includes a first image acquisition device and a second image acquisition device located at different positions. The first image acquisition device is used to acquire road condition information in front of the target vehicle.

[0030] For example, the first image acquisition device may be arranged at the front windshield of the target vehicle, and the second image acquisition device may be arranged inside the front bumper of the target vehicle.

[0031] Specifically, under normal circumstances, the target vehicle can use the first image acquisition device to collect road condition information in front, and then send the collected road condition information to the controller. The controller perceives the surrounding environment and makes decisions based on the collected road condition information, thereby forming a safe and reasonable path planning.

[0032] Figure 2 FIG. 1 is a flow chart of a method for preventing high beam blindness according to an embodiment of the present invention. Figure 2 As shown, the anti-high beam blindness control method of the embodiment of the present invention includes at least steps S1 and S2, which are specifically as follows.

[0033] Step S1, receiving a first control instruction, wherein the first control instruction corresponds to a first preset condition, the first preset condition being that the target vehicle is in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blind state.

[0034] The first control instruction can be used to control the activation of the second image acquisition device. The first image acquisition device being in a night blindness state means that the first image acquisition device cannot effectively acquire clear image information, thereby causing the target vehicle to be unable to effectively identify the road conditions ahead.

[0035] It is understandable that when the target vehicle is meeting another vehicle at night and the oncoming vehicle is emitting high beams, the first image acquisition device will be blinded by the high beam light source of the oncoming vehicle, that is, the first image acquisition device is in a night blindness state.

[0036] Specifically, when the target vehicle is in a state of meeting an oncoming vehicle at night and the oncoming vehicle is emitting high beams, and the first image acquisition device is in a night blindness state, that is, when the first preset condition is met, the controller of the target vehicle will receive the first control instruction.

[0037] In an embodiment, the first control instruction may be issued by a cloud server, or the first control instruction may be issued by a roadside perception system or a mobile terminal, which is also feasible.

[0038] Step S2: Control the second image acquisition device to start working, so that the second image acquisition device can acquire road condition information in front of the vehicle.

[0039] Specifically, when the controller of the target vehicle receives the first control instruction, the controller controls the second image acquisition device to start working according to the first control instruction. After the second image acquisition device starts working, it can realize the collection of road condition information in front of the vehicle. By adding visual redundant perception backup to the target vehicle, it can make up for the deficiency of the first image acquisition device in being unable to collect road condition information in front of the target vehicle in a night blind state.

[0040] It is understandable that due to the high placement of the first image acquisition device, its field of view is directly exposed to the path of oncoming vehicles' high beams, making it highly susceptible to image sensor saturation due to the strong direct light, resulting in optical blindness. The second image acquisition device, however, is located at the front bumper of the vehicle, relatively low compared to the first, effectively avoiding the direct path of strong light. Therefore, the second image acquisition device is less affected by oncoming vehicles' high beams, significantly reducing the risk of blindness.

[0041] According to the anti-high beam blindness control method of an embodiment of the present invention, when the first image acquisition device is in a night-blind state, the second image acquisition device is controlled to acquire road condition information in front of the vehicle, and the second image acquisition device is used as a visual redundant perception backup. This visual redundancy design ensures the normal operation of the target vehicle when it is meeting another vehicle at night and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blind state. It effectively solves the problem of failure of the automatic driving function of the target vehicle due to the night-blindness of the first image acquisition device, avoids the occurrence of traffic accidents, and improves the safety and reliability of the target vehicle.

[0042] In some embodiments, the second image acquisition device is retractable between a closed position and a working position along the length direction of the vehicle; controlling the second image acquisition device to start working includes: controlling the second image acquisition device to extend from the closed position to the working position along the length direction of the target vehicle and starting the image acquisition function.

[0043] Among them, reference Figure 3 FIG2 is a schematic diagram of a second image acquisition device in a closed position according to an embodiment of the present invention. The closed position refers to a state in which the second image acquisition device is completely retracted into the vehicle body. Figure 4 FIG2 is a schematic diagram of a second image acquisition device in a working position according to an embodiment of the present invention. The working position refers to a position in which the second image acquisition device is extended to a preset fixed point to achieve the optimal image acquisition operation requirement.

