Self-adaptive high beam control method, device and equipment and storage medium

Abstract

The invention provides a self-adaptive high beam control method and device, equipment and a storage medium, and relates to the technical field of vehicle lighting. The method is applied to a vehicle and comprises the following steps: in response to a monitored moving target, acquiring the distance between the moving target and the vehicle; if the distance is smaller than a first distance threshold value and larger than a second distance threshold value, the adaptive high beam is controlled to adjust the illumination range according to a preset first control parameter, the first distance threshold value is the maximum distance that the moving target can be affected by the vehicle high beam, and the second distance threshold value is the maximum distance that the distance measurement error is smaller than the distance measurement error threshold value; the first control parameter enables a dark area formed by the illumination range to cover the moving target at the second distance threshold. The stability of the illumination range of the self-adaptive high beam and the safety of the vehicle are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle lighting technology, and in particular to an adaptive high beam control method, device, equipment and storage medium. Background Technology

[0002] In recent years, with the rapid development of the automotive industry, intelligent matrix headlights have become standard equipment on many models. Adaptive Driving Beam (ADB) is one of the most important functions of intelligent matrix headlights. It controls the shutdown of individual light-emitting diodes (LEDs) within the intelligent matrix headlights, thus ensuring that all vehicles within the field of view of the forward-looking camera (FLC) are in a dark area, preventing interference from the high beams of other vehicles. Meanwhile, areas outside the main headlights are illuminated, providing good lighting for the driver and improving driving safety for both the driver and other vehicles.

[0003] Related technologies use forward-facing cameras or forward-facing lighting radars (FLRs) to monitor external vehicles and control the illumination range of adaptive high beams based on the monitoring results. However, in some complex scenarios, such as overtaking or meeting oncoming traffic, inaccurate identification of external vehicles often occurs, and the target is temporarily lost in the monitoring results. This results in unstable illumination range of the intelligent matrix headlights, causing them to flicker onto vehicles in front, affecting driving safety. Summary of the Invention

[0004] This application provides an adaptive high beam control method, device, equipment, and storage medium to improve the stability of the adaptive high beam illumination range and vehicle safety.

[0005] In a first aspect, embodiments of this application provide an adaptive high beam control method, applied to a vehicle, the method comprising:

[0006] In response to the detection of a moving target, the distance between the moving target and the vehicle is obtained;

[0007] If the distance is less than the first distance threshold and greater than the second distance threshold, the adaptive high beam is controlled to adjust the illumination range according to the preset first control parameter. The first distance threshold is the maximum distance at which the moving target can be affected by the vehicle's high beam, and the second distance threshold is the maximum distance at which the ranging error is less than the ranging error threshold. The first control parameter ensures that the dark area formed by the illumination range can cover the moving target at the second distance threshold.

[0008] In one possible implementation, it also includes:

[0009] If the distance is less than the preset third distance threshold, and the moving target's direction of movement is opposite to the vehicle's direction of movement, the adaptive high beams are controlled to adjust the illumination range according to the preset second control parameters. The third distance threshold is determined based on the maximum response time of the adaptive high beam system, and the third distance threshold is less than the second distance threshold. The second control parameters maximize the dark area of ​​the illumination range on the side corresponding to the driver's seat of the vehicle.

[0010] In one possible implementation, it also includes:

[0011] Obtain the traffic density on the current road;

[0012] When the traffic density is greater than the traffic density threshold, the adaptive high beams are controlled to adjust the illumination range according to the preset third control parameter. The third control parameter ensures that the dark area formed by the illumination range can cover the vehicles in the traffic flow.

[0013] In one possible implementation, the moving target is determined in the following way:

[0014] Acquire image data and point cloud data corresponding to the external environment of the vehicle;

[0015] Based on the image data and the characteristics of the moving target, spot targets and outline targets were identified.

[0016] Based on point cloud data and the characteristics of the moving target, the point cloud target is identified.

[0017] The spot target, the outline target, and the point cloud target are fused together to obtain the fused target;

[0018] If the target to be merged contains a moving object, then the target to be merged is determined to be a moving object;

[0019] If the target to be merged contains multiple moving objects, determine the direction of movement of the moving objects;

[0020] Based on the direction of movement of the moving objects, moving objects in the same direction as the vehicle are merged into a target in the same direction, and moving objects in the opposite direction to the vehicle are merged into a target in the opposite direction.

[0021] Identify targets moving in the same direction and those moving in the opposite direction as moving targets.

