Vehicle double-flashing-light control method and vehicle

Abstract

The embodiment of the invention provides a vehicle double-flashing-light control method and a vehicle, and relates to the technical field of vehicles. The method comprises the steps that multi-source sensor data of a vehicle are obtained, the multi-source sensor data comprise sensor data collected by various sensor devices carried by the vehicle, and the multi-source sensor data are used for determining the driving state of obstacles around the vehicle; data synchronization processing is carried out on the multi-source sensor data to obtain a synchronization processing result, and the synchronization processing result comprises the multi-source sensor data with the same time reference and the same data format; performing multi-source fusion processing on the synchronous processing result to obtain a fusion processing result; and according to double-flashing-light control conditions and the fusion processing result, the on-state of double flashing lights of the vehicle is controlled, the double-flashing-light control conditions comprise a plurality of judgment conditions, and any judgment condition is used for judging whether the obstacle is in a fault driving state or not. The technical problem that the turn-on warning range of a double-flashing lamp is limited in the prior art is solved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a vehicle hazard light control method and a vehicle. Background Technology

[0002] Maintaining safe distances between vehicles and rapidly communicating emergencies are critical requirements, especially in adverse weather conditions with poor visibility. Properly using hazard lights to signal an emergency to vehicles behind is an important measure to ensure driving safety.

[0003] Currently, traditional hazard light usage relies heavily on the driver's subjective judgment and manual operation. This often results in a delay in hazard light activation due to the driver's slow reaction time, failing to effectively warn vehicles behind and increasing the risk of accidents. For example, when the vehicle in front brakes suddenly, the driver often doesn't have enough time to activate the hazard lights to warn the vehicle behind, leading to a delayed reaction by the following driver, especially at high speeds. In other words, traditional hazard light activation methods have limitations in providing early warning in emergency situations.

[0004] There is currently no good solution to the above problems. Summary of the Invention

[0005] This application provides a vehicle hazard light control method and vehicle to at least solve the technical problem of limited warning range of hazard lights in related technologies.

[0006] According to one aspect of the embodiments of this application, a vehicle hazard light control method is provided, comprising: acquiring multi-source sensor data of the vehicle, wherein the multi-source sensor data includes sensor data collected by various sensor devices mounted on the vehicle, and the multi-source sensor data is used to determine the driving state of obstacles around the vehicle; performing data synchronization processing on the multi-source sensor data to obtain a synchronization processing result, wherein the synchronization processing result includes multi-source sensor data with the same time reference and the same data format; performing multi-source fusion processing on the synchronization processing result to obtain a fusion processing result; and controlling the activation state of the vehicle's hazard lights according to hazard light control conditions and the fusion processing result, wherein the hazard light control conditions include multiple judgment conditions, and any judgment condition is used to determine whether the obstacle is in a fault driving state.

[0007] Furthermore, controlling the activation state of the vehicle's hazard lights based on the hazard light control conditions and the fusion processing results includes: determining the first position of the obstacle and the second position of the vehicle based on the fusion processing results; determining the distance difference between the obstacle and the vehicle based on the first and second positions; and controlling the activation state of the vehicle's hazard lights based on the distance difference, the hazard light control conditions, and the fusion processing results.

[0008] Furthermore, the hazard light control conditions include a first judgment condition. Controlling the activation state of the vehicle's hazard lights based on the distance difference, the hazard light control conditions, and the fusion processing result includes: determining the hazard light activation duration of the obstacle based on the fusion processing result; and activating the hazard lights in response to the hazard light activation duration and the distance difference satisfying the first judgment condition, wherein the first judgment condition is that the hazard light activation duration is greater than a duration threshold and the distance difference is less than a first distance threshold.

[0009] Furthermore, the method also includes: determining the driving speed of the obstacle and the environmental state around the vehicle based on the fusion processing results, wherein the environmental state is used to represent the rainfall and fog concentration of the environment in which the vehicle is located; determining a speed adjustment coefficient based on the driving speed and a weather adjustment coefficient based on the environmental state; and updating the duration threshold based on the speed adjustment coefficient and the weather adjustment coefficient.

[0010] Furthermore, the hazard light control conditions include a second judgment condition. Controlling the activation state of the vehicle's hazard lights based on the distance difference, the hazard light control conditions, and the fusion processing result includes: determining the obstacle's speed based on the fusion processing result; determining the absolute value and direction of the obstacle's acceleration based on the speed; and activating the hazard lights in response to the absolute value of acceleration, the direction of acceleration, and the distance difference satisfying the second judgment condition. The second judgment condition is that the absolute value of acceleration is greater than an acceleration threshold, the direction of acceleration is opposite to the vehicle's direction of travel, and the distance difference is less than a second distance threshold.

[0011] Furthermore, the hazard light control conditions include a third judgment condition. Controlling the activation state of the vehicle's hazard lights based on the hazard light control conditions and the fusion processing result includes: determining the operating state of the vehicle's braking system based on the fusion processing result, wherein the braking system is used to apply braking force to the vehicle when there is a collision risk, and the operating state indicates whether the braking system applies braking force to the vehicle; and activating the hazard lights in response to the operating state satisfying the third judgment condition, wherein the third judgment condition is that the braking system applies braking force to the vehicle.

[0012] Furthermore, the method also includes: in response to the hazard lights being on, controlling the vehicle's display area to display a prompt message, and / or controlling the vehicle's audio equipment to play a prompt message, wherein the prompt message is used to inform the vehicle's driver that an obstacle is in an abnormal driving state and that the hazard lights are on.