[0044] Specifically, when the controller receives the first control instruction and controls the second image acquisition to start working, the controller controls the second image acquisition device to extend from the closed position to the working position, and controls the second image acquisition device to start the image acquisition function.

[0045] In some embodiments, the target vehicle further includes a baffle structure, which includes a movably arranged baffle; controlling the second image acquisition device to start working further includes: controlling the baffle to move from a blocking position in front of the second image acquisition device to a side position of the second image acquisition device, so that the second image acquisition device extends from a closed position to a working position.

[0046] refer to Figure 5 As shown, the baffle 62 may include a left baffle 621 and a right baffle 622, and the baffle 62 is arranged at the front end of the second image acquisition device 3. The baffle structure 6 may also include a baffle rail 63 and a third drive device 64. The baffle rail 63 may be arranged behind the baffle 62, and the baffle 62 may slide along the baffle rail 63 under the action of the second drive device 61. The second drive device 61 is connected to the baffle rail 63 and is used to drive the baffle 62 to slide on the baffle rail 63. The third drive device 64 may be a rotary motor and may be arranged on both sides of the baffle rail 63 to drive the baffle 62 to rotate.

[0047] Specifically, if Figure 5 As shown in FIG, when the second image acquisition device is in the closed position, the baffle is located in a shielding position in front of the second image acquisition device. Figure 6 As shown, when the second image acquisition device is in the working position, the baffle is located at the side of the second image acquisition device, the left baffle is located on the left side of the second image acquisition device, and the right baffle is located on the right side of the second image acquisition device. At this time, the baffle does not block the second image acquisition device, and the second image acquisition device can be extended from the closed position to the working position to perform image acquisition.

[0048] Specifically, the controller controls the left baffle to move along the baffle rail to the left side of the second image acquisition device, and simultaneously controls the right baffle to move along the baffle rail to the right side of the second image acquisition device, so that the second image acquisition device can be extended from the closed position to the working position.

[0049] In some embodiments, controlling the second image acquisition device to start working also includes: after the baffle moves to the side of the second image acquisition device, controlling the baffle to switch from a state perpendicular to the length direction of the target vehicle to a state parallel to the length direction of the target vehicle to shield the second image acquisition device.

[0050] Specifically, refer to Figure 6 As shown, after the baffle moves to the side of the second image acquisition device, the controller controls the third drive device to drive the baffle to rotate 90 degrees from a perpendicular state to the length direction of the target vehicle, so that the baffle switches to a state parallel to the length direction of the target vehicle.

[0051] Further, refer to Figure 7 As shown, when the baffle is switched to a state parallel to the length direction of the target vehicle, it can be used to block the high beam light source of the oncoming vehicle, providing a good imaging environment for the second image acquisition device to acquire images, ensuring that the second image acquisition device can obtain clear and stable images containing information about the road conditions ahead.

[0052] In some embodiments, the anti-high beam blinding control method also includes at least one of the following: receiving a second control instruction, the second control instruction corresponds to a second preset condition, the second preset condition is that the target vehicle is not in a state of meeting the oncoming vehicle at night and the high beam is emitted, and the first image acquisition device is in a night blindness state, and the vehicle-mounted prompt device is controlled to give an avoidance prompt; receiving a third control instruction, the third control instruction corresponds to a third preset condition, the third preset condition is that the target vehicle is not in a state of meeting the oncoming vehicle at night and the high beam is emitted, the first image acquisition device is not in a night blindness state, and the second image acquisition device is in a working position, and the second image acquisition device is controlled to retract to a closed position and the baffle is controlled to return to a blocking position.

[0053] The second control instruction is an instruction for controlling the vehicle-mounted prompt device, and the third preset condition is an instruction for controlling the second image acquisition device to be turned off.

[0054] Specifically, when the target vehicle is not in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blind state, that is, the target vehicle meets the second preset condition, the controller of the target vehicle receives a second controller instruction, and the controller controls the on-board prompt device to provide an avoidance prompt according to the second control instruction.

