Vehicle light coordination control method and device

Abstract

The application provides a vehicle light cooperative control method and device, relates to the technical field of vehicle electronic control, and the method comprises the following steps: collecting multiple light control instructions in real time, performing validity judgment, and obtaining a first valid instruction; adding a time stamp to the instruction, obtaining a second valid instruction, and adding the second valid instruction to an arbitration queue; detecting a priority flag bit of a VCU automatic driving instruction; if it is an emergency control mode, the VCU automatic driving instruction is executed; if it is a non-emergency control mode, an arbitration cycle is set, the time stamp of the second valid instruction is compared every interval of the arbitration cycle, and a third valid instruction is determined; based on the time stamp of the third valid instruction and the time stamp of the currently executed instruction, a first time interval is determined; if the first time interval is less than a first time interval threshold, the currently executed instruction is maintained; otherwise, the third valid instruction is executed. The scheme makes the control right change with needs on the premise of realizing safe driving, meets the reasonable needs of users, and provides convenience for users.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle electronic control, in particular to a vehicle light coordination control method and device. BACKGROUND

[0002] For commercial vehicles suitable for automatic driving and manual driving modes, the light can be controlled through hard-wired switches, soft switches, automatic driving and Auto mode. If multiple instructions conflict, the domain controller integrates the hard-wired switch, soft switch, automatic driving and Auto mode instructions and adopts a fixed priority strategy to solve the problem. The fixed priority order adopted is hard-wired switch, automatic driving, Auto mode, and soft switch in turn. However, the logic of the traditional fixed priority strategy in a specific scenario has the problem of rigidity, which causes inconvenience to the user. Taking the parking scenario as an example, the system fails to dynamically adjust the permissions according to the actual needs, resulting in limited functions or operation failure. Specifically, after the vehicle is parked in the garage, the driver may want to turn on the interior lighting through the soft switch on the center control screen to find the items. However, at this time, the automatic driving system is in an activated state, and the driving safety strategy defaults to the light control permission being higher than the soft switch. The automatic driving module will continuously send the "turn off the interior light" instruction, resulting in the light-on request of the center control screen being rejected by the system. The driver can only be forced to use the physical hard-wired switch, such as the mechanical button on the vehicle door, but the light hard-wired switches of the commercial vehicle cockpit and the sleeper area are scattered, which is inconvenient to operate. In this case, the high-priority module, i.e. the automatic driving, unintentionally occupies the control right and blocks the user's reasonable demand. However, in reality, the user needs to bypass the convenient soft switch and find the scattered physical buttons, which causes inconvenience to the user and violates the original intention of intelligent design. There is no safety risk to improve the permission of the soft switch during parking, but the rigid rule still regards it as a "low-risk operation" and restricts it. SUMMARY

[0003] The present application aims to at least solve the above-mentioned technical problems in the prior art. To this end, the present application proposes, in a first aspect, a vehicle light coordination control method, which comprises:

[0004] real-time collection of multiple light control instructions, validity judgment of the multiple light control instructions, and obtaining of first valid instructions; the multiple light control instructions include hard-wired switch instructions, soft switch instructions, VCU (Vehicle Control Unit, vehicle controller) automatic driving instructions, and Auto mode instructions;

[0005] adding a timestamp to the first valid instructions to obtain second valid instructions and adding them to an arbitration queue;

[0006] detecting the priority flag bit of the VCU automatic driving instruction, and directly executing the VCU automatic driving instruction if the flag bit is in an emergency control mode;

[0007] If the flag is a non-emergency control mode, set an arbitration period, compare the timestamps of the second valid instructions in the arbitration queue every interval of an arbitration period, and determine a third valid instruction; the third valid instruction is the second valid instruction corresponding to the latest timestamp;

[0008] Determine a first time interval based on the timestamp of the third valid instruction and the timestamp of the currently executed instruction, if the first time interval is less than a first time interval threshold, maintain the currently executed instruction; otherwise, execute the third valid instruction.

[0009] Optionally, the validity judgment on the multi-source light control instructions comprises:

[0010] Based on whether the collected hard-wire level or received CAN signal is within the corresponding preset threshold range, the validity of the multi-source light control instructions is judged.