[0013] Furthermore, the method also includes: when the hazard lights are on, in response to the operation of turning off the hazard lights, controlling the hazard lights to be off for a preset time period.

[0014] Furthermore, the sensor device includes at least one of the following: camera, radar, vehicle-to-the-world information exchange equipment, and environmental sensor.

[0015] According to another aspect of the embodiments of this application, a vehicle hazard light control device is also provided, comprising: an acquisition module for acquiring multi-source sensor data of the vehicle, wherein the multi-source sensor data includes sensor data collected by various sensor devices mounted on the vehicle, and the multi-source sensor data is used to determine the driving state of obstacles around the vehicle; a synchronization module for performing data synchronization processing on the multi-source sensor data to obtain a synchronization processing result, wherein the synchronization processing result includes multi-source sensor data with the same time reference and the same data format; a fusion module for performing multi-source fusion processing on the synchronization processing result to obtain a fusion processing result; and a control module for controlling the activation state of the vehicle's hazard lights according to hazard light control conditions and the fusion processing result, wherein the hazard light control conditions include multiple judgment conditions, and any judgment condition is used to determine whether the obstacle is in a fault driving state.

[0016] According to another aspect of the embodiments of this application, a vehicle is also provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of this application when it runs.

[0017] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.

[0018] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the methods of various embodiments of this application.

[0019] In this embodiment, multi-source sensor data of the vehicle is acquired, including sensor data collected by various sensor devices mounted on the vehicle. This multi-source sensor data is used to determine the driving status of obstacles around the vehicle. The multi-source sensor data undergoes data synchronization processing to obtain a synchronization processing result, which includes multi-source sensor data with the same time reference and data format. The synchronization processing result is then subjected to multi-source fusion processing to obtain a fusion processing result. The activation state of the vehicle's hazard lights is controlled according to hazard light control conditions and the fusion processing result. The hazard light control conditions include multiple judgment conditions, any one of which is used to determine whether an obstacle is in a faulty driving state. This expands the warning range of the hazard lights in emergency situations, improving driving safety. It achieves the technical effect of automatically and intelligently activating the hazard lights based on the surrounding environment and obstacle status without manual driver operation, thus solving the technical problem of limited hazard light activation warning range in related technologies. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0021] Figure 1 It is a road map for vehicles;

[0022] Figure 2 This is a flowchart of a vehicle hazard light control method according to one embodiment of this application;

[0023] Figure 3 This is a flowchart of a vehicle multi-sensor fusion method according to one embodiment of this application;

[0024] Figure 4 This is a structural block diagram of a vehicle hazard light control device according to one embodiment of this application. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] Proper use of hazard lights is one of the important measures to ensure driving safety. Hazard lights, also known as emergency warning lights, are a device that alerts other road users when a vehicle encounters an emergency. Here are some specific situations where hazard lights should be activated.

[0028] 1. When a vehicle breaks down or is involved in an accident: When a vehicle is unable to drive normally due to mechanical failure or a traffic accident, the hazard lights should be turned on immediately to help remind vehicles behind to pay attention and avoid the accident, thus preventing secondary accidents.

[0029] 2. Temporary parking in non-parking areas: If you need to temporarily park in a non-designated parking area, such as in an emergency where you need to park on the side of the road, you need to turn on your hazard lights to warn passing vehicles.

[0030] 3. Driving in adverse weather conditions: When driving in adverse weather conditions such as heavy fog, heavy rain, or heavy snow with extremely low visibility, it is necessary to turn on the hazard lights to increase the visibility of the vehicle and thus reduce the risk of accidents.

[0031] 4. Vehicles performing emergency tasks: Ambulances, fire trucks, police cars, and other vehicles performing emergency tasks usually turn on their hazard lights while driving to ensure that other vehicles can give way in time and to ensure the smooth progress of the task.

[0032] 5. When towing or being towed: When a vehicle needs to be towed due to a breakdown, or when towing another vehicle, the hazard lights should be turned on to warn other road users to be aware of safety.

[0033] Using hazard lights correctly is not only a matter of responsibility for the driver, but also a matter of responsibility for other road users.

[0034] The situations mentioned above that require turning on hazard lights all refer to cases where the driver recognizes the need to turn on the hazard lights and turns them on automatically. However, there is often another situation:

[0035] like Figure 1 As shown, two vertical lines represent a lane, with A, B, C, and D in between. Let A, B, C, and D represent four vehicles traveling in the same lane. A represents a vehicle that needs to turn on its hazard lights due to a special situation, B represents the vehicle immediately following A that doesn't need to turn on its hazard lights unless there's a special situation, and so on for C and D. When driver A turns on their hazard lights, driver B, recognizing them, will know that the vehicle ahead has malfunctioned and may take braking or other measures. However, vehicles C and D, and those following them, may not be able to recognize the malfunction due to limited visibility and therefore will not take any action. This situation, especially on highways, greatly increases the risk of traffic accidents.

[0036] It can be seen that in the traditional solution, the activation of hazard lights relies on the driver's vision and awareness, which is difficult to effectively and timely transmit to vehicles behind in complex environmental conditions, resulting in delayed reaction by subsequent drivers and thus increasing the risk of accidents at high speeds.

[0037] For ease of understanding, some concepts related to the embodiments of this application are illustrated below for reference.

