Obstacle detection device, method, electronic device, vehicle, storage medium, and product

Abstract

This application relates to an obstacle detection device, method, electronic device, vehicle, storage medium, and program product. The device, applied to a vehicle, includes: a detection component comprising LED beads for acquiring light parameter signals; and a control module for controlling the detection component to acquire the light parameter signals and determining the obstacle detection result based on the light parameter signals. This application enables comprehensive detection of obstacles around the vehicle.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to an obstacle detection device, method, electronic device, vehicle, storage medium and product. Background Technology

[0002] Currently, detecting obstacles around vehicles by installing photoelectric sensors, lidar, millimeter-wave radar, ultrasonic radar, and other detection devices requires additional sensors and radar. Summary of the Invention

[0003] This application provides an obstacle detection device, method, electronic device, vehicle, storage medium, and program product, which aim to achieve comprehensive detection of obstacles near the vehicle.

[0004] To achieve the above objectives, according to a first aspect of this application, an obstacle detection device is provided, comprising:

[0005] A detection component, the detection component including LED beads, the LED beads being used to obtain optical parameter signals;

[0006] The control module is used to control the detection component to acquire optical parameter signals and determine the obstacle detection result based on the optical parameter signals.

[0007] Optionally, the detection component includes a reflective detection unit, which comprises light-emitting LED beads and photosensitive LED beads.

[0008] The control module is also used to control the light-emitting LED beads to emit light, and the photosensitive LED beads to detect light parameter signals, and to determine the obstacle detection result based on the light parameter signals detected by the photosensitive LED beads.

[0009] Optionally, the number of light-emitting LED beads in the reflective detection unit is at least one, and the number of photosensitive LED beads in the reflective detection unit is at least two.

[0010] Optionally, the light-emitting LED bead and the photosensitive LED bead are in the same LED group, and the light emitted by the light-emitting LED bead will not directly shine on the photosensitive LED bead.

[0011] Optionally, the detection components are in multiple sets;

[0012] The control module is also used to determine the detection result of the obstacle based on the optical parameter signals detected by multiple detection units.

[0013] Optionally, the control module is also configured to control the light-emitting LED beads to emit light and / or control the photosensitive LED beads to detect light parameter signals according to the selection conditions.

[0014] Optionally, the selection criteria include at least one of ambient light intensity, weather information, vehicle information, and vehicle location information.

[0015] Optionally, the detection component includes a light-blocking detection unit, which includes at least one photosensitive LED bead.

[0016] The control module is also used to determine the obstacle detection result based on the ambient light and the light parameter signals detected by the at least one photosensitive LED bead.

[0017] Optionally, the detection component includes a light-blocking detection unit, which includes at least two photosensitive LED beads;

[0018] The control module is also used to determine the obstacle detection result based on the light parameter signals detected by the at least two photosensitive LED beads.

[0019] Optionally, the optical parameter signal includes an optical intensity signal.

[0020] Optionally, the device further includes:

[0021] A driving circuit is used to drive the LED beads to emit light;

[0022] The detection circuit is used to acquire the optical parameter signals of the LED beads;

[0023] The switch module has one end connected to the LED bead and the other end connected to the driving circuit and the detection circuit respectively.

[0024] The control module is used to control the connection and disconnection between the LED bead and the driving circuit, and between the LED bead and the detection circuit, through the switch module.

[0025] Optionally, the control module is further configured to control the working state of the switch module according to the selection conditions, so as to control the connection and disconnection between the LED beads and the driving circuit and the detection circuit respectively.

[0026] Optionally, the LED bead includes a photosensitive LED and a light-emitting LED, wherein:

[0027] When the ambient light intensity is less than or equal to the light intensity threshold, the control module controls the switch module to connect the driving circuit and the light-emitting LED, and to connect the detection circuit and the photosensitive LED; or,

[0028] When the ambient light intensity is greater than the light intensity threshold, the switch module connects the detection circuit and the photosensitive LED bead.

[0029] Optionally, the control module is further configured to:

[0030] The detection circuit is controlled to process the optical parameter signal according to the processing conditions.

[0031] Optionally, the processing conditions include at least one of light intensity, weather information, vehicle information, and vehicle location information.

[0032] Optionally, the detection circuit includes at least two amplification circuits and a switching element, wherein the at least two amplification circuits include a first amplification circuit and a second amplification circuit;

[0033] The input terminal of the first amplifier circuit is connected to the LED bead, and the input terminal of the second amplifier circuit is connected to the output terminal of the first amplifier circuit; one end of the switching element is connected to the output terminals of the first amplifier circuit and the second amplifier circuit respectively, and the other end of the switching element is connected to the control module.

