Indicator lamp control method, device, equipment, medium and product

Abstract

The invention relates to an indicator light control method and device, equipment, a medium and a product. The method comprises the following steps: acquiring vehicle driving data of a vehicle; an intelligent driving indicating lamp is arranged in the vehicle; the intelligent driving indicator light is used for representing that the vehicle is in an auxiliary driving mode; determining an indicator light control instruction of an intelligent driving indicator light according to the vehicle driving data; and controlling the intelligent driving indicator light according to the indicator light control instruction. According to the scheme, the intelligent driving indicator lamp is arranged in the vehicle and is specially used for indicating whether the vehicle is in the auxiliary driving mode or not, so that other traffic participants can conveniently recognize the intelligent driving state of the vehicle, the risk of misjudging the vehicle driving state is reduced, and the driving safety is improved. Besides, the intelligent driving indicator light does not need to be manually set by a driver of the vehicle, and the indicator light control instruction is determined by combining the vehicle driving data, so that automatic control over the intelligent driving indicator light is achieved, convenience and accuracy of control over the intelligent driving indicator light are improved, and vehicle driving safety is further improved.

Description

Technical Field

[0001] This application relates to the field of indicator light control technology, and in particular to an indicator light control method, device, equipment, medium and product. Background Technology

[0002] With the development of intelligent driving technology, autonomous driving functions are becoming increasingly common. To ensure traffic safety, other road users (such as pedestrians and other drivers) need to determine whether a vehicle is being driven by a human or in assisted driving mode in order to respond flexibly.

[0003] In related technologies, this judgment mainly relies on traffic participants observing the vehicle's motion to infer its state. However, this method has the problem that traffic participants cannot accurately determine whether the vehicle is in an autonomous driving state. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, equipment, medium, and product for controlling indicator lights that can accurately display the autonomous driving status of a vehicle, addressing the aforementioned technical problems.

[0005] In a first aspect, this application provides an indicator light control method, comprising:

[0006] Acquire vehicle driving data; the vehicle is equipped with a smart driving indicator light; the smart driving indicator light is used to indicate that the vehicle is in assisted driving mode;

[0007] Based on the vehicle driving data, determine the indicator light control command for the intelligent driving indicator light;

[0008] The intelligent driving indicator light is controlled according to the indicator light control command.

[0009] In one embodiment, the vehicle driving data includes the current driving mode; the indicator light control command includes at least one of an on command, an off command, and a frequency control command; the frequency control command controls the intelligent driving indicator light to flash at a preset frequency parameter; based on the vehicle driving data, the indicator light control command for the intelligent driving indicator light is determined, including at least one of the following: if the current driving mode is an assisted driving mode, the indicator light control command is determined to be an on command; if the current driving mode is a manual driving mode, the indicator light control command is determined to be an off command; if the current driving mode is detected to have switched to an assisted driving mode, the indicator light control command is determined to be an on command; if a manual takeover signal is detected when the current driving mode is an assisted driving mode, the frequency parameter is determined to be a first preset frequency; the manual takeover signal is used to prompt that the vehicle needs manual takeover.

[0010] In one embodiment, the vehicle driving data includes the current driving distance between the vehicle and the following vehicles; determining the indicator light control command for the intelligent driving indicator light based on the vehicle driving data includes: determining the vehicle's distance safety type based on the current driving distance and the target safety distance corresponding to the vehicle; and determining the indicator light control command based on the distance safety type.

[0011] In one embodiment, the spacing safety type includes at least one of a safety type, a warning type, and a danger type; the indicator light control command includes a frequency control command; the frequency control command controls the intelligent driving indicator light to flash at a preset frequency parameter; determining the indicator light control command according to the spacing safety type includes: when the spacing safety type is a danger type, determining the frequency parameter to a second preset frequency; when the spacing safety type is a warning type, determining the frequency parameter to a third preset frequency; the third preset frequency is less than the second preset frequency; when the spacing safety type is a safety type, determining the frequency parameter to a fourth preset frequency; the fourth preset frequency is less than the third preset frequency.

[0012] In one embodiment, the vehicle driving data further includes the current vehicle speed, the speed of the following vehicle, the vehicle deceleration, and the following distance coefficient; the vehicle deceleration is the maximum deceleration value that the current vehicle can reach during braking; the following distance coefficient is used to quantify the safe distance that the following vehicle needs to reserve; the method further includes: determining the current braking distance based on the current vehicle speed, the speed of the following vehicle, and the vehicle deceleration; determining the actual safe distance based on the following distance coefficient, the current vehicle speed, and the current braking distance; and determining the target safe distance based on the preset safe distance and the actual safe distance.

[0013] In one embodiment, the vehicle driving data includes vehicle posture data; determining the indicator light control command for the intelligent driving indicator light based on the vehicle driving data includes: determining the vehicle's posture safety type based on the vehicle posture data; and determining the indicator light control command based on the posture safety type.

[0014] In one embodiment, the posture safety type includes at least one of a first dangerous posture type, a second dangerous posture type, and a safe posture type; the indicator light control command includes at least one of a frequency control command, a brightness control command, and a direction control command; the frequency control command controls the intelligent driving indicator light to flash at a preset frequency parameter; the brightness control command controls the intelligent driving indicator light to adjust its brightness at a preset brightness parameter; the direction control command controls the intelligent driving indicator light to display at a preset direction parameter; determining the indicator light control command according to the posture safety type includes: when the posture safety type is a first dangerous posture, determining the frequency parameter to a fifth preset frequency; when the posture safety type is a second dangerous posture, determining the frequency parameter to a sixth preset frequency, determining the brightness parameter to a first preset brightness, and determining the direction parameter to a first preset direction; when the posture safety type is a safe posture type, determining the frequency parameter to a seventh preset frequency, and determining the direction control command to a second preset direction.

[0015] In one embodiment, the vehicle posture data includes at least one of lateral adjustment amplitude and posture oscillation frequency; determining the vehicle's posture safety type based on the vehicle posture data includes: determining the posture safety type as a first dangerous posture type when the lateral adjustment amplitude is greater than a first adjustment amplitude threshold, or when the posture oscillation frequency is greater than a preset oscillation frequency threshold; determining the posture safety type as a second dangerous posture type when the lateral adjustment amplitude is greater than a second adjustment amplitude threshold and the lateral adjustment amplitude is not greater than the first adjustment amplitude threshold; the second adjustment amplitude threshold is less than the first adjustment amplitude threshold; and determining the posture safety type as a safe posture type when the lateral adjustment amplitude is not greater than the second adjustment amplitude threshold.

[0016] In one embodiment, the vehicle driving data includes parking reference data; determining the indicator light control command for the intelligent driving indicator light based on the vehicle driving data includes: determining at least one of color control parameters, frequency control parameters, brightness control parameters, and lighting sequence parameters in the indicator light control command for the intelligent driving indicator light based on the parking reference data; wherein, the lighting sequence parameter is the lighting sequence of at least two sequentially arranged light-emitting units in the intelligent driving indicator light.

[0017] In one embodiment, the parking reference data includes at least one of the current gear position, steering angle, and obstacle distance; based on the parking reference data, at least one of the color control parameter, frequency control parameter, brightness control parameter, and illumination sequence parameter in the indicator light control command of the intelligent driving indicator light is determined, including: determining a color control parameter matching the current gear position as a first preset color; determining an illumination sequence parameter matching the current gear position as a first preset illumination sequence; determining a frequency control parameter matching the current gear position as an eighth preset frequency; determining a brightness control parameter matching the steering angle as a second preset brightness; determining a brightness control parameter matching the obstacle distance as a third preset brightness; and determining a frequency control parameter matching the obstacle distance as a ninth preset frequency.

[0018] In one embodiment, the vehicle driving data includes the current light intensity; the indicator light control command includes a brightness control parameter; and the indicator light control command for the intelligent driving indicator light is determined based on the vehicle driving data, including: determining the brightness control parameter as an enhanced brightness parameter when the current light intensity is not less than a light intensity threshold; and determining the brightness control parameter as a reduced brightness parameter when the current light intensity is less than a light intensity threshold.

[0019] In one embodiment, the vehicle driving data includes the current driving mode; the method further includes: when the current driving mode is an assisted driving mode, determining the vehicle's current behavior information based on the vehicle's driving intention in the assisted driving mode; the current behavior information is used by the vehicle to transmit its vehicle behavior in the assisted driving mode to surrounding traffic participants; and controlling the intelligent driving interactive lights to display the current behavior information.

[0020] Secondly, this application also provides an indicator light control device, comprising:

[0021] The acquisition module is used to acquire vehicle driving data; the vehicle is equipped with a smart driving indicator light; the smart driving indicator light is used to indicate that the vehicle is in assisted driving mode;

[0022] The processing module is used to determine the indicator light control command for the intelligent driving indicator light based on the vehicle driving data;

[0023] The control module is used to control the intelligent driving indicator light according to the indicator light control command.

[0024] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0025] Acquire vehicle driving data; the vehicle is equipped with a smart driving indicator light; the smart driving indicator light is used to indicate that the vehicle is in assisted driving mode;

[0026] Based on the vehicle driving data, determine the indicator light control command for the intelligent driving indicator light;

[0027] The intelligent driving indicator light is controlled according to the indicator light control command.