[0038] Vehicle-to-Everything (V2X) technology enables vehicles to communicate with their surroundings, including vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), and vehicle-to-network (V2N) communication. Through V2X, vehicles can obtain real-time information from surrounding vehicles, road infrastructure, pedestrian equipment, and cloud service platforms to identify potential traffic risks, optimize routes, and improve driving efficiency and safety.

[0039] Automatic Emergency Braking (AEB) is a vehicle safety technology that uses environmental sensors to detect objects ahead. When it identifies a potential collision hazard between the vehicle and an object (vehicle or pedestrian), it first issues a warning to the driver. If the hazard increases and the driver fails to take action or if a collision remains at risk even after taking action, the system will automatically apply the brakes to minimize or mitigate the impact of the collision.

[0040] According to an embodiment of this application, a method embodiment for controlling vehicle hazard lights is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0041] This embodiment provides a method for controlling vehicle hazard lights. Figure 2 This is a flowchart of a vehicle hazard light control method according to one embodiment of this application, such as... Figure 2 As shown, the process includes the following steps:

[0042] Step S21: Obtain multi-source sensor data of the vehicle. The multi-source sensor data includes sensor data collected by various sensor devices mounted on the vehicle. The multi-source sensor data is used to determine the driving status of obstacles around the vehicle.

[0043] In this embodiment of the application, multi-source sensor data of the vehicle is acquired. The multi-source sensor data includes sensor data collected by various sensor devices mounted on the vehicle. The multi-source sensor data is used to determine the driving status of obstacles around the vehicle.

[0044] Sensor devices are a series of hardware components equipped on a vehicle for monitoring and sensing the surrounding environment. They can capture and transmit various types of physical signals and information, providing data support to the vehicle's control system in digital form. For example, sensor devices encompass various types such as cameras, radar, V2X devices, and environmental sensors.

[0045] The obstacle's driving status refers to the real-time dynamic information about static or dynamic objects around the vehicle, obtained by processing data collected through sensor devices. For example, the real-time dynamic information includes parameters such as the obstacle's position, speed, acceleration, direction, and whether it is in an emergency (e.g., whether hazard lights are on).

[0046] As can be seen, this application acquires multi-source sensor data through a multi-source sensor device mounted on the vehicle. For example, taking a multi-source sensor device including a camera, radar, V2X device, and environmental sensors, the camera can provide visual image data to identify the shape, size, color of obstacles ahead, and possible visual markers on the obstacles, such as the on / off status of hazard lights.

[0047] Radar measures the distance, speed, and relative position of obstacles by emitting and receiving electromagnetic waves, and can work effectively even in environments with low visibility.

[0048] V2X devices use wireless communication technology to collect information from other vehicles or infrastructure, such as the driving status of nearby vehicles, road conditions, or traffic signals, increasing the vehicle's awareness of its surroundings.

[0049] Environmental sensors monitor the weather and environmental conditions around the vehicle, such as rainfall, fog concentration, and light intensity, providing a reference for assessing driving conditions and obstacle recognition.

[0050] Therefore, this application provides data support for subsequently controlling the activation status of the vehicle's hazard lights by acquiring multi-source sensor data from the vehicle.

[0051] Step S22: Perform data synchronization processing on the multi-source sensor data to obtain the synchronization processing result, wherein the synchronization processing result includes multi-source sensor data with the same time reference and the same data format.

[0052] In this embodiment of the application, data synchronization processing is performed on multi-source sensor data to obtain synchronization processing results, wherein the synchronization processing results include multi-source sensor data with the same time base and the same data format.

[0053] A common time reference means that all sensor data is converted to a common time frame, ensuring that data from different sensors at the same moment are aligned on the timeline, thus providing a more accurate benchmark for reflecting the instantaneous state of the vehicle's surrounding environment. For example, if a camera captures an obstacle activating its hazard lights, and the radar simultaneously measures the distance to that obstacle, through time synchronization processing, these two data points can be correlated and analyzed at the same point in time, providing more real-time and accurate information for controlling the vehicle's hazard lights.

[0054] The same data format is used to convert data from different sensor devices with varying formats, such as data organization, units, and encoding, into a unified data format. For example, all sensor data can be converted into a standardized JSON (JavaScript Object Notation) format, making the data easy to parse and compare with other data, simplifying the processing difficulty in the data fusion process and improving system efficiency.

[0055] As can be seen, this application takes into account that various sensor devices on a vehicle have different data acquisition frequencies, sampling periods, and data transmission rates. Directly merging the aforementioned raw data for decision analysis would lead to time deviations or format incompatibility issues, affecting the accuracy and timeliness of the decision. Therefore, this application eliminates time and data format differences by performing data synchronization processing on multi-source sensor data, adjusting data from different sources to the same time reference and unified data format, thus obtaining synchronized processing results.

[0056] Therefore, this application provides more real-time and accurate information for the control of vehicle hazard lights, simplifies the processing difficulty in the data fusion process, and improves system efficiency.

[0057] Step S23: Perform multi-source fusion processing on the synchronization processing results to obtain the fusion processing result.

[0058] In this embodiment, the synchronization processing result is subjected to multi-source fusion processing to obtain a fusion processing result. Multi-source fusion processing involves comprehensively analyzing and processing multi-source sensor data with the same time reference and data format according to preset rules and weights. The aim is to extract complementary information from the data of different sensors, ultimately forming a unified and more comprehensive fusion processing result.

