Vehicle light control method, system, vehicle, medium and product

Abstract

The vehicle light control method, system, vehicle, medium and product provided by the application are related to the field of electronic appliances. The method comprises the following steps: in response to detecting a follow-up turning illumination activation signal, acquiring current state data of a vehicle; determining a turning delay time of the vehicle corresponding to the current state data according to the current state data; determining a turning angle of the vehicle under the turning delay time according to the current state data and the turning delay time; and controlling the irradiation direction of the headlamp of the vehicle based on the turning angle. Through the application, the real-time performance of follow-up turning is improved.

Description

Technical Field

[0001] This application relates to the field of electronics and electrical appliances, and more particularly to a vehicle lighting control method, system, vehicle, medium, and product. Background Technology

[0002] With the rapid development of the automotive industry, vehicle safety and intelligence levels have continuously improved, significantly enhancing driving convenience and passive safety. Against this backdrop, vehicle lighting control technology, especially dynamic lighting technology, has become a crucial research direction for enhancing driving safety and experience. Traditional vehicle lighting control primarily employs static lighting methods, such as high / low beam switching for headlights and fixed flashing patterns for turn signals. While these methods can meet basic lighting and signal requirements, they are poorly adaptable to complex driving environments and struggle to effectively handle scenarios such as cornering and dynamic obstacle avoidance.

[0003] To overcome the limitations of traditional static headlights, related technologies dynamically adjust the direction and range of headlight illumination by monitoring parameters such as vehicle steering angle, speed, and steering wheel angle in real time. This provides better adaptive lighting when cornering and reduces blind spots. However, this control method results in poor real-time performance of the adaptive headlights. Summary of the Invention

[0004] This application provides vehicle lighting control methods, systems, vehicles, media, and products for improving the real-time performance of adaptive steering.

[0005] In a first aspect, this application provides a vehicle lighting control method, comprising:

[0006] Upon detecting the activation signal of the adaptive cornering lights, the vehicle's current status data is acquired;

[0007] Based on the current status data, determine the steering delay time of the vehicle corresponding to the current status data;

[0008] Based on the current status data and the steering delay time, determine the vehicle's steering angle at the steering delay time;

[0009] The direction of the vehicle's headlights is controlled based on the steering angle.

[0010] In one possible implementation, determining the vehicle's steering angle at the steering delay time based on current state data and the steering delay time includes:

[0011] Based on the steering wheel angle and steering wheel angular velocity in the current status data, determine the steering wheel angle corresponding to the steering delay time of the vehicle, and determine the turning radius of the vehicle based on the steering wheel angle of the steering delay time.

[0012] Based on the vehicle speed and acceleration in the current status data, determine the vehicle speed corresponding to the steering delay time;

[0013] Based on the vehicle speed and turning radius corresponding to the steering delay time, the steering angle of the vehicle under the steering delay time is determined.

[0014] In one possible implementation, determining the vehicle's steering angle during the steering delay time based on the vehicle speed and turning radius corresponding to the steering delay time includes:

[0015] Based on the vehicle speed and turning radius corresponding to the steering delay time, determine the vehicle yaw rate corresponding to the steering delay time.

[0016] The vehicle yaw rate and the steering wheel angle at the corresponding steering delay time are added together to obtain the vehicle's steering angle at the steering delay time.

[0017] In one possible implementation, determining the vehicle yaw rate for the corresponding steering delay time based on the vehicle speed and turning radius includes:

[0018] Divide the vehicle speed corresponding to the steering delay time by the turning radius to obtain the vehicle's target yaw rate.

[0019] Multiply the target vehicle yaw rate by the set correction coefficient and add it to the vehicle yaw rate in the current state data to obtain the vehicle yaw rate corresponding to the steering delay time.

[0020] In one possible implementation, determining the steering delay time of the vehicle corresponding to the current state data based on the current state data includes:

[0021] Based on the current status data, determine the transmission time of the current status data;

[0022] Obtain the time required to analyze the steering wheel rotation angle of the vehicle;

[0023] The transmission time is added to the time taken to parse the vehicle's steering wheel rotation angle to obtain the steering delay time corresponding to the vehicle's current state data.

[0024] In one possible implementation, in response to detecting a follow-up cornering lighting activation signal, current vehicle state data is acquired, including:

[0025] Check if the horizontal rotation motor of the headlight is faulty;

[0026] When the horizontal rotation motor of the headlight is found to be fault-free, the vehicle responds to the adaptive cornering lighting activation signal and acquires the vehicle's current status data.

