Wiper control method, device, vehicle, storage medium and program product

Abstract

The present disclosure relates to a kind of steering lamp control method, device, vehicle, storage medium and program product in the field of vehicle control, including the opening and closing state information of the steering lamp, the driving behavior information of vehicle and corresponding target information, the opening and closing state of the steering lamp is different and driving behavior is different, the target information obtained is different;According to the opening and closing state information, the driving behavior information and target information, the opening and closing of steering lamp are controlled.Due to the target information obtained by different opening and closing state and driving behavior is different, the real intention of driver can be accurately judged, and the accuracy of driving intention determination is improved.Furthermore, in complex scene such as intersection, steering lamp can be automatically turned on or off intelligently and timely, effectively avoid misoperation or omission operation, enhance the driving safety and convenience, and then improve the user experience of vehicle driving.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, and in particular to a turn signal control method, device, vehicle, storage medium, and program product. Background Technology

[0002] The vehicle's turn signals can be turned on or off manually by the driver, thus indicating the vehicle's intention to change lanes or turn when changing lanes or making left or right turns. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides a turn signal control method, device, vehicle, storage medium, and program product.

[0004] According to a first aspect of the present disclosure, a turn signal control method is provided, comprising: When the automatic turn signal control function is activated, the on / off status information of the turn signal, the driving behavior information of the vehicle, and the corresponding target information are acquired. The target information acquired is different depending on the on / off status of the turn signal and the driving behavior. The turn signal is controlled to open or close based on the opening / closing status information, the driving behavior information, and the target information.

[0005] The aforementioned technical solution, when the automatic turn signal control function is activated, can accurately determine the driver's true intention based on the on / off status information, vehicle driving behavior information, and corresponding target information, thereby improving the accuracy of driving intention determination. Consequently, in complex scenarios such as intersections, it can intelligently and promptly and automatically turn the turn signals on or off, effectively avoiding misoperation or missed operation, enhancing driving safety and convenience, and ultimately improving the user experience of driving the vehicle.

[0006] In some possible implementations, the driving behavior information includes lane-changing driving behavior information; controlling the opening and closing of the turn signal based on the opening / closing status information, the driving behavior information, and the target information includes: When the open / closed state information indicates that the turn signal on either side of the vehicle is in the on state, the control conditions that the vehicle meets are determined based on the lane change driving behavior information. If the trigger judgment condition in the control conditions is met, the turn signal is controlled to open or close according to the open / closed state information and the target information.

[0007] The above-mentioned technical solution, when the turn signal is turned on, combines multi-dimensional data such as vehicle lane-changing driving behavior information, on / off status information, and target information to judge and control the on / off of the turn signal. This not only reduces the driver's workload and improves driving convenience and comfort, but also avoids misoperation or omission of the turn signal due to a single factor. It effectively improves the accuracy of judging driving intentions, enhances driving safety and convenience, and improves the user's driving experience.

[0008] In some possible implementations, the target information includes navigation information and the indicated travel direction information of the lane in which the vehicle is located. Controlling the opening and closing of the turn signal based on the opening / closing status information and the target information includes: Based on the navigation information, the on / off status information, and the indicated direction of travel information, steering matching information is determined. The steering matching information is used to represent the matching information between the target driving direction of the navigation, the indicated direction of travel of the lane where the vehicle is located, and the indicated direction of the turn signal that is in the on state. The turn signals are controlled to open and close based on the steering matching information.

[0009] In complex scenarios such as intersections, the above-mentioned technical solution can combine navigation information, on / off status information, and traffic direction information to determine steering matching information, and then control the on / off of turn signals according to the actual situation, avoiding misoperation and improving driving safety and convenience.

[0010] In some possible implementations, determining the steering matching information based on the navigation information, the opening / closing status information, and the indicated traffic direction information includes: If the target driving direction of the navigation, the indicated driving direction of the lane where the vehicle is located, and the indicated direction of the turn signal that is on are all consistent, then the steering matching information is determined to be driving and turn signal on matching. If the target driving direction of the navigation, the indicated driving direction of the lane in which the vehicle is located, or the indicated direction of the turn signal that is on is inconsistent, then the steering matching information is determined to be a mismatch between driving direction and turn signal on.

[0011] The aforementioned technical solution determines steering matching information based on the consistency between the target driving direction, the indicated direction of the vehicle's lane, and the indicated direction of the activated turn signal. In complex scenarios such as intersections, it accurately judges the degree of matching between the vehicle's driving intention and actual traffic rules. This avoids traffic violations and safety hazards caused by mistakenly activating or not activating turn signals, thus improving driving safety. Simultaneously, it reduces the driver's workload, enhancing driving convenience and comfort.

[0012] In some possible implementations, the target information further includes traffic light status information corresponding to the intersection in the vehicle's forward direction; determining the steering matching information based on the navigation information, the on / off status information, and the indicated direction of travel includes: Based on the traffic light status information, determine the current light direction of travel at the intersection; Based on the light indicating the direction of travel, the navigation information, the on / off status information, and the indicated direction of travel information, the steering matching information is determined. The steering matching information is used to represent the matching information between the light indicating the direction of travel, the target driving direction of the navigation, the indicated direction of travel of the lane where the vehicle is located, and the indicated direction of the turn signal that is in the on state.

[0013] In complex intersection traffic environments, the aforementioned technical solution can comprehensively consider multiple factors such as traffic light indicators, lane direction, navigation information, and turn signal status to accurately determine the degree of matching between the vehicle's driving intention and actual traffic rules. This avoids traffic violations and safety hazards caused by mistakenly activating or not activating turn signals, thus improving driving safety. At the same time, it reduces the driver's workload, enhancing driving convenience and comfort.

[0014] In some possible implementations, controlling the turning signal's on / off state based on the steering matching information includes: If the steering matching information is consistent, then the turn signal remains in the on state. If the steering matching information indicates any inconsistency, then the turn signal is switched to the off state.

[0015] In complex road driving scenarios, the aforementioned technical solution can accurately determine and adjust the on / off state of the turn signals based on the actual traffic conditions in the vehicle's lane and the turn signal's activation status. This effectively avoids misjudgments, improves driving safety and efficiency, and thus prevents traffic violations and safety hazards caused by misoperation of turn signals, thereby enhancing driving safety. It also avoids traffic accidents caused by misoperation of turn signals, improving driving safety, and reduces the frequency of manual turn signal operation by the driver, enhancing driving convenience and comfort.

[0016] In some possible implementations, the method further includes: If the navigation information indicates that the vehicle has a driving need to continue turning on the turn signal side, then it is determined that the vehicle meets the keep-on condition in the control conditions. If the conditions for keeping the turn signal on are met, the turn signal shall remain in the on state.

[0017] The aforementioned technical solution, by setting conditions for maintaining the turn signal and accurately judging its execution, can keep the turn signal on during normal driving scenarios. This not only prevents the driver from turning off the turn signal after straightening the steering wheel and about to continue turning after changing lanes, but also avoids interruptions in the transmission of steering intentions due to misjudgment or unnecessary closure. This enhances other road users' ability to anticipate vehicle dynamics and effectively reduces the risk of traffic accidents. Simultaneously, it reduces manual driver intervention, improving driving convenience and comfort.

[0018] In some possible implementations, determining the control conditions satisfied by the vehicle based on lane-changing driving behavior information includes: When the lane-changing driving behavior information indicates that the vehicle has completed a lane change, the distance between the vehicle's position and the intersection in the direction of travel is obtained. Based on the distance, the control conditions that the vehicle must meet are determined.

[0019] The above-mentioned technical solution, when the turn signal is turned on, combines multi-dimensional data such as the distance between the vehicle and the intersection, lane change information, traffic lights, and lane direction to determine and control the opening and closing of the turn signal. This not only reduces the driver's workload and improves driving convenience and comfort, but also avoids misoperation or omission of the turn signal due to a single factor. It effectively improves the accuracy of judging driving intentions, enhances driving safety and convenience, and improves the user's driving experience.

[0020] In some possible implementations, determining the control conditions satisfied by the vehicle based on the distance includes: If the distance is less than or equal to the preset distance, then the vehicle is determined to meet the keep-on condition in the control conditions; If the distance is greater than the preset distance, then the vehicle is determined to meet the trigger judgment condition in the control conditions.

[0021] The aforementioned technical solution improves the accuracy of driver intent determination by keeping the turn signal on when the vehicle approaches an intersection or before completing a lane change, avoiding the need to turn it off and then on again, and preventing situations where other road users are left unattended. If the vehicle is far from the intersection or has completed a lane change, and the trigger conditions are met, further judgment is executed to prevent misoperation of the turn signal. This enhances the precision and safety of vehicle steering control in complex road conditions, improving the driving experience.

[0022] In some possible implementations, the driving behavior information includes rearview mirror gaze behavior information, the target information includes navigation information and the indicated travel direction information of the lane in which the vehicle is located, and controlling the opening and closing of the turn signal based on the opening / closing status information, the driving behavior information, and the target information includes: When the open / closed state information indicates that the turn signal is in the closed state and the rearview mirror gaze behavior information indicates that the driver's gaze condition on the rearview mirror is met, the activation trigger condition of the vehicle is determined according to the navigation information and the indicated travel direction information of the lane where the vehicle is located. The activation trigger condition is used to distinguish and trigger the turn signal to be turned on for different indicated directions. Based on the activation trigger condition, the turn signal corresponding to the indicated direction is activated.

