Steering prompting method and device for steering lamp failure and vehicle

Abstract

The embodiment of the invention discloses a steering prompting method and device for steering lamp failure and a vehicle, relates to the technical field of vehicle lamp control, and aims at solving the problem that when a steering lamp breaks down, it is difficult to represent the steering intention of the vehicle on the basis of not increasing the cost of an original vehicle. The method comprises the steps that when it is recognized that a vehicle has a steering intention, the working mode of a vehicle steering lamp is detected; if it is determined that the working mode is a fault mode, obtaining a standby prompt object sequence of a preset hierarchical steering strategy so as to sequentially obtain detection information fed back by each standby prompt object, and determining a current standby prompt object; and according to the steering intention and the calibration prompt data of the current standby prompt object, driving the current standby prompt object to perform steering prompt.

Description

Technical Field

[0001] This application relates to the field of vehicle lighting control technology, and in particular to a method, device, and vehicle for providing turn signal indication when the turn signal fails. Background Technology

[0002] Vehicle steering is the first line of defense for active hazard avoidance during vehicle operation. Drivers can use steering to avoid sudden obstacles, correct deviations in trajectory, and, in emergency braking, coordinate with the brakes to prevent loss of control, directly avoiding collisions and rollover risks. Turn signals are flashing indicator lights installed at the front and rear of the vehicle. When a vehicle is turning, they emit flashing light at a specific frequency to inform other vehicles and road users of the intention to turn or change lanes, making them an important component of information exchange between vehicles.

[0003] Currently, turn signals are typically driven independently by a flashing relay, MOSFET, or lamp module. In this case, when the driver activates the turn signal switch, the vehicle control system illuminates the corresponding turn signal, indicating a turn. However, both flashing relays and lamp modules can fail, rendering the turn signal ineffective. Currently, vehicles can only proactively notify drivers of turn signal failures, not automatically switch to turn signal indication. This makes it difficult for the vehicle to signal a turn, impacting driving safety. While some high-end or special-purpose vehicles have hardware redundancy corresponding to turn signals, allowing pre-set turn signals to be activated in case of failure, this requires additional hardware, which is costly for economy vehicles and also expensive to retrofit existing vehicles.

[0004] Therefore, how to represent the vehicle's steering intention and improve driving safety without increasing the original vehicle cost when the turn signal malfunctions has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of the above problems, this application provides a turn signal warning method, device, and vehicle to overcome or at least partially solve the above problems when the turn signal fails. The technical solution is as follows: When a vehicle is identified as having a turning intention, the operating mode of the vehicle's turn signals is detected; If the working mode is determined to be a fault mode, then the sequence of backup prompt objects for the preset graded steering strategy is obtained, and the detection information fed back by each backup prompt object is obtained in turn to determine the current backup prompt object. Based on the steering intention and the calibration prompt data of the current backup prompt object, drive the current backup prompt object to provide steering prompts.

[0006] By proactively detecting the turn signal operating mode when a turn signal is triggered, faults can be identified in advance, avoiding the current problem of only being able to proactively notify drivers of faults after the turn signal fails, which leads to interruption of turn signal information transmission. When the vehicle's turn signal is in fault mode, the system combines a pre-set hierarchical strategy with a sequence of backup warning objects to sequentially obtain detection information from each backup warning object, avoiding the problem of turn signal transmission failure due to the failure of a single backup solution. During driving, the system integrates turn signal intent and calibration warning data, taking into account the different physical characteristics of each backup warning object, solving the problem of poor adaptability in traditional fixed driving methods, and ensuring that turn signals from different backup warning objects can be clearly identified. In addition, this turn signal warning process is based on backup warning objects, eliminating the need for additional backup turn signal assemblies, thus improving driving safety while controlling costs.

[0007] Optionally, when the vehicle is identified as having a turning intention, the operating mode of the vehicle's turn signal is detected, specifically including: Collect multimodal data related to the vehicle's steering, arbitrate steering direction conflicts in the multimodal data, and generate steering signals based on the conflict arbitration results; If the duration of the turn signal is greater than a preset time threshold, then the driver of the vehicle is identified as having a turning intention; Based on the configuration information of the vehicle turn signals, the vehicle turn signals are detected to obtain the working mode of the vehicle turn signals.

[0008] By collecting multimodal data related to vehicle steering, the low reliability of determining steering intent from a single dimension is avoided. Furthermore, by arbitrating steering direction conflicts within the multimodal data, potential steering conflicts arising from different data sources under complex driving modes are effectively resolved, improving the accuracy of steering intent recognition. Adding the duration of the steering signal after acquisition effectively filters out misjudged steering intentions due to unintentional driver touches, enhancing the safety of steering prompts. Upon identifying a vehicle's steering intent, proactive diagnostics are performed based on the vehicle's turn signal configuration information to determine whether the current operating mode of the turn signals is normal or faulty, providing a foundation for determining whether to activate preset graded steering strategies to ensure driving safety.

[0009] Optionally, conflict arbitration is performed on the multimodal data to determine the steering direction, and a steering signal is generated based on the conflict arbitration result, specifically including: Determine the turning direction corresponding to each data source in the multimodal data, and determine whether there is a turning direction conflict; When there is a steering direction conflict, the dynamic steering confidence level corresponding to each data source is determined based on the priority of each data source and the driving scenario of the vehicle. The dynamic steering confidence level is used to arbitrate the steering direction conflict to obtain a conflict arbitration result, and a steering signal is generated based on the steering direction corresponding to the conflict arbitration result.

[0010] By analyzing the various steering directions corresponding to multimodal data, it is determined whether there are directional conflicts, thus avoiding vehicle behavior confusion caused by inconsistent steering commands from different modal data. Incorporating driving scenarios transforms static priorities into dynamic steering confidence, improving adaptability to complex scenarios involving mode switching. Then, arbitration is performed by comparing the dynamic confidence scores from different data sources, ensuring that the final selected steering direction has the highest reliability.