[0028] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0029] Acquire vehicle driving data; the vehicle is equipped with a smart driving indicator light; the smart driving indicator light is used to indicate that the vehicle is in assisted driving mode;

[0030] Based on the vehicle driving data, determine the indicator light control command for the intelligent driving indicator light;

[0031] The intelligent driving indicator light is controlled according to the indicator light control command.

[0032] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0033] Acquire vehicle driving data; the vehicle is equipped with a smart driving indicator light; the smart driving indicator light is used to indicate that the vehicle is in assisted driving mode;

[0034] Based on the vehicle driving data, determine the indicator light control command for the intelligent driving indicator light;

[0035] The intelligent driving indicator light is controlled according to the indicator light control command.

[0036] The aforementioned indicator light control method, device, equipment, medium, and product acquire vehicle driving data; the vehicle is equipped with an intelligent driving indicator light; the intelligent driving indicator light is used to indicate that the vehicle is in assisted driving mode; based on the vehicle driving data, indicator light control commands are determined for the intelligent driving indicator light; and the intelligent driving indicator light is controlled according to the indicator light control commands. This technical solution, by setting intelligent driving indicator lights in the vehicle specifically to indicate whether the vehicle is in assisted driving mode, facilitates other road users in identifying the vehicle's intelligent driving status, thereby reducing the risk of misjudging the vehicle's driving status and improving driving safety. Furthermore, the aforementioned intelligent driving indicator lights do not require manual setting by the vehicle driver; instead, the indicator light control commands are determined based on vehicle driving data, thereby achieving automated control of the intelligent driving indicator lights, improving the convenience and accuracy of intelligent driving indicator light control, and further enhancing vehicle driving safety. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the indicator light control architecture of an indicator light control method in one embodiment;

[0039] Figure 2 This is a flowchart illustrating an indicator light control method in one embodiment;

[0040] Figure 3 This is a flowchart illustrating the steps for determining the indicator light control command in one embodiment;

[0041] Figure 4 This is a flowchart illustrating the steps for determining the indicator light control command in another embodiment;

[0042] Figure 5 This is a flowchart illustrating the steps for determining the indicator light control command in yet another embodiment;

[0043] Figure 6 This is a flowchart illustrating the steps for determining the indicator light control command in another embodiment;

[0044] Figure 7 This is a schematic diagram of the intelligent driving indicator light and pedestrian warning controller linkage system architecture in one embodiment of the indicator light control method.

[0045] Figure 8This is a flowchart illustrating the steps for determining the indicator light control command in yet another embodiment;

[0046] Figure 9 This is a structural block diagram of an indicator light control device in one embodiment;

[0047] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] To facilitate understanding, a brief explanation of the indicator light control architecture in a vehicle will be provided first. For example... Figure 1 As shown, the vehicle can be equipped with intelligent driving indicator lights and intelligent interactive lights. The intelligent driving indicator lights are used to indicate that the vehicle is in assisted driving mode and can include front and rear intelligent driving indicator lights. The front intelligent driving indicator lights are integrated into the upper part of the front grille or inside the headlight assembly, adjacent to but independent of the daytime running lights; the rear intelligent driving indicator lights are integrated below the high-mounted brake light or along the lower edge of the rear window (not a legally mandated lighting area). The intelligent interactive lights are used to indicate the vehicle's status by displaying text information. It is worth noting that the number, installation location, and other basic installation settings of the intelligent driving indicator lights and intelligent interactive lights can be adjusted according to actual needs, and this application does not impose any limitations on them.

[0050] Accordingly, the vehicle's onboard controller can house an intelligent driving control unit and a lighting control unit. The intelligent driving control unit is connected to the lighting control unit, and the lighting control unit is connected to the intelligent driving indicator lights. These connection methods include, but are not limited to, Controller Area Network (CAN) cable connection, Local Interconnect Network (LIN) cable connection, and hardwired connection. The intelligent driving control unit is used to monitor in real time whether the vehicle is in intelligent driving mode and determine the specific status of the current intelligent driving mode; the lighting control unit is used to control the status of the intelligent driving indicator lights based on vehicle driving information.

[0051] Based on the above indicator light architecture, in one embodiment, such as Figure 2 As shown, an indicator light control method is also provided, applied to a vehicle's onboard controller, the method comprising the following steps:

[0052] S201, Obtain vehicle driving data; The vehicle is equipped with a smart driving indicator light; The smart driving indicator light is used to indicate that the vehicle is in assisted driving mode.

[0053] Among them, the vehicle can be a vehicle with Level 3 or higher autonomous driving functions, and the vehicle driving data can be a set of data collected or generated by various sensors and control units during the operation of the vehicle, which can reflect the real-time motion status, driving mode and control intention of the vehicle.

[0054] Optionally, when the vehicle is in motion, data related to the vehicle's driving status can be collected or generated by various sensors and control units. In this embodiment, whether the vehicle is in motion can be determined based on whether the vehicle is powered on or by obtaining the current vehicle speed, etc., and this embodiment does not impose any limitations on this.

[0055] S202 determines the indicator light control command for the intelligent driving indicator light based on vehicle driving data.

[0056] The indicator light control command can be a command used to adjust the working status of the intelligent driving indicator light. The indicator light control command also includes preset parameters corresponding to the command.

[0057] Optionally, the control commands for the intelligent driving indicator lights are determined by analyzing and processing the vehicle driving data collected by the on-board sensors. The method for determining the indicator light control commands can be based on the mapping relationship between the processed vehicle driving data and the indicator light control commands, or by using a pre-trained model to predict parameters from the vehicle driving data. This embodiment does not impose any limitations on this method.

[0058] S203 controls the intelligent driving indicator lights according to the indicator light control instructions.

[0059] Optionally, the lighting control unit outputs a corresponding pulse width modulation (PWM) signal to the intelligent driving indicator light according to the indicator light control command. By adjusting parameters such as the frequency and duty cycle of the PWM signal, precise control of the intelligent driving indicator light can be achieved.

[0060] The aforementioned technical solution incorporates intelligent driving indicator lights within the vehicle to specifically indicate whether the vehicle is in assisted driving mode. This facilitates other road users' identification of the vehicle's intelligent driving status, reducing the risk of misjudging the vehicle's driving condition and improving driving safety. Furthermore, these intelligent driving indicator lights do not require manual settings by the driver; instead, control commands are determined based on vehicle driving data, achieving automated control of the indicator lights. This enhances the convenience and accuracy of indicator light control, further improving vehicle driving safety.

[0061] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the vehicle driving data is further refined to include the vehicle's current driving mode; the indicator light control command is further refined to include at least one of an on command, an off command, and a frequency control command; correspondingly, the indicator light control command determination step of the intelligent driving indicator light in S202 is further refined. See also Figure 3 The steps for determining the indicator light control command shown include:

[0062] S301, if the current driving mode is determined to be assisted driving mode, the indicator light control command is determined to be an activation command.

[0063] The current driving mode can be the actual driving control mode currently used by the vehicle, which includes, but is not limited to, manual driving mode and assisted driving mode. Manual driving mode is a mode where the vehicle's driving control is entirely performed by the driver; assisted driving mode is a mode where the vehicle possesses environmental perception, decision-making, planning, and vehicle control capabilities, enabling it to complete driving tasks without requiring full driver intervention.

[0064] Optionally, when the vehicle is in assisted driving mode, the intelligent driving control unit sends an indicator light turn-on signal to the lighting control unit, which then outputs a PWM signal to turn on the indicator light based on the received indicator light turn-on signal.

[0065] The method for the lighting control unit to activate the indicator lights can be as follows: When the vehicle is in intelligent driving mode, the intelligent driving control unit sends an indicator light activation signal to the lighting control unit via the CAN bus. After receiving the indicator light activation signal, the lighting control unit outputs a PWM signal via a hardwired connection to illuminate the front and rear intelligent driving indicator lights. Specifically, the intelligent driving indicator lights can be controlled to illuminate in a first preset color (such as cyan) at a first preset frequency (such as constant light or low-frequency breathing slow flashing). The signal frequency, brightness, and duty cycle of the indicator lights can all be set according to actual conditions, and this embodiment does not impose any restrictions on this. Depending on the actual state of intelligent driving, the lighting control unit can also control the intelligent interactive lights via the CAN bus signal to assist in prompting specific vehicle behaviors and indicating that the vehicle is in intelligent driving mode. For example, the lighting control unit controls the intelligent interactive lights to display text such as "Autonomous Driving". The intelligent interactive lights are used to display information display devices arranged on the exterior of the vehicle (such as the front, rear, or side of the vehicle). The intelligent interactive lights convey information related to the intelligent driving status to surrounding traffic participants in a dynamic and visual manner.

[0066] S302, when the current driving mode is manual driving mode, the opening and closing control parameter is set to turn off the indicator light.

[0067] Among them, the on / off control parameter for the indicator light is used to represent the instruction for the intelligent driving indicator light to stop working.

[0068] Optionally, when the vehicle is in manual driving mode, indicating that the intelligent driving indicator light does not need to be turned on, the intelligent driving control unit sends an indicator light off signal to the lighting control unit via CAN signal. The lighting control unit determines that the on / off control parameter is that the indicator light is off, and turns off the indicator light by stopping the output of the PWM signal.

[0069] The intelligent driving indicator lights that can be turned off include the front and rear intelligent driving indicator lights. The lighting control unit can also simultaneously control the intelligent interactive lights to stop vehicle behavior prompts, indicating that the vehicle is not in autonomous driving mode.