[0011] Optionally, after obtaining the second valid instruction, further comprising:

[0012] A signal anti-shake mechanism is set for the hard-wire switch instruction channel, if the trigger interval of the continuous multiple hard-wire switch instructions is less than a second time interval threshold, the continuous multiple hard-wire switch instructions are judged as a single instruction; the timestamp of the single instruction is the timestamp of the first hard-wire switch instruction.

[0013] Optionally, further comprising:

[0014] If the VCU automatic driving instruction channel is in an abnormal state, automatically switch to a hard-wire switch instruction master control mode.

[0015] Optionally, further comprising:

[0016] If the timestamp system fails, a preset priority mode is enabled; the preset priority mode comprises a basic lighting lamp priority and a signal lamp priority.

[0017] Optionally, after executing the third valid instruction, further comprising:

[0018] A light state feedback mechanism is executed; the light state feedback mechanism comprises an actuator feedback mechanism, a man-machine interaction feedback mechanism, and a coordination system feedback mechanism.

[0019] Optionally, the actuator feedback mechanism comprises:

[0020] The lamp group current and the first temperature data are fed back in real time through the controller, if an abnormality occurs, the corresponding strategy is triggered; the first temperature data is the temperature data of the channel corresponding to the lamp group controller chip.

[0021] Optionally, the man-machine interaction feedback mechanism comprises:

[0022] If the vehicle lamp group fails, an icon or a buzzer is prompted through an instrument.

[0023] Optionally, the coordination system feedback mechanism comprises:

[0024] The light state CAN signal is sent to the automatic driving module through the controller;

[0025] In the automatic driving module, the execution of the arbitration instruction is judged according to the light state CAN signal, and if the arbitration instruction is not actually executed, a safety degradation strategy is triggered; the arbitration instruction is the third valid instruction or the VCU automatic driving instruction in the emergency control mode.

[0026] The second aspect of the application provides a vehicle light coordination control device, which comprises:

[0027] A data acquisition unit is configured to acquire multiple-source light control instructions in real time, judge the validity of the multiple-source light control instructions, and obtain a first valid instruction; the multiple-source light control instructions comprise a hard-wire switch instruction, a soft switch instruction, a VCU automatic driving instruction, and an Auto file instruction.

[0028] A data processing unit is configured to add a time stamp to the first valid instruction, obtain a second valid instruction, and add the second valid instruction to an arbitration queue.

[0029] A detection unit is configured to detect a priority flag bit of the VCU automatic driving instruction, and if the flag bit is in an emergency control mode, the VCU automatic driving instruction is directly executed.

[0030] A first judgment unit is configured to set an arbitration period if the flag bit is in a non-emergency control mode, compare the time stamp of the second valid instruction in the arbitration queue every arbitration period, and determine a third valid instruction; the third valid instruction is the second valid instruction corresponding to the latest time stamp.

[0031] A second judgment unit is configured to determine a first time interval based on the time stamp of the third valid instruction and the time stamp of a currently executed instruction, maintain the currently executed instruction if the first time interval is less than a first time interval threshold, and execute the third valid instruction otherwise.

[0032] The beneficial effects of the vehicle light cooperative control method and device are as follows: when the priority flag bit of the VCU automatic driving instruction is in the emergency control mode, the VCU automatic driving instruction is directly executed, and a time stamp is added to the valid instruction, the valid instruction corresponding to the latest time stamp is obtained, and the instruction to be executed is determined based on the time stamp of the latest valid instruction and the time stamp of the currently executed instruction, so that the control right is changed as needed under the premise of safe driving, the reasonable needs of users are met, and convenience is provided for users. After the multiple light control instructions are collected in real time, the light control instruction is judged for validity, and the instruction validity is judged based on the time interval, so that the interception rate of invalid instructions is improved; the three-link light state feedback mechanism is set, the safety is improved, and the user experience and convenience are improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 A flowchart of a vehicle light cooperative control method provided for an embodiment of the present application is shown in the figure.