[0011] Optionally, the detection information fed back by each backup notification object is obtained sequentially to determine the current backup notification object, specifically including: Based on the sequence of backup warning objects, the detection order of each backup warning object is determined; wherein the backup warning objects include at least: fog lights and rear wipers, and the detection priority of the fog lights is higher than that of the rear wipers; According to the detection order, each of the backup prompt objects is sequentially subjected to fault detection to obtain the detection information fed back by each of the backup prompt objects; If it is determined based on the detection information that the backup prompt object has not failed, then, in conjunction with the working information of the backup prompt object, the backup prompt object is determined to be the current backup prompt object, and the traversal detection of the backup prompt object sequence is stopped.

[0012] By using the pre-defined hierarchical steering strategy and the corresponding detection order of the backup warning object sequence, the system can sequentially detect each backup warning object. This ensures that a usable alternative can be found in any single-point or continuous failure scenario, achieving seamless succession of the vehicle's turn signal warning function. After confirming that the backup warning object has not failed through detection information, the system then determines whether the backup warning object is already occupied by combining its working information. Only if the backup warning object is not failed and its status is available will it be used as the current backup warning object, preventing new driving hazards caused by functional conflicts. Once the current backup warning object is determined, subsequent traversal of the entire backup warning object sequence will stop, avoiding resource waste.

[0013] Optionally, based on the steering intention and the calibration prompt data of the current backup prompt object, the current backup prompt object is driven to provide steering prompts, specifically including: When the current standby indicator is a fog light, the fog light on the same side as the turning direction is determined as the fog light to be driven according to the turning intention; Read the calibration prompt data of the fog light to determine the preset flashing frequency and duty cycle parameters of the fog light; wherein, the calibration prompt data is configured based on the prompt data of the vehicle turn signal; The fog lights to be driven are controlled to flash synchronously based on the preset flashing frequency and the duty cycle parameters to complete the turn signal prompt.

[0014] By strictly selecting the fog light on the same side based on the turning intention, the direction of the visual cues is ensured to perfectly match the vehicle's actual driving intention, avoiding signal ambiguity caused by misjudging left or right turns and improving the accuracy of turn signals. Configuring and defining the fog light flashing parameters based on the original turn signal data helps ensure consistent signal recognition, greatly reducing the difficulty and time required for information decoding and guaranteeing the immediate effectiveness of the cues.

[0015] Optionally, based on the steering intention and the calibration prompt data of the current backup prompt object, the current backup prompt object is driven to provide steering prompts, specifically including: When the current backup warning target is the rear wiper, the target swing area on the same side as the steering direction is determined according to the steering intention; Based on the calibration prompt data of the rear wiper, determine the target area range of the target swing area; By switching the drive of the rear wiper's forward and reverse motors, the rear wiper can swing within the target area to provide a turn signal.

[0016] By strictly defining the swing area on the same side according to the steering intention, the mechanical movement direction of the rear wiper corresponds spatially to the vehicle's steering intention. This allows observers behind the vehicle to intuitively judge the vehicle's steering direction by the position of the wiper's swing. By precisely defining the target area of ​​the swing zone through calibrated prompt data, the rear wiper ensures that it swings in a prompting manner within the most effective visual range. Through intelligent drive switching between forward and reverse motors, the linear actuator, originally designed for uniform wiping, is transformed into one that swings within the target area to provide prompts. This localized, unconventional movement pattern creates a strong visual contrast with normal uniform wiping, effectively attracting the attention of drivers behind and conveying the steering intention.

[0017] Optionally, by switching the drive of the rear wiper's forward and reverse motors, the rear wiper can be made to swing within the target area to provide a turn signal, specifically including: The drive time of the rear wiper is calibrated by measuring the time it takes for the rear wiper to swing between the starting position and the extreme position. The current position of the rear wiper is determined based on the ratio of the current driving time to the calibrated driving time. Based on the comparison between the current location and the target area, the rear wiper is controlled to switch between forward and reverse motor drives to provide a turn signal.

[0018] By calibrating the rear wiper's drive time through the swing time between its starting and extreme positions, the accuracy of subsequent rear wiper position determination is improved. Based on the percentage of calibration time, continuous estimation of the wiper arm position is achieved without adding any physical position sensors, reducing hardware costs and avoiding the cost issues associated with additional sensors. Triggering the forward and reverse motor drive switching of the rear wiper based on the target area range allows the wiper arm to be precisely constrained to reciprocate within the target area, ensuring both effective warning and rear wiper durability.

[0019] Optionally, by switching the drive of the rear wiper's forward and reverse motors to enable the rear wiper to oscillate within the target area, after providing a turn signal, the method further includes: Based on the rear wiper swing data and the vehicle's steering direction, a prompt mode status code for the vehicle is generated. Based on the vehicle's driving data and the steering direction, determine the vehicle's steering prompt range; Based on the vehicle's onboard wireless communication module, the prompt mode status code is broadcast to surrounding vehicles within the turn prompt range, so that the surrounding vehicles can parse the prompt mode status code and obtain the vehicle's turn prompt.

[0020] By combining driving data and steering direction, the vehicle's steering warning range is determined, allowing communication resources to be highly concentrated on key warning areas, reducing waste of processing resources and enhancing the information value of inter-vehicle communication. Based on the vehicle's onboard wireless communication module, a warning mode status code determined according to the vehicle's driving data and steering direction is broadcast to surrounding vehicles within the steering warning range. These surrounding vehicles can then parse the warning mode status code to receive the vehicle's steering warning, effectively preventing collisions caused by the vehicle in front not knowing the intentions of the vehicle behind, such as cutting in or misjudging the situation.

[0021] A turn signal warning device for turn signal failure, applied to a vehicle domain controller, the device comprising: The detection module is used to detect the operating mode of the vehicle's turn signals when the driver is identified as having a turning intention. The determination module is used to obtain a sequence of backup prompt objects for a preset graded steering strategy if the working mode is determined to be a fault mode, so as to obtain the detection information fed back by each backup prompt object in sequence and determine the current backup prompt object. The prompting module is used to drive the current backup prompting object to provide a turning prompt based on the turning intention and the calibration prompting data of the current backup prompting object.