[0070] S303, upon detecting that the current driving mode has switched to assisted driving mode, determines that the indicator light control command is an activation command.

[0071] Optionally, the vehicle's driving mode can be monitored in real time during operation, and the intelligent driving indicator light can be turned on when the vehicle switches to an assisted driving mode. For example, when the vehicle switches from manual driving mode to assisted driving mode, a PWM signal is output via hardwired to turn on the intelligent driving indicator light.

[0072] S304, when the current driving mode is assisted driving mode, if a manual takeover signal is detected, the frequency parameter is determined to be the first preset frequency; the manual takeover signal is used to prompt the vehicle to be manually taken over.

[0073] Among them, the manual takeover signal is a signal generated by the intelligent driving control unit when it detects that the driver needs to intervene in controlling the vehicle. When the vehicle is in assisted driving mode and encounters abnormal situations (such as road conditions that the autonomous driving cannot handle, sensor failures, etc.) and manual takeover is required, it is generated and sent by the intelligent driving control unit; the frequency parameter is a parameter used to control the intelligent driving indicator to flash at a preset frequency; the first preset frequency is a fixed flashing frequency of the intelligent driving indicator that is preset in advance, such as 400ms on and 400ms off, which is used to indicate that the vehicle is in an abnormal autonomous driving situation.

[0074] Optionally, when the vehicle is in assisted driving mode, if an abnormal situation is detected (such as unrecognizable road conditions, abnormal sensor data, etc.) and manual intervention is required, the intelligent driving control unit generates a manual intervention signal and sends the manual intervention signal to the lighting control unit via the CAN bus. After receiving the parameters, the lighting control unit controls the output of the hard-wired PWM signal at a first preset frequency, thereby causing the intelligent driving indicator light to flash at the first preset frequency.

[0075] The intelligent driving indicator lights that flash at a first preset frequency may include front and rear intelligent driving indicator lights. Alternatively, the intelligent interactive light text can be controlled via CAN bus signals to provide vehicle behavior prompts, indicating that the vehicle is in an abnormal autonomous driving state and issuing warning information to road users around the vehicle.

[0076] This embodiment uses the assisted driving mode, manual driving mode, and the case of switching to assisted driving mode as examples to describe in detail the process of turning the control indicator light on or off. This achieves the goal of communicating with surrounding traffic participants whether the vehicle has activated assisted driving technology by controlling the on / off state of the intelligent driving indicator light. It is worth noting that the above is only illustrative; in practical applications, other control logic and judgment conditions may be included, and this application does not impose any limitations on them.

[0077] With the above solution, when the vehicle is in assisted driving mode and encounters abnormal situations (such as unrecognizable road conditions, abnormal sensor data, etc.), the intelligent driving indicator light of the vehicle will flash at a first preset frequency to clearly remind traffic participants around the vehicle that the vehicle is in assisted driving mode abnormally, thereby improving the safety of vehicle driving.

[0078] In this embodiment, by directly linking the vehicle's current driving mode with the on / off control parameters of the intelligent driving indicator light, surrounding road users can intuitively determine the vehicle's current driving mode through the on / off status of the intelligent driving indicator light. Simultaneously, there is no need for the driver to manually switch the indicator light's on / off status; parameter adjustments are automatically triggered based entirely on the driving mode. This improves the convenience and timeliness of intelligent driving indicator light control, avoids potential forgetfulness or misoperation during manual operation, and further ensures driving safety when switching between different driving modes.

[0079] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the vehicle driving data is further refined to include the current driving distance between the vehicle and the following vehicles; correspondingly, the step of determining the indicator light control command of the intelligent driving indicator light in S202 is further refined. See Figure 4 The steps for determining the indicator light control command shown include S401 to S402. Wherein:

[0080] S401, determine the vehicle's spacing safety type based on the current driving distance and the target safety distance corresponding to the vehicle.

[0081] The current driving distance can be the instantaneous physical distance between the vehicle and the vehicle in front or behind in the same lane, measured in real time by onboard sensors. The target safe distance can be calculated based on factors such as vehicle dynamics, current speed, and road conditions, representing the minimum distance required to ensure safety. The distance safety type can be a qualitative judgment of the safety level of the current driving distance. The distance safety type can be set according to different safety levels, such as at least one of hazard, warning, and safe types. A hazard type indicates that the current driving distance is below a safety threshold, posing a high risk of collision; a warning type indicates that the current driving distance is close to a safety threshold, requiring attention; and a safe type indicates that the distance to the vehicle in front is within a safe range.

[0082] Optionally, the current driving distance can be compared with the target safe distance, and the qualitative judgment result of the safety level corresponding to the current driving distance can be determined based on the comparison result. For example, if the current driving distance is greater than a preset multiple (e.g., 1.5 times) of the target safe distance, it indicates that the current driving distance is a safe driving distance, i.e., a safe posture type. The preset multiple is a specific value set according to parameters such as vehicle driving environment or driving speed to meet the needs of actual scenarios.

[0083] In one embodiment, determining the target safe distance may further include: determining the current braking distance based on the current vehicle's speed, the following vehicle's speed, and the current vehicle's deceleration; determining the actual safe distance based on the current vehicle's following distance coefficient, the current vehicle's speed, and the current braking distance; and determining the target safe distance based on the preset safe distance and the actual safe distance.

[0084] Among them, the current vehicle speed can be the real-time speed of the vehicle during driving, the following vehicle speed can be the real-time speed of the vehicle behind which there is a following relationship, the vehicle deceleration can be the maximum deceleration value that the current vehicle can achieve during braking, the current braking distance can be the actual distance required for the current vehicle to brake in the current state, the following distance coefficient can be a coefficient preset based on road conditions, used to quantify the safe distance that needs to be reserved when following, the actual safe distance can be the basic safe distance that needs to be maintained between the vehicle and the following vehicle, which is dynamically calculated, and the preset safe distance can be a fixed safe distance that is set in advance (such as it can be set based on vehicle performance).

[0085] Optionally, the theoretical current braking distance is calculated based on the current vehicle speed, the following vehicle speed, and the vehicle deceleration. Then, the current braking distance is multiplied by the following distance coefficient and the vehicle speed to calculate the actual safe distance. Finally, this dynamically calculated value (i.e., the actual safe distance) is compared with the preset safe distance. To ensure vehicle driving safety, the larger of the two values ​​is determined as the target safe distance.

[0086] In this embodiment, the current braking distance is calculated using the current vehicle speed, the speed of the following vehicle, and the vehicle's deceleration. Then, the current braking distance is corrected based on the following distance coefficient and the current vehicle speed, ensuring dynamic adaptation of the safe distance to real-time road conditions and road surface characteristics. Finally, the final target safe distance is determined by combining the preset safe distance, avoiding the limitation of a fixed safe distance failing to respond to changes in road conditions.

[0087] S402, determine the indicator light control command based on the spacing safety type.

[0088] Optionally, based on the spacing safety type corresponding to the current driving distance and in conjunction with a pre-set mapping relationship between spacing safety types and indicator light control commands, the indicator light control command corresponding to the spacing safety type is determined. In this embodiment, the indicator light control command can also be predicted based on the spacing safety type using a pre-trained model; therefore, this embodiment does not limit this approach.

[0089] In one embodiment, determining the indicator light control command based on the spacing safety type may further include: determining a second preset frequency as the frequency control parameter when the spacing safety type is a danger type; determining a third preset frequency as the frequency control parameter when the spacing safety type is a warning type; the third preset frequency is less than the second preset frequency; and determining a fourth preset frequency as the frequency control parameter when the spacing safety type is a safety type; the fourth preset frequency is less than the third preset frequency.

[0090] Optionally, the second, third, and fourth preset frequencies are all specific flashing frequency values ​​preset for different spacing safety types. For example, the higher the frequency value, the faster the flashing, and the stronger and more urgent the warning.

[0091] Optionally, based on the preset mapping rules between spacing safety type and frequency control parameters, the qualitative safety level is converted into quantitative frequency control parameters; the lighting control unit drives the intelligent driving indicator light to flash at the corresponding frequency according to the determined frequency control parameters, thereby providing rear vehicles with a gradient visual warning signal that matches the degree of danger.

[0092] In this embodiment, the spacing safety type is correlated with the frequency control parameters of the intelligent driving indicator light in a gradient manner. This allows surrounding traffic participants to accurately distinguish the spacing safety level between the vehicle and the following vehicle by observing the difference in the flashing frequency of the indicator light, avoiding prediction errors caused by ambiguous information. Simultaneously, the corresponding frequency parameters can be automatically matched according to the spacing safety type, eliminating the need for manual frequency adjustment. This ensures that the indicator light prompts are synchronized in real time when the vehicle distance risk level changes, improving the timeliness and accuracy of risk warnings in following scenarios and effectively reducing the probability of rear-end collisions.