[0027] Secondly, this application provides a vehicle lighting control device, comprising:

[0028] The acquisition module is used to acquire the vehicle's current status data in response to the detection of the adaptive cornering lighting activation signal;

[0029] The determination module is used to determine the steering delay time of the vehicle corresponding to the current state data based on the current state data; and to determine the steering angle of the vehicle under the steering delay time based on the current state data and the steering delay time.

[0030] The control module is used to control the direction of the vehicle's headlights based on the steering angle.

[0031] In one possible implementation, the determining module is specifically used for:

[0032] Based on the steering wheel angle and steering wheel angular velocity in the current status data, determine the steering wheel angle corresponding to the steering delay time of the vehicle, and determine the turning radius of the vehicle based on the steering wheel angle of the steering delay time.

[0033] Based on the vehicle speed and acceleration in the current status data, determine the vehicle speed corresponding to the steering delay time;

[0034] Based on the vehicle speed and turning radius corresponding to the steering delay time, the steering angle of the vehicle under the steering delay time is determined.

[0035] In one possible implementation, the determining module is specifically used for:

[0036] Based on the vehicle speed and turning radius corresponding to the steering delay time, determine the vehicle yaw rate corresponding to the steering delay time.

[0037] The vehicle yaw rate and the steering wheel angle at the corresponding steering delay time are added together to obtain the vehicle's steering angle at the steering delay time.

[0038] In one possible implementation, the determining module is specifically used for:

[0039] Divide the vehicle speed corresponding to the steering delay time by the turning radius to obtain the vehicle's target yaw rate.

[0040] Multiply the target vehicle yaw rate by the set correction coefficient and add it to the vehicle yaw rate in the current state data to obtain the vehicle yaw rate corresponding to the steering delay time.

[0041] In one possible implementation, the determining module is specifically used for:

[0042] Based on the current status data, determine the transmission time of the current status data;

[0043] Obtain the time required to analyze the steering wheel rotation angle of the vehicle;

[0044] The transmission time is added to the time taken to parse the vehicle's steering wheel rotation angle to obtain the steering delay time corresponding to the vehicle's current state data.

[0045] In one possible implementation, the acquisition module is specifically used for:

[0046] Check if the horizontal rotation motor of the headlight is faulty;

[0047] When the horizontal rotation motor of the headlight is found to be fault-free, the vehicle responds to the adaptive cornering lighting activation signal and acquires the vehicle's current status data.

[0048] Thirdly, this application provides a vehicle lighting control system, which includes a headlight control module and a central domain controller module, wherein the central domain controller module is connected to the headlight control module; wherein...

[0049] The central domain controller module is used to generate the adaptive cornering light activation signal and transmit the adaptive cornering light activation signal to the headlight control module;

[0050] The headlight control module is used to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0051] Fourthly, this application provides a vehicle, including a vehicle body and various possible embodiments of the first aspect as described above and / or the first aspect.

[0052] Fifthly, this application provides an electronic device, including: a memory and a processor;

[0053] The memory stores the instructions that the computer executes;

[0054] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0055] In a sixth aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the first aspect and / or various possible embodiments of the first aspect.

[0056] In a seventh aspect, this application provides a computer program product, including a computer program that, when executed, implements the first aspect and / or various possible implementations of the first aspect.

[0057] This application provides a vehicle lighting control method, system, vehicle, medium, and product, relating to the field of electronic and electrical appliances. The method includes: responding to the detection of a adaptive cornering lighting activation signal and acquiring the vehicle's current state data; determining a steering delay time corresponding to the current state data based on the current state data; determining the vehicle's steering angle at the steering delay time based on the current state data and the steering delay time; and controlling the illumination direction of the vehicle's headlights based on the steering angle. Upon detecting the adaptive cornering lighting activation signal, this application responds to the signal by acquiring the vehicle's current state data and determining the steering delay time corresponding to the current state data; determining the vehicle's steering angle at the steering delay time based on the current state data and the steering delay time; and by considering the influence of the steering delay time corresponding to the current state data on the steering angle, thereby reducing steering delay and optimizing the determination of the steering angle; and controlling the illumination direction of the vehicle's headlights based on the steering angle, thus enabling the headlight illumination direction to change synchronously with the vehicle's steering, significantly improving the real-time performance of the adaptive cornering lighting. Attached Figure Description