[0022] A vehicle, the vehicle comprising: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to: When the vehicle driver is identified as having a turning intention, the operating mode of the vehicle's turn signal is detected; If the working mode is determined to be a fault mode, then the sequence of backup prompt objects for the preset graded steering strategy is obtained, and the detection information fed back by each backup prompt object is obtained in turn to determine the current backup prompt object. Based on the steering intention and the calibration prompt data of the current backup prompt object, drive the current backup prompt object to provide steering prompts.

[0023] By employing the above technical solutions, this application provides a turn signal warning method, device, and vehicle for turn signal failure. By actively detecting the turn signal operating mode when a turn signal is triggered, the fault can be identified in advance, avoiding the current problem of interrupted turn signal information transmission caused by only being able to proactively notify the driver after the turn signal fails. When the vehicle's turn signal is in fault mode, the detection information fed back by each backup warning object is obtained sequentially based on a pre-set hierarchical strategy, avoiding the problem of turn signal transmission failure caused by the failure of a single backup solution. During driving, the turn signal and calibration warning data are integrated, taking into account the different physical characteristics of each backup warning object, solving the problem of poor adaptability in traditional fixed driving methods, and ensuring that turn signal warnings from different backup warning objects can be clearly identified. Furthermore, this turn signal warning process is based on backup warning objects, eliminating the need for additional backup turn signal groups, thus improving driving safety while controlling costs. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 This is a flowchart illustrating a turn signal warning method for a turn signal failure provided in an embodiment of this application.

[0025] Figure 2 This is a schematic diagram of a turn signal warning device for turn signal failure provided in an embodiment of this application; Figure 3 This is a structural schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0026] This application provides a method, apparatus, and device for providing a turn signal indication when the turn signal fails.

[0027] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0028] Steering is the first line of defense for active hazard avoidance during vehicle operation. Drivers can use steering to avoid sudden obstacles, correct deviations, and, in emergency braking, coordinate with the brakes to prevent loss of control, directly mitigating the risk of collisions and rollovers. Turn signals, flashing lights installed at the front and rear of the vehicle, illuminate at specific frequencies when the vehicle is turning, signaling the intention to turn or change lanes to other vehicles and road users. They are a crucial component of inter-vehicle information exchange.

[0029] Currently, turn signals are typically driven independently by a flashing relay, MOSFET, or lamp module. In this case, when the driver activates the turn signal switch, the vehicle control system illuminates the corresponding turn signal, indicating a turn. However, both flashing relays and lamp modules can fail, rendering the turn signal ineffective. Currently, vehicles can only proactively notify drivers of turn signal failures, not automatically switch to turn signal indication. This makes it difficult for the vehicle to signal a turn, impacting driving safety. While some high-end or special-purpose vehicles have hardware redundancy corresponding to turn signals, allowing pre-set turn signals to be activated in case of failure, this requires additional hardware, which is costly for economy vehicles and also expensive to retrofit existing vehicles.

[0030] Therefore, how to represent the vehicle's steering intention and improve driving safety without increasing the original vehicle cost when the turn signal malfunctions has become a technical problem that urgently needs to be solved by those skilled in the art.

[0031] Based on the above application scenarios, in order to solve the technical problem of how to represent vehicle steering intentions and improve driving safety without increasing the original vehicle cost, this application provides a steering warning method for turn signal failure, such as... Figure 1 As shown, Figure 1 This is a schematic flowchart illustrating a turn signal malfunction warning method provided in this application embodiment. This solution can be applied to a vehicle domain controller. Here, the vehicle controller refers to a controller for specific functions and services, implemented during the improvement of automotive electronic and electrical architecture from a traditional distributed to a centralized model. Previously, each function in a car, such as controlling windows, illuminating lights, or controlling the engine, was implemented by a separate electronic control unit. The improvement involves centralizing the functions originally handled by multiple distributed controllers into a unified processing and control system within the vehicle domain controller, enabling easier cross-functional centralized control and collaborative processing during vehicle control. When the turn signal malfunction warning method is applied to the aforementioned vehicle domain controller, the method includes: S101: When a vehicle is identified as having a turning intention, the operating mode of the vehicle's turn signal is detected.

[0032] S102: If the working mode is determined to be a fault mode, then obtain the sequence of backup prompt objects for the preset graded steering strategy, so as to obtain the detection information fed back by each backup prompt object in turn, and determine the current backup prompt object.

[0033] S103: Based on the steering intention and the calibration prompt data of the current backup prompt object, drive the current backup prompt object to provide a steering prompt.

[0034] In one embodiment, vehicle steering intention refers to the driver's or vehicle's intelligent driving system's planned steering operation to change the vehicle's direction of travel. Currently, vehicle steering is typically triggered by the driver flipping a turn signal switch or by the vehicle's intelligent driving system generating a steering command. Upon receiving the steering command, the vehicle control system activates the corresponding turn signal circuit, driving the left or right turn signal into operating mode and transmitting steering or lane-changing information to the outside world at a specific turn signal flashing frequency.

[0035] However, current turn signal systems, regardless of whether they use traditional flashing relays, MOSFETs, or integrated modules, are prone to malfunction due to component aging, circuit failures, or damage to the turn signal circuit. Once a turn signal fails, the vehicle cannot transmit turn signal information. Existing steering systems typically only provide a passive warning after a turn signal failure, failing to seamlessly replace the malfunctioning signal. This interruption in the transmission of turning intention information increases the risk of collisions. Adding a spare set of turn signals at the front and rear significantly increases manufacturing costs and wiring complexity, making it difficult to implement in economy vehicles. Therefore, it is crucial that the driver manually activates the turn signal switch, or that the intelligent driving system generates a turn command based on the navigation route, to confirm the vehicle's turning intention.