[0059] For example, the hazard light control system can capture visual data of obstacles ahead via cameras, obtain precise distance and speed data of obstacles via radar, receive emergency status data directly transmitted by the obstacle vehicle via V2X devices, and collect weather and environmental condition data via environmental sensors. Multi-source fusion processing combines the acquired data and determines the true state and location of the obstacle through preset rules and weights. This allows the hazard light control system to make more accurate and timely decisions, providing more precise and timely data support for subsequent hazard light control.

[0060] As can be seen, this application obtains a fusion processing result by performing multi-source fusion processing on the synchronous processing results. This integrates information from all sensor data, reflecting the real-time status of the vehicle's surrounding environment with higher accuracy and a more comprehensive perspective. For example, the fusion processing result will include information such as the precise location and speed of obstacles ahead, whether hazard lights are on, and environmental conditions. Thus, the fusion processing result provides accurate and comprehensive data support for determining whether the vehicle's hazard lights need to be automatically activated.

[0061] Step S24: Control the activation state of the vehicle's hazard lights according to the hazard light control conditions and the fusion processing result. The hazard light control conditions include multiple judgment conditions, any of which is used to determine whether the obstacle is in a fault driving state.

[0062] In this embodiment, the hazard lights of the vehicle are controlled to be on based on hazard light control conditions and fusion processing results. The hazard light control conditions include multiple judgment conditions, each used to determine whether an obstacle is in a faulty driving state. The obstacle may be, for example, a truck, a private car, or a motorcycle. Faulty driving states may include, for example, mechanical failure, traffic accidents, abnormal driver status, or emergency situations.

[0063] As can be seen, this application controls the activation status of a vehicle's hazard lights based on hazard light control conditions and fusion processing results. For example, if the onboard sensors detect that the hazard lights of the vehicle ahead are on for an extended period, the vehicle's speed suddenly decreases, or there is an abnormal driving trajectory, and the environmental sensors indicate low visibility, this combined information may indicate that the vehicle ahead is in a faulty driving state. Therefore, this application controls the vehicle to activate its hazard lights to warn following vehicles of potential dangers ahead and prevent rear-end collisions or other traffic accidents.

[0064] In summary, the multi-source sensor data acquired in this application provides data support for subsequently controlling the activation status of the vehicle's hazard lights. Furthermore, this application performs data synchronization processing on the multi-source sensor data to obtain synchronization results, providing more real-time and accurate information for controlling the vehicle's hazard lights, simplifying the processing difficulty in the data fusion process, and improving system efficiency. In addition, this application performs multi-source fusion processing on the synchronization results to obtain fusion results, providing more accurate and comprehensive data support for determining whether the vehicle's hazard lights need to be automatically activated, thereby expanding the warning range of hazard light activation in emergency situations. Through comprehensive analysis of the hazard light control conditions and fusion processing results, this application can control the vehicle to activate its hazard lights to warn following vehicles of potential hazards ahead, preventing rear-end collisions or other traffic accidents. In other words, this application can automatically and intelligently activate the hazard lights based on the vehicle's surrounding environment and obstacle status without manual driver operation, improving driving safety.

[0065] The above steps of this application involve acquiring multi-source sensor data from the vehicle, including data collected by various sensor devices mounted on the vehicle, to determine the driving status of obstacles around the vehicle; performing data synchronization processing on the multi-source sensor data to obtain a synchronization processing result, which includes multi-source sensor data with the same time reference and data format; performing multi-source fusion processing on the synchronization processing result to obtain a fusion processing result; and controlling the activation state of the vehicle's hazard lights based on hazard light control conditions and the fusion processing result, whereby the hazard light control conditions include multiple judgment conditions, any one of which is used to determine whether the obstacle is in a faulty driving state. This achieves the goal of expanding the warning range of hazard lights in emergency situations and improving driving safety, thereby realizing the technical effect that the vehicle can automatically and intelligently activate the hazard lights based on the surrounding environment and obstacle status without manual operation by the driver, thus solving the technical problem of limited warning range of hazard lights in related technologies.

[0066] Optionally, in step S24, controlling the activation state of the vehicle's hazard lights based on the hazard light control conditions and the fusion processing result may include the following execution steps:

[0067] Step S241: Determine the first position of the obstacle and the second position of the vehicle based on the fusion processing result.

[0068] Step S242: Determine the distance difference between the obstacle and the vehicle based on the first position and the second position.

[0069] Step S243: Control the activation status of the vehicle's hazard lights based on the distance difference, hazard light control conditions, and fusion processing results.

[0070] In this embodiment of the application, when controlling the activation state of the vehicle's hazard lights according to the hazard light control conditions and the fusion processing results, the first position of the obstacle and the second position of the vehicle can be determined first according to the fusion processing results, which reduces the possibility of misjudgment and ensures the accuracy of distance difference calculation in subsequent steps.

[0071] Then, the distance difference between the obstacle and the vehicle is determined based on the first and second positions. This distance difference reflects the distance between the vehicle and a potential emergency, thus affecting the vehicle's reaction time to the emergency. For example, the distance difference can be set to 100 meters. This application obtains an important basis for determining whether hazard lights need to be activated by calculating the distance difference.

[0072] Finally, the activation status of the vehicle's hazard lights is controlled based on the distance difference, hazard light control conditions, and the fusion processing result. For example, taking a distance difference of 100 meters as an example, when the onboard sensor detects that the hazard lights of the vehicle ahead are on, and the distance between the vehicle and the vehicle ahead is less than 100 meters, it indicates that the preset hazard light control conditions have been met, and the vehicle's hazard lights are activated. When the onboard sensor detects that the hazard lights of the vehicle ahead are off, or the distance between the vehicle and the vehicle ahead is greater than 100 meters, it indicates that the preset hazard light control conditions have not been met, and the vehicle's hazard lights are deactivated.