[0023] The above technical solution determines the activation trigger conditions met by the vehicle based on the navigation information and the indicated travel direction information of the lane in which the vehicle is located, thereby triggering the corresponding turn signal to turn on. This not only avoids interference to other road users caused by accidentally turning on the turn signal, but also avoids traffic accidents caused by not turning on the turn signal. It can effectively convey the vehicle's driving intention to other road users, reduce the risk of traffic accidents, reduce the driver's operating burden, and improve the convenience and safety of driving.

[0024] In some possible implementations, the target information includes relative information between the vehicle and the lane lines of the lane it is in, and the step of basing the navigation information and the lane information of the vehicle includes: Continuously acquire relative information between the vehicle and the lane lines of the lane it is in; Based on the navigation information, the relative information, and the lane information where the vehicle is located, the activation trigger conditions that the vehicle meets are determined.

[0025] The above-mentioned technical solution continuously acquires information about the relative position of the vehicle and lane lines, and combines this information with navigation information and lane information to determine the activation trigger conditions. This allows for real-time and accurate perception of the vehicle's driving status, thereby accurately determining whether the driver intends to turn. The turn signal can be activated in advance and accurately, avoiding situations where the turn signal is not activated. This effectively conveys the driver's intention to other road users, reduces the risk of collisions, improves driving safety, and reduces human error.

[0026] In some possible implementations, determining the activation trigger condition for the vehicle based on the navigation information, the relative information, and the lane information where the vehicle is located includes: If the relative information meets the preset relative conditions, determine whether the vehicle needs to change lanes based on the navigation information and the lane information where the vehicle is located; If the vehicle needs to change lanes, it is determined that the vehicle meets the activation trigger condition for lane changing. The activation trigger condition for lane changing is that the turn signal on the side corresponding to the gaze behavior of the rearview mirror is activated.

[0027] The aforementioned technical solution, by combining preset relative conditions and line-of-sight dwell time, determines the trigger conditions for lane-change activation, thereby improving the accuracy of the driver's lane-change intention determination. Compared to traditional methods, it allows for earlier and more accurate activation of the corresponding turn signal, promptly communicating vehicle dynamics to other road users, effectively reducing the risk of collisions during lane changes and improving driving safety.

[0028] In some possible implementations, determining whether the vehicle needs to change lanes based on the navigation information and the lane information of the vehicle includes: If the target driving lane represented by the navigation information is different from the current driving lane represented by the lane information of the vehicle, then it is determined that the vehicle has the lane change driving requirement. If the target driving lane represented by the navigation information is the same as the current driving lane represented by the lane information of the vehicle, then it is determined that the vehicle does not have the lane change requirement.

[0029] The aforementioned technical solution determines whether the triggering conditions for lane changing are met by checking if the target lane matches the current lane, thus improving the accuracy of determining the driver's lane-changing intention. Compared to traditional methods, it allows for earlier and more accurate activation of the corresponding turn signal, promptly communicating vehicle dynamics to other road users, effectively reducing the risk of collisions during lane changes and improving driving safety.

[0030] In some possible implementations, controlling the turn signal corresponding to the indicated direction to turn on according to the activation trigger condition includes: In response to the fulfillment of the lane change activation trigger condition, the lane change direction of the vehicle is determined based on the target driving lane represented by the navigation information and the current driving lane represented by the lane information of the vehicle. Turn on the turn signal corresponding to the direction of the lane change.

[0031] The above technical solution, when the activation triggering conditions for lane change are met, determines the lane change direction of the vehicle based on the target driving lane represented by the navigation information and the current driving lane represented by the lane information of the vehicle, and activates the turn signal corresponding to the lane change direction. The turn signal can be activated in advance and accurately, timely conveying the vehicle's dynamics to other road users, effectively reducing the collision risk during lane change and improving driving safety.

[0032] In some possible implementations, determining the activation trigger condition for the vehicle based on the navigation information and the indicated travel direction information of the lane in which the vehicle is located includes: If the target driving direction indicated by the navigation information is the same as the indicated driving direction of the lane where the vehicle is located, then it is determined that the vehicle meets the trigger condition for turning. The step of controlling the turn signal corresponding to the indicated direction to turn on according to the activation trigger condition includes: In response to the fulfillment of the turning trigger condition, the turn signal corresponding to the indicated direction of travel is activated.

[0033] The above technical solution determines whether the turn signal activation trigger condition is met. When the turn signal activation trigger condition is met, it can accurately determine that the vehicle has a legitimate turning intention, and then activate the corresponding turn signal. This avoids traffic accidents caused by accidental activation or non-activation of turn signals, reduces the complexity of vehicle driving operations, improves driving safety, reduces traffic conflicts caused by unclear intentions, and enhances the user's driving experience.

[0034] According to a second aspect of the present disclosure, a turn signal control device is provided, comprising: The acquisition module is configured to acquire the on / off status information of the turn signal, the driving behavior information of the vehicle, and the corresponding target information when the automatic turn signal control function is activated. The target information acquired will be different depending on the on / off status of the turn signal and the driving behavior. The control module is configured to control the opening and closing of the turn signal based on the opening / closing status information, the driving behavior information, and the target information.

[0035] In some possible implementations, the driving behavior information includes lane-changing driving behavior information; the control module includes: The first determining submodule is configured to determine the control conditions satisfied by the vehicle based on lane change driving behavior information when the turn signal on either side of the vehicle is in the on state indicated by the on / off state information. The first control submodule is configured to control the opening and closing of the turn signal according to the opening / closing status information and the target information if the trigger judgment condition in the control conditions is met.

[0036] In some possible implementations, the target information includes navigation information and the indicated travel direction information of the lane in which the vehicle is located, and the first control submodule is configured to: Based on the navigation information, the on / off status information, and the indicated direction of travel information, steering matching information is determined. The steering matching information is used to represent the matching information between the target driving direction of the navigation, the indicated direction of travel of the lane where the vehicle is located, and the indicated direction of the turn signal that is in the on state. The turn signals are controlled to open and close based on the steering matching information.

[0037] In some possible implementations, the first determining submodule is configured as follows: When the lane-changing driving behavior information indicates that the vehicle has completed a lane change, the distance between the vehicle's position and the intersection in the direction of travel is obtained. Based on the distance, the control conditions that the vehicle must meet are determined.

[0038] In some possible implementations, the driving behavior information includes rearview mirror gaze behavior information, the target information includes navigation information and the lane direction information of the vehicle, and the control module includes: The second determining submodule is configured to determine the activation triggering conditions satisfied by the vehicle based on the navigation information and the indicated travel direction information of the lane where the vehicle is located, when the open / closed state information indicates that the turn signal is in the closed state and the rearview mirror gaze behavior information indicates that the driver's gaze condition on the rearview mirror is satisfied. The activation triggering conditions are used to distinguish and trigger the turn signal to be turned on for different indicated directions. The second control submodule is configured to control the turn signal corresponding to the indicated direction to turn on according to the activation trigger condition.

[0039] In some possible implementations, the target information includes relative information between the vehicle and the lane lines of the lane it is in, and the second determining submodule is configured to: Continuously acquire relative information between the vehicle and the lane lines of the lane it is in; Based on the navigation information, the relative information, and the lane information where the vehicle is located, the activation trigger conditions that the vehicle meets are determined.

[0040] According to a third aspect of the present disclosure, a vehicle is provided, comprising: processor; Memory used to store processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method of any one of the first aspects.

[0041] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0042] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0043] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0044] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0045] Figure 1 This is a flowchart illustrating a turn signal control method according to an exemplary embodiment.

[0046] Figure 2 This is an implementation illustrated according to an exemplary embodiment. Figure 1 The flowchart for step S12.

[0047] Figure 3 This is an implementation illustrated according to an exemplary embodiment. Figure 2 The flowchart for step S122.

[0048] Figure 4 This is an implementation illustrated according to an exemplary embodiment. Figure 3 The flowchart of step S1222.

[0049] Figure 5 This is a schematic diagram illustrating a driving scenario in which the turn signal is kept on, according to an exemplary embodiment.

[0050] Figure 6 This is a schematic diagram illustrating a driving scenario with the turn signals off, according to an exemplary embodiment.

[0051] Figure 7 This is an implementation illustrated according to an exemplary embodiment. Figure 3 The flowchart of step S1221.

[0052] Figure 8 This is yet another implementation illustrated according to an exemplary embodiment. Figure 1 The flowchart for step S12.

[0053] Figure 9 This is a schematic diagram illustrating the activation of the turn signal in a lane-changing driving scenario according to an exemplary embodiment.

[0054] Figure 10 This is a schematic diagram illustrating the activation of the turn signal in a steering driving scenario according to an exemplary embodiment.

[0055] Figure 11 This is a block diagram illustrating a turn signal control device according to an exemplary embodiment.

[0056] Figure 12This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0057] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0058] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0059] Furthermore, the intelligent driving described in this disclosure can also be called intelligent assisted driving. All intelligent driving-related technologies in this disclosure are designed in accordance with the relevant laws and regulations of the country where they are located, in order to meet driving safety requirements.