[0036] To maintain reliable transmission of steering intent even when turn signals malfunction, it's necessary to proactively diagnose and confirm whether the turn signal's current operating mode is normal or faulty upon detecting the vehicle's steering intent. This provides a foundation for determining whether to activate a preset graded steering strategy to ensure driving safety. The detection method for the vehicle's turn signal operating mode varies depending on the vehicle's hardware configuration. For turn signals driven by flashing relays or MOSFETs, the vehicle domain controller uses a dedicated diagnostic pin to monitor the circuit status in the turn signal drive circuit in real time. If the controller illuminates the turn signal and detects that the voltage level in the drive circuit is not properly pulled low, it indicates a functional failure of the turn signal, and its operating mode is faulty. For turn signals driven by lamp modules, the vehicle domain controller communicates with the lamp module via a bus. Since the lamp module integrates diagnostic circuitry, when it detects a turn signal malfunction, it sends fault information containing the turn signal's fault status to the vehicle domain controller via the bus. This fault information helps determine whether the turn signal's operating mode is faulty.

[0037] After determining that the vehicle's turn signal is in a fault mode based on the above steps, since a vehicle is a complex system integrating various lights and external actuators, it inherently possesses multiple external devices that can be temporarily borrowed to convey steering intentions, such as front fog lights, rear fog lights, daytime running lights, and even actuators related to the vehicle stability system. Therefore, to avoid the problem of a single backup solution failing due to its own fault or inapplicability to the scenario, this embodiment constructs a multi-layered, pre-defined hierarchical steering strategy. By obtaining the pre-defined, priority-ordered sequence of backup prompt objects in this pre-defined hierarchical steering strategy, the detection order of each backup prompt object is determined. The backup prompt objects include at least: fog lights and rear wipers. Because the installation position, brightness, and flashing characteristics of fog lights are more similar to those of turn signals, fog lights have a higher detection priority than rear wipers. For example, in a real-world scenario, when a turn signal failure is detected, a first-level failure is triggered based on the pre-defined hierarchical steering strategy. At this time, when the vehicle domain controller determines that the turn signal is faulty and the driver intends to turn on the turn signal, it sends a fog light request to the light module. If a fog light failure is detected when the fog lights are activated, a second-level failure is triggered. When a diode failure is detected, the rear wiper warning is triggered. This ensures that the backup warning device can provide turn signal alerts through sequential detection. By detecting the backup warning devices in order, the optimal warning effect of the backup devices can be ensured, thereby reducing the interference of turn signal alerts on normal driving.

[0038] However, since the designated backup indicator has its own functions that need to be performed normally, blindly activating a device that is already in use while it is currently handling its own tasks will cause a conflict between its original function and the turn signal indication function. This will result in the output of confusing or even contradictory signals, severely interfering with the judgment of other road users and potentially completely masking the turn signal intention, thus introducing new and more dangerous safety hazards. For example, when the backup indicator is a fog light, if it is forcibly driven into flashing mode to express the turn signal intention simply because the fog light hardware is detected to be working properly, it may be performing a constant illumination function due to heavy fog. This will cause a device to simultaneously attempt to output two completely different light signals, producing an uninterpretable mixed light pattern, making it difficult for other drivers on the road to distinguish whether the vehicle is currently providing a turn signal indication or other information. Therefore, in order not to sacrifice a safety function to ensure the vehicle's turn signal indication, it is necessary to determine whether the backup indicator is already in use after confirming through detection information that it is not malfunctioning, and then combining this with the backup indicator's operational information. Only when the backup indicator is not malfunctioning and its status is available will it be used as the current backup indicator. Once the current backup hint object is determined, subsequent traversal of the entire backup hint object sequence will be stopped, thereby avoiding resource waste.

[0039] After successfully identifying the current backup turn signal object according to the above steps, it is necessary to drive the current backup turn signal object to provide an effective turn signal. However, due to the significant differences in physical characteristics, installation location, and illumination mode between different backup turn signal objects and the original turn signals, simply driving a completely different backup turn signal object in the same way as driving the original turn signals may result in insufficient brightness, confusing frequency, or inconspicuous placement of the signal, making it difficult for other road users to quickly and accurately identify the turn intention. This would lead to the redundancy strategy being activated but ineffective, failing to achieve the ultimate goal of ensuring safety. Moreover, traditional signal driving methods are often fixed and rigid, making it difficult to adapt to the unique attributes of different backup turn signal objects. Therefore, in order to dynamically adjust the driving parameters according to the characteristics of the object and ensure that the turn signals generated by the backup turn signal object have maximum clarity and understandability, it is necessary to fully consider the matching relationship between the backup turn signal object and the driving scenario during driving.

[0040] Therefore, based on the steering intention and the calibration data of the current backup warning object, when driving the current backup warning object to provide a steering warning, the system specifically analyzes the steering direction and request type of the steering intention to query the calibration data of the current backup warning object. This data is used to standardize information such as the flashing frequency, brightness level, or position mapping relationship of each backup warning object when providing a steering warning. The analyzed steering intention and the queried calibration data are then fused to generate a precise control command, which is then used to drive the current backup warning object through the corresponding drive circuit or bus message. By introducing calibration data, this process resolves the contradiction between the standardization of warning signals and the heterogeneity of devices. It ensures that regardless of whether fog lights, rear wipers, or any other device is ultimately activated, the steering warning signal output by the system can significantly indicate the vehicle's steering in terms of visual perception, thereby guaranteeing the effectiveness of steering information transmission and improving driving safety.