[0055] Furthermore, when the target vehicle is not in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is not in a night-blind state and the second image acquisition device is in a working position, that is, the states of the target vehicle and the first image acquisition device meet a third preset condition, the controller of the target vehicle receives a third control instruction, and the controller controls the second image acquisition device to retract from the working position to the closed position and controls the baffle to switch from a state parallel to the length direction of the target vehicle to a state perpendicular to the length direction of the target vehicle, and then controls the baffle to slide from a side position of the second image acquisition device along the baffle slide rail to a blocking position in front of the second image acquisition device.

[0056] In some embodiments of the present invention, a method for preventing high beam blindness is also proposed for use in a server. Figure 1 and Figure 8 The anti-high beam blinding control method according to the second aspect of the present invention is described. In the embodiment, the anti-high beam blinding control method is mainly applied to Figure 1 The server 30 in FIG. 1 is used as an example.

[0057] Figure 8 FIG. 1 is a flow chart of a method for preventing high beam blindness according to another embodiment of the present invention. Figure 8 As shown, the anti-high beam blindness control method of the embodiment of the present invention includes at least steps S3 and S4, which are specifically as follows.

[0058] Step S3: Acquire roadside traffic condition determination information and blindness determination information of a first image acquisition device of the target vehicle, wherein the first image acquisition device is used to acquire road condition information in front of the target vehicle.

[0059] Roadside traffic condition determination information refers to real-time traffic condition information generated by the roadside perception system through real-time monitoring and analysis of the road traffic environment around the target vehicle. Blindness determination information refers to status information used to determine whether the target vehicle's first image acquisition device has a blind spot or is unable to effectively perceive road conditions.

[0060] Specifically, the server can obtain roadside traffic condition determination information through edge computing unit input, and the server can also obtain blindness determination information of the first image acquisition device of the target vehicle through roadside communication module input in the roadside perception system.

[0061] Step S4: When the roadside traffic condition determination information and the blindness determination information meet the first preset condition, a first control instruction is issued, wherein the first preset condition is that the target vehicle is in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blind state.

[0062] Specifically, after obtaining the roadside traffic condition determination information and the blindness determination information, the server determines whether the roadside traffic condition determination information satisfies the requirement that the target vehicle is in a nighttime meeting state with the oncoming vehicle emitting high beams, and whether the blindness determination information satisfies the requirement that the first image acquisition device is in a night-blindness state. If a first preset condition is met, the server issues a first control instruction to implement a high-beam blindness prevention control strategy.

[0063] According to the anti-high beam blindness control method of an embodiment of the present invention, by real-time judging whether the roadside traffic condition determination information and the blindness determination information meet the first preset condition, it is possible to dynamically evaluate the working status of the first image acquisition device of the target vehicle, and determine whether to send the first control instruction based on this, so that when the night blindness state of the first image acquisition device is detected, the corresponding control instruction can be sent in time to ensure the reliability of the automatic driving function of the target vehicle.

[0064] In some embodiments, the anti-high beam blindness control method also includes at least one of the following: when the roadside traffic condition determination information and the blindness determination information meet the second preset condition, a second control instruction is issued, wherein the second preset condition is that the vehicle is not in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blindness state, and the vehicle-mounted prompt device is controlled to provide an avoidance prompt; when the roadside traffic condition determination information and the blindness determination information meet the third preset condition, a third control instruction is issued, wherein the third preset condition is that the vehicle is not in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is not in a night-blindness state and the second image acquisition device of the target vehicle is in the working position.

[0065] Specifically, when the vehicle is not meeting another vehicle at night and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night blindness state, the second preset condition is met at this time, and the server sends a second control instruction to the controller of the target vehicle. The controller controls the on-board prompt device to issue a sound prompt according to the second control instruction, reminding the surrounding vehicles that the first image acquisition device of the target vehicle is abnormal at this time, and pay attention to avoid it.

[0066] Furthermore, if the vehicle is not meeting another vehicle at night, the oncoming vehicle is emitting high beams, the first image capture device is not in the night-blind state, and the second image capture device of the target vehicle is in the operating position, then a third pre-set condition is satisfied. The server then transmits a third control instruction to the controller of the target vehicle. The controller, in response to the third control instruction, controls the second image capture device to retract from the operating position to the closed position and controls the baffle to slide to the blocking position. In this state, the first image capture device resumes normal operation, allowing image capture to be switched to the first image capture device while the second image capture device is deactivated.