[0022] In one possible implementation, if the distance is less than or equal to a second distance threshold and the moving target is in the same direction as the vehicle, or if the distance is less than or equal to the second distance threshold and greater than or equal to a third distance threshold, and the moving target is opposite to the vehicle's direction of movement, the following applies:

[0023] If the vehicle's steering angle is less than the steering angle threshold, a filter is used to smooth the movement information of the moving target to obtain filtered data. Based on the filtered data, the adaptive high beam is controlled to adjust the illumination range. The movement information includes distance, speed, direction, and angular velocity.

[0024] If the vehicle's steering angle is greater than or equal to the steering angle threshold, the adaptive high beams will be controlled to adjust the lighting range based on the operating information.

[0025] In one possible implementation, it also includes:

[0026] Obtain road condition information based on image data or in-vehicle maps;

[0027] If the traffic information indicates that the current road is a roundabout, turn off the high beams.

[0028] In one possible implementation, it also includes:

[0029] Get the difference between the current time and the previous time;

[0030] Based on the current distance and difference, determine whether a jump has occurred;

[0031] If a sudden change occurs, the adaptive high beams will maintain the state corresponding to the previous moment for a preset time period.

[0032] Secondly, embodiments of this application provide an adaptive high beam control device, applied to a vehicle, comprising:

[0033] The acquisition module is used to acquire the distance between the moving target and the vehicle in response to the detection of a moving target;

[0034] The control module is used to control the adaptive high beam to adjust the illumination range according to the preset first control parameters when the distance is less than a first distance threshold and greater than a second distance threshold. The first distance threshold is the maximum distance at which the moving target can be affected by the vehicle's high beam, and the second distance threshold is the maximum distance at which the ranging error is less than the ranging error threshold. The first control parameters enable the dark area formed by the illumination range to cover the moving target at the second distance threshold.

[0035] Thirdly, embodiments of this application provide an adaptive high beam control device, including: a memory and a processor;

[0036] The memory stores the instructions that the computer executes;

[0037] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0038] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0039] Fifthly, embodiments of this application provide a computer program product, including a computer program, which, when executed, implements the first aspect and / or various possible implementations of the first aspect.

[0040] The adaptive high beam control method, apparatus, device, and storage medium provided in this application embodiment, when a moving target enters an area that can be affected by the vehicle's high beams, but the moving target is far from the vehicle and the on-board sensor has a large error (i.e., the distance between the moving target and the vehicle is less than a first distance threshold and greater than a second distance threshold), controls the adaptive high beams to adjust the illumination range according to preset first control parameters. The first control parameters ensure that the dark area formed by the illumination range can cover the moving target at the second distance threshold. While ensuring that the adaptive high beams can effectively illuminate the vehicle, it avoids the instability of the adaptive sensor illumination range caused by the large acquisition error of the on-board sensor due to the distance between the moving target and the vehicle, reduces the flickering and glare of the adaptive high beams, and improves vehicle safety. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0042] Figure 1 This is a schematic diagram of the adaptive high beam illumination range provided in an embodiment of this application;

[0043] Figure 2 This is a schematic diagram illustrating the changes in target operating data provided in the embodiments of this application;

[0044] Figure 3 A flowchart illustrating the adaptive high beam control method provided in this application;

[0045] Figure 4 This is a schematic diagram of the moving target determination process provided in an embodiment of this application;

[0046] Figure 5 A schematic diagram of the adaptive high beam control device provided in this application;

[0047] Figure 6 This is a schematic diagram of the adaptive high beam control device provided in an embodiment of this application.

[0048] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0049] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0050] Figure 1 This diagram illustrates the illumination range of the adaptive high beam provided in this embodiment. The adaptive high beam can automatically switch between high and low beams or adjust the illumination range according to road conditions, creating a beam in front of the vehicle as shown in the diagram. Figure 1 The bright and dark areas shown are designed to ensure the driver has good visibility and can clearly observe the road conditions, thus improving driving safety. The dark areas prevent oncoming drivers from being dazzled by the high beams of other vehicles, ensuring the safety of other vehicles as well.

[0051] However, in actual applications of adaptive high beams, issues arise due to complex road conditions, such as inaccurate control of the dark area and flickering towards oncoming vehicles. This is especially true in scenarios with many vehicles traveling in the same or opposite direction, where the target vehicle is constantly changing lanes, overtaking, or turning, leading to complex changes such as the disappearance of the target and the identification of a new one. Furthermore, the influence of adverse weather conditions such as rain, snow, and fog can occasionally cause inaccurate target recognition. Figure 2 This is a schematic diagram illustrating the changes in target operating data provided in the embodiments of this application, such as... Figure 2 As shown, phenomena such as brief loss of target, inability to quickly follow the target, misidentification of the target, sudden changes in target distance, and sudden changes in target angle may occur. These phenomena result in unstable illumination range of the adaptive high beams and flickering of the matrix headlights to external vehicles, which greatly affects vehicle safety.