[0060] Before introducing the turn signal control method provided by the embodiments of this disclosure, let's first introduce the relevant scenarios and the technical problems existing in the prior art. In vehicle driver assistance systems, turn signals are no longer limited to being turned off based on the steering wheel angle, but are configured to automatically turn off. For example, the turn signal can be automatically turned on or off by using the vehicle's steering wheel angle and lateral speed; or, based on perceived road information, road arrow signs can be identified to determine the driver's driving intention at an intersection. For example, when the right turn signal is on, if the vehicle completes a lane change to the right and the road sign still indicates a right turn, the driver's driving intention is identified as continuing to turn right or continue changing lanes to the right, and the turn signal can be kept on; if the vehicle completes a lane change to the right and the road sign indicates going straight, the driver's driving intention is identified as going straight, and a turn signal off command can be given to the turn signal actuator to control the right turn signal to turn off.

[0061] However, if the arrow markings on the road are blurry or unclear, or in other situations, there is a risk that the driver's driving intention may not be clearly recognized in intersections and other scenarios, resulting in inaccurate control of the automatic turn signal shut-off and reducing the user's experience of using the automatic turn signal shut-off function.

[0062] In view of this, the present disclosure provides a turn signal control method, which aims to improve the accuracy of driving intention recognition, thereby improving the user experience of automatic turn signal activation and deactivation in scenarios such as intersections.

[0063] Figure 1This is a flowchart illustrating a turn signal control method according to an exemplary embodiment. In this embodiment, the turn signal control method can be applied to a vehicle lighting domain controller, such as... Figure 1 As shown, the turn signal control method includes the following steps.

[0064] In step S11, when the automatic turn signal control function is activated, the on / off status information of the turn signal, the driving behavior information of the vehicle, and the corresponding target information are acquired. The target information acquired is different depending on the on / off status of the turn signal and the driving behavior.

[0065] The automatic turn signal control function allows the vehicle to automatically control the turn signals on and off based on collected information without requiring manual operation from the driver. For example, when the automatic turn signal control function is not activated, the vehicle can turn the turn signals on or off only with manual operation from the driver.

[0066] The target information refers to various types of information related to the current driving behavior and the on / off status of the turn signals. Target information helps determine the driving intention and thus whether the turn signals need to be turned on or off. Examples include the positions of other vehicles around the vehicle, pedestrian dynamics, road conditions, and driving speed. For instance, when the turn signals are on, the target information obtained could be traffic light indications, the vehicle's lane, the distance between the vehicle and the intersection, and lane change information. When the turn signals are off, the target information obtained could be relative information to the lane lines, or it could be traffic light indications, the vehicle's driving status, and the vehicle's lane.

[0067] Different driving behaviors and turn signal states correspond to different target information acquisition needs. For example, when a vehicle is driving straight on a highway with its turn signal off, the distance and speed to the vehicle in front can be used as target information to determine whether there is a driving intention to change lanes in advance; while when a vehicle is approaching an intersection with its turn signal off, the traffic light status at the intersection, whether there are pedestrians preparing to cross the road, and the direction indication of the lane in which the vehicle is located can be used as target information to determine whether there is a driving intention to turn.

[0068] In this embodiment of the disclosure, when the automatic turn signal control function is activated, the on / off status information of the turn signals can be obtained in real time through sensors installed in the vehicle's turn signal circuit. The sensors can detect whether the turn signals are powered on and illuminated via voltage or current. Simultaneously, various types of sensors can be used to collect target information in the current driving scenario. For example, a camera can capture the road ahead of the vehicle and identify whether there are intersections, turning signs, traffic lights, etc.; radar can detect the distance, speed, and direction of other objects within a certain range around the vehicle; and a speed sensor can obtain the vehicle's speed in real time. Navigation information can also be obtained to determine target information.

[0069] In step S12, the turn signal is controlled to open or close based on the open / closed state information, the driving behavior information, and the target information.

[0070] In this embodiment of the disclosure, after obtaining the on / off status information of the turn signal, driving behavior information, and target information under the current driving behavior, the system can analyze and judge according to a pre-set algorithm and logic to determine the driving intention, and then determine the target state of the turn signal based on the driving intention, thereby controlling the on / off state of the turn signal. For example, if the turn signal is in the off state and the driving intention is to turn left, the left turn signal is turned on, and a left turn signal turn-on command is sent to the turn signal control circuit to illuminate the left turn signal; if the turn signal is in the on state and the driving intention is to turn left, the left turn signal is turned on, and a left turn signal turn-on command is sent to the turn signal control circuit to keep the left turn signal illuminated; if the turn signal is in the on state and the driving intention is to go straight, the left turn signal is turned off, and a left turn signal turn-off command is sent to the turn signal control circuit to extinguish the left turn signal.

[0071] The aforementioned technical solution, when the automatic turn signal control function is activated, can accurately determine the driver's true intention based on the on / off status information, vehicle driving behavior information, and corresponding target information, thereby improving the accuracy of driving intention determination. Consequently, in complex scenarios such as intersections, it can intelligently and promptly and automatically turn the turn signals on or off, effectively avoiding misoperation or missed operation, enhancing driving safety and convenience, and ultimately improving the user experience of driving the vehicle.

[0072] In some possible implementations, the driving behavior information includes lane-changing driving behavior information. In this embodiment of the disclosure, the lane-changing driving behavior information is acquired when the turn signal is on. See [link to relevant documentation]. Figure 2 As shown, in step S12, controlling the opening and closing of the turn signal based on the opening / closing status information, the driving behavior information, and the target information includes: In step S121, when the open / closed state information indicates that the turn signal on either side of the vehicle is in the on state, the control conditions satisfied by the vehicle are determined based on the lane change driving behavior information.

[0073] Lane change driving behavior information refers to information acquired by a vehicle during driving through various sensors (such as millimeter-wave radar and cameras) to indicate whether the vehicle is changing lanes and the direction of the lane change. It can include status information at different stages, such as whether the vehicle intends to change lanes, is performing a lane change maneuver, and has completed the lane change, reflecting the vehicle's dynamic changes between lanes.

[0074] Among them, millimeter-wave radar detects the distance, speed and angle of objects around the vehicle by transmitting and receiving millimeter-wave signals, and determines whether other vehicles are approaching and whether the vehicle is inclined to change lanes; the camera uses image recognition technology to identify lane lines, the driving trajectories of surrounding vehicles, etc., to confirm the lane change situation.

[0075] In step S122, if the trigger judgment condition in the control conditions is met, the turn signal is controlled to open or close according to the open / closed state information and the target information.

[0076] In this embodiment of the disclosure, if the trigger judgment condition in the control conditions is determined to be met, the decision control stage will be entered. At this time, the on / off state information and target information can be combined to determine whether the turn signal should be turned off.

[0077] The above-mentioned technical solution, when the turn signal is turned on, combines multi-dimensional data such as vehicle lane-changing driving behavior information, on / off status information, and target information to judge and control the on / off of the turn signal. This not only reduces the driver's workload and improves driving convenience and comfort, but also avoids misoperation or omission of the turn signal due to a single factor. It effectively improves the accuracy of judging driving intentions, enhances driving safety and convenience, and improves the user's driving experience.

[0078] In some possible implementations, the target information includes navigation information and the indicated travel direction information of the lane in which the vehicle is located, see [link to relevant documentation]. Figure 3 As shown, in step S122, controlling the opening and closing of the turn signal based on the opening / closing state information and the target information includes: In step S1221, steering matching information is determined based on the navigation information, the on / off status information, and the indicated direction information. The steering matching information is used to represent the matching information between the target driving direction of the navigation, the indicated direction of the lane where the vehicle is located, and the indicated direction of the turn signal that is in the on state.

[0079] The steering matching information can be used to quantify the degree of matching between the traffic status of the lane the vehicle is in (determined by navigation information and lane indication direction) and the direction indicated by the on turn signal. This can include whether the current lane is the target lane corresponding to the navigation, and whether the direction of travel in the target lane matches the direction indicated by the on turn signal.

[0080] In this embodiment, traffic light indication information, such as red, green, and yellow light status, can be extracted from the target information, and the direction of the turn signal that is active can be obtained from the on / off status information. Then, combined with the indicated travel direction of the lane in which the vehicle is located, such as straight, left turn, or right turn, it is determined whether the lane travel status and the turn signal direction are consistent, thereby determining the turn signal matching information. For example, if the lane indicates a right turn and the traffic light is green, and the right turn signal is active, then the turn signal matching information is correct.

[0081] In step S1222, the turn signal is controlled to open or close according to the steering matching information.

[0082] In this embodiment of the present disclosure, if the steering matching information is consistent with the direction of travel indicated by the lane indication, the direction of travel indicated by the navigation, and the direction of the turn signal that is in the on state, then the turn signal is kept on to ensure that the vehicle travels in the correct direction; if the steering matching information is inconsistent with the direction of travel indicated by the lane indication and the direction of travel indicated by the navigation, or the direction of travel indicated by the navigation and the direction of the turn signal that is in the on state, the turn signal can be turned off to prevent misleading other road users.