[0093] Specific implementation methods for intuitively conveying the safe following distance status of vehicles to surrounding traffic participants include: using millimeter-wave radar or lidar to measure the distance (d) between the vehicle and the vehicle behind in real time, simultaneously identifying the speed of the vehicle behind using a camera, and obtaining the real-time speed of the vehicle itself; secondly, calculating the dynamic safe distance d. safe The calculation formula is as follows: , where d min The minimum safe distance is preset, τ is the following distance coefficient based on road conditions, and a is the following distance. max v is the maximum deceleration of this vehicle. ego For the speed of this vehicle, v follow Let d be the speed of the following vehicle; then, the distance state between this vehicle and the following vehicle is classified using a distance state evaluation function, specifically: when d > 1.5d safe When d < 1.5d, it is considered a safe zone; safe And d≥d safe When d < d, it is determined to be a transition zone; when d < d safe When a vehicle is detected approaching rapidly from behind, it is identified as a danger zone; finally, emergency braking prediction compensation is performed, and when a vehicle is detected approaching rapidly from behind, the following formula is used: To compensate for the level of danger, where λ emergency λ is the risk level coefficient, used to quantify the risk level of a vehicle in an emergency approach scenario; λ is the basic state coefficient (i.e., the preset value), which is the basic attribute value reflecting the vehicle in an emergency approach scenario; Δv is the relative speed of the following vehicle relative to the vehicle itself. This compensation mechanism can strengthen the risk assessment of emergency approach scenarios and ensure the timeliness and accuracy of the danger level determination.

[0094] In this embodiment, by converting the vehicle distance safety type into an intuitive intelligent driving indicator light status, surrounding traffic participants can quickly determine whether the distance between their vehicle and the following vehicle is safe through changes in the indicator light, preventing them from making dangerous maneuvers due to a lack of understanding of the vehicle distance status. Simultaneously, the indicator light control commands are dynamically determined based on the vehicle's driving distance, eliminating the need for manual adjustment. This achieves real-time linkage between the vehicle distance safety status and the indicator light prompts, ensuring driving safety in following scenarios.

[0095] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the vehicle driving data is further refined to include vehicle attitude data; correspondingly, the step of determining the indicator light control command for the intelligent driving indicator light in S202 is further refined. See also Figure 5 The steps for determining the indicator light control command shown include S501 to S502. Wherein:

[0096] S501 determines the vehicle's attitude safety type based on vehicle attitude data.

[0097] Vehicle attitude data can be attitude data characterizing the vehicle's lateral travel state, including but not limited to lateral adjustment amplitude and attitude oscillation frequency. Attitude safety type is used to characterize the level of vehicle lateral travel stability.

[0098] Optionally, by continuously collecting real-time attitude data such as the vehicle's lateral acceleration and yaw rate, and calculating the lateral displacement deviation, lateral adjustment amplitude, and attitude oscillation frequency based on the collected data; then comparing the lateral adjustment amplitude and attitude oscillation frequency with preset safety thresholds in real time; and making a qualitative judgment on the current attitude stability of the vehicle based on the comparison results, and finally outputting the corresponding attitude safety type.

[0099] The lateral displacement deviation is calculated as follows: lateral displacement deviation (e) = |actual position - lane center|; the lateral adjustment range is calculated as follows: lateral adjustment range (A_d) = de / dt.

[0100] In one embodiment, the vehicle attitude data includes at least one of lateral adjustment amplitude and attitude oscillation frequency. The lateral adjustment amplitude can be the rate of change of lateral position deviation of the vehicle during lane keeping to maintain lane position; the attitude oscillation frequency can be the number of times the vehicle crosses the lane center point per unit time during lane keeping. Accordingly, determining the vehicle's attitude safety type based on the vehicle attitude data can include: determining the attitude safety type as a first dangerous attitude type when the lateral adjustment amplitude is greater than a first adjustment amplitude threshold, or when the attitude oscillation frequency is greater than a preset oscillation frequency threshold; determining the attitude safety type as a second dangerous attitude type when the lateral adjustment amplitude is greater than a second adjustment amplitude threshold but not greater than the first adjustment amplitude threshold; the second adjustment amplitude threshold being less than the first adjustment amplitude threshold; and determining the attitude safety type as a safe attitude type when the lateral adjustment amplitude is not greater than the second adjustment amplitude threshold.

[0101] The first adjustment amplitude threshold can be a preset lateral adjustment amplitude threshold, used to determine whether the vehicle's posture safety type is the first dangerous posture type; the preset oscillation frequency threshold can be a preset posture oscillation frequency threshold, used to determine whether the vehicle's posture safety type is the first dangerous posture type; the first dangerous posture type can be a state that represents severe instability in the vehicle's lateral driving posture and requires special warning; the second adjustment amplitude threshold can be a preset lateral adjustment amplitude threshold, used to determine whether the vehicle's posture safety type is the second dangerous posture type; the second dangerous posture type can be a state that represents slight instability in the vehicle's lateral driving posture and requires regular warning; the safe posture type can be a state that represents stable lateral driving posture and requires no special warning.

[0102] It is worth noting that, in addition to the first dangerous posture type, the second dangerous posture type, and the safe posture type mentioned above, other posture safety types may also exist. The corresponding posture safety type can be determined according to actual needs, and this embodiment does not impose any limitations on this. Optionally, the lateral adjustment amplitude and posture oscillation frequency are compared with preset first adjustment amplitude threshold, second adjustment amplitude threshold, and oscillation frequency threshold, respectively, and the above-mentioned graded judgment rules are followed; finally, a qualitative posture safety type (first dangerous type, second dangerous type, or safe type) is output. Among them, if the posture oscillation frequency is not greater than the preset oscillation frequency threshold, it indicates that the vehicle is in a safe posture type, and no special warning is required. In this embodiment, the first adjustment amplitude threshold can be set to 0.3, the preset oscillation frequency threshold can be set to 0.2, and the second adjustment amplitude threshold can be set to 0.1. The above thresholds can also be adjusted according to actual conditions, and this embodiment does not impose any limitations on this.

[0103] In this embodiment, different attitude safety types are defined by adjusting the lateral amplitude threshold and the attitude oscillation frequency threshold, making the classification of attitude safety types more objective and accurate. Simultaneously, matching indicator light control commands to the classified attitude safety types allows surrounding traffic participants to more accurately obtain the risk level of vehicle attitude risk, reducing the accident risk caused by ambiguous attitude judgments among surrounding traffic participants.

[0104] S502 determines the indicator light control command based on the attitude safety type.

[0105] Optionally, when the vehicle is in lane-keeping mode, the attitude safety type is converted into a specific indicator light control command through a pre-defined mapping relationship between attitude safety type and indicator light control command. In this embodiment, the indicator light control command can also be predicted based on the attitude safety type using a pre-trained model; therefore, this embodiment does not limit this approach.

[0106] In one embodiment, the posture safety type includes at least one of a first dangerous posture type, a second dangerous posture type, and a safe posture type; the indicator light control command includes at least one of a frequency control command, a brightness control command, and a direction control command; the frequency control command controls the intelligent driving indicator light to flash at a preset frequency parameter; the brightness control command controls the intelligent driving indicator light to adjust its brightness at a preset brightness parameter; the direction control command controls the intelligent driving indicator light to display at a preset direction parameter; the indicator light control command is determined according to the posture safety type, including: when the posture safety type is a first dangerous posture, determining the frequency parameter to a fifth preset frequency; when the posture safety type is a second dangerous posture, determining the frequency parameter to a sixth preset frequency, determining the brightness parameter to a first preset brightness, and determining the direction parameter to a first preset direction; when the posture safety type is a safe posture type, determining the frequency parameter to a seventh preset frequency, and determining the direction control command to a second preset direction.

[0107] Among them, the fifth preset frequency is the flashing frequency of the indicator light corresponding to the first dangerous posture; the sixth preset frequency is the flashing frequency of the indicator light corresponding to the second dangerous posture; the seventh preset frequency is the indicator light frequency corresponding to the safe state; the first preset brightness is the indicator light brightness corresponding to the second dangerous posture; the first preset direction is the direction of the intelligent driving indicator light flow corresponding to the second dangerous posture, which is consistent with the actual lateral displacement deviation direction of the vehicle; and the second preset direction is the direction of the intelligent driving indicator light flow corresponding to the safe posture type.

[0108] Optionally, when the attitude safety type is the first dangerous attitude, the flashing frequency of the indicator light corresponding to the frequency control parameter is the fifth preset frequency. The specific value of the fifth preset frequency can be set according to the specific situation, and this embodiment does not limit it.

[0109] For situations where the posture safety type is classified as the most dangerous posture, the intelligent driving indicator light can be controlled by combining preset brightness and preset direction parameters to accurately convey the vehicle's behavior to surrounding participants. That is, the intelligent driving indicator light can be controlled based on at least one of preset frequency, preset brightness, and preset direction parameters to accurately convey vehicle behavior. Therefore, this embodiment does not impose any limitations on this approach.

[0110] In some embodiments, when the attitude safety type is the second dangerous attitude, the specific calculation method of the first preset brightness is as follows: the first preset brightness L = K1 × |A_d|, and the sixth preset frequency F = K2 × F_o. Where A_d is the lateral adjustment amplitude; F_o is the attitude oscillation frequency. Alternatively, the first preset brightness and the sixth preset frequency can also be calculated according to the dynamic compensation mode; the first preset brightness = min(maximum brightness value, base brightness value + K1 × |A_d|), where the maximum brightness value is preset to 150 in this embodiment, and the base brightness value is preset to 100 in this embodiment; the sixth preset frequency = min(maximum frequency value, base frequency value + K2 × F_o), where the maximum frequency value is preset to 3 in this embodiment, and the base frequency value is preset to 1 in this embodiment. Wherein, K1 and K2 are preset brightness calculation coefficients and frequency calculation coefficients, respectively, for example, K1 = 500, K2 = 10.