[0052] To address the aforementioned technical issues, this application provides an adaptive high beam control method. When a moving target is within a distance range where the onboard sensor has a large error, the adaptive high beam adjusts its illumination range according to preset control parameters. This avoids problems such as unstable illumination range and flickering of intelligent matrix headlights caused by inaccurate target recognition by the onboard sensor. Furthermore, targeted adaptive high beam adjustment strategies are employed in complex road conditions such as close-range oncoming traffic, high traffic density, curves, and roundabouts, enabling the adaptive high beam to better adapt to various complex road conditions, thereby improving the driving experience and vehicle safety.

[0053] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0054] Figure 3 A flowchart illustrating the adaptive high beam control method provided in this application is shown below. Figure 3 As shown, the method includes: This application embodiment provides an adaptive high beam control method applied to a vehicle, the method including:

[0055] S301. In response to detecting a moving target, obtain the distance between the moving target and the vehicle.

[0056] The moving target can be any traffic participant other than the vehicle itself, such as a vehicle or a pedestrian.

[0057] Optionally, moving targets are monitored using a forward-facing camera and / or a forward-facing illumination radar. Specifically, image data captured by the forward-facing camera is used to identify a spot target based on the spot characteristics of the moving target, and a contour target is identified based on the vehicle's contour characteristics; point cloud data is obtained using the forward-facing illumination radar, and a point cloud target is identified based on the point cloud characteristics of the moving target. The moving target is determined based on the spot target, the contour target, and the point cloud target. The distance between the moving target and the vehicle can be obtained from the image data or the point cloud data; optionally, a distance sensor is used to obtain the distance between the moving target and the vehicle.

[0058] When a moving target appears within the monitoring range of the vehicle's sensors, its number is recorded and continuously monitored to prevent repeated jumps around the monitoring threshold. If a numbered moving target disappears during monitoring, its operational information is retained for a period of time before the monitoring status is refreshed. For example, the operational information is retained for 1.5 seconds, during which the adaptive high beam illumination range is controlled according to the last acquired operational information. After 1.5 seconds, the monitoring status is refreshed.

[0059] S303. If the distance is less than the first distance threshold and greater than the second distance threshold, the adaptive high beam is controlled to adjust the illumination range according to the preset first control parameter. The first distance threshold is the maximum distance at which the moving target can be affected by the vehicle's high beam, and the second distance threshold is the maximum distance at which the ranging error is less than the ranging error threshold. The first control parameter enables the dark area formed by the illumination range to cover the moving target at the second distance threshold.

[0060] Identifying moving targets using forward-facing cameras or forward-facing radar has certain limitations. When the moving target is far from the vehicle, it cannot be identified and output with 100% accuracy. Occasionally, the target may be inaccurately identified or temporarily lost. As a result, the dark area generated by the adaptive high beams cannot completely cover the moving target in front. If the intelligent matrix headlights illuminate the moving target, for example, if the moving target is a vehicle in front, it will flash in the eyes of the driver of the vehicle in front, causing confusion to the driver of the vehicle in front, affecting driving safety, and also violating traffic regulations.

[0061] To address the aforementioned issues, this application embodiment calibrates two distance thresholds. The first distance threshold is the maximum distance at which a moving target can be affected by the vehicle's high beams, and the second distance threshold is the maximum distance at which the ranging error is less than the ranging error threshold. When the distance between the moving target and the vehicle is within the range of the first and second distance thresholds, the vehicle's forward-facing camera or forward-facing illumination radar may exhibit the aforementioned phenomena of inaccurate target recognition and temporary target loss. Therefore, within this distance range, a preset first control parameter is used. This first control parameter ensures that the dark area formed by the illumination range covers the moving target at the second distance threshold. This allows the adaptive high beams to provide good illumination for the vehicle while avoiding driving safety issues caused by unstable illumination range and flickering intelligent matrix headlights. For example, the first distance threshold is 800 meters, and the second distance threshold is 500 meters.

[0062] Optionally, when the distance is less than the second distance threshold, the adaptive high beams are controlled to adjust the illumination range based on the moving target's movement information. The movement information may include: distance, left and right horizontal angles, left and right horizontal angular velocities, and direction, etc.

[0063] The adaptive high beam control method provided in this application adjusts the illumination range of the adaptive high beam according to preset control parameters when the moving target is within a distance range where the vehicle sensor error is large. This avoids the problem of unstable illumination range and flickering of intelligent matrix headlights caused by inaccurate target recognition by the vehicle sensor. It ensures good lighting for the vehicle while avoiding the safety risks to traffic participants caused by the adaptive high beam, thus improving vehicle safety.