[0073] Therefore, this application can control the activation status of a vehicle's hazard lights based on distance difference, hazard light control conditions, and fusion processing results. This enables precise judgment of the distance between the vehicle and obstacles, and flexible adjustment of the hazard light activation status based on the fusion processing of multi-source sensor data and preset hazard light control conditions. This application not only improves the accuracy and immediacy of hazard light activation but also enhances the effective range of warnings through the perception of the environment and obstacle states. It ensures that vehicles can quickly respond to emergencies under various complex conditions, providing a reliable guarantee mechanism for driving safety.

[0074] Optionally, the hazard light control conditions include a first judgment condition. In step S243, controlling the activation state of the vehicle's hazard lights based on the distance difference, the hazard light control conditions, and the fusion processing result includes the following execution steps:

[0075] Step S2431: Determine the duration of the obstacle's hazard lights based on the fusion processing results.

[0076] Step S2432: In response to the hazard lights being on for a duration longer than the distance difference satisfying a first judgment condition, the hazard lights are turned on. The first judgment condition is that the hazard lights are on for a duration longer than a duration threshold and the distance difference is less than a first distance threshold.

[0077] In this embodiment of the application, the hazard light control conditions include a first judgment condition. When controlling the hazard light activation state of the vehicle based on the distance difference, the hazard light control conditions, and the fusion processing result, the hazard light activation duration of the obstacle can be determined first based on the fusion processing result.

[0078] For example, a camera can capture the flashing of the hazard lights of the vehicle in front, radar can measure the distance between the two vehicles, and V2X equipment can receive information about the hazard lights being on from the vehicle in front. If the hazard light control system confirms through fusion processing that the hazard lights of the vehicle in front have been on for a considerable period of time, such as more than 10 seconds, it may indicate that the vehicle in front has encountered a malfunction or other emergency and cannot resume driving immediately.

[0079] Then, when the hazard lights on an obstacle are detected by the vehicle-mounted sensors and the difference between the duration of the hazard lights on and the distance to the obstacle meets the first judgment condition, the hazard lights are turned on. The first judgment condition is that the duration of the hazard lights on is greater than the duration threshold and the difference between the distances is less than the first distance threshold.

[0080] For example, the first distance threshold can be preset to 100 meters, and the duration threshold can be preset to 8 seconds. When the onboard sensor detects that the hazard lights of the vehicle in front have been on for 8 seconds, and the distance between the vehicle and the vehicle in front is less than 100 meters, the hazard lights are activated. Thus, through automated hazard light control, the hazard light control system takes action before the driver may even realize an emergency, effectively notifying vehicles behind in advance, improving the effectiveness and relevance of the warning, and reducing the potential risk of accidents.

[0081] Optionally, in step S2431, the method may include the following execution steps:

[0082] Step S24311: Determine the driving speed of the obstacle and the environmental state around the vehicle based on the fusion processing result, wherein the environmental state is used to represent the rainfall and fog concentration of the environment in which the vehicle is located.

[0083] Step S24312: Determine the speed adjustment coefficient based on the driving speed, and determine the weather adjustment coefficient based on the environmental conditions.

[0084] Step S24313: Update the duration threshold based on the speed adjustment coefficient and the weather adjustment coefficient.

[0085] In this embodiment, the driving speed of the obstacle and the environmental conditions around the vehicle can be determined first based on the fusion processing results. The environmental conditions represent the rainfall and fog concentration in the vehicle's environment. This application considers that fog concentration and rainfall in the environmental conditions can reduce visibility and increase the risk of slippery roads, providing data support for subsequent determination of weather adjustment conditions.

[0086] Then, a speed adjustment coefficient is determined based on the vehicle's speed, and a weather adjustment coefficient is determined based on the environmental conditions. The speed adjustment coefficient represents the degree to which vehicle speed affects the hazard light activation strategy. The weather adjustment coefficient represents the degree to which current environmental conditions, especially weather conditions, affect the hazard light activation strategy.

[0087] For example, if the speed of the vehicle in front is above 100 km / h, the speed adjustment factor decreases. If the speed is below 60 km / h, the speed adjustment factor increases. In heavy fog or heavy rain, the weather adjustment factor increases significantly. In clear weather, the weather adjustment factor decreases.

[0088] Finally, the duration threshold is updated based on the speed adjustment factor and the weather adjustment factor. For example, a weighted adjustment is made based on the speed adjustment factor and the weather adjustment factor, such as: new duration threshold = old duration threshold × (1 + speed adjustment factor + weather adjustment factor).

[0089] Therefore, this application updates the duration threshold of the speed adjustment coefficient and the weather adjustment coefficient to make the best decision according to different driving environments and conditions, so that the hazard light activation strategy can flexibly cope with various road and weather conditions. Whether driving at high speed on the highway or in low visibility conditions in rain and fog, the hazard light control system can adjust the duration threshold of the hazard lights in a timely and accurate manner to ensure that effective warnings are provided when needed, thereby significantly enhancing driving safety in different scenarios.

[0090] Optionally, the hazard light control conditions include a second judgment condition. In step S243, controlling the activation state of the vehicle's hazard lights based on the distance difference, the hazard light control conditions, and the fusion processing result includes:

[0091] Step S2433: Determine the speed of the obstacle based on the fusion processing result.