[0041] In one embodiment, current traditional steering control logic relies solely on a single turn signal stalk switch. When using the planned path from the intelligent driving system to identify steering intentions, it struggles to handle complex driving scenarios such as signal conflicts or system failures. Since data from multiple sources, including the driver's turn signal stalk, steering wheel angle, and driver behavior, can all indicate the vehicle's steering intentions, it's necessary to comprehensively analyze multimodal data related to vehicle steering from various data sources to ensure identification of steering intentions across multiple driving scenarios and trigger subsequent detection. This analysis must also fully consider potential conflicts between steering intentions generated by different data sources. To overcome these issues, this embodiment detects the vehicle's turn signal operating mode when a steering intention is identified. This is achieved through the following process: Multimodal data related to vehicle steering is collected through various sensors deployed on the vehicle. This multimodal data includes, but is not limited to: signal data generated by the driver operating the steering wheel lever; steering request data issued by the intelligent driving system through the vehicle network; dynamic vehicle operation data such as yaw rate data collected during actual driving; and image data of the driver's head turning angle, gaze focus area, and hand proximity to the steering wheel lever captured by the vehicle's internal cameras. This heterogeneous data source constitutes the multimodal data related to vehicle steering. After acquiring this multimodal data, differences in transmission timing and data source priority can lead to misjudgments, especially in situations where both manual intervention and the intelligent driving system simultaneously generate steering requests. Directly using data from either data source to determine steering intent could result in misjudgments. Therefore, conflict arbitration of steering direction within the multimodal data is necessary to ensure the reliability of the steering intent.

[0042] The arbitration process first involves acquiring the steering directions corresponding to each data source in the multimodal data set to determine if there are any conflicts between them. For example, if the steering wheel indicates a left turn but the intelligent driving system requests a right turn, it's determined that the current scenario involves a steering direction conflict. Therefore, to avoid discrepancies between the vehicle's steering behavior and the actual situation due to steering direction conflicts, which could lead to the failure of the steering warning function and affect driving safety, a dynamic steering confidence level is determined for each data source based on its priority and the vehicle's driving scenario. Specifically, the priority of each data source is determined according to a pre-set priority list. However, these basic priorities are static and cannot adapt to the dynamic needs of driving mode changes and control shifts in complex driving scenarios. Therefore, to improve the accuracy of steering intention judgment, real-time vehicle status and environmental information are acquired to determine the vehicle's driving scenario. Based on different driving scenarios, priority adjustments are triggered to obtain dynamic weighting factors. For example, in manual driving mode, the priority of the driver's turn signal stalk is increased, while in intelligent driving mode, the priority of the steering intention generated by the intelligent driving navigation path planning is increased. Based on the dynamic weighting factors corresponding to the vehicle's driving scenario and the priorities of each data source, the dynamic steering confidence level corresponding to each data source can be determined. By comparing the dynamic steering confidence levels corresponding to data sources with steering conflicts, the steering direction conflict is arbitrated; that is, the dynamic steering confidence level with the higher value is taken as the actual steering direction, and a steering signal is generated based on the steering direction corresponding to the conflict arbitration result.

[0043] After generating the turn signal, to avoid issues such as momentary accidental activation and invalid turn signals due to system noise, the turn signal undergoes further validity verification. Only when the duration of the turn signal exceeds a preset time threshold is the driver's turn intention confirmed. Simultaneously, based on the vehicle's turn signal configuration information, a matching detection method is invoked to detect the turn signals and determine their operating mode. For turn signals driven by flashing relays or MOSFETs, the vehicle domain controller uses a dedicated diagnostic PIN to monitor the circuit status in the turn signal drive circuit in real time. If, when the controller activates the turn signal, the level in the turn signal drive circuit is not properly pulled low, the turn signal is considered faulty, and its operating mode is determined to be fault mode. For turn signals driven by lamp modules, the vehicle domain controller communicates with the lamp module via a bus. Since the lamp module has its own integrated diagnostic circuit, when the lamp module detects a fault in the vehicle's turn signal based on the diagnostic circuit, it will send fault information containing the fault status of the vehicle's turn signal to the vehicle domain controller via the bus, so as to determine whether the vehicle's turn signal is in a fault mode based on the fault information.

[0044] In one embodiment, after determining the current backup warning object based on the above embodiments, since the current backup warning object has its own function, other road users may not be able to clearly understand the turn signal indication if it cannot be clearly displayed that it is currently providing a turn signal. Furthermore, since the physical execution mechanism of different backup warning objects is completely different from that of the vehicle's turn signals, simply using the general electrical signal that drives the turn signals to control the current backup warning objects such as fog lights or rear wipers will not only fail to produce effective visual cues, but may even lead to actuator errors and confusing prompting actions due to the device's inability to understand the instructions, thus completely losing the auxiliary turn signal indication function of the backup warning object. Moreover, traditional vehicle control systems often drive actuators in a single and fixed manner, lacking the ability to adaptively adjust according to the characteristics of the object. However, modern vehicle domain controllers have the hardware and software foundation for fine-grained and differentiated control of various actuators. Therefore, to ensure that each backup warning object can perform the optimal prompting effect, it is necessary to drive it according to the characteristics and control logic of each backup warning object.

[0045] When the current backup warning light is the fog light, the fog light on the same side as the turning direction is first selected as the fog light to be driven based on the turning intention. This ensures the spatial directionality of the warning signal is consistent with the turning intention, avoiding situations like turning left but illuminating the right fog light, which could cause ambiguity for following vehicles. Then, the calibration warning data of this fog light is read to determine the preset flashing frequency and duty cycle parameters. This calibration warning data is configured based on the vehicle's turn signal warning data. In other words, to ensure that the visual signal generated by the fog light is as consistent as possible with the original turn signal in flashing rhythm, leveraging existing cognitive habits, and ensuring that the warning information can be quickly decoded, the preset flashing frequency and duty cycle parameters of the calibration warning data are defined using the vehicle's turn signal warning data. This ensures that the speed of the fog light's flashing and the ratio of its on / off time correspond to the vehicle's turn signals. In a certain scenario, the fog light is driven at a frequency of 1Hz. After obtaining the preset flashing frequency and duty cycle parameters of the fog lights, the domain controller controls the fog lights to be driven to flash synchronously according to the preset flashing frequency and duty cycle parameters. That is, the domain controller drives the fog light power circuit by strictly following the calibration prompt data through precise timer interrupts or pulse width modulation signals, so as to generate a stable, regular and easily recognizable flashing light signal to complete the turn signal prompt.