[0034] Figure 2 A schematic diagram of a light state feedback mechanism in an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] Hereinafter, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more features. In the description of the embodiments of the present disclosure, unless otherwise stated, the meaning of "multiple" is two or more. In addition, the use of "based on" or "according to" means openness and inclusiveness, because the process, step, calculation or other action "based on" or "according to" one or more stated conditions or values can be based on additional conditions or values beyond the stated values in practice.

[0037] The embodiments of the present application provide a vehicle light cooperative control method, which is suitable for a commercial vehicle light control system, such as Figure 1 As shown in the figure, the method can include the following steps:

[0038] Step 101, real-time collection of multi-source light control instructions, validity judgment is performed on the multi-source light control instructions, and a first valid instruction is obtained; the multi-source light control instructions include a hard-wire switch instruction, a soft switch instruction, a VCU automatic driving instruction, and an Auto gear instruction.

[0039] For commercial vehicles suitable for automatic driving and manual driving modes, the light can be controlled through a hard-wire switch, a soft switch, automatic driving, and an Auto gear. Specifically, four kinds of light control instructions, i.e., a hard-wire switch instruction, a soft switch instruction, a VCU automatic driving instruction, and an Auto gear instruction, are collected in real time. Validity judgment is performed on the collected instructions. If the light control instruction is invalid, no action is taken. If the instruction is valid, a first valid instruction is obtained. For the Auto gear instruction, an ambient light intensity compensation algorithm is configured in an automatic light sensor signal processing channel. After ambient light intensity compensation, validity judgment is performed on the Auto gear instruction.

[0040] In one possible implementation, the validity judgment on the multi-source light control instructions includes:

[0041] The validity judgment on the multi-source light control instructions is based on whether the collected hard-wire level or the received CAN signal is within a corresponding preset threshold range.

[0042] A signal validity verification process is set. If the collected hard-wire level or the received CAN signal is within a corresponding preset threshold range, it is determined that the corresponding signal is valid. Otherwise, it is determined to be invalid. Illustratively, for the Auto gear instruction, it is determined whether the signal value of the light sensor is within a preset threshold range and whether the change amount per unit time exceeds a corresponding change amount threshold. If one of the two conditions is not met, it is determined that the output instruction is invalid. For the hard-wire switch instruction and the soft switch instruction, a curve auxiliary lighting function is used for illustration. This function needs to detect whether the steering wheel angle and the vehicle speed meet corresponding angle threshold and speed threshold. If yes, it is determined that the instruction is valid. Otherwise, it is determined to be invalid, thereby avoiding changes in the signal light caused by false touch. For the VCU automatic driving instruction, as long as the signal is not lost, it is determined that the instruction is valid.

[0043] Step 102, adding a time stamp to the first valid instruction to obtain a second valid instruction and adding the second valid instruction to an arbitration queue.

[0044] Specifically, a signal reception time stamp marking module is set to attach a millisecond-level time mark to each valid instruction. The first valid instruction with the added time stamp mark is the second valid instruction. The second valid instruction is added to the arbitration queue. In addition, the clock of the CAN bus is synchronized with the time stamp.

[0045] In one possible implementation, the method further includes:

[0046] If the timestamp system fails, a preset priority mode is enabled; the preset priority mode includes a basic lighting lamp priority and a signal lamp priority.

[0047] Specifically, the basic lighting lamp priority adopts a strategy of hard switch > VCU automatic driving > Auto gear > soft switch, wherein the basic lighting lamp includes indoor lamps and outdoor lamps, the indoor lamps are interior lighting lamps, the interior lighting lamps include reading lamps and ceiling lamps, and the outdoor lamps include low beam, high beam, position lamp, and front and rear fog lamps. The vehicle state detection is further included, when the vehicle is in a parking state including P gear or the vehicle speed is zero, the basic lighting lamp light control authority of the automatic driving system is reduced to the lowest; the signal lamp priority adopts a strategy of VCU automatic driving > hard switch > Auto gear > soft switch, wherein the signal lamp includes a turn signal, a brake lamp, and a reverse lamp. Exemplarily, when the vehicle starts adaptive cruise or a higher level of automatic driving function, and the vehicle is in an automatic following condition, if the preceding vehicle suddenly brakes, the automatic driving system sends a “turn on the brake lamp” signal, even if the driver accidentally touches the “turn off the vehicle lamp” soft switch on the center control screen, the soft switch instruction is ignored, and the brake lamp is still turned on.