[0064] In one possible implementation, it also includes:

[0065] If the distance is less than the preset third distance threshold, and the moving target's direction of movement is opposite to the vehicle's direction of movement, the adaptive high beams are controlled to adjust the illumination range according to the preset second control parameters. The third distance threshold is determined based on the maximum response time of the adaptive high beam system, and the third distance threshold is less than the second distance threshold. The second control parameters maximize the dark area of ​​the illumination range on the side corresponding to the driver's seat of the vehicle.

[0066] When vehicles meet, the relative speed between them is relatively high. The adaptive high beams have a certain response delay because they need to go through a series of software and hardware signal transmissions from detecting the moving target to adjusting the illumination range accordingly. When the vehicles are close together, the illumination range may not be able to fully cover the oncoming vehicle due to the adjustment delay, causing the driver of the oncoming vehicle to be dazzled and creating a safety risk.

[0067] For example, the third distance threshold is 50 meters, which is calibrated based on the vehicle's average driving speed and the maximum response time of the adaptive high beam system. When the vehicle is within 50 meters of a moving target and the two are traveling in opposite directions, due to the response delay, the adaptive high beam system has a high probability of being unable to adjust the lighting range to follow the moving target.

[0068] Therefore, in this embodiment of the application, when the distance between the moving target and the vehicle is less than the third distance threshold, the adaptive high beam is controlled to adjust the illumination range according to the preset second control parameter. The second control parameter maximizes the dark area of ​​the illumination range on the side corresponding to the driver's seat. For example, if the vehicle is a left-hand drive vehicle, the angle between the left boundary of the illumination area and the center line of the vehicle is adjusted to the minimum, so that the dark area on the left reaches the maximum; if the vehicle is a right-hand drive vehicle, the angle between the left and right boundaries of the illumination area and the center line of the vehicle is adjusted to the minimum, so that the dark area on the right reaches the maximum.

[0069] The adaptive high beam control method provided in this application fully considers the response delay of the adaptive high beam system when the distance between the moving target and the vehicle is small and they are traveling in opposite directions. It adjusts the dark area on the corresponding side to the maximum in advance to avoid safety risks to the moving target in scenarios such as high-speed oncoming traffic and improve vehicle safety.

[0070] In one possible implementation, it also includes:

[0071] The system obtains the traffic density on the current road. When the traffic density is greater than the traffic density threshold, it controls the adaptive high beam to adjust the illumination range according to the preset third control parameter. The third control parameter ensures that the dark area formed by the illumination range can cover the vehicles in the traffic flow.

[0072] When the traffic density exceeds a traffic density threshold, a vehicle is identified as entering a multi-vehicle scenario. Frequent adjustments to the high beam illumination range can impact surrounding vehicles, compromising driving safety. In some possible implementations, different traffic density thresholds can be used at different distances from the vehicle. For example, a vehicle is identified as entering a multi-vehicle scenario when any of the following conditions are met: more than 2 oncoming vehicles within a 0-100 meter range; more than 4 oncoming and same-direction vehicles within a 0-100 meter range; more than 3 oncoming vehicles within a 0-150 meter range; more than 6 oncoming and same-direction vehicles within a 0-150 meter range; more than 4 oncoming vehicles within a 0-200 meter range; more than 7 oncoming and same-direction vehicles within a 0-120 meter range; more than 8 vehicles ahead, etc.

[0073] The third control parameter enables the dark area formed by the illumination range to cover vehicles in the traffic flow. For example, the third control parameter is that the angle between the left and right edges of the illumination area and the center line of the vehicle is 5° and the distance is 20 meters. With this narrow and long illumination range, it can be ensured that there is good lighting in front of the vehicle and that it will not affect the surrounding vehicles when the traffic density is high.

[0074] The adaptive high beam control method provided in this application fully considers the adjustment of the lighting area in multi-vehicle scenarios. When the traffic density is greater than the traffic density threshold, according to the preset third control parameter, the dark area formed by the lighting range can cover the vehicles in the traffic flow, thus ensuring that the vehicles have good lighting and ensuring the safety of vehicle driving in multi-vehicle scenarios.

[0075] Figure 4 This is a schematic diagram of the moving target determination process provided in an embodiment of this application. Figure 4 As shown, in one possible implementation, the vehicle-mounted sensors include a forward-facing camera and a forward-facing illumination radar, and the moving target is determined in the following way:

[0076] S401, acquire image data and point cloud data corresponding to the external environment of the vehicle.