[0046] When the rear wiper is the current backup indicator, its design purpose is to clean the rear window at a constant speed. If this mode is directly used for the indicator, its slow, long-stroke movement cannot produce a rapid, noticeable visual effect, making it difficult for other road users to quickly recognize the turn signal intention, thus hindering the implementation of the auxiliary turn signal function. Furthermore, because the rear wiper lacks a dedicated flashing drive circuit for turn signals, its mechanical structure cannot directly support high-frequency oscillations. Therefore, to enable the rear wiper to provide turn signal indication, this embodiment determines a target swing area on the same side as the turn direction based on the turn signal intention. The position is calibrated as 0% when the wiper is in its initial position and 100% when it reaches its limit position. In one embodiment, when the turn signal intention is left, the target swing area is the wiper's swing area between 5% and 30%. And when the turn signal intention is left, the target swing area is the wiper's swing area between 70% and 95%. In other words, the target oscillation area is defined by the upper and lower limits of the oscillation zone to achieve the best warning effect. By precisely defining the target area range through calibrated warning data, it ensures that the rear wiper oscillates within the most effective visual range, allowing observers behind to intuitively judge the vehicle's turning direction based on the wiper's oscillation position. This is achieved by switching the drive of the rear wiper's forward and reverse motors to oscillate within the target area. During the switching, the drive time corresponding to the upper and lower limits of the target area determines whether a switch is needed, ensuring the rear wiper oscillates back and forth within the target area. This intelligent switching of the forward and reverse motors transforms the linear actuator, originally designed for uniform wiping, into one that can oscillate within the target area. This localized, unconventional movement pattern creates a strong visual contrast with normal uniform wiping, effectively attracting the attention of drivers behind and conveying steering intentions.

[0047] In one embodiment, since the rear wiper system is typically an open-loop control system, there is a non-linear relationship between its motor drive time and the actual position of the wiper arm. Affected by factors such as motor load, power supply voltage, wiper blade friction resistance, and mechanical wear, directly using fixed time parameters for control can lead to accumulated positioning errors, ultimately causing the wiper arm to malfunction, deviate from the target area, and fail to generate an effective warning signal. Therefore, after determining the target area, to control the rear wiper arm to move precisely within that area, the drive time of the rear wiper is calibrated by measuring the swing time between the starting and extreme positions. Specifically, the forward drive time T1 is recorded based on the drive time from the starting position 0% to the extreme position 100%, and the reverse drive time T2 is recorded based on the drive time from the extreme position 100% to the starting position 0%. A zeroing operation is performed each time the system reaches the starting position 0%. By performing a zeroing operation each time the system reaches the starting position 0%, the accumulated error in the drive time is eliminated, avoiding the problem of errors accumulating infinitely due to continuous operation. By measuring the forward drive time T1 and the reverse drive time T2, the latest calibrated forward and reverse drive times are determined. During rear wiper operation, the current position of the rear wiper is determined based on the ratio of the current drive time to the calibrated drive time. Specifically, when the motor is in forward drive, the estimated current position of the rear wiper is determined based on the ratio of the current drive time to the calibrated forward drive time. When the motor is in reverse drive, the estimated current position of the rear wiper is determined based on the ratio of the current drive time to the calibrated reverse drive time. By comparing the current position with the target area, when the current position reaches the boundary of the target area, the rear wiper is controlled to switch between forward and reverse motor drives. This ensures that the rear wiper arm is precisely constrained within the target area and performs high-frequency reciprocating oscillations, providing a turn signal. For example, in a scenario where the vehicle intends to turn left, based on the determined calibration data, the alternating drive of the forward and reverse motors controls the rear wiper to move within 5%-30% of the target area, thus providing a turn signal indicating the vehicle's left turn intention. If the vehicle intends to turn right, then based on the calibration prompt data determined above, the rear wiper is controlled to move within the target area of ​​70%-95% by alternating drive of the forward and reverse motors, thus completing the turn prompt for the vehicle's intention to turn right.

[0048] Furthermore, when the rear wiper is successfully driven to oscillate at high frequency within the target area to provide a turn signal based on the process described in the above embodiment, although the turn signal is provided, it primarily generates a visual signal for vehicles behind. However, road traffic is a complex three-dimensional environment for vehicles. A vehicle's turning intention needs to be communicated not only to vehicles behind, but also, crucially, to vehicles ahead and oncoming traffic. However, due to their physical position, vehicles ahead cannot directly observe the rear wiper's movement. This results in the vehicle's turning intention being completely obscured for oncoming traffic participants, creating an information blind spot. If, in congested areas or intersections, the vehicle ahead cannot perceive the turning intention, it can easily lead to overtaking, misjudgment, and ultimately, collisions. Therefore, to overcome the physical limitations of visual signals and ensure that the vehicle's turning intention can be perceived by vehicles in all relevant directions, especially oncoming vehicles, the method further includes, after switching the drive of the rear wiper's forward and reverse motors to achieve the oscillation of the rear wiper within the target area and provide a turn signal, the method also includes: Based on the rear wiper oscillation data and the vehicle's steering direction, a vehicle warning mode status code is generated. The oscillation data contains the characteristic parameters of the rear wiper in the current emergency mode, while the vehicle's steering direction clarifies the specific warning content. This information is encoded according to a predefined communication protocol to generate a machine-readable warning mode status code. This provides precise semantic explanations for ambiguous visual actions, thus eliminating potential ambiguity in steering warnings. To achieve a balance between communication efficiency and security, avoid network congestion, and ensure that information is only sent to vehicles within the range affected by the vehicle's steering, the vehicle's steering warning range needs to be determined based on the vehicle's driving data and steering direction. The driving data determines the vehicle's current position and speed, and the speed provides a corresponding avoidance distance. Based on the current position and avoidance distance, a maximum communication range can be constructed with the current position as the center and the avoidance distance as the radius. To avoid information overload, this maximum communication range is then adjusted based on the steering direction to obtain the final steering warning range. For example, when this vehicle is preparing to turn left, a vehicle far behind in the right lane can be considered an unrelated vehicle to this vehicle's current driving intention. Therefore, by adjusting the maximum communication range in conjunction with the turning direction, the waste of processing resources can be reduced, and the information value of inter-vehicle communication can be improved. The vehicle's onboard wireless communication module broadcasts the obtained prompt mode status code to surrounding vehicles within the turning prompt range, allowing these vehicles to parse the prompt mode status code and obtain the vehicle's turning prompt.