[0083] In complex scenarios such as intersections, the above-mentioned technical solution can combine navigation information, on / off status information, and traffic direction information to determine steering matching information, and then control the on / off of turn signals according to the actual situation, avoiding misoperation and improving driving safety and convenience.

[0084] See also some possible implementation methods. Figure 4 As shown, in step S1222, determining the steering matching information based on the navigation information, the opening / closing status information, and the indicated traffic direction information includes: In step S21, if the target driving direction of the navigation, the indicated driving direction of the lane where the vehicle is located, and the indicated direction of the turn signal that is in the on state are all consistent, then the steering matching information is determined to be driving and turn signal on matching. In this embodiment of the disclosure, when the target driving direction of the navigation, the indicated travel direction of the lane in which the vehicle is located, and the indicated direction of the turn signal that is in the on state are all consistent, it can be determined that the vehicle can safely drive in the direction indicated by the current turn signal, and the turn signal can be kept in the on state. For example, if the lane in which the vehicle is currently located is a left-turn lane, and the navigation information shows that the left-turn traffic light is green and allows left turns, and the left-turn signal is in the on state, it can be determined that the vehicle can safely turn left, and the steering matching information is determined to be a match between driving and turn signal on state, and the left turn signal can be kept in the on state.

[0085] For example, see Figure 5 As shown, if the vehicle is in a left-turn lane and the navigation information shows that the left-turn traffic light is green and the left turn signal is on, then the steering matching information is determined to be a match between driving and turn signal activation, thus keeping the left turn signal on. Alternatively, if the steering matching information indicates that the vehicle is in a left-turn lane and the navigation information shows that it will soon become a permitted left-turn lane (e.g., traffic light indicator information indicates a left-turn traffic light countdown of less than 10 seconds), and the left turn signal is on, then the steering matching information is determined to be a match between driving and turn signal activation, thus keeping the left turn signal on.

[0086] In step S22, if the target driving direction of the navigation, the indicated driving direction of the lane where the vehicle is located, or the indicated direction of the turn signal that is on is inconsistent, then the steering matching information is determined to be a mismatch between driving direction and turn signal on.

[0087] In this embodiment of the disclosure, if any of the target driving direction of the navigation, the indicated direction of the lane in which the vehicle is located, or the indicated direction of the turn signal that is in the active state is inconsistent, then the steering matching information is determined to be a mismatch between driving direction and turn signal activation. This indicates that if the vehicle continues to drive with the current turn signal activated, it may violate traffic rules or mislead other road users, thereby causing a safety hazard. Therefore, the turn signal can be switched to the off state. For example, if the left-turn lane is red and left turns are not permitted, and the left-turn signal is active, then it can be determined that the vehicle cannot turn left, and the left turn signal can be turned off.

[0088] See Figure 6As shown, if the left-turn lane where the vehicle is located is red and not allowed to proceed, but the navigation information indicates that the vehicle can go straight or turn right, and the left turn signal is on, then the steering matching information is determined to be a mismatch between driving and turn signal activation. The current left-turn lane is not allowed, and the left turn signal can be switched off. Alternatively, if the right-turn and straight-ahead lanes where the vehicle is located are both in a prohibited right-turn lane, and the right turn signal is on, then the right turn signal can be switched off.

[0089] The aforementioned technical solution determines steering matching information based on the consistency between the target driving direction, the indicated direction of the vehicle's lane, and the indicated direction of the activated turn signal. In complex scenarios such as intersections, it accurately judges the degree of matching between the vehicle's driving intention and actual traffic rules. This avoids traffic violations and safety hazards caused by mistakenly activating or not activating turn signals, thus improving driving safety. Simultaneously, it reduces the driver's workload, enhancing driving convenience and comfort.

[0090] In some possible implementations, the target information also includes traffic light status information at the intersection in the direction the vehicle is traveling; see [link / reference needed]. Figure 7 As shown, in step S1221, determining the steering matching information based on the navigation information, the opening / closing status information, and the indicated traffic direction information includes: In step S31, the current traffic light direction at the intersection is determined based on the traffic light status information.

[0091] The traffic light status information can be obtained by vehicles through roadside equipment or by vehicles through onboard acquisition devices that collect image information of traffic lights at intersections. The direction of traffic can be determined by recognizing the status of the traffic lights through the images.

[0092] In step S32, the steering matching information is determined based on the light indicating the direction of travel, the navigation information, the on / off status information, and the indicated direction of travel information. The steering matching information is used to represent the matching information between the light indicating the direction of travel, the target driving direction of the navigation, the indicated direction of travel of the lane where the vehicle is located, and the indicated direction of the turn signal that is in the on state.

[0093] In this embodiment of the disclosure, after determining the permitted direction of traffic at the intersection, the lane in which the vehicle is located can be identified from the vehicle navigation system or through image recognition, thereby obtaining the indicated direction of traffic for that lane. The current permitted direction of traffic at the intersection, determined by traffic light status information, is compared with the indicated direction of traffic for the vehicle's lane to determine the traffic status of that lane. For example, whether the traffic status is green (allowing passage) or red (disallowing passage).

[0094] For example, if a vehicle is traveling in a lane marked with a straight-ahead arrow, and the traffic light information indicates that the permitted directions at the intersection are straight and right turns, then since the indicated direction of travel for the vehicle's lane is straight, matching the permitted directions, the lane's traffic status can be determined as permissible (straight-ahead direction). As another example, if a vehicle is in a left-turn lane, but the intersection's permitted directions are only straight and right turns, then the lane's traffic status can be determined as impassable (left-turn direction).

[0095] For example, if the lane in which the vehicle is located allows straight-ahead traffic, and the vehicle's left turn signal or right turn signal is on, then the steering matching information indicates that the lane's traffic status and the indicated direction of the on turn signal are inconsistent. In this case, the turn signal will be switched off. Conversely, if the vehicle is in a left-turn lane and the left turn signal is on, then the steering matching information indicates that the lane's traffic status and the indicated direction of the on turn signal are consistent.

[0096] In complex intersection traffic environments, the aforementioned technical solution can comprehensively consider multiple factors such as traffic light indicators, lane direction, navigation information, and turn signal status to accurately determine the degree of matching between the vehicle's driving intention and actual traffic rules. This avoids traffic violations and safety hazards caused by mistakenly activating or not activating turn signals, thus improving driving safety. At the same time, it reduces the driver's workload, enhancing driving convenience and comfort.

[0097] In some possible implementations, controlling the turning signal's on / off state based on the steering matching information includes: If the steering matching information is consistent, then the turn signal remains in the on state. In this embodiment, image recognition technology is used to obtain the straight, left-turn, right-turn, or combined lane attributes specified by the ground markings or traffic signs of the lane currently occupied by the vehicle. The indicated travel direction of the lane is determined, and then compared with the target travel direction. If the lane indicated direction matches the target travel direction, the vehicle's current lane selection is deemed legal. Furthermore, based on the current traffic status information of the target travel direction, it is determined whether the lane occupied by the vehicle is permitted to pass, thus obtaining the road traffic status. For example, if the target travel direction indicates that the current lane occupied by the vehicle is in a green light, then the road traffic status of the lane occupied by the vehicle is determined to be permitted, and the turn signal remains in the on state.

[0098] If the steering matching information indicates any inconsistency, then the turn signal is switched to the off state.

[0099] For example, if the target driving direction indicates that the current lane where the vehicle is located is red and not allowed to pass, then the road traffic status of the lane where the vehicle is located is determined to be not allowed to pass, and the turn signal is controlled to switch to the off state.

[0100] In complex road driving scenarios, the aforementioned technical solution can accurately determine and adjust the on / off state of the turn signals based on the actual traffic conditions in the vehicle's lane and the turn signal's activation status. This effectively avoids misjudgments, improves driving safety and efficiency, and thus prevents traffic violations and safety hazards caused by misoperation of turn signals, thereby enhancing driving safety. It also avoids traffic accidents caused by misoperation of turn signals, improving driving safety, and reduces the frequency of manual turn signal operation by the driver, enhancing driving convenience and comfort.

[0101] In some possible implementations, the method further includes: If the navigation information indicates that the vehicle has a driving need to continue turning on the turn signal side, then it is determined that the vehicle meets the keep-on condition in the control conditions. If the conditions for keeping the turn signal on are met, the turn signal shall remain in the on state.

[0102] The "keep on" condition is the condition under which it is determined that there is no need to turn off the vehicle's already activated turn signals.

[0103] For example, continuous monitoring of vehicle driving data and surrounding traffic environment information. For instance, vehicle speed is obtained through speed sensors, and lane markings and traffic light status are identified using cameras. When a vehicle is legally changing lanes or turning, and its speed remains stable within a reasonable range, satisfying the preset lane-keeping condition logic, the turn signal can be kept on to continuously indicate the vehicle's direction of travel.

[0104] The aforementioned technical solution, by setting conditions for maintaining the turn signal and accurately judging its execution, can keep the turn signal on during normal driving scenarios. This not only prevents the driver from turning off the turn signal after straightening the steering wheel and about to continue turning after changing lanes, but also avoids interruptions in the transmission of steering intentions due to misjudgment or unnecessary closure. This enhances other road users' ability to anticipate vehicle dynamics and effectively reduces the risk of traffic accidents. Simultaneously, it reduces manual driver intervention, improving driving convenience and comfort.