[0111] In addition to the above methods, other methods may be used to calculate the first preset brightness and the sixth preset frequency, and the following rules should be followed: the first preset brightness increases with the increase of the horizontal adjustment range, but the first preset brightness does not exceed the maximum brightness value given by the calibration; the sixth preset frequency increases with the acceleration of oscillation, but the sixth preset frequency does not exceed the maximum frequency value given by the road traffic safety rules.

[0112] Optionally, when controlling the intelligent driving indicator light under the condition of the second dangerous posture, the flow direction and flow speed of the intelligent driving indicator light can also be controlled. The flow direction is a first preset direction, synchronized with the vehicle's offset direction. The flow speed V = K3 × de / dt, where K3 is a preset flow speed calculation coefficient; de / dt is the lateral adjustment range (A_d = de / dt). Other calculation methods can also be used, and this embodiment does not limit this. After controlling the intelligent driving indicator light according to the first preset brightness and the sixth preset frequency, the intelligent interactive light synchronously displays "lane keeping" related information as a prompt.

[0113] Specifically, when the posture safety type is safe posture type and the lateral displacement deviation is less than the deviation threshold (e.g., 0.15), the smooth breathing mode of the indicator light is triggered, which controls the intelligent driving indicator light to make a smooth breathing-like brightness change at a frequency of 0.5Hz, so that the intelligent driving indicator light presents a smooth breathing light effect; when the posture safety type is safe posture type and the lateral displacement deviation is not less than the deviation threshold, the slow flow mode is triggered, which controls the intelligent driving indicator light to make a slow flow display at a frequency of 0.8Hz and combined with the real-time offset direction of the vehicle, presenting a slow flowing water light effect.

[0114] It should be noted that differentiated indicator light control command combinations are designed for different posture safety types, enabling surrounding traffic participants to accurately distinguish the degree of danger of a vehicle's posture through multi-dimensional indicator light status. Simultaneously, multi-dimensional parameters can be automatically matched according to the posture safety type, eliminating the need for manual adjustment of multiple parameters and ensuring vehicle driving safety.

[0115] In this embodiment, the vehicle's posture safety type is converted into indicator light control commands to adjust the state of the intelligent driving indicator lights, enabling surrounding road users to quickly determine the vehicle's posture safety type through changes in the indicator lights. Simultaneously, the indicator light control commands are automatically determined entirely based on vehicle posture data, requiring no manual adjustment and effectively ensuring driving safety when the vehicle's posture is unstable.

[0116] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the vehicle driving data is further refined to include parking reference data; correspondingly, the step of determining the indicator light control command of the intelligent driving indicator light in S202 is further refined. See also Figure 6 The steps for determining the indicator light control command shown include:

[0117] S601, based on parking reference data, determine at least one of the following in the indicator light control command for the intelligent driving indicator light: color control parameter, frequency control parameter, brightness control parameter, and illumination sequence parameter. The parking reference data can be a set of data related to parking behavior generated or collected by the vehicle perception system and planning control system during automatic parking, such as the current gear position, steering angle, and distance between the vehicle and obstacles; the color control parameter can be a parameter used to control the intelligent driving indicator light to display a specific color; the frequency control parameter can be a parameter used to regulate the indicator light's state change cycle; the brightness control parameter is a parameter used to adjust the indicator light's luminous intensity; and the illumination sequence parameter is the illumination order of at least two sequentially arranged light-emitting units in the intelligent driving indicator light.

[0118] Optionally, the computer device predefines and stores one or more sets of mapping relationships between parking reference data and indicator light control commands. These mapping relationships are a lookup table containing specific parking reference data and their corresponding indicator light control commands. The indicator light control commands can be one or any combination of color control parameters, frequency control parameters, brightness control parameters, and illumination sequence parameters. This embodiment does not limit the specific parameter combinations for the indicator light control commands.

[0119] Optionally, when the vehicle's automatic parking function is detected to be active, the current parking reference parameters are obtained, and a mapping relationship matching the current parking reference parameters is selected from one or more pre-stored mapping relationships; in the filtered mapping relationships, the indicator light control command corresponding to the current parking parameters is searched.

[0120] In one embodiment, the parking reference data may include the current gear position; based on the parking reference data, determining at least one of the color control parameters, frequency control parameters, brightness control parameters, and lighting sequence parameters in the indicator light control command of the intelligent driving indicator light includes: determining the color control parameter matching the current gear position as a first preset color; determining the lighting sequence parameter matching the current gear position as a first preset lighting sequence; and determining the frequency control parameter matching the current gear position as an eighth preset frequency.

[0121] Among them, the current gear position can be the gear position of the vehicle during automatic parking; the first preset color can be a parameter that matches the current gear position and is used to control the intelligent driving indicator to display a specific color; the first preset lighting sequence can be the lighting sequence of each light-emitting unit in the indicator that matches the current gear position; and the eighth preset frequency can be a parameter that matches the current gear position and is used to adjust the state change cycle of the indicator.

[0122] Optionally, when the vehicle's automatic parking function is detected to be active, the current gear is obtained, and a mapping relationship matching the current gear is selected from one or more pre-stored mapping relationships. Then, in the filtered mapping relationships, the indicator light color control parameters, frequency control parameters, and illumination sequence parameters corresponding to the current gear are searched. The specific color, frequency value, and illumination sequence of each light-emitting unit of the indicator light corresponding to the current gear can be adjusted according to actual conditions; this embodiment does not impose any limitations on this.

[0123] In some embodiments, the intelligent driving indicator lights also include front and rear intelligent driving indicator lights. When the vehicle's automatic parking function is detected to be active, differentiated control can be performed on the intelligent driving indicator lights in different positions according to the current gear. For example, when the current gear is reverse, the color control parameter of the front intelligent driving indicator light is set to amber, and the lighting sequence parameter is that the light-emitting units in the indicator light illuminate sequentially from the outside to the inside according to their positions. By controlling the frequency change of the PWM signal, the front intelligent driving indicator light presents a contracting amber lighting effect from the outside to the inside. The color control parameter of the rear intelligent driving indicator light is set to white, and the lighting sequence parameter is that the light-emitting units in the indicator light illuminate sequentially from the bottom to the top according to their positions, so that the rear intelligent driving indicator light presents a white upward flowing lighting effect, simulating the trend of the vehicle moving backward when reversing. The lighting sequence parameter of the side skirt lights is that the light-emitting units in the indicator light illuminate sequentially from the middle of the vehicle body to the right side according to their positions, so that the side skirt lights present a rightward flowing lighting effect in the horizontal direction, further enhancing the directional guidance when reversing. At this time, the color control parameter of the side skirt lights can be set as needed.

[0124] When the current gear is forward, the color control parameter of the front intelligent driving indicator is set to white, and the lighting sequence parameter is that the light-emitting units within the indicator light illuminate sequentially from top to bottom according to their positions, thus giving the front intelligent driving indicator light a white downward flowing lighting effect, matching the forward movement of the vehicle; the color control parameter of the rear intelligent driving indicator is set to red, and the brightness control parameter is set according to the corresponding parameters in the mapping relationship. By increasing the duty cycle of the PWM signal, the brightness of the rear intelligent driving indicator light is increased, giving the rear intelligent driving indicator light a red enhanced lighting effect, thereby enhancing the prompt to traffic participants behind; the lighting sequence parameter of the side skirt lights is that the light-emitting units within the indicator light illuminate sequentially from the middle of the vehicle to the left side according to their positions, thus giving the side skirt lights a horizontal leftward flowing lighting effect, assisting in conveying the directional intention when moving forward. At this time, the color control parameter of the side skirt lights can be set as needed.

[0125] In this embodiment, the current gear position in a parking scenario is associated with the color, illumination sequence, and frequency control parameters of the intelligent driving indicator lights. This allows surrounding road users to quickly identify the vehicle's gear status through the color and frequency of the indicator lights, preventing them from misjudging the vehicle's movement due to a lack of awareness of the gear position. Simultaneously, multiple indicator light parameters can be automatically matched based on the current gear position, eliminating the need for the driver to manually adjust the color, illumination sequence, or frequency, further ensuring driving safety during parking.

[0126] In one embodiment, the parking reference data includes the steering angle; based on the parking reference data, determining at least one of the color control parameter, frequency control parameter, brightness control parameter, and lighting sequence parameter in the indicator light control command of the intelligent driving indicator light includes: determining the brightness control parameter that matches the steering angle as a second preset brightness.

[0127] Among them, the steering angle can be the real-time rotation angle of the steering wheel when the vehicle is automatically parking, and the second preset brightness can be the value of the brightness control parameter that matches the steering angle.

[0128] Optionally, when the vehicle's automatic parking function is detected to be active, the steering angle is acquired, and a mapping relationship matching the steering angle is selected from one or more pre-stored mapping relationships. Then, in the filtered mapping relationships, a brightness control parameter value matching the steering angle is found to obtain the second preset brightness. The correspondence between the steering angle and the brightness control parameter can follow this rule: the larger the steering angle, the larger the value of the second preset brightness. The brightness control parameter corresponding to the steering angle can be adjusted according to actual conditions, and this embodiment does not impose any limitations on this.