[0077] The image data was acquired through a vehicle-mounted forward-facing camera, while the point cloud data was acquired through a forward-facing illumination radar.

[0078] S402. Based on the image data and the characteristics of the moving target, spot targets and contour targets are identified.

[0079] For example, based on the vehicle's light spot characteristics, image recognition technology is used to identify the light spot target corresponding to the vehicle; based on the vehicle's outline target, the outline target corresponding to the vehicle is identified. Optionally, Advanced Driver Assistance Systems (ADAS) can be used to identify the light spot target or the image target.

[0080] S404. Based on the point cloud data and the characteristics of the moving target, the point cloud target is identified.

[0081] For example, based on the point cloud features of the vehicle, a point cloud feature matching algorithm is used to identify the point cloud target corresponding to the vehicle in the point cloud data.

[0082] S404. Fuse the spot target, the outline target, and the point cloud target to obtain the fused target.

[0083] It is understandable that spot targets, contour targets, and point cloud targets are recognition results of the same moving target under different modalities. By fusing the three results, richer operational information related to the moving target can be obtained, resulting in a more accurate fused target.

[0084] S405. If the merged target contains a moving object, determine the merged target as the moving target.

[0085] For example, the moving object can be a vehicle traveling in the same direction or a vehicle traveling in the opposite direction. After the moving object is identified as the moving target, the illumination range of the adaptive high beam is controlled according to the distance to the moving target.

[0086] S406. If the target to be merged contains multiple moving objects, determine the direction of movement of the moving objects.

[0087] Understandably, when multiple vehicles are traveling in the same or opposite direction, the fusion target will contain multiple moving objects. If the adaptive high beam illumination range is adjusted based on the distance between each moving object and the vehicle, the illumination range of the adaptive high beam will be affected by multiple moving objects, causing unstable illumination range and flickering of the intelligent matrix headlights. Therefore, it is advisable to merge the moving objects as much as possible to reduce the impact of multiple moving objects on the adaptive high beam illumination range.

[0088] S407. Based on the direction of movement of the moving objects, merge the moving objects in the same direction as the vehicle into a target in the same direction, and merge the moving objects in the opposite direction to the vehicle into a target in the opposite direction.

[0089] For example, if there are multiple vehicles traveling in the same direction as the vehicle and vehicles traveling in the opposite direction, all vehicles traveling in the same direction are merged into one target traveling in the same direction, and all vehicles traveling in the opposite direction to the vehicle are merged into one target traveling in the opposite direction. This greatly reduces the factors affecting the adaptive high beam illumination range and helps maintain a stable illumination range.

[0090] S408. Identify targets moving in the same direction and those moving in the opposite direction as moving targets.

[0091] The adaptive high beam control method provided in this application integrates the light spot target, the outline target, and the point cloud target to improve the accuracy of moving target recognition. Furthermore, it divides the moving object in the moving target into a target moving in the same direction and a target moving in the opposite direction, thereby reducing the factors affecting the adaptive high beam illumination range and helping to maintain a stable illumination range.

[0092] In one possible implementation, if the distance is less than or equal to a second distance threshold and the moving target is in the same direction as the vehicle, or if the distance is less than or equal to the second distance threshold and greater than or equal to a third distance threshold, and the moving target is opposite to the vehicle's direction of movement, the method further includes:

[0093] If the vehicle's steering angle is less than the steering angle threshold, a filter is used to smooth the movement information of the moving target to obtain filtered data. Based on the filtered data, the adaptive high beam is controlled to adjust the illumination range. The movement information includes distance, speed, direction, and angular velocity. If the vehicle's steering angle is greater than or equal to the steering angle threshold, the adaptive high beam is controlled to adjust the illumination range based on the movement information.

[0094] If the distance is less than or equal to the second distance threshold and the moving target is moving in the same direction as the vehicle, the operational information collected by the vehicle's sensors already has a small error and will not change drastically. In this case, the illumination range of the adaptive high beams can be precisely adjusted based on the moving target's operational information. If the distance is less than or equal to the second distance threshold and greater than or equal to the third distance threshold, and the moving target is moving in a direction opposite to the vehicle, this also indicates that the operational information collected by the vehicle's sensors already has a small error and is not a close-range oncoming traffic scenario. In this case, the illumination range of the adaptive high beams can also be precisely adjusted based on the moving target's operational information.

[0095] Understandably, vehicle sensors collect operational information according to the data acquisition sequence. Due to sensor errors or vehicle vibrations, there may be jumps and spikes in the operational information between adjacent time points. Using a filter to smooth the operational information can make the data smoother. Consequently, when using the filtered data to control the adaptive high beam to adjust the illumination range, the fluctuations in the illumination range will be reduced. Optionally, the filter can be a conventional filter or a nonlinear filter, such as a moving average filter, a low-pass filter, or a median filter.