[0048] In a possible implementation, after the second valid instruction is obtained, the method further includes:

[0049] A signal anti-shake mechanism is arranged for the hard switch instruction channel, if the trigger intervals of a plurality of continuous hard switch instructions are all less than a second time interval threshold, the plurality of continuous hard switch instructions are judged as a single instruction; and the timestamp of the single instruction is the timestamp of the first hard switch instruction.

[0050] Exemplarily, the second time interval threshold can be set to 100 ms, if the hard switch instruction is triggered for three times continuously, the trigger interval between the first hard switch instruction and the second hard switch instruction is less than 100 ms, and the trigger interval between the second hard switch instruction and the third hard switch instruction is less than 100 ms, the three continuous hard switch instructions are judged as a single instruction, and the timestamp of the single instruction is the timestamp of the first hard switch instruction in the three continuous instructions.

[0051] In step 103, the priority flag bit of the VCU automatic driving instruction is detected, if the flag bit is an emergency control mode, the VCU automatic driving instruction is directly executed.

[0052] Specifically, if the priority flag of the VCU automatic driving instruction is in the emergency control mode, the VCU automatic driving instruction does not need to enter the arbitration queue, and does not need to compare the time stamps of the other second valid instructions in the arbitration queue every interval of an arbitration period, and directly executes the VCU automatic driving instruction when the priority flag is in the emergency control mode. In other words, the embodiment of the present application directly executes the VCU automatic driving instruction when the priority flag of the VCU automatic driving instruction is in the emergency control mode, and skips the time stamp arbitration.

[0053] Step 104, if the flag is in the non-emergency control mode, an arbitration period is set, the time stamps of the second valid instructions in the arbitration queue are compared every interval of the arbitration period, and a third valid instruction is determined; the third valid instruction is the second valid instruction corresponding to the latest time stamp.

[0054] An arbitration period is set, and if there are two or more than two valid instructions in the same period, i.e., an arbitration period, the time stamp comparison is started, the arbitration logic of the later-to-priority is adopted, and the latest valid instruction is executed. Specifically, the time stamps of the latest valid instructions of the valid signals are compared, and the instruction with the latest time stamp is selected as the execution instruction. The embodiment of the present application sets a dynamic time stamp arbitration mechanism, sets an interval for the arbitration period, and can adaptively adjust the arbitration period. Exemplarily, the arbitration period can be set between 10-100 ms.

[0055] Step 105, a first time interval is determined based on the time stamp of the third valid instruction and the time stamp of the currently executed instruction, if the first time interval is less than a first time interval threshold, the currently executed instruction is maintained; otherwise, the third valid instruction is executed.

[0056] Exemplarily, the first time interval can be set to 50 ms, the interval time is determined according to the time stamp of the third valid instruction and the time stamp of the currently executed instruction, if the interval time is less than 50 ms, the current light state is maintained unchanged, thereby avoiding abnormal flashing of the light. If the interval time is greater than or equal to 50 ms, the third valid instruction is executed.

[0057] In a possible implementation, the method further includes:

[0058] If the VCU automatic driving instruction channel is in an abnormal state, the method automatically switches to the hard-wired switch instruction master control mode.

[0059] Specifically, the abnormal state includes packet loss, in the case of packet loss, the method automatically switches to the hard-wired switch instruction, and then determines the third valid instruction, if the third valid instruction is not a VCU automatic driving instruction, the third valid instruction is executed.

[0060] In a possible implementation, after the third valid instruction is executed, the method further includes:

[0061] The light state feedback mechanism comprises an executor feedback mechanism, a human-machine interaction feedback mechanism and a coordination system feedback mechanism.

[0062] Specifically, as shown in Figure 2 The light state feedback mechanism ensures that the executor responds.

[0063] In a possible implementation, the executor feedback mechanism comprises:

[0064] The controller feeds back the lamp group current and the first temperature data in real time, and if an abnormality occurs, triggers a corresponding strategy; the first temperature data is the temperature data of the channel corresponding to the lamp group controller chip.