[0105] In some possible implementations, determining the control conditions satisfied by the vehicle based on lane-changing driving behavior information includes: When the lane-changing driving behavior information indicates that the vehicle has completed a lane change, the distance between the vehicle's position and the intersection in the direction of travel is obtained. Among them, the distance between the vehicle and the intersection can obtain the vehicle's current precise location. Combined with the map data pre-stored in the vehicle navigation system, the straight-line distance between the vehicle's location and the intersection in the direction of travel can be calculated. Alternatively, the distance between the zebra crossing or traffic light at the intersection can be identified by radar to estimate the straight-line distance between the vehicle's location and the intersection in the direction of travel.

[0106] In this embodiment of the present disclosure, when the turn signal on either side (left or right) of the vehicle is detected to be on, the distance between the vehicle and the intersection ahead can be continuously acquired, and the vehicle's driving status can be monitored in real time by using millimeter-wave radar and cameras or other acquisition devices installed on the vehicle to acquire lane change information.

[0107] Based on the distance, the control conditions that the vehicle must meet are determined.

[0108] The system combines information about the vehicle's distance to the intersection and lane change with preset rules to determine the control conditions that the vehicle must meet. For example, if the right turn signal is on, and the vehicle is less than 10 meters from the intersection and a tendency to change lanes to the right is detected, the system determines that the vehicle meets the control condition of not turning off the right turn signal when turning right.

[0109] For example, if a vehicle's right turn signal is on, the vehicle is 10 meters from the intersection, and it has already changed lanes to the right turn lane, the trigger condition is met. If the camera detects that the traffic light ahead is green for right turns, and the vehicle is in the right turn lane, it can be determined that the vehicle can continue to keep its right turn signal on and prepare to turn right; if the traffic light is red for right turns, a command can be immediately sent to turn off the right turn signal to avoid misleading other road users.

[0110] The above-mentioned technical solution, when the turn signal is turned on, combines multi-dimensional data such as the distance between the vehicle and the intersection, lane change information, traffic lights, and lane direction to determine and control the opening and closing of the turn signal. This not only reduces the driver's workload and improves driving convenience and comfort, but also avoids misoperation or omission of the turn signal due to a single factor. It effectively improves the accuracy of judging driving intentions, enhances driving safety and convenience, and improves the user's driving experience.

[0111] In some possible implementations, determining the control conditions satisfied by the vehicle based on the distance includes: If the distance is less than or equal to the preset distance, then the vehicle is determined to meet the keep-on condition in the control conditions; In one embodiment, if the distance to the intersection is less than or equal to a preset distance of 250m, or if the vehicle has not completed the lane change (e.g., 1 / 5 of the vehicle body enters the target lane for the lane change), then it is determined that the vehicle meets the keep-on condition in the control conditions, and the turn signal that is currently in the on state remains on.

[0112] If the distance is greater than the preset distance, then the vehicle is determined to meet the trigger judgment condition in the control conditions.

[0113] Following the above embodiment, if the distance between the vehicle and the intersection is greater than a preset distance of 250m, and / or the vehicle completes a lane change (for example, 4 / 5 or more of the vehicle body enters the target lane for the lane change), then it is determined that the vehicle meets the trigger judgment condition in the control conditions, and then it is further determined whether the turn signal needs to be kept on based on, for example, navigation information.

[0114] The aforementioned technical solution improves the accuracy of driver intent determination by keeping the turn signal on when the vehicle approaches an intersection or before completing a lane change, avoiding the need to turn it off and then on again, and preventing situations where other road users are left unattended. If the vehicle is far from the intersection or has completed a lane change, and the trigger conditions are met, further judgment is executed to prevent misoperation of the turn signal. This enhances the precision and safety of vehicle steering control in complex road conditions, improving the driving experience.

[0115] In some possible implementations, the driving behavior information includes rearview mirror gaze behavior information, and the target information includes navigation information and lane direction information of the vehicle's current lane, see [link to relevant documentation]. Figure 8 As shown, in step S12, controlling the opening and closing of the turn signal based on the opening / closing status information, the driving behavior information, and the target information includes: In step S1201, when the open / closed state information indicates that the turn signal is in the closed state and the rearview mirror gaze behavior information indicates that the driver's gaze condition on the rearview mirror is met, the activation trigger condition satisfied by the vehicle is determined according to the navigation information and the indicated travel direction information of the lane where the vehicle is located. The activation trigger condition is used to distinguish and trigger the turn signal to be turned on for different indicated directions.

[0116] Specifically, rearview mirror attention behavior information can be determined by tracking the duration of the driver's gaze in the area of ​​the rearview mirror on either side of the vehicle. For example, a driver monitoring system can continuously acquire information on the duration of the driver's gaze in the area of ​​the rearview mirror on either side of the vehicle. This gaze information indicates the duration of the driver's gaze in the area of ​​the rearview mirror on either side of the vehicle, which can indirectly reflect the driver's intention to change lanes or turn.

[0117] In this embodiment of the disclosure, if a vehicle gradually approaches a lane line and the driver's gaze lingers in the area of ​​that side's rearview mirror for more than a preset time, it indicates that the driver is paying attention to the road conditions on that side and may be preparing to change lanes. Then, based on preset rules, it can be determined whether the conditions for triggering the turn signal on that side are met.

[0118] The activation trigger conditions are specific rules set based on the target information. Different indicated directions correspond to different trigger conditions, which are used to activate the turn signals in the corresponding directions. For example, preset activation trigger conditions may include: navigation plans to turn right, no prohibition sign for turning right, traffic lights permitting turning right, etc.

[0119] In this embodiment of the disclosure, if the on / off status information indicates that the turn signal is off, the rearview mirror gaze behavior information, navigation information, and the lane direction information of the vehicle can be analyzed in depth to determine whether the triggering conditions for turning on the turn signal are met. For example, if the vehicle is traveling on a three-lane road, currently in the middle lane, and the route planned by the vehicle navigation system indicates that the vehicle needs to turn right at the intersection ahead, and the rearview mirror gaze behavior information indicates that the driver is continuously observing the rearview mirror, and at the same time, the camera in front of the vehicle detects that there is no sign prohibiting right turns at the intersection, and the traffic light allows right turns, then it is determined that the vehicle meets the triggering conditions for turning on the right turn signal.

[0120] In step S1202, the turn signal corresponding to the indicated direction is turned on according to the activation trigger condition.

[0121] In this embodiment of the disclosure, after determining that the activation trigger condition is met, a control command can be sent to the corresponding turn signal control module according to the met activation trigger condition. Continuing with the above example, when it is determined that the activation trigger condition for the right turn signal is met, an activation signal can be sent to the control circuit of the right turn signal, thereby connecting the circuit of the right turn signal, allowing current to flow through the turn signal bulb, thus illuminating the right turn signal and clearly conveying the vehicle's intention to turn right to other road users.

[0122] The above technical solution determines the activation trigger conditions met by the vehicle based on the navigation information and the indicated travel direction information of the lane in which the vehicle is located, thereby triggering the corresponding turn signal to turn on. This not only avoids interference to other road users caused by accidentally turning on the turn signal, but also avoids traffic accidents caused by not turning on the turn signal. It can effectively convey the vehicle's driving intention to other road users, reduce the risk of traffic accidents, reduce the driver's operating burden, and improve the convenience and safety of driving.

[0123] In some possible implementations, the target information includes relative information between the vehicle and the lane lines of the lane it is in. In step S1201, the step of basing the navigation information and the lane information of the vehicle includes: Continuously acquire relative information between the vehicle and the lane lines of the lane it is in; This can be achieved by continuously and dynamically acquiring information about the relationship between the vehicle and the lane markings, such as position, distance, and angle, to obtain relative information. For example, by using sensors installed on the vehicle, such as cameras and radar, to collect information in real time, relative information can be used to reflect the vehicle's specific position and driving behavior within the lane, and then used to determine whether the vehicle needs to activate its turn signal and the direction in which it should activate it.

[0124] In this embodiment of the disclosure, the relative information between the vehicle and the lane lines transmitted by the sensor is continuously received to determine the activation trigger condition of the vehicle. If the vehicle gradually approaches the left lane line and has a tendency to deviate from its lane, combined with the intention of driving direction, when the distance is less than a preset safety threshold and the angle indicates that there is a possibility of changing lanes to the left, it is determined according to preset rules that the left turn signal activation trigger condition is met.

[0125] In some possible implementations, the relative information includes one or more of the following: The lateral speed of the vehicle relative to the lane line of its lane, and the distance between the vehicle and the lane line of its lane.

[0126] For example, if, during vehicle travel, the vehicle's lateral velocity Vy relative to the lane line is greater than a preset lateral velocity threshold, and simultaneously the distance between the vehicle and the lane line of its current lane is less than a preset lane line distance threshold, then the vehicle meets the trigger condition for lane change. For instance, if, during vehicle travel, the vehicle's lateral velocity Vy relative to the lane line is greater than a preset lateral velocity threshold of 0.2 m / s, and simultaneously the distance between the vehicle and the left lane line of its current lane is less than a preset lane line distance threshold of 0.3 m, then the vehicle meets the trigger condition for changing lanes to the left.