[0129] When the vehicle's automatic parking function is detected to be active, the control of the side skirt lights is illustrated as follows: The vehicle's steering angle is acquired. When the absolute value of the steering angle is greater than a preset angle (e.g., 90 degrees), it indicates that the vehicle is performing a large-angle steering maneuver. The steering direction is further determined by judging the sign of the steering angle, which can be done as follows: a steering angle > 0 indicates a left turn, and a steering angle < 0 indicates a right turn. The brightness control parameters of the side skirt lights corresponding to the steering direction are set according to the corresponding parameters in the mapping relationship, or the brightness value is increased by a preset unit (e.g., 30 units) based on the existing brightness. By increasing the PWM signal duty cycle, the visual salience of the side skirt lights corresponding to the steering direction is enhanced, helping surrounding road users quickly identify the vehicle's large-angle steering intention.

[0130] In this embodiment, the steering angle in parking scenarios is correlated with the brightness control parameters of the intelligent driving indicator light. This allows surrounding road users to perceive the vehicle's steering range through changes in the indicator light's brightness, preventing them from entering the vehicle's turning range without noticing the steering operation. Simultaneously, the indicator light brightness is automatically adjusted based entirely on the steering angle, eliminating the need for manual brightness control and preventing accidental forgetting or misoperation during manual adjustments, thus ensuring safety in parking and turning scenarios.

[0131] In one embodiment, the parking reference data includes obstacle distance; based on the parking reference data, at least one of the color control parameter, frequency control parameter, brightness control parameter, and lighting sequence parameter in the indicator light control command of the intelligent driving indicator light is determined, including: determining that the brightness control parameter matching the obstacle distance is a third preset brightness; and determining that the frequency control parameter matching the obstacle distance is a ninth preset frequency.

[0132] Among them, obstacle distance can be the straight-line distance between the vehicle and the nearest obstacle measured by the perception system during automatic parking; the third preset brightness can be the brightness control parameter value that matches the obstacle distance; and the ninth preset frequency can be the frequency control parameter value that matches the obstacle distance.

[0133] Optionally, when the vehicle's automatic parking function is detected to be active, the straight-line distance between the vehicle and the nearest obstacle during automatic parking is obtained. From one or more pre-stored mapping relationships, a mapping relationship matching the obstacle distance is selected. Within the filtered mapping relationships, brightness control parameter values ​​and frequency control parameter values ​​matching the obstacle distance are searched, thereby obtaining the third preset brightness and the ninth preset frequency. The correspondence between obstacle distance and frequency control parameters can follow the following rule: the closer the obstacle, the larger the value of the ninth preset frequency; the correspondence between obstacle distance and brightness control parameters can follow the following rule: the closer the obstacle, the larger the value of the third preset brightness. The frequency control parameter values ​​matching the obstacle distance can be adjusted according to actual conditions, and this embodiment does not impose any limitations on this.

[0134] In this embodiment, the distance to obstacles in a parking scenario is correlated with the brightness and frequency parameters of the intelligent driving indicator light. This allows surrounding road users to quickly assess the distance risk between the vehicle and obstacles based on the brightness and frequency of the indicator light. Simultaneously, the brightness and frequency parameters of the indicator light can be automatically adjusted according to the obstacle distance, eliminating the need for manual settings and ensuring real-time response to changes in distance risk, thus improving driving safety in parking scenarios.

[0135] In some embodiments, when the vehicle's automatic parking function is detected to be active, the intelligent interactive lights will simultaneously display the words "Automatic Parking in Progress" as a notification. At the same time, the intelligent driving indicator light can be controlled to remain illuminated in the basic mode (e.g., by activating the blue-green breathing light).

[0136] When the vehicle's automatic parking function is detected to switch from active to off, a success animation effect is triggered, and the intelligent driving indicator lights display a preset success animation: the color control parameters of the front and rear intelligent driving indicator lights are set to green, and the front and rear intelligent driving indicator lights are controlled to remain on as green breathing lights for a preset duration (e.g., 3 seconds). The side skirt lights are controlled to diffuse and illuminate, conveying the information that the operation has ended to surrounding traffic participants. After the animation ends, the intelligent driving indicator lights that were lit to warn of the parking process are turned off.

[0137] When the vehicle detects that the automatic parking function has switched from active to off, the control of the intelligent driving indicator light should follow the principle of prioritizing manual operation: when the driver is detected to actively activate the turn signal or other related vehicle lights (such as hazard warning lights), the current control of the intelligent driving indicator light should be terminated, and manual operation should be prioritized to ensure that the driver-led light signal transmission is not interfered with by automatic control.

[0138] In some embodiments, during automatic parking, the intelligent driving indicator light is linked to the AVAS (Acoustic Vehicle Alerting System) control unit, and the multi-module collaborative architecture of the APA and AVAS control unit is as follows: Figure 7 As shown, the APA (Automated Parking Assist) main controller's environmental perception system and body control system serve as the core input modules of the collaborative architecture, transmitting parking control commands, environmental perception data, and vehicle status data to the sensor fusion module, respectively. The sensor fusion module integrates the multi-source data and outputs it to the lighting control unit and the AVAS control unit. The lighting control unit drives the front lighting system (containing the front intelligent driving indicator), the rear lighting system (containing the rear intelligent driving indicator), and the side skirt lights, achieving dynamic control of the intelligent driving indicator. The AVAS control unit, through directional speakers and an audio synthesizer, generates and directionally outputs vehicle acoustic warning signals, thereby achieving coordinated interaction between lighting and acoustic warnings in automatic parking scenarios, improving the efficiency and safety of information interaction between the vehicle and surrounding road users.

[0139] Optionally, during automatic parking, the coordinated control of optical and acoustic cues is achieved through standardized data communication and state-driven decision-making logic. A structured CAN bus message is defined between the two, serving as a unified data carrier and integrating key parameters such as parking stage, distance to the nearest obstacle, steering direction, current gear, and pedestrian detection markers. Based on these messages, the AVAS control unit employs a hierarchical strategy to map the vehicle's state during parking to corresponding acoustic cues. When the current gear is in drive, the AVAS control unit generates a low-frequency pulse tone, with a frequency that can be set to 800Hz, a duration that can be set to 0.5 seconds, and an interval that can be set to 0.3 seconds, periodically indicating that the vehicle is searching for a parking space.

[0140] When the vehicle is in reverse gear, the AVAS control unit further subdivides the distance to the obstacle: when the distance is greater than or equal to a set distance threshold (e.g., 1.5 meters), it outputs a continuous tone with a frequency of 600Hz, a duration of 1 second, and an interval of 0.5 seconds, providing a relatively gentle signal to indicate that the vehicle is reversing and is currently far from the obstacle. When the distance is less than the set distance threshold, it generates a "Caution while reversing" voice prompt, clearly communicating the risk to surrounding road users in natural language.

[0141] If the AVAS control unit determines that there are pedestrians among the surrounding traffic participants, it will prioritize triggering a high-frequency emergency warning sound. The frequency can be set to 1200Hz, the duration can be set to 0.2 seconds, and the interval can be set to 0.2 seconds, covering other current warning states and ensuring an immediate response to pedestrian risks.

[0142] To achieve directional acoustic output from AVAS, the signal delay and weighting of the microphone array are controlled to form a focused sound beam in the target direction, enhancing the warning effect in a specific area and reducing interference to non-target areas. The beamforming function can be called. The input to this function is the original audio signal and the target direction (i.e., the direction that needs to be highlighted for warning). The output of this function is the directional sound beam signal after beamforming.

[0143] The beamforming function's processing flow can include the following steps: Based on the target direction, the microphone array's geometry, and the speed of sound, accurately calculate the signal delay time required for each microphone channel to ensure that the signals from each channel are superimposed in phase in the target direction; perform time-shift correction on the original audio signal according to the calculated delay amount, and perform a weighted summation of the delayed signals from all channels with equal weights (e.g., 0.25) to finally synthesize a beamforming signal with directional gain. This method ensures that the microphone signals are superimposed in phase in the target direction, enhancing the sound pressure level, while in non-target directions, the sound pressure level is weakened due to signal phase cancellation, achieving a directional focusing effect.

[0144] In the initial stage of coordinated control using optical and acoustic cues, a sensor data fusion module is used to fuse multi-source sensor data in automatic parking scenarios. By integrating the advantageous data from different types of sensors, the accuracy and reliability of environmental perception are improved, providing high-quality input for subsequent warning control. The multi-source sensor data fusion process may include the following steps: A Kalman filter algorithm is used to fuse ultrasonic and radar data, outputting the fused minimum obstacle distance. A weighted summation method is used to calculate the pedestrian detection confidence score, where the confidence score for camera pedestrian detection can be set to 0.7 and the confidence score for radar pedestrian detection can be set to 0.3. When the fused confidence score is greater than a confidence threshold (e.g., 0.6), a pedestrian is identified among the surrounding traffic participants.

[0145] In this embodiment, parking reference data is associated with the color, frequency, brightness, and lighting sequence of the intelligent driving indicator lights. This allows surrounding road users to intuitively understand the vehicle's parking intentions through the dynamic changes in the indicator lights, preventing dangerous actions due to a lack of understanding of the parking intent. Simultaneously, the indicator light parameters are automatically adjusted based on the parking reference data, eliminating the need for manual switching of colors, frequencies, or lighting sequences. This improves the efficiency and accuracy of information transmission in parking scenarios, effectively ensuring driving safety during the parking process.