[0092] Step S2434: Determine the absolute value and direction of the obstacle's acceleration based on the driving speed.

[0093] Step S2435: In response to the second judgment condition being met by the absolute value of acceleration, the direction of acceleration, and the distance difference, the hazard lights are turned on. The second judgment condition is that the absolute value of acceleration is greater than the acceleration threshold, the direction of acceleration is opposite to the direction of vehicle travel, and the distance difference is less than the second distance threshold.

[0094] In this embodiment of the application, the hazard light control conditions include a second judgment condition. When controlling the hazard light activation state of the vehicle based on the distance difference, the hazard light control conditions, and the fusion processing result, the speed of the obstacle can be determined first based on the fusion processing result. For example, the speed of the obstacle can be accurately determined by the fusion processing result of radar and camera, providing accurate data support for subsequent acceleration calculation.

[0095] Then, based on the driving speed, the absolute value and direction of the obstacle's acceleration are determined. For example, the absolute value and direction of the obstacle's acceleration can be used to determine whether the obstacle ahead is accelerating or decelerating, and the degree of acceleration or deceleration can be obtained. This allows for a rapid assessment of whether an emergency is imminent, providing data support for activating the hazard lights.

[0096] Finally, when the hazard light control system determines that the absolute value of acceleration, the direction of acceleration, and the distance difference meet the second judgment condition, the hazard lights are turned on. The second judgment condition is that the absolute value of acceleration is greater than the acceleration threshold, the direction of acceleration is opposite to the direction of vehicle travel, and the distance difference is less than the second distance threshold.

[0097] For example, the second distance threshold can be preset to 100 meters, and the acceleration threshold can be preset to 10 m / s². When the onboard sensors detect that the vehicle in front is decelerating suddenly (i.e., the absolute value of the acceleration is greater than 10 m / s²), and the distance between the vehicle and the vehicle in front is less than 100 meters, the hazard light control system controls the vehicle to activate the hazard lights. Thus, through automated hazard light control, the hazard light control system takes action before the driver may even notice the emergency braking of the vehicle in front, effectively notifying vehicles behind in advance, improving the effectiveness and relevance of the warning, and thereby reducing the potential risk of accidents.

[0098] Optionally, in step S24, the hazard light control conditions include a third judgment condition, and controlling the hazard light activation state of the vehicle based on the hazard light control conditions and the fusion processing result includes:

[0099] Step S241: Determine the operating state of the vehicle's braking system based on the fusion processing result. The braking system is used to apply braking force to the vehicle when there is a risk of collision. The operating state indicates whether the braking system applies braking force to the vehicle.

[0100] Step S242: In response to the working state satisfying the third judgment condition, turn on the hazard lights, wherein the third judgment condition is that the braking system applies braking force to the vehicle.

[0101] In this embodiment of the application, the hazard light control conditions include a third judgment condition. When controlling the hazard light activation state of the vehicle according to the hazard light control conditions and the fusion processing result, the working state of the vehicle's braking system can be determined first according to the fusion processing result.

[0102] The braking system applies braking force to the vehicle when there is a risk of collision. It is a mechanism on a car used to decelerate or stop the vehicle, including brake pads, brake discs, brake lines, brake fluid, brake pedal, and electronic assistance systems such as the Anti-lock Braking System (ABS) and Electronic Stability Control (ESC). In emergency situations, the braking system automatically or in assistance to the driver applies braking force to avoid or mitigate a collision.

[0103] The operating status is used to indicate whether the braking system applies braking force to the vehicle, thereby determining whether the vehicle is in an emergency braking situation. This application provides data support for determining the operating status of the hazard lights in subsequent checks.

[0104] Then, when the working state meets the third judgment condition, the vehicle turns on the hazard lights. The third judgment condition is that the braking system applies braking force to the vehicle. That is, when the car recognizes that the braking system applies braking force to the vehicle, it immediately turns on the hazard lights.

[0105] This enables the automatic activation of hazard lights during emergency braking, a safety feature that improves vehicle visibility and warning capabilities in emergency situations. This helps prevent rear-end collisions, reduces driver workload, and enhances overall road safety.

[0106] Optionally, the method may include the following execution steps:

[0107] Step S25: In response to the hazard lights being on, control the vehicle's display area to display a prompt message, and / or control the vehicle's audio equipment to play a prompt message, wherein the prompt message is used to inform the vehicle's driver that an obstacle is in an abnormal driving state and that the hazard lights are on.

[0108] In this embodiment, when the hazard lights are on, the system can control only the vehicle's display area to show the warning information, or only the vehicle's audio system to play the warning information, or simultaneously control both the vehicle's display area to show the warning information and the audio system to play the warning information. The warning information is used to alert the driver that an obstacle is in an abnormal driving state and that the hazard lights are on.

[0109] For example, the display area can be the vehicle's instrument panel display, central infotainment system screen, or head-up display system. The audio equipment can be the vehicle's speaker system, including front, rear, or surround sound speakers. The warning message can be "The vehicle ahead is braking suddenly, hazard lights are on, please slow down immediately!" or "Please note that the vehicle ahead is braking suddenly, hazard lights are on, please slow down immediately and remain vigilant!"

[0110] In other words, when the hazard lights are on, a prominent warning message will immediately appear on the vehicle's instrument panel or central control screen: "Vehicle ahead is braking suddenly, hazard lights are on, please slow down immediately!" and / or, the vehicle's audio system will play a warning message: "Please note that vehicle ahead is braking suddenly, hazard lights are on, please slow down immediately and remain vigilant!"