[0127] The lateral velocity can be determined based on pre-detection tracking, according to the lateral velocity in the previous time period at the current time point.

[0128] In one embodiment, if during vehicle travel, the lateral velocity Vy of the vehicle relative to the lane line is greater than a preset lateral velocity threshold, and at the same time the distance between the vehicle and the lane line is less than a preset lane line distance threshold, and the gaze information indicates a dwell time greater than a preset duration, then it can be determined that the vehicle meets the activation triggering conditions for lane changing.

[0129] For example, see Figure 9As shown in the left figure, if during vehicle operation, the lateral velocity Vy of the vehicle relative to the lane line is greater than the preset lateral velocity threshold of 0.2m / s, and at the same time the distance between the vehicle and the left side of the lane line is less than the preset lane line distance threshold of 0.3m, and the line-of-sight information indicates that the driver's line of sight stays in the area where the left rearview mirror is located for a duration greater than the preset duration of 0.6s, then it can be determined that the vehicle meets the activation trigger conditions for changing lanes to the left.

[0130] In yet another example, see Figure 9 As shown in the right figure, if during the vehicle's driving process, the lateral speed Vy of the vehicle relative to the lane line is greater than the preset lateral speed threshold of 0.2m / s, and at the same time the distance between the vehicle and the right side of the lane line is less than the preset lane line distance threshold of 0.3m, and the line-of-sight information indicates that the driver's line of sight stays in the area where the right rearview mirror is located for a duration greater than the preset duration of 0.6s, then it can be determined that the vehicle meets the activation trigger conditions for changing lanes to the right.

[0131] Based on the navigation information, the relative information, and the lane information where the vehicle is located, the activation trigger conditions that the vehicle meets are determined.

[0132] In this embodiment of the disclosure, navigation information is used to determine the target driving direction of the vehicle at any position, relative information is used to determine the distance and speed of the vehicle relative to any lane line, and the lane information of the vehicle is used to indicate the indicated direction of travel of the current driving lane, such as whether the lane is a left turn lane, a right turn lane or a straight lane.

[0133] The above-mentioned technical solution continuously acquires information about the relative position of the vehicle and lane lines, and combines this information with navigation information and lane information to determine the activation trigger conditions. This allows for real-time and accurate perception of the vehicle's driving status, thereby accurately determining whether the driver intends to turn. The turn signal can be activated in advance and accurately, avoiding situations where the turn signal is not activated. This effectively conveys the driver's intention to other road users, reduces the risk of collisions, improves driving safety, and reduces human error.

[0134] In some possible implementations, determining the activation trigger condition for the vehicle based on the navigation information, the relative information, and the lane information where the vehicle is located includes: If the relative information meets the preset relative conditions, it is determined whether the vehicle needs to change lanes based on the navigation information and the lane information where the vehicle is located.

[0135] The preset relative conditions can be pre-defined threshold ranges regarding the relative position, distance, and angle between the vehicle and the lane lines. When the relative information between the vehicle and the lane lines falls within this range, it indicates that the vehicle intends to move closer to the lane lines and change lanes.

[0136] In this embodiment, the relative information between the vehicle and the lane lines is continuously monitored. When the relative information reaches a preset relative condition, such as the distance between the vehicle and one side lane line gradually decreasing and the angle conforming to the approach trend, the driver's line of sight information is collected simultaneously. If the driver's line of sight stays in the rearview mirror area on that side for more than a preset time, it can be determined that the driver intends to change lanes, and thus the lane change activation trigger condition for activating the turn signal on that side is met.

[0137] If the vehicle needs to change lanes, it is determined that the vehicle meets the activation trigger condition for lane changing. The activation trigger condition for lane changing is that the turn signal on the side corresponding to the gaze behavior of the rearview mirror is activated.

[0138] In this embodiment of the disclosure, when it is determined that the vehicle is performing a lane change to the left or right, it can be determined that the vehicle meets the activation trigger condition for lane change. For example, the driver monitoring system can continuously acquire line-of-sight information. For instance, if the line-of-sight information indicates a dwell time greater than a preset duration of 0.6 seconds when the relative information meets preset relative conditions, it can be determined that the vehicle meets the activation trigger condition for lane change.

[0139] The aforementioned technical solution, by combining preset relative conditions and line-of-sight dwell time, determines the trigger conditions for lane-change activation, thereby improving the accuracy of the driver's lane-change intention determination. Compared to traditional methods, it allows for earlier and more accurate activation of the corresponding turn signal, promptly communicating vehicle dynamics to other road users, effectively reducing the risk of collisions during lane changes and improving driving safety.

[0140] In some possible implementations, determining whether the vehicle needs to change lanes based on the navigation information and the lane information of the vehicle includes: If the target driving lane represented by the navigation information is different from the current driving lane represented by the lane information of the vehicle, then it is determined that the vehicle has the lane change driving requirement. For example, if the target driving lane represented by the navigation information is the second lane from the left, while the current driving lane represented by the lane information of the vehicle is the first lane from the left, it indicates that the vehicle has not yet arrived or has deviated from the predetermined lane. This can then be used to determine that the vehicle has a need to change lanes, and thus trigger the activation of the right turn signal.

[0141] If the target driving lane represented by the navigation information is the same as the current driving lane represented by the lane information of the vehicle, then it is determined that the vehicle does not have the lane change requirement.

[0142] For example, if the target driving lane represented by the navigation information is the second lane from the left, and the current driving lane represented by the vehicle's lane information is the second lane from the left, it indicates that the vehicle has reached the predetermined lane, and it can be determined that the vehicle does not need to change lanes, so the turn signal is kept off.

[0143] The aforementioned technical solution determines whether the triggering conditions for lane changing are met by checking if the target lane matches the current lane, thus improving the accuracy of determining the driver's lane-changing intention. Compared to traditional methods, it allows for earlier and more accurate activation of the corresponding turn signal, promptly communicating vehicle dynamics to other road users, effectively reducing the risk of collisions during lane changes and improving driving safety.

[0144] In some possible implementations, controlling the turn signal corresponding to the indicated direction to turn on according to the activation trigger condition includes: In response to the fulfillment of the lane change activation trigger condition, the lane change direction of the vehicle is determined based on the target driving lane represented by the navigation information and the current driving lane represented by the lane information of the vehicle. Turn on the turn signal corresponding to the direction of the lane change.

[0145] For example, if the target driving lane represented by the navigation information is the second lane from the left, while the current driving lane represented by the lane information of the vehicle is the first lane from the left, it indicates that the vehicle has not yet arrived or has deviated from the predetermined lane. Therefore, it can be determined that the vehicle's lane change direction is to the right, and the right turn signal can be activated.

[0146] See Figure 10 As shown in the left figure, if the traffic light indicator indicates that the permitted direction of travel is left turn (the left turn traffic light is green), and the navigation prompts for left turn, and the indicated direction of travel for the lane where the vehicle is located is also left turn, then it is determined that the vehicle meets the trigger conditions for activating left turn driving, and the left turn signal is activated.

[0147] In one scenario, vehicle driving status information can also be obtained. If the driving status information indicates that the vehicle is stationary (parked), and the traffic light indicator indicates that the permitted direction of travel is left turn (the left turn traffic light is green), and the navigation prompts for a left turn, and the indicated direction of travel for the lane in which the vehicle is located is also left turn, then it is determined that the vehicle meets the triggering conditions for activating left turn driving, and the left turn signal is activated.

[0148] The above technical solution, when the activation triggering conditions for lane change are met, determines the lane change direction of the vehicle based on the target driving lane represented by the navigation information and the current driving lane represented by the lane information of the vehicle, and activates the turn signal corresponding to the lane change direction. The turn signal can be activated in advance and accurately, timely conveying the vehicle's dynamics to other road users, effectively reducing the collision risk during lane change and improving driving safety.

[0149] In some possible implementations, determining the activation trigger condition for the vehicle based on the navigation information and the indicated travel direction information of the lane in which the vehicle is located includes: If the target driving direction indicated by the navigation information is the same as the indicated driving direction of the lane where the vehicle is located, then it is determined that the vehicle meets the trigger condition for turning. For example, if the navigation information indicates a right turn and the lane in which the vehicle is located also indicates a right turn, then the vehicle meets the trigger condition for enabling right turn driving. Similarly, if the navigation information indicates a left turn and the lane in which the vehicle is located also indicates a left turn, then the vehicle meets the trigger condition for enabling left turn driving.

[0150] The step of controlling the turn signal corresponding to the indicated direction to turn on according to the activation trigger condition includes: In response to the fulfillment of the turning trigger condition, the turn signal corresponding to the indicated direction of travel is activated.

[0151] For example, if it is determined that the vehicle meets the activation trigger condition for turning right, then the right turn signal is activated. Similarly, if it is determined that the vehicle meets the activation trigger condition for turning left, then the left turn signal is activated.

[0152] See Figure 10 As shown in the diagram on the right, if the traffic light indicator indicates that the permitted direction of travel is about to enter a left turn (the left turn traffic light is a countdown to the start of a red light, for example, a 3-second countdown to the start of a red light), and the navigation prompts that a left turn is about to occur, and the lane in which the vehicle is located indicates that the direction of travel is left turn, then it is determined that the vehicle meets the trigger conditions for activating a left turn, and the left turn signal is activated.