[0096] The filtering effect of a filter is related to its length; a longer filter provides better filtering, but also increases the time required for processing, i.e., the filter delay. The filter delay should be controlled within a range that does not affect the normal response time of the adaptive high beam. For example, a filter delay of 150ms is suitable. In complex road conditions, timely adjustment of the adaptive high beam's illumination range based on road conditions is beneficial for safe driving, which places high demands on the adaptive high beam's response speed. Therefore, when the vehicle's steering angle is less than the steering angle threshold, rapid adjustment of the adaptive high beam's illumination range is not necessary. Using a filter to smooth the driving information helps reduce fluctuations in the illumination range. When the vehicle's steering angle is greater than or equal to the steering angle threshold, such as when entering a curve, ramp, or roundabout, the filter is turned off, and the driving information is used directly to control the adaptive high beam's adjustment of the illumination range, which helps improve the adaptive high beam's response speed. For example, a steering angle threshold of 36° is suitable.

[0097] In one implementation, after the filter is turned off, the vehicle's steering angle is monitored in real time. When the vehicle's steering angle is less than a cornering angle threshold and the duration exceeds a duration threshold, the filter is turned on. For example, the cornering angle threshold is 18° and the duration threshold is 1 second.

[0098] In another implementation, the filter can be turned on and off based on the vehicle's angular velocity. Specifically, when the vehicle's angular velocity is detected to be greater than a first angular velocity threshold and remains above a first duration threshold, the filter is turned off. Then, the vehicle's angular velocity value is continuously monitored. When the angular velocity is detected to decrease to a second angular velocity threshold and remains below the second duration threshold for more than a certain period, the filter is turned on. For example, the first angular velocity threshold is 10 rad / s, the second angular velocity threshold is 6 rad / s, the first duration threshold is 300 ms, and the second duration threshold is 500 ms.

[0099] In another implementation, after determining the illumination range based on the operating data or filtering data, the adaptive filter expands the angles of the left and right dark areas by a first angle based on the illumination range to ensure that the dark areas fully cover the moving target. For example, the first angle is 0.2°.

[0100] The adaptive high beam control method provided in this application uses a filter to eliminate glitches in the operating data, making the illumination range of the adaptive high beam change smoothly. Furthermore, the filter is turned on and off according to the road conditions. In scenarios such as curves or ramps with large steering angles, the filter is turned off to improve the response speed of the adaptive high beam, enabling the vehicle to respond promptly to unexpected situations in complex road conditions and improving vehicle safety.

[0101] In one possible implementation, it also includes:

[0102] Obtain traffic information based on image data or in-vehicle maps; if the traffic information indicates that the current road is a roundabout, turn off the high beams.

[0103] In roundabout situations, vehicles typically turn at large angles and traffic density is high, with vehicles constantly merging into the roundabout. Therefore, adjusting the high beams at this time is not conducive to the driving safety of your own vehicle and other vehicles. So, after entering the roundabout, automatically turn off the high beams to improve vehicle safety.

[0104] It should be noted that this application embodiment incorporates information provided by in-vehicle maps to provide a reference for the control of adaptive high beams. Figure 1 Typically located in the vehicle's Domain Hosting Unit (DHU), it continuously provides the adaptive high beam controller with information such as road structure and distance, including roundabouts, making the adaptive high beam control more precise.

[0105] Optionally, the current road conditions of the vehicle can be determined based on image data collected by the forward-facing camera and vehicle speed data.

[0106] Optionally, when the vehicle is detected entering a well-lit area, the high beams can be turned off and the lights switched to low beams.

[0107] The adaptive high beam control method provided in this application embodiment obtains road condition information based on image data collected by a forward-facing camera or an in-vehicle map. If the road condition information indicates that the current road is a roundabout, the high beam is turned off, thereby improving the vehicle's safety in complex road conditions.

[0108] In one possible implementation, it also includes:

[0109] Obtain the difference between the distance at the current moment and the distance at the previous moment; based on the distance at the current moment and the difference, determine whether a jump has occurred; if a jump has occurred, control the adaptive high beams to maintain the state corresponding to the previous moment for a preset time period.

[0110] Distance jumps can severely impact the stability of adaptive high beam illumination range. In practical applications, issues such as errors in onboard sensors may cause distance jumps within a short period. The system determines whether a jump has occurred by comparing the distance between adjacent moments. If a jump occurs, the jump data is filtered out, retaining only the distance from the previous moment. The adaptive high beams are then kept in the same state for a preset duration. For example, the preset duration is 1 second. After the adaptive high beams are maintained for the preset duration, the operating data collected by the onboard sensors essentially returns to normal, allowing for proper adjustment of the adaptive high beam illumination range.