[0049] In addition, such as Figure 2 As shown, Figure 2This is a schematic diagram of a turn signal warning device for turn signal failure provided in an embodiment of this application. The device includes: Detection module 201 is used to detect the operating mode of the vehicle's turn signal when the vehicle driver is identified as having a turning intention; The determination module 202 is used to obtain a sequence of backup prompt objects for a preset graded steering strategy if the working mode is determined to be a fault mode, so as to obtain the detection information fed back by each backup prompt object in sequence and determine the current backup prompt object. The prompting module 203 is used to drive the current backup prompting object to provide a turning prompt based on the turning intention and the calibration prompting data of the current backup prompting object.

[0050] Optionally, the identification unit is specifically used to collect multimodal data related to the steering of the vehicle, perform steering direction conflict arbitration on the multimodal data, and generate a steering signal based on the conflict arbitration result; If the duration of the turn signal is greater than a preset time threshold, then the driver of the vehicle is identified as having a turning intention; Based on the configuration information of the vehicle turn signals, the vehicle turn signals are detected to obtain the working mode of the vehicle turn signals.

[0051] Optionally, conflict arbitration is performed on the multimodal data to determine the steering direction, and a steering signal is generated based on the conflict arbitration result, specifically including: Determine the turning direction corresponding to each data source in the multimodal data, and determine whether there is a turning direction conflict; When there is a steering direction conflict, the dynamic steering confidence level corresponding to each data source is determined based on the priority of each data source and the driving scenario of the vehicle. The dynamic steering confidence level is used to arbitrate the steering direction conflict to obtain a conflict arbitration result, and a steering signal is generated based on the steering direction corresponding to the conflict arbitration result.

[0052] Optionally, the determining module is specifically used to determine the detection order of each of the backup prompt objects according to the backup prompt object sequence; wherein the backup prompt objects include at least: fog lights and rear wipers, and the detection priority of the fog lights is higher than that of the rear wipers; According to the detection order, each of the backup prompt objects is sequentially subjected to fault detection to obtain the detection information fed back by each of the backup prompt objects; If it is determined based on the detection information that the backup prompt object has not failed, then, in conjunction with the working information of the backup prompt object, the backup prompt object is determined to be the current backup prompt object, and the traversal detection of the backup prompt object sequence is stopped.

[0053] Optionally, the prompting module is specifically used to determine, when the current backup prompting object is a fog light, the fog light on the same side as the turning direction as the fog light to be driven according to the turning intention; Read the calibration prompt data of the fog light to determine the preset flashing frequency and duty cycle parameters of the fog light; wherein, the calibration prompt data is configured based on the prompt data of the vehicle turn signal; The fog lights to be driven are controlled to flash synchronously based on the preset flashing frequency and the duty cycle parameters to complete the turn signal prompt.

[0054] Optionally, the prompting module is specifically used to determine the target swing area on the same side as the steering direction based on the steering intention when the current backup prompting object is the rear wiper. Based on the calibration prompt data of the rear wiper, determine the target area range of the target swing area; By switching the drive of the rear wiper's forward and reverse motors, the rear wiper can swing within the target area to provide a turn signal.

[0055] Optionally, by switching the drive of the rear wiper's forward and reverse motors, the rear wiper can be made to swing within the target area to provide a turn signal, specifically including: The drive time of the rear wiper is calibrated by measuring the time it takes for the rear wiper to swing between the starting position and the extreme position. The current position of the rear wiper is determined based on the ratio of the current driving time to the calibrated driving time. Based on the comparison between the current location and the target area, the rear wiper is controlled to switch between forward and reverse motor drives to provide a turn signal.

[0056] Optionally, by switching the drive of the rear wiper's forward and reverse motors to enable the rear wiper to oscillate within the target area, after providing a turn signal, the method further includes: Based on the rear wiper swing data and the vehicle's steering direction, a prompt mode status code for the vehicle is generated. Based on the vehicle's driving data and the steering direction, determine the vehicle's steering prompt range; Based on the vehicle's onboard wireless communication module, the prompt mode status code is broadcast to surrounding vehicles within the turn prompt range, so that the surrounding vehicles can parse the prompt mode status code and obtain the vehicle's turn prompt.

[0057] Regarding the apparatus in the above embodiments, the specific manner in which each unit performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0058] Figure 3 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0059] For example, such as Figure 3 As shown, the vehicle includes a memory 301 and a processor 302. The memory 301 stores executable program code 3011, and the processor 302 is used to call and execute the executable program code 3011 to perform the road mirage recognition method.

[0060] This embodiment can divide the vehicle into functional modules according to the above method example. For example, each function can be assigned to a separate module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0061] When each functional module is divided according to its corresponding function, the vehicle may include: The detection module is used to detect the operating mode of the vehicle's turn signals when the driver is identified as having a turning intention. The determination module is used to obtain a sequence of backup prompt objects for a preset graded steering strategy if the working mode is determined to be a fault mode, so as to obtain the detection information fed back by each backup prompt object in sequence and determine the current backup prompt object. The prompting module is used to drive the current backup prompting object to provide a turning prompt based on the turning intention and the calibration prompting data of the current backup prompting object.

[0062] It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0063] The vehicle provided in this embodiment is used to perform the above-described road mirage recognition method, and therefore can achieve the same effect as the above implementation method.

[0064] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's actions. The storage module supports the vehicle in executing program code and data.

[0065] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0066] This embodiment also provides a computer-readable storage medium (including but not limited to disk storage, CD-ROM, optical storage, etc.) storing computer program code. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to realize a vehicle remote control method provided in the above embodiment.