[0067] Furthermore, when the vehicle is not meeting another vehicle at night and the oncoming vehicle is emitting high beams and the first image acquisition device is not in a night blindness state and the second image acquisition device of the target vehicle is in a closed position, the server does not issue a control instruction.

[0068] In some embodiments of the present invention, a high beam blindness prevention control method is also proposed for a roadside perception system. Figure 1 and Figure 9 The anti-high beam blinding control method according to the third aspect of the present invention is described. In the embodiment, the anti-high beam blinding control method is mainly applied to Figure 1 Take the roadside perception system 20 in FIG. 2 as an example.

[0069] Figure 9 FIG. 1 is a flow chart of a method for preventing high beam blindness according to another embodiment of the present invention. Figure 9 As shown, the anti-high beam blindness control method of the embodiment of the present invention includes at least steps S5 and S6, which are specifically as follows.

[0070] Step S5: Acquire roadside perception fusion information. The roadside perception fusion information is obtained by fusing road surface information detected by a roadside lidar and light source status information detected by a roadside luminance meter.

[0071] The road surface information may include the speed, direction, and distance between the target vehicle and the oncoming vehicle. The light source status information refers to the perceived brightness information of each area on the road surface.

[0072] Specifically, the edge computing unit in the roadside perception system can obtain roadside perception fusion information through the roadside lidar and the roadside luminance meter. Specifically, after the roadside lidar collects road surface information, it inputs it into the edge computing unit. At the same time, the roadside luminance meter collects light source status information and transmits it to the edge computing unit. After receiving the road surface information detected by the lidar and the light source status information detected by the roadside luminance meter, the edge computing unit fuses the light source status information of each area with the 3D road condition information collected by the lidar, and can superimpose the vehicle movement situation on the road and the light source status of the area, thereby obtaining roadside perception fusion information.

[0073] Step S6, obtaining roadside traffic condition determination information based on the roadside perception fusion information, the roadside traffic condition determination information includes whether the target vehicle is in a state of meeting the oncoming vehicle at night and emitting high beams, or whether the target vehicle is not in a state of meeting the oncoming vehicle at night and emitting high beams; wherein, when the brightness of the light source between the target vehicle and the oncoming vehicle is greater than a preset brightness threshold and the timestamp of the roadside lidar corresponds to a preset night time, the roadside traffic condition determination information is that the target vehicle is in a state of meeting the oncoming vehicle at night and emitting high beams.

[0074] It is understandable that when the timestamp of the roadside lidar corresponds to the preset night time, it is determined that the current driving environment is at night. Under this condition, if the brightness of the light source between the target vehicle and the oncoming vehicle is detected to exceed the preset brightness threshold, it is determined that the oncoming vehicle is emitting high beams. At this time, the roadside traffic condition determination information is that the target vehicle is in a night-time meeting state and the oncoming vehicle is emitting high beams. Among them, the preset night time can be set according to actual conditions and there is no restriction on this. For example, the preset night time can be 18:00-6:00. The preset brightness threshold can be set according to actual conditions and there is no restriction here. For example, the preset brightness threshold can be set to 50lux.

[0075] Specifically, after the edge computing unit obtains the roadside perception fusion information, it further obtains the roadside traffic condition determination information by comprehensively processing the roadside perception fusion information.

[0076] For example, if the timestamp of the roadside LiDAR matches a preset nighttime time, and the 3D data collected by the roadside LiDAR detects an oncoming vehicle in the adjacent lane of the target vehicle, meaning the two vehicles are moving in opposite directions, the edge computing unit determines that the target vehicle is in a nighttime meeting state. Otherwise, the target vehicle is determined to be in a non-nighttime meeting state. Furthermore, if the target vehicle is in a nighttime meeting state, and the brightness of the light source between the target vehicle and the oncoming vehicle is greater than a preset brightness threshold, the edge computing unit generates roadside traffic condition determination information indicating that the target vehicle is in a nighttime meeting state and the oncoming vehicle is emitting high beams.