[0111] In some implementations, different mutation thresholds are set for different distance ranges. That is, within different distance ranges, the relationship between the difference and the mutation threshold is used to determine whether a jump occurs. For example, the correspondence between distance ranges and mutation thresholds is shown in Table 1:

[0112] Table 1

[0113] Distance range (meters) Mutation threshold (meters) 0-100 20 100-200 35 200-500 60 500-1000 150

[0114] When the distance of the moving object is determined to be within the distance range based on the operation information, and the difference between the distance at the current moment and the distance at the previous moment is greater than the sudden change threshold corresponding to the distance range, it is determined that a jump has occurred in the operation data.

[0115] The adaptive high beam control method provided in this application monitors whether there are abrupt changes in distance and filters out abrupt changes to ensure the smoothness of changes in the adaptive high beam illumination range.

[0116] Figure 5 This is a schematic diagram of the adaptive high beam control device provided in this application, as shown below. Figure 5 As shown, the adaptive high beam control device 50 provided in this embodiment includes:

[0117] The acquisition module 501 is used to acquire the distance between the moving target and the vehicle in response to the detection of a moving target;

[0118] The control module 502 is used to control the adaptive high beam to adjust the illumination range according to a preset first control parameter when the distance is less than a first distance threshold and greater than a second distance threshold. The first distance threshold is the maximum distance at which the moving target can be affected by the vehicle's high beam, and the second distance threshold is the maximum distance at which the ranging error is less than the ranging error threshold. The first control parameter ensures that the dark area formed by the illumination range can cover the moving target at the second distance threshold.

[0119] In one possible implementation, the control module 502 is further configured to:

[0120] If the distance is less than the preset third distance threshold, and the moving target's direction of movement is opposite to the vehicle's direction of movement, the adaptive high beams are controlled to adjust the illumination range according to the preset second control parameters. The third distance threshold is determined based on the maximum response time of the adaptive high beam system, and the third distance threshold is less than the second distance threshold. The second control parameters maximize the dark area of ​​the illumination range on the side corresponding to the driver's seat of the vehicle.

[0121] In one possible implementation, the control module 502 is further configured to:

[0122] Obtain the traffic density on the current road;

[0123] When the traffic density is greater than the traffic density threshold, the adaptive high beams are controlled to adjust the illumination range according to the preset third control parameter. The third control parameter ensures that the dark area formed by the illumination range can cover the vehicles in the traffic flow.

[0124] In one possible implementation, the vehicle-mounted sensors include a forward-facing camera and a forward-facing illumination radar, and the moving target is determined in the following way:

[0125] Acquire image data and point cloud data corresponding to the external environment of the vehicle;

[0126] Based on the image data and the characteristics of the moving target, spot targets and outline targets were identified.

[0127] Based on point cloud data and the characteristics of the moving target, the point cloud target is identified.

[0128] The spot target, the outline target, and the point cloud target are fused together to obtain the fused target;

[0129] If the target to be merged contains a moving object, then the target to be merged is determined to be a moving object;

[0130] If the target to be merged contains multiple moving objects, determine the direction of movement of the moving objects;

[0131] Based on the direction of movement of the moving objects, moving objects in the same direction as the vehicle are merged into a target in the same direction, and moving objects in the opposite direction to the vehicle are merged into a target in the opposite direction.

[0132] Identify targets moving in the same direction and those moving in the opposite direction as moving targets.

[0133] In one possible implementation, the control module 502 is further configured to:

[0134] If the vehicle's steering angle is less than the steering angle threshold, a filter is used to smooth the operating information to obtain filtered data. Based on the filtered data, the adaptive high beam is controlled to adjust the lighting range.

[0135] If the vehicle's steering angle is greater than or equal to the steering angle threshold, the adaptive high beams will be controlled to adjust the lighting range based on the operating information.

[0136] In one possible implementation, the control module 502 is further configured to:

[0137] Traffic information is obtained from image data captured by the forward-facing camera or from the vehicle's in-vehicle map;

[0138] If the traffic information indicates that the current road is a roundabout, turn off the high beams.

[0139] In one possible implementation, it also includes:

[0140] Get the difference between the current time and the previous time;

[0141] Based on the current distance and difference, determine whether a jump has occurred;

[0142] If a sudden change occurs, the adaptive high beams will maintain the state corresponding to the previous moment for a preset time period.