[0058] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0059] Figure 1 A flowchart illustrating the vehicle lighting control method provided in this application embodiment. Figure 1 ;

[0060] Figure 2 This is a schematic diagram of the structure of the vehicle lighting control system provided in the embodiments of this application;

[0061] Figure 3 This is a schematic diagram of the structure of the vehicle lighting control device provided in the embodiments of this application;

[0062] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0063] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0064] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0065] As vehicle safety and intelligence requirements increase, driving becomes more convenient, and passive vehicle safety is constantly improving, leading to higher demands for vehicle lighting, especially dynamic lighting functions. Most existing static lighting functions are relatively simple, with only a few offering dynamic lighting capabilities. Current dynamic lighting functions include Adaptive Driving Beam (ADB), Automatic High Beam (AHB), and Dynamic Bending Light. Dynamic Bending Light (DBL) is not widely available in current vehicles and suffers from numerous problems or inadequacies. For example, its real-time following ability is insufficient, the lights do not change in time with the vehicle's turn, and there is significant lag after the vehicle turns.

[0066] To address the aforementioned issues, this application provides a vehicle lighting control method. This method involves responding to a detected adaptive steering lighting activation signal, determining a steering delay time corresponding to the vehicle's current state data based on that data, determining the vehicle's steering angle within that delay time based on the current state data and the steering delay time, and finally controlling the illumination direction of the vehicle's headlights based on the steering angle.

[0067] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0068] Figure 1 A flowchart illustrating the vehicle lighting control method provided in this application embodiment. Figure 1 ,like Figure 1 As shown, the method includes:

[0069] S101. Upon detecting the activation signal of the adaptive cornering lights, obtain the current status data of the vehicle.

[0070] In this step, it can be understood that before acquiring the vehicle's current status data, it is necessary to determine whether a follow-up lighting activation signal has been detected.

[0071] For example, in response to the detection of a adaptive headlight activation signal, the vehicle's current state data is acquired, including: detecting whether the headlight's horizontal rotation motor is faulty; and when the headlight's horizontal rotation motor is not faulty, in response to the adaptive headlight activation signal, acquiring the vehicle's current state data.

[0072] In this example, it can be understood that the vehicle's current status data will only be obtained in response to the detected adaptive lighting activation signal when the horizontal rotation motor of the headlight is found to be functioning correctly.

[0073] Furthermore, if a malfunction is detected in the headlight horizontal rotation motor, the motor is immediately moved to a set position, the vehicle's turn signals are turned off, and a fault message for the horizontal rotation motor is sent to the central domain controller module. The central domain controller module then forwards this information to the in-vehicle infotainment system to alert the user of the horizontal rotation motor malfunction. In other words, when a horizontal rotation motor malfunction is detected, the headlight horizontal rotation motor should be immediately returned to a safe position, ensuring basic lighting and meeting safety requirements.

[0074] Furthermore, if the horizontal rotary motor fails to move due to a malfunction, the horizontal rotary motor remains in its current position, the vehicle's turn signals are turned off, and the fault information of the horizontal rotary motor is sent to the central domain controller module, which then forwards it to the in-vehicle infotainment system to notify the user of the horizontal rotary motor malfunction.

[0075] This example ensures the stability of the vehicle lighting control method by responding to the adaptive headlight activation signal only when the horizontal rotation motor of the headlight is detected to be functioning correctly. This avoids the adaptive headlight activation signal still being activated when the horizontal rotation motor is faulty.

[0076] S102. Based on the current state data, determine the steering delay time of the vehicle corresponding to the current state data.

[0077] After obtaining the vehicle's current status data through S101, it is necessary to determine the steering delay time corresponding to the current status data.

[0078] For example, determining the steering delay time of the vehicle corresponding to the current state data based on the current state data includes: determining the transmission time of the current state data based on the current state data; obtaining the time for parsing the steering wheel rotation angle of the vehicle; and adding the transmission time to the time for parsing the steering wheel rotation angle of the vehicle to obtain the steering delay time of the vehicle corresponding to the current state data.

[0079] In this example, it can be understood that the steering delay time is jointly determined by the transmission time of the current state data and the time required to resolve the vehicle's steering wheel rotation angle. The transmission time of the current state data is determined by the time difference between generating the current state data and acquiring the current state data. The time required to resolve the vehicle's steering wheel rotation angle is determined by the time it takes for the front end to receive the driver's input and convert it into a specific rotation angle; that is, the time required to resolve the vehicle's steering wheel rotation angle is determined by the time it takes for the front end to convert the driver's steering intention into a steering wheel rotation angle.