[0077] Furthermore, when the timestamp of the roadside lidar does not match the preset night time, and the 3D data collected by the roadside lidar detects that there is an oncoming vehicle in the adjacent lane of the target vehicle, the edge computing unit determines that the target vehicle is not in a night-time meeting state. Furthermore, if the target vehicle is not in a night-time meeting state, and the brightness of the light source between the target vehicle and the oncoming vehicle is greater than the preset brightness threshold, the roadside traffic condition determination information generated by the edge computing unit at this time is that the target vehicle is not in a night-time meeting state and the oncoming vehicle is emitting high beams.

[0078] According to the anti-high beam blindness control method of an embodiment of the present invention, roadside traffic condition determination information is obtained through roadside perception fusion information, and a dynamic decision is made whether to issue a control instruction based on the roadside traffic condition determination information. Therefore, when the target vehicle is in a state of meeting another vehicle at night and the oncoming vehicle is emitting high beams, the corresponding control instruction can be issued in a timely manner, thereby ensuring the reliability of the automatic driving function of the target vehicle.

[0079] In some embodiments of the present invention, a vehicle is provided, such as Figure 10 As shown, the vehicle 10 includes: a vehicle body 1, a first image acquisition device 2, a second image acquisition device 3, a communication device 4, a first driving device 5, a baffle structure 6, an on-board prompting device 7 and a controller 8.

[0080] Among them, the first image acquisition device 2 can be set at the front of the vehicle body 1 to collect road condition information in front of the vehicle, such as front road information, pedestrian information, obstacle information, etc., and then this information can be displayed through the vehicle-mounted display screen so that the user can understand it in time.

[0081] The second image acquisition device 3 is movably arranged on the vehicle body 1 , and the second image acquisition device 3 and the first image acquisition device 2 are arranged at different positions of the vehicle body 1 .

[0082] The communication device 4 may be disposed on the vehicle cabin floor and may be an on-board OBU (On Board Unit) for communicating with the roadside perception system and / or the server.

[0083] The first driving device 5 is connected to the second image acquisition device 3 and is used to drive the second image acquisition device 3 to extend and retract between the closed position and the working position along the length direction of the target vehicle. The first driving device 5 can be a telescopic motor.

[0084] The baffle structure 6 includes a second drive device 61 and a baffle 62. The second drive device 61 is connected to the baffle 62 and is used to drive the baffle 62 to move between a blocking position and a position to the side of the second image acquisition device 3. The blocking position is located in front of the second image acquisition device 3. The second drive device 61 can be a drive motor.

[0085] Among them, the vehicle-mounted prompting device 7 is used to provide avoidance prompts.

[0086] Among them, the controller 8 is connected to the first image acquisition device 2, the second image acquisition device 3, the communication device 4, the first drive device 5, the second drive device 61 and the vehicle-mounted prompt device 7, and is used to execute the anti-high beam blinding control method of the above embodiment.

[0087] According to the vehicle 10 of the embodiment of the present invention, the controller 8 is capable of executing the anti-high beam blindness control method described in the embodiment of the present invention. By using this method, when the first image acquisition device 2 is in a night blindness state, the second image acquisition device 3 can be used to acquire road condition information in front of the vehicle, thereby solving the problem of perception failure of the first image acquisition device 2 in the night blindness state and improving the safety of the vehicle.

[0088] In some embodiments of the present invention, a vehicle networking system is also proposed, such as Figure 11 As shown, the vehicle networking system 100 includes: the vehicle 10 of the above embodiment, the roadside perception system 20, and the server 30.

[0089] The roadside perception system 20 includes a roadside lidar 21, a roadside luminance meter 22, an edge computing unit 23, and a roadside communication module 24. A server 30 communicates with the roadside communication module 24 and the vehicle 10 to execute the high-beam blindness prevention control method described in the above embodiment. The server 30 may be a cloud platform.

[0090] Among them, the edge computing unit 23 can be arranged above the road pole to execute the anti-high beam blinding control method of the above embodiment.