[0146] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the vehicle driving data is further refined to include the current light intensity; the indicator light control command is further refined to include brightness control parameters; correspondingly, the indicator light control command determination step of the intelligent driving indicator light in S202 is further refined. See also Figure 8 The steps for determining the indicator light control command shown include:

[0147] S801, under the condition that the current light intensity is not less than the light intensity threshold, determine the brightness control parameter as the enhanced brightness parameter.

[0148] Among them, the current light intensity is the ambient light intensity value of the external environment of the vehicle, which is collected in real time by the light intensity sensor on the vehicle; the light intensity threshold is the critical value of light intensity used to judge the level of external light intensity of the vehicle; and the enhanced brightness parameter is the parameter used to enhance the brightness of the indicator lights.

[0149] In this embodiment, when the intelligent driving indicator light is on, the light intensity sensor continuously collects external light intensity data and transmits the light intensity data to the lighting control unit via a LIN line. After processing the light intensity data, the lighting control unit controls the duty cycle of the PWM signal output by the hard wire according to the light intensity data, and intelligently adjusts the brightness of the front intelligent driving indicator light and the rear intelligent driving indicator light.

[0150] Optionally, when the vehicle is in assisted driving mode, a stored light intensity threshold is acquired, and the current light intensity is compared with the light intensity threshold. If the current light intensity is not less than the light intensity threshold, it indicates that the external light intensity is high, and the brightness of the indicator lights needs to be increased. For example, the brightness of the indicator lights can be increased by a preset amount based on the current brightness value, thereby increasing the output of the PWM signal duty cycle, which enhances the brightness of the front and rear intelligent driving indicator lights, and makes the intelligent driving indicator lights provide a more prominent warning effect.

[0151] S802, when the current light intensity is less than the light intensity threshold, determine the brightness control parameter to be the brightness reduction parameter.

[0152] The "reduce brightness" parameter is used to reduce the brightness of the indicator light.

[0153] Optionally, when the vehicle is in assisted driving mode, a stored light intensity threshold is acquired, and the current light intensity is compared with the light intensity threshold. If the current light intensity is less than the light intensity threshold, it indicates that the external light intensity is low, and the brightness of the indicator light needs to be reduced. For example, the brightness of the indicator light can be reduced by a preset amount based on the current brightness value, thereby reducing the output of the PWM signal duty cycle to avoid glare or eye strain.

[0154] In this embodiment, the current light intensity is correlated with the brightness control parameters of the intelligent driving indicator light. When the light intensity is high, the brightness parameter is increased to ensure that the indicator light is clearly identifiable by surrounding road users, preventing it from being obscured by strong light; when the light intensity is low, the brightness parameter is reduced to prevent the indicator light from being too bright and dazzling, affecting the vision of pedestrians or other vehicle drivers. Simultaneously, the brightness adjustment is automatically triggered based entirely on the light intensity, eliminating the need for manual switching by the driver. This improves the convenience of controlling the intelligent driving indicator light and ensures driving safety under different lighting conditions.

[0155] The above embodiments provide a detailed explanation of the process for determining indicator light control commands, enabling the transmission of intelligent driving behavior to surrounding traffic participants by controlling the state of the intelligent driving indicator lights. It is worth noting that the intelligent driving behavior can also be transmitted to surrounding traffic participants by controlling the display of relevant text information using intelligent driving interactive lights; alternatively, intelligent driving indicator lights and intelligent driving interactive lights can be combined, and this application does not impose any limitations on this approach.

[0156] Based on the technical solutions of the above embodiments, this application also provides an optional embodiment. In this optional embodiment, the vehicle driving data is further refined to include the current driving mode; correspondingly, the control steps of the intelligent interactive lights are further refined, including:

[0157] When the current driving mode is determined to be assisted driving mode, the vehicle's current behavior information is determined based on the vehicle's driving intention in assisted driving mode. The current behavior information is used by the vehicle to communicate its behavior in assisted driving mode to surrounding traffic participants. The intelligent driving interactive lights are then controlled to display the current behavior information.

[0158] Among them, the vehicle driving intention can be the specific operational intention of the vehicle in the assisted driving mode, such as parking intention and lane keeping intention; the current behavior information can be a set of information generated by the vehicle in the assisted driving mode based on the real-time operating status to characterize the specific operational intention of the vehicle.

[0159] Optionally, when the assisted driving mode is active, real-time vehicle operation data (such as steering angle, speed changes, following distance, and lane departure) is collected during the assisted driving process. Based on the collected vehicle operation data, the specific operational intentions of the vehicle in assisted driving mode are analyzed to generate the vehicle's current behavior information, which is then used to control the intelligent driving interaction lights to display the vehicle's current behavior information. For example, if the vehicle is in automatic parking mode, and the current behavior information is determined to be parking-related prompts (such as "automatic parking in progress"), the intelligent driving interaction lights will be controlled to display "automatic parking in progress" to remind surrounding participants of the vehicle's behavior.

[0160] In addition to analyzing vehicle operation data during assisted driving, the determination of current behavior information can also be achieved by identifying the assisted driving functions activated during the process. For example, if the automatic parking function is activated, a text prompt message "Automatic parking in progress" is generated as current behavior information. Therefore, this embodiment does not impose any limitations on this method.

[0161] In this embodiment, intelligent driving interactive lights convey clear vehicle behavior information, enabling traffic participants around the vehicle to anticipate vehicle behavior and take safe and reasonable responses, effectively avoiding potential dangers caused by ambiguous intentions, thereby significantly improving overall safety in mixed traffic flow. It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations fall within the scope of protection of this application.

[0162] Based on the same inventive concept, this application also provides an indicator light control device for implementing the indicator light control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more indicator light control device embodiments provided below can be found in the limitations of the indicator light control method described above, and will not be repeated here.

[0163] In one exemplary embodiment, such as Figure 9 As shown, an indicator light control device is provided, including: an acquisition module 91, a processing module 92, and a control module 93, wherein:

[0164] The acquisition module 91 is used to acquire vehicle driving data; the vehicle is equipped with a smart driving indicator light; the smart driving indicator light is used to indicate that the vehicle is in assisted driving mode.

[0165] The processing module 92 is used to determine the indicator light control command for the intelligent driving indicator light based on the vehicle driving data.

[0166] The control module 93 is used to control the intelligent driving indicator lights according to the indicator light control instructions.

[0167] In one embodiment, the above Figure 9 The processing module 92 includes:

[0168] If the current driving mode is determined to be assisted driving mode, the indicator light control command is determined to be an on command; if the current driving mode is determined to be manual driving mode, the indicator light control command is determined to be an off command; if the current driving mode is detected to have switched to assisted driving mode, the indicator light control command is determined to be an on command; if a manual takeover signal is detected when the current driving mode is assisted driving mode, the frequency parameter is determined to be a first preset frequency; the manual takeover signal is used to prompt the vehicle to be manually taken over.

[0169] In one embodiment, the above Figure 9 The processing module 92 includes:

[0170] Based on the current driving distance and the target safety distance corresponding to the vehicle, determine the vehicle's spacing safety type; based on the spacing safety type, determine the indicator light control instructions.

[0171] In one embodiment, the above Figure 9 The processing module 92 includes:

[0172] When the spacing safety type is a dangerous type, the frequency parameter is determined to be a second preset frequency; when the spacing safety type is a warning type, the frequency parameter is determined to be a third preset frequency; the third preset frequency is less than the second preset frequency; when the spacing safety type is a safe type, the frequency parameter is determined to be a fourth preset frequency; the fourth preset frequency is less than the third preset frequency.

[0173] In one embodiment, the above Figure 9 The processing module 92 includes:

[0174] The current braking distance is determined based on the current vehicle speed, the speed of the following vehicle, and the vehicle deceleration; the actual safe distance is determined based on the following distance coefficient, the current vehicle speed, and the current braking distance; and the target safe distance is determined based on the preset safe distance and the actual safe distance.

[0175] In one embodiment, the above Figure 9 The processing module 92 includes:

[0176] Based on the vehicle attitude data, determine the vehicle's attitude safety type; based on the attitude safety type, determine the indicator light control commands.

[0177] In one embodiment, the above Figure 9 The processing module 92 includes:

[0178] When the attitude safety type is the first dangerous attitude, the frequency parameter is determined to be the fifth preset frequency; when the attitude safety type is the second dangerous attitude, the frequency parameter is determined to be the sixth preset frequency, the brightness parameter is determined to be the first preset brightness, and the direction parameter is determined to be the first preset direction; when the attitude safety type is the safe attitude type, the frequency parameter is determined to be the seventh preset frequency, and the direction control command is determined to be the second preset direction.

[0179] In one embodiment, the above Figure 9 The processing module 92 includes:

[0180] If the lateral adjustment amplitude is greater than the first adjustment amplitude threshold, or the attitude oscillation frequency is greater than the preset oscillation frequency threshold, the attitude safety type is determined to be the first dangerous attitude type; if the lateral adjustment amplitude is greater than the second adjustment amplitude threshold, but not greater than the first adjustment amplitude threshold, the attitude safety type is determined to be the second dangerous attitude type; if the second adjustment amplitude threshold is less than the first adjustment amplitude threshold; if the lateral adjustment amplitude is not greater than the second adjustment amplitude threshold, the attitude safety type is determined to be the safe attitude type.