[0153] In one scenario, vehicle driving status information can also be obtained. If the driving status information indicates that the vehicle is stationary (parked), and the traffic light indicator shows that the permitted direction of travel is 3 seconds before the red light enters its countdown, while the navigation prompts a left turn and the lane in which the vehicle is located indicates a left turn, then it is determined that the vehicle meets the trigger conditions for activating left turn driving, and the left turn signal is activated.

[0154] The above technical solution determines whether the turn signal activation trigger condition is met. When the turn signal activation trigger condition is met, it can accurately determine that the vehicle has a legitimate turning intention, and then activate the corresponding turn signal. This avoids traffic accidents caused by accidental activation or non-activation of turn signals, reduces the complexity of vehicle driving operations, improves driving safety, reduces traffic conflicts caused by unclear intentions, and enhances the user's driving experience.

[0155] Based on the same concept, this disclosure also provides a turn signal control device. Figure 11 This is a block diagram illustrating a turn signal control device 1100 according to an exemplary embodiment. (Refer to...) Figure 11 The device includes an acquisition module 1110 and a control module 1120.

[0156] The acquisition module 1110 is configured to acquire the turn signal opening / closing status information, vehicle driving behavior information, and corresponding target information when the automatic turn signal control function is activated. The target information acquired will be different depending on the turn signal opening / closing status and the driving behavior. The control module 1120 is configured to control the opening and closing of the turn signal based on the opening / closing status information, the driving behavior information, and the target information.

[0157] In some possible implementations, the driving behavior information includes lane-changing driving behavior information; the control module 1120 includes: a first determining submodule, configured to determine control conditions satisfied by the vehicle based on the lane-changing driving behavior information when the open / closed state information indicates that the turn signal on either side of the vehicle is in an on state; and a first controlling submodule, configured to control the opening and closing of the turn signal based on the open / closed state information and the target information if the trigger judgment condition in the control conditions is satisfied.

[0158] In some possible implementations, the target information includes navigation information and the indicated travel direction information of the lane in which the vehicle is located. The first control submodule is configured to: determine steering matching information based on the navigation information, the on / off status information, and the indicated travel direction information, wherein the steering matching information represents the matching information between the target driving direction of the navigation, the indicated travel direction of the lane in which the vehicle is located, and the indicated direction of the turn signal in the on state; and control the on / off state of the turn signal based on the steering matching information.

[0159] In some possible implementations, the first control submodule is configured to: determine that the steering matching information is a match between driving and turn signal activation if the target driving direction of the navigation, the indicated driving direction of the lane in which the vehicle is located, and the indicated direction of the turn signal in the on state are all consistent; and determine that the steering matching information is a mismatch between driving and turn signal activation if any of the target driving direction of the navigation, the indicated driving direction of the lane in which the vehicle is located, or the indicated direction of the turn signal in the on state are inconsistent.

[0160] In some possible implementations, the first control submodule is configured to: determine the current traffic light direction of travel at the intersection based on the traffic light status information; and determine the turn signal matching information based on the traffic light direction of travel, the navigation information, the on / off status information, and the direction of travel information, wherein the turn signal matching information represents the matching information between the traffic light direction of travel, the target driving direction of the navigation, the direction of travel of the lane in which the vehicle is located, and the direction of travel indicated by the turn signal that is in the on state.

[0161] In some possible implementations, the first control submodule is configured to: keep the turn signal in the on state if all the steering matching information representations are consistent; and control the turn signal to switch to the off state if any of the steering matching information representations are inconsistent.

[0162] In some possible implementations, the device further includes a holding control module configured to: if the navigation information indicates that the vehicle has a driving need to continue performing steering on the turn signal on side, determine that the vehicle meets the holding on condition in the control conditions; and if the holding on condition is met, keep the turn signal in the on state.

[0163] In some possible implementations, the first determining submodule is configured to: when the lane-change driving behavior information indicates that the vehicle has completed a lane change, obtain the distance between the vehicle's position and the intersection in the forward direction; and determine the control conditions satisfied by the vehicle based on the distance.

[0164] In some possible implementations, the first determining submodule is configured to: determine that the vehicle meets the keep-on condition in the control conditions if the distance is less than or equal to a preset distance; and determine that the vehicle meets the trigger judgment condition in the control conditions if the distance is greater than the preset distance.

[0165] In some possible implementations, the driving behavior information includes rearview mirror gaze behavior information, the target information includes navigation information and the indicated travel direction information of the lane in which the vehicle is located, and the control module 1120 includes: a second determining submodule, configured to determine, based on the navigation information and the indicated travel direction information of the lane in which the vehicle is located, an activation trigger condition satisfied by the vehicle when the on / off state information indicates that the turn signal is off and the rearview mirror gaze behavior information indicates that the driver's gaze condition on the rearview mirror is met, the activation trigger condition is used to distinguish and trigger the turn signal corresponding to different indicated directions; and a second control submodule, configured to control the turn signal corresponding to the indicated direction to activate according to the activation trigger condition.

[0166] In some possible implementations, the target information includes relative information between the vehicle and the lane lines of the lane it is in. The second determining submodule is configured to: continuously acquire relative information between the vehicle and the lane lines of the lane it is in; and determine the activation trigger conditions satisfied by the vehicle based on the navigation information, the relative information, and the lane information of the vehicle.

[0167] In some possible implementations, the second determining submodule is configured to: determine whether the vehicle has a lane-changing requirement based on the navigation information and the lane information where the vehicle is located, provided that the relative information meets preset relative conditions; if the vehicle has a lane-changing requirement, determine that the vehicle meets the lane-changing activation trigger condition, wherein the lane-changing activation trigger condition is activating the turn signal on the side corresponding to the gaze behavior of the rearview mirror.

[0168] In some possible implementations, the second determining submodule is configured to: determine that the vehicle has a lane-changing requirement if the target driving lane represented by the navigation information is different from the current driving lane represented by the lane information of the vehicle; and determine that the vehicle does not have a lane-changing requirement if the target driving lane represented by the navigation information is the same as the current driving lane represented by the lane information of the vehicle.

[0169] In some possible implementations, the second control module is configured to: in response to the fulfillment of the lane change activation trigger condition, determine the lane change direction of the vehicle based on the target driving lane represented by the navigation information and the current driving lane represented by the lane information of the vehicle. Turn on the turn signal corresponding to the direction of the lane change.

[0170] In some possible implementations, the second determining submodule is configured to determine that the vehicle meets the turning start trigger condition if the target driving direction indicated by the navigation information is the same as the indicated driving direction of the lane in which the vehicle is located; the second control module is configured to activate the turn signal corresponding to the indicated driving direction in response to meeting the turning start trigger condition.

[0171] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0172] This disclosure also provides a vehicle, including: processor; Memory used to store processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method described in any of the first aspects of the foregoing embodiments.

[0173] This disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of any of the methods described in the foregoing embodiments.

[0174] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the foregoing embodiments.

[0175] Figure 12 This is a block diagram illustrating a vehicle 1200 according to an exemplary embodiment. For example, vehicle 1200 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 1200 may have driver assistance functions.

[0176] Reference Figure 12 The vehicle 1200 may include various subsystems, such as an infotainment system 1210, a perception system 1220, a decision control system 1230, a drive system 1240, and a computing platform 1250. The vehicle 1200 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of the vehicle 1200 can be interconnected via wired or wireless means.

[0177] In some embodiments, the infotainment system 1210 may include a communication system, an entertainment system, and a navigation system, etc.

[0178] The perception system 1220 may include several types of sensors for sensing information about the environment surrounding the vehicle 1200. For example, the perception system 1220 may include a global positioning system (which may be a GPS system, a BeiDou system, or another positioning system), an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.

[0179] The decision control system 1230 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0180] The drive system 1240 may include components that provide powered motion to the vehicle 1200. In one embodiment, the drive system 1240 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0181] Some or all of the functions of the vehicle 1200 are controlled by a computing platform 1250. The computing platform 1250 may include at least one processor 1251 and a memory 1252, the processor 1251 being able to execute instructions 1253 stored in the memory 1252.

[0182] The processor 1251 can be any conventional processor, and may also include a graphics processing unit (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0183] The memory 1252 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0184] In addition to instruction 1253, memory 1252 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 1252 can be used by computing platform 1250.

[0185] In this embodiment of the disclosure, processor 1251 may execute instruction 1253 to complete all or part of the steps of the above-described turn signal control method.

[0186] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0187] Furthermore, the term "exemplary" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "exemplary" is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term "exemplary" is intended to present concepts in a concrete manner. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or".

[0188] Although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. Furthermore, although a particular feature of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous for any given or particular application. Moreover, with regard to the terms “comprising,” “possessing,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0189] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0190] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A turn signal control method, characterized in that, include: When the automatic turn signal control function is activated, the on / off status information of the turn signal, the driving behavior information of the vehicle, and the corresponding target information are acquired. The target information acquired is different depending on the on / off status of the turn signal and the driving behavior. The turn signal is controlled to open or close based on the opening / closing status information, the driving behavior information, and the target information.