[0091] Among them, the roadside laser radar 21 can be arranged above the road pole to collect road surface information such as the movement speed, direction and distance between the target vehicle and the oncoming vehicle.

[0092] The roadside luminance meter 22 may be arranged above a road pole to collect light source status information, that is, perceived brightness information of each area on the road surface.

[0093] The roadside communication module 24 may be arranged above a road pole to receive the blindness determination information transmitted by the communication device 4 of the target vehicle.

[0094] According to the vehicle networking system 100 of the embodiment of the present invention, the server 30 is capable of executing the anti-high beam blindness control method described in the embodiment of the present invention. By adopting this method, when the first image acquisition device 2 is in a night blindness state, the second image acquisition device 3 can be used to collect road condition information in front of the vehicle, thereby solving the problem of perception failure of the first image acquisition device 2 in the night blindness state and improving the safety of the vehicle.

[0095] refer to Figure 12 As shown, based on the above-mentioned high-beam blindness prevention control method, the road surface information detected by the roadside lidar 21 and the light source status information detected by the roadside luminance meter 22 are first sent to the edge computing unit 23. The edge computing unit 23 fuses the roadside perception fusion information to obtain roadside perception fusion information, and then obtains roadside traffic condition determination information based on the roadside perception fusion information. The edge computing unit 23 then sends the roadside traffic condition determination information to the server 30. At the same time, the first image acquisition device 2 sends the collected road condition information in front of the target vehicle to the controller 8. The controller 8 determines the road condition information in front of the target vehicle and generates blindness determination information. The blindness determination information is then sent to the communication device 4, which in turn sends it to the roadside communication module 24, which then sends it to the server 30. After receiving the roadside traffic condition determination information sent by the edge computing unit 23 and the blindness determination information sent by the roadside communication module 24, the server 30 judges them and generates corresponding control instructions, and then sends the control instructions to the roadside communication module 24, which is then sent by the roadside communication module 24 to the communication device 4, and then sent by the communication device 4 to the controller 8. The controller 8 controls the first drive device 5, the second drive device 61 and the third drive device 64 according to the corresponding control instructions, and then controls the left baffle 621 and the right baffle 622 to slide on the baffle slide rail 63.

[0096] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0097] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A method for preventing blindness caused by high beam, characterized in that: For a target vehicle, the target vehicle includes a first image acquisition device and a second image acquisition device located at different positions, the first image acquisition device is used to acquire road condition information in front of the target vehicle, and the anti-high beam blinding control method includes: Receiving a first control instruction, wherein the first control instruction corresponds to a first preset condition, wherein the first preset condition is that the target vehicle is in a night-time meeting state with the oncoming vehicle emitting high beams and the first image acquisition device is in a night-blind state; The second image acquisition device is controlled to start working so that the second image acquisition device can acquire the road condition information in front of the vehicle.

2. The method for preventing blindness caused by high beam according to claim 1, characterized in that: The second image acquisition device is retractably arranged along the length direction of the vehicle between a closed position and a working position; The controlling the second image acquisition device to start working includes: controlling the second image acquisition device to extend from the closed position to the working position along the length direction of the target vehicle and starting an image acquisition function.

3. The method for preventing blindness caused by high beam according to claim 2, characterized in that: The target vehicle further includes a baffle structure, wherein the baffle structure includes a movably arranged baffle; Controlling the second image acquisition device to start working also includes: controlling the baffle to move from a blocking position in front of the second image acquisition device to a side position of the second image acquisition device, so that the second image acquisition device extends from the closed position to the working position.

4. The method for preventing blindness caused by high beam according to claim 3, characterized in that: The controlling the second image acquisition device to start operation further includes: After the baffle moves to the side of the second image acquisition device, the baffle is controlled to switch from a state perpendicular to the length direction of the target vehicle to a state parallel to the length direction of the target vehicle to shield the second image acquisition device.