[0065] Specifically, as shown in Figure 2 The executor collects the current and temperature data and sends them to the controller, and the controller feeds back the abnormality, for example, if the feedback brake lamp is open, the rear fog lamp is lit at the same time. For the hard-wired switch, the hard-wired switch indicator can feed back whether the hard-wired switch is currently powered.

[0066] In a possible implementation, the human-machine interaction feedback mechanism comprises:

[0067] If the vehicle lamp group fails, an icon or a buzzer is displayed on the instrument to prompt.

[0068] The above human-machine interaction feedback mechanism realizes state feedback.

[0069] The embodiment of the application feeds back the instruction execution result to each control source display terminal in real time. In addition to the instrument, the control source display terminal can also include a central control display interface.

[0070] In a possible implementation, the coordination system feedback mechanism comprises:

[0071] The controller sends the light state CAN signal to the automatic driving module;

[0072] In the automatic driving module, the execution of the arbitration instruction is judged according to the light state CAN signal, and if the arbitration instruction is not actually executed, a safety degradation strategy is triggered; the arbitration instruction is the third valid instruction or the VCU automatic driving instruction in the emergency control mode.

[0073] Exemplarily, the arbitration instruction is the third valid instruction, the third valid instruction is the high beam opening instruction, the light state CAN signal is acquired, and if the high beam opening fails according to the light state CAN signal, the safety degradation strategy is triggered.

[0074] The embodiment of the present application directly executes the VCU automatic driving instruction when the priority flag bit of the VCU automatic driving instruction is in the emergency control mode, adds a time stamp to the valid instruction, obtains the valid instruction corresponding to the latest time stamp, and determines the instruction to be executed based on the time stamp of the latest valid instruction and the time stamp of the currently executed instruction, so that the control right is changed as needed on the premise of realizing safe driving, the reasonable needs of users are met, and convenience is provided for users. After the embodiment of the present application collects the multi-source light control instructions in real time, the light control instructions are judged for validity, and the instruction validity is judged based on the time interval, so that the interception rate of invalid instructions is improved through double-level verification. The embodiment of the present application sets up a three-link light state feedback mechanism, improves the safety, and improves the user experience and convenience.

[0075] The embodiment of the present application also provides a vehicle light cooperative control device, which comprises:

[0076] A data acquisition unit is configured to collect multi-source light control instructions in real time, judge the validity of the multi-source light control instructions, and obtain first valid instructions; the multi-source light control instructions comprise hard-wire switch instructions, soft switch instructions, VCU automatic driving instructions, and Auto mode instructions.

[0077] A data processing unit is configured to add a time stamp to the first valid instructions, obtain second valid instructions, and add the second valid instructions to an arbitration queue.

[0078] A detection unit is configured to detect the priority flag bit of the VCU automatic driving instruction, and directly execute the VCU automatic driving instruction if the flag bit is in an emergency control mode.

[0079] A first judging unit is configured to set an arbitration period if the flag bit is in a non-emergency control mode, compare the time stamp of the second valid instruction in the arbitration queue every arbitration period, and determine a third valid instruction; the third valid instruction is the second valid instruction corresponding to the latest time stamp.

[0080] A second judging unit is configured to determine a first time interval based on the time stamp of the third valid instruction and the time stamp of the currently executed instruction, maintain the currently executed instruction if the first time interval is less than a first time interval threshold, and execute the third valid instruction otherwise.

[0081] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the device described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0082] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any change or replacement within the technical scope disclosed by the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle light coordination method characterized by, The method comprises the following steps: Real-time acquisition of multi-source light control instructions, validity judgment of the multi-source light control instructions, and obtaining of first valid instructions; the multi-source light control instructions include hard-wire switch instructions, soft switch instructions, VCU automatic driving instructions, and Auto file instructions; Adding a time stamp to the first valid instructions to obtain second valid instructions and add them to an arbitration queue; Detecting the priority flag bit of the VCU automatic driving instruction, if the flag bit is in an emergency control mode, directly executing the VCU automatic driving instruction; If the flag bit is in a non-emergency control mode, setting an arbitration period, comparing the time stamp of the second valid instruction in the arbitration queue every interval of an arbitration period, and determining a third valid instruction; the third valid instruction is the second valid instruction corresponding to the latest time stamp; Based on the time stamp of the third valid instruction and the time stamp of the currently executed instruction, a first time interval is determined, if the first time interval is less than a first time interval threshold, the current executed instruction is maintained; Otherwise, the third valid instruction is executed; Further comprising: If the time stamp system fails, a preset priority mode is enabled; the preset priority mode includes a basic lighting lamp priority and a signal lamp priority; After the preset priority mode is enabled, if the vehicle is in a parking state or the vehicle speed is zero, the light control authority of the automatic driving system is reduced to the lowest.