[0067] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to realize a vehicle remote control method provided in the above embodiment.

[0068] The beneficial effects of the above embodiments can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0069] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0070] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0071] In the description of this disclosure, it should be understood that if the terms "upper", "lower", "front", "rear", "left" and "right" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0072] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0073] The above are merely embodiments of this disclosure and are not intended to limit the scope of this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of the claims of this disclosure.

Claims

1. A method for providing a turn signal indication when the turn signal fails, characterized in that, Applied to a vehicle domain controller, the method includes: When a vehicle is identified as having a turning intention, the operating mode of the vehicle's turn signals is detected; If the working mode is determined to be a fault mode, then the sequence of backup prompt objects for the preset graded steering strategy is obtained, and the detection information fed back by each backup prompt object is obtained in turn to determine the current backup prompt object. Based on the steering intention and the calibration prompt data of the current backup prompt object, drive the current backup prompt object to provide steering prompts.

2. The method for providing a turn signal indication when the turn signal fails, as described in claim 1, is characterized in that, When a vehicle is identified as having a turning intention, the operating mode of the vehicle's turn signals is detected, specifically including: Collect multimodal data related to the vehicle's steering, arbitrate the steering direction conflict of the multimodal data, and generate a steering signal based on the conflict arbitration result; If the duration of the turn signal is greater than a preset time threshold, then the driver of the vehicle is identified as having a turning intention; Based on the configuration information of the vehicle turn signals, the vehicle turn signals are detected to obtain the working mode of the vehicle turn signals.

3. A method for providing a turn signal warning when the turn signal fails, as described in claim 2, characterized in that, The multimodal data undergoes conflict arbitration for steering direction, and a steering signal is generated based on the conflict arbitration result, specifically including: Determine the turning direction corresponding to each data source in the multimodal data, and determine whether there is a turning direction conflict; When there is a steering direction conflict, the dynamic steering confidence level corresponding to each data source is determined based on the priority of each data source and the driving scenario of the vehicle. The dynamic steering confidence level is used to arbitrate the steering direction conflict to obtain a conflict arbitration result, and a steering signal is generated based on the steering direction corresponding to the conflict arbitration result.

4. A method for providing a turn signal warning when the turn signal fails, as described in claim 1, characterized in that, The detection information fed back by each backup notification object is obtained sequentially to determine the current backup notification object, specifically including: Based on the sequence of backup warning objects, the detection order of each backup warning object is determined; wherein the backup warning objects include at least: fog lights and rear wipers, and the detection priority of the fog lights is higher than that of the rear wipers; According to the detection order, each of the backup prompt objects is sequentially subjected to fault detection to obtain the detection information fed back by each of the backup prompt objects; If it is determined based on the detection information that the backup prompt object has not failed, then, in conjunction with the working information of the backup prompt object, the backup prompt object is determined to be the current backup prompt object, and the traversal detection of the backup prompt object sequence is stopped.

5. A method for providing a turn signal warning when the turn signal fails, as described in claim 1, characterized in that, Based on the steering intention and the calibration prompt data of the current backup prompt object, drive the current backup prompt object to provide steering prompts, specifically including: When the current standby indicator is a fog light, the fog light on the same side as the turning direction is determined as the fog light to be driven according to the turning intention; Read the calibration prompt data of the fog light to determine the preset flashing frequency and duty cycle parameters of the fog light; wherein, the calibration prompt data is configured based on the prompt data of the vehicle turn signal; The fog lights to be driven are controlled to flash synchronously based on the preset flashing frequency and the duty cycle parameter to complete the turn signal.

6. A method for providing a turn signal indication when the turn signal fails, as described in claim 1, characterized in that, Based on the steering intention and the calibration prompt data of the current backup prompt object, drive the current backup prompt object to provide steering prompts, specifically including: When the current backup warning target is the rear wiper, the target swing area on the same side as the steering direction is determined according to the steering intention; Based on the calibration prompt data of the rear wiper, determine the target area range of the target swing area; By switching the drive of the rear wiper's forward and reverse motors, the rear wiper can swing within the target area to provide a turn signal.

7. A method for providing a turn signal indication when the turn signal fails, as described in claim 6, characterized in that, By switching the drive of the rear wiper's forward and reverse motors, the rear wiper can oscillate within the target area to provide a turn signal, specifically including: The drive time of the rear wiper is calibrated by measuring the time it takes for the rear wiper to swing between the starting position and the extreme position. The current position of the rear wiper is determined based on the ratio of the current driving time to the calibrated driving time. Based on the comparison between the current location and the target area, the rear wiper is controlled to switch between forward and reverse motor drives to provide a turn signal.

8. A method for providing a turn signal indication when the turn signal fails, as described in claim 6, characterized in that, By switching the drive of the rear wiper's forward and reverse motors to enable the rear wiper to oscillate within the target area, and after providing a turn signal, the method further includes: Based on the rear wiper swing data and the vehicle's steering direction, a prompt mode status code for the vehicle is generated. Based on the vehicle's driving data and the steering direction, determine the vehicle's steering prompt range; Based on the vehicle's onboard wireless communication module, the prompt mode status code is broadcast to surrounding vehicles within the turn prompt range, so that the surrounding vehicles can parse the prompt mode status code and obtain the vehicle's turn prompt.

9. A turn signal warning device for when the turn signal fails, characterized in that, The device, applied to a vehicle domain controller, includes: The detection module is used to detect the operating mode of the vehicle's turn signals when the driver is identified as having a turning intention. The determination module is used to obtain a sequence of backup prompt objects for a preset graded steering strategy if the working mode is determined to be a fault mode, so as to obtain the detection information fed back by each backup prompt object in sequence and determine the current backup prompt object. The prompting module is used to drive the current backup prompting object to provide a turning prompt based on the turning intention and the calibration prompting data of the current backup prompting object.

10. A vehicle, characterized in that, The vehicles include: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to: perform the turn signal failure warning method according to any one of claims 1-8.

Images