5. The method for preventing blindness caused by high beam according to claim 3, characterized in that: The method for preventing high beam blindness also includes at least one of the following: receiving a second control instruction corresponding to a second preset condition, wherein the second preset condition is that the target vehicle is not in a night-time oncoming vehicle state and the oncoming vehicle is emitting high beams, and the first image acquisition device is in a night-blind state, and controlling the vehicle-mounted prompting device to issue an avoidance prompt; A third control instruction is received, the third control instruction corresponds to a third preset condition, the third preset condition being that the target vehicle is not in a night-time meeting state and the oncoming vehicle is emitting high beams, the first image acquisition device is not in a night-blind state, and the second image acquisition device is in a working position, the second image acquisition device is controlled to retract to the closed position and the baffle is controlled to return to the blocking position.

6. A method for preventing blindness caused by high beam, characterized in that: For a server, the anti-high beam blinding control method includes: Acquire roadside traffic condition determination information and blindness determination information of a first image acquisition device of a target vehicle, wherein the first image acquisition device is used to acquire road condition information in front of the target vehicle; When the roadside traffic condition determination information and the blindness determination information meet a first preset condition, a first control instruction is issued, wherein the first preset condition is that the target vehicle is in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blind state.

7. The method for preventing blindness caused by high beam according to claim 6, characterized in that: The method for preventing high beam blindness also includes at least one of the following: When the roadside traffic condition determination information and the blindness determination information meet a second preset condition, issuing a second control instruction, wherein the second preset condition is that the vehicle is not in a night-time meeting state and the oncoming vehicle is emitting high beams and the first image acquisition device is in a night-blindness state, and controlling the vehicle-mounted prompting device to issue an avoidance prompt; When the roadside traffic condition determination information and the blindness determination information meet a third preset condition, a third control instruction is issued, wherein the third preset condition is that the vehicle is not in a night-time meeting state and the oncoming vehicle is emitting high beams, the first image acquisition device is not in a night-blindness state, and the second image acquisition device of the target vehicle is in a working position.

8. A method for preventing blindness caused by high beam, characterized in that: For a roadside perception system, the anti-high-beam blinding control method includes: Acquiring roadside perception fusion information, where the roadside perception fusion information is obtained by fusing road surface information detected by a roadside lidar and light source status information detected by a roadside luminance meter; Obtaining roadside traffic condition determination information based on the roadside perception fusion information, the roadside traffic condition determination information including whether the target vehicle is in a state of meeting another vehicle at night and the oncoming vehicle is emitting high beams, or whether the target vehicle is not in a state of meeting another vehicle at night and the oncoming vehicle is emitting high beams; Among them, when the brightness of the light source between the target vehicle and the oncoming vehicle is greater than a preset brightness threshold and the timestamp of the roadside lidar corresponds to a preset night time, the roadside traffic condition determination information is that the target vehicle is in a night meeting state and the oncoming vehicle is emitting high beams.

9. A vehicle, characterized in that: include: body; a first image acquisition device, the first image acquisition device being arranged in front of the vehicle body and being used to acquire road condition information in front of the vehicle; a second image acquisition device, the second image acquisition device being movably disposed on the vehicle body, the second image acquisition device and the first image acquisition device being disposed at different positions on the vehicle body; a communication device for communicating with a roadside perception system and / or a server; a first driving device, the first driving device being connected to the second image acquisition device and configured to drive the second image acquisition device to extend and retract along a length direction of the target vehicle between a closed position and a working position; a baffle structure comprising a second driving device and a baffle, wherein the second driving device is connected to the baffle and is configured to drive the baffle to move between a blocking position and a position to the side of the second image acquisition device, wherein the blocking position is located in front of the second image acquisition device; On-vehicle reminder device, used for avoidance reminder; A controller, wherein the controller is connected to the first image acquisition device, the second image acquisition device, the communication device, the first drive device, the second drive device, and the vehicle-mounted prompt device, and is used to execute the anti-high beam blinding control method according to any one of claims 1 to 5.

10. A vehicle networking system, characterized in that: include: The vehicle according to claim 9; A roadside perception system, comprising a roadside lidar, a roadside luminance meter, an edge computing unit, and a roadside communication module, wherein the edge computing unit is configured to execute the high-beam blinding prevention control method according to claim 8; A server, which communicates with the roadside communication module and the vehicle, and is used to execute the anti-high beam blinding control method according to claim 6 or 7.

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