[0143] The adaptive high beam control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0144] Figure 6 This is a schematic diagram of the adaptive high beam control device provided in an embodiment of this application. Figure 6 As shown, the adaptive high beam control device 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the device 60 further includes a communication interface 603. The processor 601, memory 602, and communication interface 603 are connected via a communication bus 604.

[0145] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0146] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0147] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0148] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0149] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0150] This application also provides a computer program product, including a computer program that, when executed, implements the above-described method.

[0151] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed, implement the above-described method.

[0152] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0153] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0154] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0155] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0156] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0157] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0158] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0159] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. An adaptive high beam control method, characterized in that, Applied to vehicles, the method includes: In response to detecting a moving target, the distance between the moving target and the vehicle is obtained; If the distance is less than a first distance threshold and greater than a second distance threshold, the adaptive high beam is controlled to adjust the illumination range according to a preset first control parameter. The first distance threshold is the maximum distance at which the moving target can be affected by the vehicle's high beam, and the second distance threshold is the maximum distance at which the ranging error is less than the ranging error threshold. The first control parameter ensures that the dark area formed by the illumination range can cover the moving target at the second distance threshold.

2. The adaptive high beam control method according to claim 1, characterized in that, Also includes: If the distance is less than a preset third distance threshold, and the moving direction of the moving target is opposite to the moving direction of the vehicle, the adaptive high beam is controlled to adjust the illumination range according to the preset second control parameter. The third distance threshold is determined based on the maximum response time of the adaptive high beam system, and the third distance threshold is less than the second distance threshold. The second control parameter maximizes the dark area of ​​the illumination range on the side corresponding to the driver's seat of the vehicle.

3. The adaptive high beam control method according to claim 1, characterized in that, Also includes: Obtain the traffic density on the current road; When the traffic density is greater than the traffic density threshold, the adaptive high beam is controlled to adjust the illumination range according to the preset third control parameter, which enables the dark area formed by the illumination range to cover the vehicles in the traffic flow.

4. The adaptive high beam control method according to any one of claims 1 to 3, characterized in that, The moving target is determined in the following way: Acquire image data and point cloud data corresponding to the external environment of the vehicle; Based on the image data and the features of the moving target, spot targets and contour targets are identified. Based on the point cloud data and the characteristics of the moving target, the point cloud target is identified. The light spot target, the outline target, and the point cloud target are fused to obtain a fused target; If the fusion target contains a moving object, then the fusion target is determined to be the moving object; If the fusion target contains multiple moving objects, determine the moving direction of the moving objects; Based on the direction of movement of the moving objects, moving objects in the fusion target that are in the same direction as the vehicle are merged into a target in the same direction, and moving objects in the fusion target that are in the opposite direction to the vehicle are merged into a target in the opposite direction. The same-direction target and the opposite-direction target are identified as the moving target.

5. The adaptive high beam control method according to any one of claims 1 to 3, characterized in that, If the distance is less than or equal to the second distance threshold and the moving target is in the same direction of movement as the vehicle, or if the distance is less than or equal to the second distance threshold and greater than or equal to the third distance threshold, and the moving target is in a direction of movement opposite to the vehicle, the method further includes: If the vehicle's steering angle is less than a steering angle threshold, a filter is used to smooth the movement information of the moving target to obtain filtered data. Based on the filtered data, the adaptive high beam is controlled to adjust the illumination range. The movement information includes distance, speed, direction, and angular velocity. If the vehicle's steering angle is greater than or equal to the steering angle threshold, the adaptive high beams are controlled to adjust the illumination range based on the operating information.

6. The adaptive high beam control method according to any one of claims 1 to 3, characterized in that, Also includes: Obtain road condition information based on image data or in-vehicle maps; If the traffic information indicates that the current road is a roundabout, turn off the high beams.

7. The adaptive high beam control method according to any one of claims 1 to 3, characterized in that, Also includes: Get the difference between the current time and the previous time; Based on the current distance and the difference, determine whether a jump has occurred; If a sudden change occurs, the adaptive high beam will be controlled to maintain the state corresponding to the previous moment for a preset time period.

8. An adaptive high beam control device, characterized in that, Applied to vehicles, including: The acquisition module is used to acquire the distance between the moving target and the vehicle in response to the detection of a moving target; The control module is used to control the adaptive high beam to adjust the illumination range according to a preset first control parameter when the distance is less than a first distance threshold and greater than a second distance threshold. The first distance threshold is the maximum distance at which the moving target can be affected by the vehicle's high beam, the second distance threshold is the maximum distance at which the ranging error is less than the ranging error threshold, and the first control parameter ensures that the dark area formed by the illumination range can cover the moving target at the second distance threshold.

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

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed, are used to implement the method as described in any one of claims 1-7.

Images