[0111] Therefore, by providing both visual and auditory prompts, the system draws the driver's attention to the emergency ahead, increasing the driver's awareness of unexpected situations. This not only alerts vehicles behind the vehicle in a timely manner but also alerts the driver of the vehicle itself, minimizing the driver's reaction time from perceiving the abnormal situation to taking action. It also assists the driver in making correct driving decisions in low-visibility environments, preventing accidents from occurring.

[0112] Optionally, the method may include the following execution steps:

[0113] Step S26: When the hazard lights are on, in response to the operation of turning off the hazard lights, control the hazard lights to be off for a preset time period.

[0114] In this embodiment, when the hazard lights are on, if a turn-off operation is received, the hazard lights are controlled to remain off for a preset time period. For example, the turn-off operation can be a driver controlling the hazard lights to turn off via voice or a button. The preset time can be 10 minutes, which can be determined based on the fusion processing result and is not limited here.

[0115] This avoids driver interference that might be caused by the hazard light control system automatically restarting the hazard lights, effectively balancing the initiative of the intelligent system with the autonomy of the driver, thus improving both driving safety and the driving experience.

[0116] Optionally, the method may include the following execution steps:

[0117] Step S27, the sensor device includes at least one of the following: camera, radar, vehicle-to-external information exchange equipment, and environmental sensor.

[0118] This application integrates sensors such as cameras, radar, V2X devices, and environmental sensors to collect environmental information around the vehicle from multiple angles and dimensions, such as the status of vehicles ahead, road conditions, and weather conditions. This results in a comprehensive perception of the environment, providing more comprehensive data support for decision-making.

[0119] In summary, this application provides a method for controlling vehicle hazard lights, which includes the following two control strategies:

[0120] Control Strategy 1. When automatic emergency braking is activated, the vehicle's hazard lights will automatically turn on.

[0121] As can be seen, in traditional solutions, the activation of the automatic emergency braking function often occurs instantaneously in emergency situations and is not actively triggered by the driver. In such cases, the driver is often unaware that they should turn on the hazard lights. However, in this application, after the automatic emergency braking function is activated, the autonomous driving system sends an activation signal to the CDC (Distributed Emergency Detection Center). Upon receiving the activation signal, the CDC can make a judgment and automatically turn on the hazard lights, with a voice or large screen prompt stating, "Automatic emergency braking function detected; hazard lights automatically turned on for you." Therefore, when automatic emergency braking is activated, the hazard light control system automatically controls the vehicle's hazard lights to turn on, significantly enhancing the vehicle's safety warning capability in emergency braking situations and improving the overall road safety level.

[0122] Control Strategy 2. When the vehicle sensor detects that the hazard lights of the vehicle in front have been on for 8 seconds (this value needs to be calibrated, or it can be dynamically adjusted according to the speed of the vehicle in front, weather, etc.), the vehicle's hazard lights will be turned on automatically.

[0123] In this application, when the vehicle-mounted sensor detects an emergency situation, whether it is the vehicle in front or the vehicle itself, the hazard lights will be automatically turned on to warn the vehicles behind, thereby reducing the risk of traffic accidents caused by the failure to turn on the hazard lights in time.

[0124] Figure 3 This is a flowchart of a vehicle multi-sensor fusion method according to one embodiment of this application. Figure 3 First, four sensors are set up: a camera, radar, V2X equipment, and an environmental sensor. The hazard light control system uses the camera to identify the light signals emitted by the vehicle in front (whether it is a hazard light, and not a turn signal or other light), uses radar to determine the distance between the vehicle and the vehicle in front, the speed and acceleration of the vehicle in front, etc., uses the V2X equipment to receive the hazard light status of the vehicle in front, and uses the environmental sensor to determine the current weather conditions.

[0125] After the four sensors acquire data, their data acquisition frequencies and processing speeds differ. Therefore, image data, distance / velocity data, dual-flash status data, and weather data need to be synchronized through a data synchronization module to obtain synchronized processing results. This ensures that the acquired data is under the same benchmark, forming consistent decision inputs and guaranteeing the availability and effectiveness of the data.

[0126] Then, the synchronous processing results are processed using a multi-sensor fusion algorithm to obtain the fusion processing result.

[0127] Finally, it is determined whether the fusion processing result meets the triggering conditions. If the triggering conditions are met, the hazard lights are turned on. If the fusion processing result does not meet the triggering conditions, the hazard light control system continues to monitor until the triggering conditions are met.

[0128] For example, the hazard lights may automatically turn on in the following two situations:

[0129] Scenario 1: The vehicle's onboard sensors detected that the hazard lights of the vehicle in front had been on for 8 seconds.

[0130] Scenario 2: The vehicle's onboard sensors detect that the vehicle in front is decelerating rapidly (absolute acceleration greater than 10 m / s²), and the distance between the vehicle and the vehicle in front is less than 100 meters.

[0131] If the activation conditions are met, the hazard light control system will send a signal to the Control Device for Central Functions (CDC). Upon receiving this signal, the CDC will determine whether to automatically activate the vehicle's hazard lights, accompanied by a voice or screen notification: "An emergency may be approaching. Your hazard lights have been automatically activated! Please pay close attention and drive cautiously!" If the driver manually turns off the hazard lights within 10 minutes, they will not automatically reactivate.