[0080] This example effectively improves the following performance of adaptive turn signals by taking into account the steering delay time corresponding to the vehicle's current state data, thereby ensuring that the light beam remains consistent with the vehicle's driving trajectory.

[0081] S103. Based on the current status data and the steering delay time, determine the vehicle's steering angle under the steering delay time.

[0082] In this step, it can be understood that after obtaining the current state data via S101 and determining the steering delay time via S102, the vehicle's steering angle under the influence of the steering delay time is determined based on the current state data and the steering delay time. This is because there is a steering time delay between obtaining the current state data and performing the steering operation. If this steering time delay is not considered when determining the vehicle's steering angle, the determined steering angle will deviate from the actual steering angle, leading to a problem with weak real-time performance of the steering assist.

[0083] S104. Based on the steering angle, control the direction of the vehicle's headlights.

[0084] This step dynamically adjusts the direction of the vehicle's headlights using the steering angle determined in S103, ensuring that the light beam aligns with the vehicle's trajectory. Specifically, before controlling the direction of the headlights, the steering angle is converted into a headlight steering angle using the headlight rotation center as the origin coordinate system. Then, the horizontal rotation motor of the headlights is controlled to rotate according to the headlight steering angle, thereby controlling the direction of the vehicle's headlights.

[0085] It should be noted that while the vehicle is turning, the horizontal rotation motor of the headlights also rotates synchronously, and the rotation angle remains consistent. Specifically, a positive headlight turning angle indicates a left turn, and a negative headlight turning angle indicates a right turn.

[0086] In this embodiment, upon detecting a adaptive steering lighting activation signal, the system responds to the signal by acquiring the vehicle's current state data and determining the steering delay time corresponding to that data. Based on the current state data and the steering delay time, the system determines the vehicle's steering angle at that delay time. By considering the impact of the steering delay time on the steering angle, the system reduces steering delay and optimizes steering angle determination. Based on the steering angle, the system controls the direction of the vehicle's headlights, ensuring that the headlight direction changes synchronously with the vehicle's steering, significantly improving the real-time performance of the adaptive steering system.

[0087] Based on the above embodiments, S103 describes determining the vehicle's steering angle at the steering delay time based on the current state data and the steering delay time, including: determining the vehicle's steering angle corresponding to the steering delay time based on the steering wheel steering angle and steering wheel angular velocity in the current state data, and determining the vehicle's turning radius based on the steering wheel steering angle at the steering delay time; determining the vehicle speed corresponding to the steering delay time based on the vehicle speed and acceleration in the current state data; and determining the vehicle's steering angle at the steering delay time based on the vehicle speed and turning radius at the steering delay time.

[0088] In this embodiment, it can be understood that when determining the vehicle's steering angle during the steering delay time, it is necessary to first determine the vehicle's turning radius and the vehicle speed corresponding to the steering delay time. Specifically, the steering angle of the vehicle corresponding to the steering delay time must first be determined based on the steering wheel angle and steering wheel angular velocity in the current state data. Then, the vehicle's turning radius is determined based on the steering wheel angle corresponding to the steering delay time.

[0089] Furthermore, the turning radius of a vehicle can be expressed by the following formula: Where R represents the turning radius; L represents the center distance between the front and rear axles of the vehicle; This indicates the steering wheel angle corresponding to the vehicle's steering delay time. ,in, This indicates the steering wheel angle in the vehicle's current status data; t1 represents the steering wheel angular velocity in the vehicle's current state data; t1 represents the steering delay time.

[0090] It should be noted that when the steering wheel angle and steering wheel angular velocity are positive, it indicates turning left; when the steering wheel angle and steering wheel angular velocity are negative, it indicates turning right.

[0091] Furthermore, based on the vehicle speed and acceleration in the current state data, the vehicle speed corresponding to the steering delay time is determined. Specifically, the vehicle speed for the steering delay time can be expressed by the following formula: .in, This indicates the vehicle speed corresponding to the steering delay time. This represents the vehicle's speed in the vehicle's current status data. This represents the acceleration in the vehicle's current state data. It should be noted that the vehicle speed described here is the longitudinal speed, and the acceleration is the longitudinal acceleration.