2. The method according to claim 1, characterized in that, The driving behavior information includes lane-changing driving behavior information; The step of controlling the opening and closing of the turn signal based on the opening / closing status information, the driving behavior information, and the target information includes: When the open / closed state information indicates that the turn signal on either side of the vehicle is in the on state, the control conditions that the vehicle meets are determined based on the lane change driving behavior information. If the trigger judgment condition in the control conditions is met, the turn signal is controlled to open or close according to the open / closed state information and the target information.

3. The method according to claim 2, characterized in that, The target information includes navigation information and the indicated travel direction information of the lane in which the vehicle is located. Controlling the opening and closing of the turn signal based on the opening / closing status information and the target information includes: Based on the navigation information, the on / off status information, and the indicated direction of travel information, steering matching information is determined. The steering matching information is used to represent the matching information between the target driving direction of the navigation, the indicated direction of travel of the lane where the vehicle is located, and the indicated direction of the turn signal that is in the on state. The turn signals are controlled to open and close based on the steering matching information.

4. The method according to claim 3, characterized in that, The step of determining steering matching information based on the navigation information, the opening / closing status information, and the indicated travel direction information includes: If the target driving direction of the navigation, the indicated driving direction of the lane where the vehicle is located, and the indicated direction of the turn signal that is on are all consistent, then the steering matching information is determined to be driving and turn signal on matching. If the target driving direction of the navigation, the indicated driving direction of the lane in which the vehicle is located, or the indicated direction of the turn signal that is on is inconsistent, then the steering matching information is determined to be a mismatch between driving direction and turn signal on.

5. The method according to claim 3, characterized in that, The target information also includes traffic light status information corresponding to the intersection in the vehicle's forward direction; determining the steering matching information based on the navigation information, the on / off status information, and the indicated direction of travel includes: Based on the traffic light status information, determine the current light direction of travel at the intersection; Based on the light indicating the direction of travel, the navigation information, the on / off status information, and the indicated direction of travel information, the steering matching information is determined. The steering matching information is used to represent the matching information between the light indicating the direction of travel, the target driving direction of the navigation, the indicated direction of travel of the lane where the vehicle is located, and the indicated direction of the turn signal that is in the on state.

6. The method according to claim 4 or 5, characterized in that, The step of controlling the opening and closing of the turn signal according to the steering matching information includes: If the steering matching information is consistent, then the turn signal remains in the on state. If the steering matching information indicates any inconsistency, then the turn signal is switched to the off state.

7. The method according to claim 3, characterized in that, The method further includes: If the navigation information indicates that the vehicle has a driving need to continue turning on the turn signal side, then it is determined that the vehicle meets the keep-on condition in the control conditions. If the conditions for keeping the turn signal on are met, the turn signal shall remain in the on state.

8. The method according to claim 2, characterized in that, The step of determining the control conditions satisfied by the vehicle based on lane-change driving behavior information includes: When the lane-changing driving behavior information indicates that the vehicle has completed a lane change, the distance between the vehicle's position and the intersection in the direction of travel is obtained. Based on the distance, the control conditions that the vehicle must meet are determined.

9. The method according to claim 8, characterized in that, Determining the control conditions satisfied by the vehicle based on the distance includes: If the distance is less than or equal to the preset distance, then the vehicle is determined to meet the keep-on condition in the control conditions; If the distance is greater than the preset distance, then the vehicle is determined to meet the trigger judgment condition in the control conditions.

10. The method according to claim 1, characterized in that, The driving behavior information includes rearview mirror gaze behavior information, and the target information includes navigation information and the indicated travel direction information of the lane in which the vehicle is located. Controlling the opening and closing of the turn signal based on the opening / closing status information, the driving behavior information, and the target information includes: When the open / closed state information indicates that the turn signal is in the closed state and the rearview mirror gaze behavior information indicates that the driver's gaze condition on the rearview mirror is met, the activation trigger condition of the vehicle is determined according to the navigation information and the indicated travel direction information of the lane where the vehicle is located. The activation trigger condition is used to distinguish and trigger the turn signal to be turned on for different indicated directions. Based on the activation trigger condition, the turn signal corresponding to the indicated direction is activated.

11. The method according to claim 10, characterized in that, The target information includes the relative information between the vehicle and the lane lines of the lane it is in, and the step of basing the information on the navigation information and the lane information of the vehicle includes: Continuously acquire relative information between the vehicle and the lane lines of the lane it is in; Based on the navigation information, the relative information, and the lane information where the vehicle is located, the activation trigger conditions that the vehicle meets are determined.

12. The method according to claim 11, characterized in that, The step of determining the activation trigger conditions met by the vehicle based on the navigation information, the relative information, and the lane information where the vehicle is located includes: If the relative information meets the preset relative conditions, determine whether the vehicle needs to change lanes based on the navigation information and the lane information where the vehicle is located; If the vehicle needs to change lanes, it is determined that the vehicle meets the activation trigger condition for lane changing. The activation trigger condition for lane changing is that the turn signal on the side corresponding to the gaze behavior of the rearview mirror is activated.

13. The method according to claim 12, characterized in that, Determining whether the vehicle needs to change lanes based on the navigation information and the lane information of the vehicle includes: If the target driving lane represented by the navigation information is different from the current driving lane represented by the lane information of the vehicle, then it is determined that the vehicle has the lane change driving requirement. If the target driving lane represented by the navigation information is the same as the current driving lane represented by the lane information of the vehicle, then it is determined that the vehicle does not have the lane change requirement.

14. The method according to claim 13, characterized in that, The step of controlling the turn signal corresponding to the indicated direction to turn on according to the activation trigger condition includes: In response to the fulfillment of the lane change activation trigger condition, the lane change direction of the vehicle is determined based on the target driving lane represented by the navigation information and the current driving lane represented by the lane information of the vehicle. Turn on the turn signal corresponding to the direction of the lane change.

15. The method according to claim 10, characterized in that, The step of determining the activation trigger conditions for the vehicle based on the navigation information and the indicated travel direction information of the lane in which the vehicle is located includes: If the target driving direction indicated by the navigation information is the same as the indicated driving direction of the lane where the vehicle is located, then it is determined that the vehicle meets the trigger condition for turning. The step of controlling the turn signal corresponding to the indicated direction to turn on according to the activation trigger condition includes: In response to the fulfillment of the turning trigger condition, the turn signal corresponding to the indicated direction of travel is activated.

16. A turn signal control device, characterized in that, include: The acquisition module is configured to acquire the on / off status information of the turn signal, the driving behavior information of the vehicle, and the corresponding target information when the automatic turn signal control function is activated. The target information acquired will be different depending on the on / off status of the turn signal and the driving behavior. The control module is configured to control the opening and closing of the turn signal based on the opening / closing status information, the driving behavior information, and the target information.

17. The apparatus according to claim 16, characterized in that, The driving behavior information includes lane-changing driving behavior information; The control module includes: The first determining submodule is configured to determine the control conditions satisfied by the vehicle based on lane change driving behavior information when the turn signal on either side of the vehicle is in the on state indicated by the on / off state information. The first control submodule is configured to control the opening and closing of the turn signal according to the opening / closing status information and the target information if the trigger judgment condition in the control conditions is met.

18. The apparatus according to claim 17, characterized in that, The target information includes navigation information and the indicated travel direction information of the lane in which the vehicle is located. The first control submodule is configured to: Based on the navigation information, the on / off status information, and the indicated direction of travel information, steering matching information is determined. The steering matching information is used to represent the matching information between the target driving direction of the navigation, the indicated direction of travel of the lane where the vehicle is located, and the indicated direction of the turn signal that is in the on state. The turn signals are controlled to open and close based on the steering matching information.

19. The apparatus according to claim 17, characterized in that, The first determining submodule is configured as follows: When the lane-changing driving behavior information indicates that the vehicle has completed a lane change, the distance between the vehicle's position and the intersection in the direction of travel is obtained. Based on the distance, the control conditions that the vehicle must meet are determined.

20. The apparatus according to claim 16, characterized in that, The driving behavior information includes rearview mirror gaze behavior information, the target information includes navigation information and the lane direction information of the vehicle's current lane, and the control module includes: The second determining submodule is configured to determine the activation triggering conditions satisfied by the vehicle based on the navigation information and the indicated travel direction information of the lane where the vehicle is located, when the open / closed state information indicates that the turn signal is in the closed state and the rearview mirror gaze behavior information indicates that the driver's gaze condition on the rearview mirror is satisfied. The activation triggering conditions are used to distinguish and trigger the turn signal to be turned on for different indicated directions. The second control submodule is configured to control the turn signal corresponding to the indicated direction to turn on according to the activation trigger condition.

21. The apparatus according to claim 20, characterized in that, The target information includes the relative information between the vehicle and the lane lines of the lane it is in. The second determining submodule is configured to: Continuously acquire relative information between the vehicle and the lane lines of the lane it is in; Based on the navigation information, the relative information, and the lane information where the vehicle is located, the activation trigger conditions that the vehicle meets are determined.

22. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to execute the executable instructions stored in the memory to implement the method of any one of claims 1-15.

23. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program performs the steps of the method described in any one of claims 1-15.

24. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1-15.

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