[0132] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0133] According to an embodiment of this application, a vehicle hazard light control device is provided. It should be noted that the device can be used to execute the above-described vehicle hazard light control method.

[0134] Figure 4 This is a structural block diagram of a vehicle hazard light control device according to one embodiment of this application, such as... Figure 4As shown, taking a vehicle hazard light control device 400 as an example, the device includes: an acquisition module 401, used to acquire multi-source sensor data of the vehicle, wherein the multi-source sensor data includes sensor data collected by various sensor devices mounted on the vehicle, and the multi-source sensor data is used to determine the driving status of obstacles around the vehicle; a synchronization module 402, used to perform data synchronization processing on the multi-source sensor data to obtain a synchronization processing result, wherein the synchronization processing result includes multi-source sensor data with the same time base and the same data format; a fusion module 403, used to perform multi-source fusion processing on the synchronization processing result to obtain a fusion processing result; and a control module 404, used to control the activation state of the vehicle's hazard lights according to the hazard light control conditions and the fusion processing result, wherein the hazard light control conditions include multiple judgment conditions, any judgment condition being used to determine whether the obstacle is in a fault driving state.

[0135] Embodiments of this application also provide a vehicle, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods described in various embodiments of this application when it runs.

[0136] Embodiments of this application also provide a computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.

[0137] Embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the methods of various embodiments of this application.

[0138] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0140] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0141] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0142] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0143] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for controlling hazard lights on a vehicle, characterized in that, The method includes: Acquire multi-source sensor data of the vehicle, wherein the multi-source sensor data includes sensor data collected by various sensor devices mounted on the vehicle, and the multi-source sensor data is used to determine the driving status of obstacles around the vehicle; The multi-source sensor data is subjected to data synchronization processing to obtain a synchronization processing result, wherein the synchronization processing result includes the multi-source sensor data with the same time base and the same data format; The synchronization processing results are subjected to multi-source fusion processing to obtain the fusion processing result; The hazard lights of the vehicle are controlled to be on based on the hazard light control conditions and the fusion processing result. The hazard light control conditions include multiple judgment conditions, any one of which is used to determine whether the obstacle is in a fault driving state.

2. The method according to claim 1, characterized in that, The step of controlling the activation state of the vehicle's hazard lights based on the hazard light control conditions and the fusion processing result includes: The first position of the obstacle and the second position of the vehicle are determined based on the fusion processing result; The distance difference between the obstacle and the vehicle is determined based on the first position and the second position; The activation status of the vehicle's hazard lights is controlled based on the distance difference, the hazard light control conditions, and the fusion processing result.

3. The method according to claim 2, characterized in that, The hazard light control conditions include a first judgment condition, and controlling the hazard light activation state of the vehicle based on the distance difference, the hazard light control conditions, and the fusion processing result includes: The duration of the obstacle's hazard lights is determined based on the fusion processing results; In response to the hazard lights being on for a duration greater than the duration threshold and the distance difference satisfying the first judgment condition, the hazard lights are turned on, wherein the first judgment condition is that the hazard lights being on for a duration greater than a duration threshold and the distance difference less than a first distance threshold.

4. The method according to claim 3, characterized in that, The method further includes: The speed of the obstacle and the environmental conditions around the vehicle are determined based on the fusion processing results, wherein the environmental conditions are used to represent the rainfall and fog concentration of the environment in which the vehicle is located. A speed adjustment factor is determined based on the driving speed, and a weather adjustment factor is determined based on the environmental conditions; The duration threshold is updated based on the speed adjustment coefficient and the weather adjustment coefficient.

5. The method according to claim 2, characterized in that, The hazard light control conditions include a second judgment condition, and controlling the hazard light activation state of the vehicle based on the distance difference, the hazard light control conditions, and the fusion processing result includes: The speed of the obstacle is determined based on the fusion processing result; Determine the absolute value and direction of the obstacle's acceleration based on the travel speed; In response to the absolute value of acceleration, the direction of acceleration, and the distance difference satisfying the second judgment condition, the hazard lights are turned on, wherein the second judgment condition is that the absolute value of acceleration is greater than an acceleration threshold, the direction of acceleration is opposite to the direction of travel of the vehicle, and the distance difference is less than a second distance threshold.

6. The method according to claim 1, characterized in that, The hazard light control conditions include a third judgment condition, and controlling the hazard light activation state of the vehicle based on the hazard light control conditions and the fusion processing result includes: The operating state of the vehicle's braking system is determined based on the fusion processing result, wherein the braking system is used to apply braking force to the vehicle when there is a risk of collision, and the operating state is used to indicate whether the braking system applies braking force to the vehicle. In response to the operating state satisfying the third judgment condition, the hazard lights are turned on, wherein the third judgment condition is that the braking system applies braking force to the vehicle.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: In response to the hazard lights being on, the system controls the display area of ​​the vehicle to display a warning message, and / or controls the vehicle's audio equipment to play the warning message, wherein the warning message is used to alert the driver of the vehicle that the obstacle is in an abnormal driving state and that the hazard lights are on.

8. The method according to any one of claims 1-6, characterized in that, The method further includes: When the hazard lights are on, in response to the operation of turning off the hazard lights, the hazard lights are controlled to be off for a preset time period.

9. The method according to any one of claims 1-6, characterized in that, The sensor device includes at least one of the following: camera, radar, vehicle-to-external information exchange equipment, and environmental sensor.

10. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the program, wherein the program executes the vehicle hazard light control method according to any one of claims 1 to 9.

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