[0092] After determining the turning radius and the vehicle speed with the steering delay time, it is necessary to determine the vehicle's steering angle during the steering delay time.

[0093] This application embodiment utilizes steering wheel angle prediction and vehicle speed prediction algorithms to compensate for time delays in signal processing and transmission, thereby solving the problem of poor real-time performance of steering follow-up.

[0094] Based on the above embodiments, in some examples, the method described in the above embodiments for determining the vehicle's steering angle under the steering delay time based on the vehicle speed and turning radius corresponding to the steering delay time includes: determining the vehicle yaw rate corresponding to the steering delay time based on the vehicle speed and turning radius corresponding to the steering delay time; and adding the vehicle yaw rate corresponding to the steering delay time and the steering wheel angle corresponding to the steering delay time to obtain the vehicle's steering angle under the steering delay time.

[0095] The above embodiments further explain how the steering angle of a vehicle is determined during a steering delay time. Specifically, in determining the steering angle of a vehicle during a steering delay time, this example first determines the vehicle yaw rate for the corresponding steering delay time based on the vehicle speed and turning radius at that time.

[0096] In some examples, to address the problem of poor performance of adaptive turn signals in related technologies, sometimes resulting in insufficient lighting coverage and poor safety lighting, the current vehicle yaw rate is corrected to obtain the vehicle yaw rate corresponding to the vehicle's steering delay time.

[0097] Specifically, based on the vehicle speed and turning radius corresponding to the steering delay time, the vehicle yaw rate corresponding to the steering delay time is determined, including: dividing the vehicle speed corresponding to the steering delay time by the turning radius to obtain the target vehicle yaw rate; multiplying the target vehicle yaw rate by a set correction coefficient and adding it to the vehicle yaw rate in the current state data to obtain the vehicle yaw rate corresponding to the steering delay time.

[0098] The target vehicle yaw rate can be expressed by the following formula:

[0099] .

[0100] in, This indicates the target vehicle yaw rate.

[0101] The vehicle yaw rate corresponding to the steering delay time can be expressed by the following formula:

[0102] .

[0103] in, Vehicle yaw rate, representing the vehicle's steering delay time; Indicates the correction factor; This represents the vehicle yaw rate in the vehicle's current state data.

[0104] It should be noted that the correction factor can be determined through actual lighting effect calibration; vehicle yaw rate refers to the angular velocity of the vehicle's rotation around its vertical axis.

[0105] This example calculates the vehicle yaw rate corresponding to the steering delay time by using the yaw rate in the current vehicle state data and the target vehicle yaw rate, and calibrates an appropriate correction coefficient based on the actual lighting effect to achieve the optimal vehicle yaw rate for adaptive steering, effectively improving the adaptive steering lighting effect.

[0106] Next, the vehicle yaw rate and steering angle corresponding to the steering delay time, calculated above, are added together, and the result is determined as the vehicle's steering angle at the steering delay time. Specifically, the vehicle's steering angle at the steering delay time can be expressed by the following formula:

[0107] .

[0108] in, This indicates the vehicle's steering angle during the steering delay time.

[0109] This application embodiment uses the vehicle speed with steering wheel angle and steering delay time to predict the vehicle yaw rate of steering delay time, which can effectively make up for the delay of signal processing and transmission, so that the lights can turn in time to follow the vehicle's steering, thereby improving the following effect of the adaptive turn signals.

[0110] Furthermore, this application embodiment also provides a vehicle lighting control system, which includes a headlight control module and a central domain controller module, the central domain controller module being connected to the headlight control module; wherein, the central domain controller module is used to generate a adaptive cornering lighting activation signal and transmit the adaptive cornering lighting activation signal to the headlight control module; the headlight control module is used to execute the method as described in the preceding embodiments.

[0111] Figure 2 This is a schematic diagram of the vehicle lighting control system provided in an embodiment of this application. Figure 2 As shown, the system consists of a Central Domain Module (CDM), a Vehicle Dynamics Domain Module (VDDM), a Headlamp Control Module (HCM), a Display Head Unit (DHU), a Rain-Light Sensor Module (RLSM), and front combination headlights (including a horizontal rotating motor and cornering lights).

[0112] The vehicle lighting control system provided in this application adopts a control and execution separation architecture design. The CDM is responsible for determining whether to activate the adaptive cornering lighting function, and the HCM is responsible for executing the adaptive cornering lighting function. This architecture ensures the strong portability of the vehicle lighting control system and the advantage that it will not change globally due to the replacement of a certain component.