[0181] In one embodiment, the above Figure 9 The processing module 92 includes:

[0182] Based on parking reference data, determine at least one of the following in the indicator light control command of the intelligent driving indicator light: color control parameter, frequency control parameter, brightness control parameter, and lighting sequence parameter; wherein, the lighting sequence parameter is the lighting sequence of at least two sequentially arranged light-emitting units in the intelligent driving indicator light.

[0183] In one embodiment, the above Figure 9 The processing module 92 includes:

[0184] The color control parameter matching the current gear position is determined as the first preset color; the lighting sequence parameter matching the current gear position is determined as the first preset lighting sequence; the frequency control parameter matching the current gear position is determined as the eighth preset frequency; the brightness control parameter matching the steering angle is determined as the second preset brightness; the brightness control parameter matching the distance to the obstacle is determined as the third preset brightness; and the frequency control parameter matching the distance to the obstacle is determined as the ninth preset frequency.

[0185] In one embodiment, the above Figure 9 The processing module 92 includes:

[0186] If the current light intensity is not less than the light intensity threshold, the brightness control parameter is determined to be the brightness enhancement parameter; if the current light intensity is less than the light intensity threshold, the brightness control parameter is determined to be the brightness reduction parameter.

[0187] In one embodiment, the above Figure 9 The processing module 92 includes:

[0188] If the current driving mode is determined to be assisted driving mode, the vehicle's current behavior information is determined based on the vehicle's driving intention in assisted driving mode. This current behavior information is used by the vehicle to communicate its behavior in assisted driving mode to surrounding traffic participants. The intelligent driving interaction lights are then controlled to display this current behavior information.

[0189] Each module in the aforementioned indicator light control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0190] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 10 As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements an indicator light control method. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0191] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0192] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0193] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0194] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0195] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0196] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0197] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for controlling an indicator light, characterized in that, The method includes: Acquire vehicle driving data; the vehicle is equipped with a smart driving indicator light; the smart driving indicator light is used to indicate that the vehicle is in assisted driving mode; Based on the vehicle driving data, determine the indicator light control command for the intelligent driving indicator light; The intelligent driving indicator light is controlled according to the indicator light control command.

2. The method according to claim 1, characterized in that, The vehicle driving data includes the current driving mode; the indicator light control command includes at least one of an on command, an off command, and a frequency control command; the frequency control command controls the intelligent driving indicator light to flash at a preset frequency parameter; based on the vehicle driving data, the indicator light control command for the intelligent driving indicator light is determined, including at least one of the following: If the current driving mode is determined to be assisted driving mode, the indicator light control command is determined to be an activation command; If the current driving mode is determined to be manual driving mode, the indicator light control command is determined to be a turn-off command; If the current driving mode is detected to have switched to assisted driving mode, the indicator light control command is determined to be an activation command; If a manual takeover signal is detected when the current driving mode is assisted driving mode, the frequency parameter is determined to be the first preset frequency. The manual takeover signal is used to indicate that the vehicle needs to be manually taken over.

3. The method according to claim 1, characterized in that, The vehicle driving data includes the current driving distance between the vehicle and the following vehicles; based on the vehicle driving data, the indicator light control commands for the intelligent driving indicator lights are determined, including: Based on the current driving distance and the target safety distance corresponding to the vehicle, determine the distance safety type of the vehicle; The indicator light control command is determined based on the spacing safety type.

4. The method according to claim 3, characterized in that, The spacing safety type includes at least one of a safety type, a warning type, and a danger type; the indicator light control command includes a frequency control command; the frequency control command controls the intelligent driving indicator light to flash at a preset frequency parameter. Based on the aforementioned spacing safety type, the indicator light control command is determined, including: If the spacing safety type is a dangerous type, the frequency parameter is determined to be a second preset frequency; When the spacing safety type is a warning type, the frequency parameter is determined to be a third preset frequency; the third preset frequency is less than the second preset frequency. When the spacing safety type is set to safety, the frequency parameter is determined to be a fourth preset frequency; the fourth preset frequency is less than the third preset frequency.

5. The method according to claim 3, characterized in that, The vehicle driving data also includes the current vehicle's speed, the following vehicle's speed, the current vehicle's deceleration, and the current vehicle's following distance coefficient; the vehicle deceleration is the maximum deceleration value that the current vehicle can reach during braking. The following distance coefficient is used to quantify the safe distance that needs to be reserved when following a vehicle; the method also includes: The current braking distance is determined based on the current vehicle's speed, the speed of the following vehicle, and the current vehicle's deceleration. The actual safe distance is determined based on the following distance coefficient of the current vehicle, the driving speed of the current vehicle, and the current braking distance. The target safety distance is determined based on the preset safety distance and the actual safety distance.

6. The method according to claim 1, characterized in that, The vehicle driving data includes vehicle attitude data; based on the vehicle driving data, the indicator light control commands for the intelligent driving indicator lights are determined, including: Based on the vehicle attitude data, determine the vehicle's attitude safety type; The indicator light control command is determined based on the posture safety type.

7. The method according to claim 6, characterized in that, The posture safety type includes at least one of a first dangerous posture type, a second dangerous posture type, and a safe posture type; the indicator light control command includes at least one of a frequency control command, a brightness control command, and a direction control command; the frequency control command controls the intelligent driving indicator light to flash at a preset frequency parameter; the brightness control command controls the intelligent driving indicator light to adjust its brightness at a preset brightness parameter; The direction control command is to control the intelligent driving indicator light to display according to preset direction parameters; Based on the posture safety type, the indicator light control command is determined, including: When the posture safety type is the first dangerous posture, the frequency parameter is determined to be the fifth preset frequency; when the posture safety type is the second dangerous posture, the frequency parameter is determined to be the sixth preset frequency, the brightness parameter is determined to be the first preset brightness, and the direction parameter is determined to be the first preset direction. When the attitude safety type is a safe attitude type, the frequency parameter is determined to be a seventh preset frequency, and the direction control command is determined to be a second preset direction.

8. The method according to claim 6, characterized in that, The vehicle attitude data includes at least one of lateral adjustment amplitude and attitude oscillation frequency; based on the vehicle attitude data, the attitude safety type of the vehicle is determined, including: If the lateral adjustment range is greater than the first adjustment range threshold, or if the attitude oscillation frequency is greater than the preset oscillation frequency threshold, the attitude safety type is determined to be the first dangerous attitude type. If the lateral adjustment range is greater than the second adjustment range threshold and the lateral adjustment range is not greater than the first adjustment range threshold, the attitude safety type is determined to be the second dangerous attitude type; the second adjustment range threshold is less than the first adjustment range threshold. If the lateral adjustment range is not greater than the second adjustment range threshold, the attitude safety type is determined to be a safe attitude type.

9. The method according to claim 1, characterized in that, The vehicle driving data includes parking reference data; based on the vehicle driving data, the indicator light control commands for the intelligent driving indicator lights are determined, including: Based on the parking reference data, determine at least one of the following in the indicator control command of the intelligent driving indicator: color control parameter, frequency control parameter, brightness control parameter, and lighting sequence parameter; The lighting sequence parameter refers to the lighting sequence of at least two sequentially arranged light-emitting units in the intelligent driving indicator light.

10. The method according to claim 9, characterized in that, The parking reference data includes at least one of the current gear position, steering angle, and obstacle distance; based on the parking reference data, at least one of the following parameters is determined in the indicator light control command of the intelligent driving indicator light: color control parameter, frequency control parameter, brightness control parameter, and illumination sequence parameter: The color control parameter that matches the current gear position is determined to be the first preset color; The lighting sequence parameter that matches the current gear position is determined as the first preset lighting sequence; The frequency control parameter that matches the current gear position is determined to be the eighth preset frequency; The brightness control parameter that matches the steering angle is determined to be the second preset brightness. The brightness control parameter that matches the distance to the obstacle is determined as the third preset brightness; The frequency control parameter that matches the distance to the obstacle is determined to be the ninth preset frequency.

11. The method according to claim 1, characterized in that, The vehicle driving data includes the current light intensity; the indicator light control command includes brightness control parameters; based on the vehicle driving data, the indicator light control command for the intelligent driving indicator light is determined, including: If the current light intensity is not less than the light intensity threshold, the brightness control parameter is determined to be an enhanced brightness parameter; If the current light intensity is less than the light intensity threshold, the brightness control parameter is determined to be a brightness reduction parameter.

12. The method according to any one of claims 1-11, characterized in that, The vehicle driving data includes the current driving mode; the method further includes: When the current driving mode is determined to be assisted driving mode, the current behavior information of the vehicle is determined based on the vehicle's driving intention in assisted driving mode; the current behavior information is used by the vehicle to transmit the vehicle's behavior in assisted driving mode to surrounding traffic participants. The intelligent driving interaction lights are used to display the current behavior information.

13. An indicator light control device, characterized in that, The device includes: The acquisition module is used to acquire vehicle driving data; the vehicle is equipped with a smart driving indicator light; the smart driving indicator light is used to indicate that the vehicle is in assisted driving mode; The processing module is used to determine the indicator light control command for the intelligent driving indicator light based on the vehicle driving data; The control module is used to control the intelligent driving indicator light according to the indicator light control command.

14. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 12.

15. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 12.

16. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 12.

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