2. The vehicle light coordination method according to claim 1, characterized by The validity judgment of the multi-source light control instructions comprises: Based on whether the collected hard-wire level or the received CAN signal is within the corresponding preset threshold range, the validity of the multi-source light control instructions is judged.

3. The vehicle light coordination control method according to claim 1, characterized by, After obtaining the second valid instruction, further comprising: A signal anti-shake mechanism is set for the hard-wire switch instruction channel, if the trigger interval of the continuous multiple hard-wire switch instructions is less than a second time interval threshold, the continuous multiple hard-wire switch instructions are judged as a single instruction; the time stamp of the single instruction is the time stamp of the first hard-wire switch instruction.

4. The vehicle light coordination method according to claim 1, characterized by Further comprising: If the VCU automatic driving instruction channel is in an abnormal state, automatically switch to a hard-wire switch instruction master mode.

5. The vehicle light coordination method according to claim 1, characterized by After executing the third valid instruction, further comprising: Executing a light state feedback mechanism; the light state feedback mechanism includes an actuator feedback mechanism, a human-computer interaction feedback mechanism, and a coordination system feedback mechanism.

6. The vehicle light coordination method according to claim 5, characterized by The actuator feedback mechanism comprises: Real-time feedback of lamp group current and first temperature data through the controller, if an abnormality occurs, the corresponding strategy is triggered; the first temperature data is the temperature data of the channel corresponding to the lamp group controller chip.

7. The vehicle light coordination method according to claim 5, characterized by The human-computer interaction feedback mechanism comprises: If the vehicle lamp group fails, an icon is displayed on the instrument or a buzzer is used for prompting.

8. The vehicle light coordination method according to claim 5, characterized by The coordination system feedback mechanism comprises: Sending the light state CAN signal to the automatic driving module through the controller; In the automatic driving module, the execution of the arbitration instruction is judged according to the light state CAN signal, if the arbitration instruction is not actually executed, a safety degradation strategy is triggered; the arbitration instruction is the third valid instruction or the VCU automatic driving instruction in the emergency control mode.

9. A vehicle light coordination device, characterized by comprising: The device comprises: A data acquisition unit is configured to acquire multiple-source light control instructions in real time, judge the effectiveness of the multiple-source light control instructions, and obtain first effective instructions; the multiple-source light control instructions include hard-wire switch instructions, soft switch instructions, VCU automatic driving instructions, and Auto mode instructions; A data processing unit is configured to add a timestamp to the first effective instructions, obtain second effective instructions, and add the second effective instructions to an arbitration queue; A detection unit is configured to detect a priority flag of the VCU automatic driving instructions; if the flag is in an emergency control mode, the VCU automatic driving instructions are directly executed; A first judgment unit is configured to set an arbitration period if the flag is in a non-emergency control mode; the timestamp of the second effective instructions in the arbitration queue is compared every arbitration period to determine third effective instructions; the third effective instructions are the second effective instructions corresponding to the latest timestamp; A second judgment unit is configured to determine a first time interval based on the timestamp of the third effective instructions and the timestamp of a currently executed instruction; if the first time interval is less than a first time interval threshold, the currently executed instruction is maintained; otherwise, the third effective instructions are executed; If a timestamp system fails, a preset priority mode is enabled; the preset priority mode includes a basic lighting lamp priority and a signal lamp priority; After the preset priority mode is enabled, if a vehicle is in a parking state or the vehicle speed is zero, the light control authority of the automatic driving system is reduced to the lowest.

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