[0113] Next, we will combine Figure 2 This document explains how to utilize the vehicle lighting control method provided in the embodiments of this application.

[0114] The DHU sends the user-defined adaptive headlight on / off signal to the CDM; the VDDM sends the steering wheel angle signal, steering wheel angular velocity signal, vehicle speed signal, acceleration signal, vehicle yaw rate signal, and vehicle gear signal to the CDM; the CDM forwards these signals to the HCM; the RLSM converts the sensed ambient light intensity into day and night signals and sends them to the CDM; the HCM sends the headlight illumination status signal to the CDM, i.e., the HCM sends the headlight status signal to the CDM; after receiving the above signals, the CDM determines whether to send an adaptive headlight activation signal to the HCM according to the set logic; after receiving the adaptive headlight activation signal from the CDM, the HCM calculates the rotation angle of the headlight horizontal rotation motor according to the steering wheel angle signal, steering wheel angular velocity signal, vehicle speed signal, acceleration signal, vehicle yaw rate signal, and the set algorithm, and controls the headlight horizontal rotation motor to move to the calculated angle.

[0115] The CDM (Computer Dynamics Controller) performs its settings based on the adaptive headlight switch signal sent by the DHU (Driver Headlight Unit), the vehicle speed and gear position signal sent by the VDDM (Vehicle Speed ​​Controller), the ambient light signal sent by the RLSM (Range Light Controller), and the headlight status signal sent by the HCM (Headlight Management Center). If the CDM receives a signal indicating the adaptive headlight switch is on, the vehicle speed is greater than the set value, the gear position is D (Drive), and the ambient light is nighttime, the CDM sends an adaptive headlight activation signal to the HCM. If any of these conditions are not met, the CDM sends an adaptive headlight deactivation signal to the HCM.

[0116] Furthermore, when the vehicle is powered on and the driving mode is set to "driving," the CDM sends an initialization motion signal to the HCM. Upon receiving the initialization motion signal, the HCM controls the horizontal rotation motor of the headlights to perform the initialization motion. The horizontal rotation motor first rotates to the left to its physical limit position, then to the right to its physical limit position, and then moves to the default position, thus completing the initialization motion. The physical limit position refers to the motor's stall position. Furthermore, the horizontal rotation motor must be rotated to its physical limit position and held for 200ms.

[0117] After receiving the adaptive cornering light activation signal from the CDM and the horizontal rotary motor completing its initialization motion, the HCM calculates the required rotation angle of the headlight's horizontal rotary motor based on the set algorithm, vehicle speed signal, vehicle yaw rate, acceleration signal, steering wheel angle signal, and steering wheel angular velocity signal. It then controls the horizontal motor to move to the corresponding position and illuminates the cornering lights.

[0118] The algorithm for determining the rotation angle of a horizontal rotary motor is as follows:

[0119] 1. The HCM calculates the steering wheel angle after the interval time based on the received steering wheel angle signal and steering wheel angular velocity signal. The interval time is equal to the transmission time of the steering wheel angle signal and steering wheel angular velocity signal plus the time to convert the driver's steering intention into the steering wheel angle.

[0120] 2. The HCM calculates the longitudinal vehicle speed after the interval based on the received vehicle speed and acceleration;

[0121] 3. The HCM calculates the vehicle's turning radius based on the center distance between the front and rear axles and the calculated interval time, followed by the steering wheel angle.

[0122] 4. HCM calculates the vehicle yaw rate based on the longitudinal speed and turning radius after the calculated interval time;

[0123] 5. HCM predicts the vehicle yaw rate after a certain interval based on the calculated vehicle yaw rate and the currently received vehicle yaw rate.

[0124] 6. HCM calculates the vehicle steering angle after the interval based on the calculated vehicle yaw rate and the calculated steering wheel angle after the interval.

[0125] 7. The HCM converts the vehicle steering angle calculated from the interval time in the vehicle coordinate system into the headlight steering angle in the coordinate system with the headlight rotation center as the origin. Then, the HCM controls the horizontal rotary motor to rotate according to the headlight steering angle.

[0126] Furthermore, when the HCM receives the steering assist off signal sent by the CDM, the HCM immediately adjusts the horizontal rotary motor to the default position and turns off the turn signal side lights.

[0127] Furthermore, when the HCM detects a fault in the horizontal rotating motor, it immediately controls the motor to move to its default position, turns off the turn signal lights, and sends a fault message to the CDM (Controlled Dynamics Module), which then forwards it to the DHU (Driver Unit) to alert the user of the fault. If the horizontal rotating motor cannot move due to a fault, the HCM maintains the motor in its current position, turns off the turn signal lights, and sends the fault message to the CDM, which then forwards it to the DHU to alert the user of the fault. This operation effectively addresses the issue in related technologies where the adaptive cornering lights fail to return to a safe position, affecting normal driving and ensuring driving safety.

[0128] In summary, the vehicle lighting control method provided in this application, by performing the initialization movement of the horizontal rotation motor of the headlight before determining whether to activate the adaptive headlights, and by determining whether there is a fault and position correction, can effectively avoid activating the adaptive headlights due to vehicle lighting system faults, such as motor faults, and ensure the stability of the vehicle lighting system.

[0129] Furthermore, by employing predictive algorithms and calibration coefficients, this embodiment of the application ensures that the adaptive headlights achieve optimal performance, from theoretical calculation to actual calibration. In addition, this embodiment not only controls the adaptive headlights based on the steering wheel angle signal, but also combines steering wheel angular velocity signals, vehicle yaw rate signals, and other factors to comprehensively control the adaptive headlights, thereby improving their real-time tracking performance.

[0130] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0131] Figure 3 This is a schematic diagram of the structure of the vehicle lighting control device provided in the embodiments of this application, as shown below. Figure 3 As shown, the vehicle lighting control device 300 provided in this embodiment includes:

[0132] The acquisition module 301 is used to acquire the current status data of the vehicle in response to the detection of the adaptive cornering lighting activation signal;

[0133] The determining module 302 is used to determine the steering delay time of the vehicle corresponding to the current state data based on the current state data; and to determine the steering angle of the vehicle under the steering delay time based on the current state data and the steering delay time.

[0134] The control module 303 is used to control the direction of illumination of the vehicle's headlights based on the steering angle.

[0135] In one possible implementation, the determining module 302 is specifically used for:

[0136] Based on the steering wheel angle and steering wheel angular velocity in the current status data, determine the steering wheel angle corresponding to the steering delay time of the vehicle, and determine the turning radius of the vehicle based on the steering wheel angle of the steering delay time.

[0137] Based on the vehicle speed and acceleration in the current status data, determine the vehicle speed corresponding to the steering delay time;

[0138] Based on the vehicle speed and turning radius corresponding to the steering delay time, the steering angle of the vehicle under the steering delay time is determined.

[0139] In one possible implementation, the determining module 302 is specifically used for:

[0140] Based on the vehicle speed and turning radius corresponding to the steering delay time, determine the vehicle yaw rate corresponding to the steering delay time.

[0141] The vehicle yaw rate and the steering wheel angle at the corresponding steering delay time are added together to obtain the vehicle's steering angle at the steering delay time.

[0142] In one possible implementation, the determining module 302 is specifically used for:

[0143] Divide the vehicle speed corresponding to the steering delay time by the turning radius to obtain the vehicle's target yaw rate.

[0144] Multiply the target vehicle yaw rate by the set correction coefficient and add it to the vehicle yaw rate in the current state data to obtain the vehicle yaw rate corresponding to the steering delay time.

[0145] In one possible implementation, the determining module 302 is specifically used for:

[0146] Based on the current status data, determine the transmission time of the current status data;

[0147] Obtain the time required to analyze the steering wheel rotation angle of the vehicle;

[0148] The transmission time is added to the time taken to parse the vehicle's steering wheel rotation angle to obtain the steering delay time corresponding to the vehicle's current state data.

[0149] In one possible implementation, the acquisition module 301 is specifically used for:

[0150] Check if the horizontal rotation motor of the headlight is faulty;

[0151] When the horizontal rotation motor of the headlight is found to be fault-free, the vehicle responds to the adaptive cornering lighting activation signal and acquires the vehicle's current status data.

[0152] The vehicle lighting control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0153] This application also provides a vehicle, including a vehicle body and the method described in the above embodiments.

[0154] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, a processing module can be a separate processing element, or it can be integrated into a chip within the device. Alternatively, it can be stored as program code in the device's memory, and its functions can be called and executed by a processing element. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0155] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a System-On-a-Chip (SOC).

[0156] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 400 provided in this application embodiment may include: a processor 401, and a memory 402 communicatively connected to the processor, wherein:

[0157] The memory stores the instructions that the computer executes;

[0158] The processor executes computer execution instructions stored in memory to implement the method described in the foregoing method embodiments.

[0159] It should be understood that processor 401 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor. Memory 402 may include high-speed random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage device, or a USB flash drive, external hard drive, read-only memory, disk, or optical disc, etc.

[0160] Optionally, the electronic device 400 may also include a communication interface 403. In specific implementations, if the communication interface 403, memory 402, and processor 401 are implemented independently, they can be interconnected via a bus to complete communication. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc., but this does not imply that there is only one bus or one type of bus.

[0161] Optionally, in a specific implementation, if the communication interface 403, memory 402 and processor 401 are integrated on a single chip, then the communication interface 403, memory 402 and processor 401 can communicate through an internal interface.

[0162] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the methods described in any of the foregoing embodiments.

[0163] It is understood that the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0164] An exemplary computer-readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can reside in an ASIC. Alternatively, the processor and the computer-readable storage medium can exist as discrete components in an electronic device.

[0165] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a computer-readable storage medium, include several instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0166] This application also provides a computer program product, including a computer program that, when executed, implements the method described in any of the foregoing embodiments.

[0167] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0168] It should be further noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0169] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0170] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0171] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A vehicle lighting control method, characterized in that, include: Upon detecting the activation signal of the adaptive cornering lights, the vehicle's current status data is acquired; Based on the current state data, determine the steering delay time of the vehicle corresponding to the current state data; Based on the current state data and the steering delay time, the steering angle of the vehicle at the steering delay time is determined. This determination includes: determining the steering wheel angle of the vehicle corresponding to the steering delay time based on the steering wheel angle and steering wheel angular velocity in the current state data; determining the turning radius of the vehicle based on the steering wheel angle at the steering delay time; determining the vehicle speed corresponding to the steering delay time based on the vehicle speed and acceleration in the current state data; determining the vehicle yaw rate corresponding to the steering delay time based on the vehicle speed and the turning radius; and adding the vehicle yaw rate and the steering wheel angle at the steering delay time to obtain the steering angle of the vehicle at the steering delay time. Based on the steering angle, the direction of illumination of the vehicle's headlights is controlled.

2. The vehicle lighting control method according to claim 1, characterized in that, The step of determining the vehicle yaw rate corresponding to the steering delay time based on the vehicle speed and the turning radius corresponding to the steering delay time includes: Divide the vehicle speed corresponding to the steering delay time by the turning radius to obtain the target vehicle yaw rate. The target vehicle yaw rate is multiplied by a set correction coefficient and added to the vehicle yaw rate in the current state data to obtain the vehicle yaw rate corresponding to the steering delay time.

3. The vehicle lighting control method according to claim 1 or 2, characterized in that, The step of determining the steering delay time of the vehicle corresponding to the current state data based on the current state data includes: Based on the current status data, determine the transmission time of the current status data; Obtain the time required to analyze the steering wheel rotation angle of the vehicle; The transmission time is added to the time taken to parse the steering wheel rotation angle of the vehicle to obtain the steering delay time of the vehicle corresponding to the current state data.

4. The vehicle lighting control method according to claim 1 or 2, characterized in that, The response detects the adaptive cornering lighting activation signal and acquires the vehicle's current status data, including: Check if the horizontal rotation motor of the headlight is faulty; When it is detected that there is no fault in the horizontal rotation motor of the headlight, the vehicle's current status data is obtained in response to the adaptive cornering lighting activation signal.

5. A vehicle lighting control system, characterized in that, The system includes a headlight control module and a central domain controller module, wherein the central domain controller module is connected to the headlight control module; wherein... The central domain controller module is used to generate a adaptive cornering light activation signal and transmit the adaptive cornering light activation signal to the headlight control module; The headlight control module is used to execute the vehicle lighting control method as described in any one of claims 1-4.

6. A vehicle, characterized in that, Includes the vehicle body and the vehicle lighting control system as described in claim 5.

7. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the vehicle lighting control method as described in any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed, are used to implement the vehicle lighting control method as described in any one of claims 1-4.

9. A computer program product, characterized in that, Includes a computer program that, when executed, implements the vehicle lighting control method according to any one of claims 1-4.

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