[0034] The control module is further configured to selectively connect to the output terminal of the first amplifier circuit or the output terminal of the second amplifier circuit via the switching element according to the processing conditions.

[0035] Optionally, when the light intensity is greater than the target light intensity threshold, the control module is connected to the output terminal of the first amplification circuit through the switching element, and is used to receive the first amplified signal after the first amplification circuit amplifies the light parameter signal detected by the LED beads, and determine the obstacle detection result based on the first amplified signal;

[0036] When the light intensity is less than or equal to the target light intensity threshold, the control module is connected to the output terminal of the second amplification circuit through the switching element, and is used to receive the second amplified signal after the second amplification circuit amplifies the first amplified signal, and determine the obstacle detection result based on the second amplified signal.

[0037] Optionally, the detection circuit includes at least two amplification circuits, the at least two amplification circuits including a first amplification circuit and a second amplification circuit;

[0038] The input terminals of the first amplifier circuit and the second amplifier circuit are respectively connected to the LED beads;

[0039] The control module is further configured to selectively connect to the output terminal of the first amplifier circuit or the output terminal of the second amplifier circuit according to the processing conditions.

[0040] The amplification factor of the first amplifier circuit is less than that of the second amplifier circuit.

[0041] Optionally, when the light intensity is greater than the target light intensity threshold, the control module is connected to the output terminal of the first amplification circuit to receive the first amplified signal after the first amplification circuit amplifies the light parameter signal detected by the LED beads, and determines the obstacle detection result based on the first amplified signal.

[0042] When the light intensity is less than or equal to the target light intensity threshold, the control module is connected to the output terminal of the second amplification circuit to receive the second amplified signal after the second amplification circuit amplifies the light parameter signal detected by the LED beads, and determines the obstacle detection result based on the second amplified signal.

[0043] Optionally, the device further includes: a multiplexer, one end of which is connected to the LED light group, and the other end of which is connected to the control module.

[0044] The control module is also used to control the multiplexer to select target LED beads from the LED group and connect them to the driving circuit or the detection circuit.

[0045] Optionally, the input terminal of the multiplexer is connected to the LED light group, the output terminal of the multiplexer is connected to the control module through the switch module and the drive circuit, and the output terminal of the multiplexer is connected to the control module through the switch module and the detection circuit.

[0046] Optionally, the control module is further configured to control the LED beads to switch between a light-emitting state and a light-sensing state according to the input timing signal, and to determine the obstacle detection result according to the light parameter signal detected by the LED beads in the light-sensing state.

[0047] Optionally, the photosensitive LED includes long-wavelength LED beads, and the light-emitting LED includes short-wavelength LED beads.

[0048] Optionally, the photosensitive LED includes a red LED, and the emitting LED includes a green LED.

[0049] Thirdly, this embodiment also provides an obstacle detection method, the method comprising:

[0050] The obstacle detection result is determined based on the light parameter signals detected by the LED beads.

[0051] Optionally, determining the obstacle detection result based on the light parameter signal detected by the LED beads includes:

[0052] The obstacle detection result is determined based on the light parameter signals detected by at least two photosensitive LED beads.

[0053] Optionally, determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads includes:

[0054] If the light parameters detected by at least two photosensitive LED beads are within the specified range, the obstacle detection result is determined to be that no obstacle exists; or,

[0055] If the light parameters detected by at least two photosensitive LED beads are not within the specified range, the obstacle detection result is determined to indicate the presence of an obstacle.

[0056] Optionally, determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads includes:

[0057] The obstacle detection result is determined based on the light parameter signals detected by at least two photosensitive LED beads and the ambient light.

[0058] Optionally, determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads and the ambient light includes:

[0059] When the light parameters detected by at least two photosensitive LED beads are within the specified range.

[0060] If the ambient light intensity of the vehicle is not greater than a light intensity threshold, then a reflection detection is performed, which includes:

[0061] LED beads emit light,

[0062] Photosensitive LED beads detect light parameter signals.

[0063] The obstacle detection result is determined based on the light parameter signal detected by the photosensitive LED beads; or,

[0064] If the ambient light intensity of the vehicle is greater than the light intensity threshold, then the obstacle detection result is determined to be that there is no obstacle.

[0065] Optionally, determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads and the ambient light includes:

[0066] If the light parameters detected by at least two photosensitive LED beads are not within the stated condition range.

[0067] If the ambient light intensity is not greater than the light intensity threshold, reflectivity detection is performed, which includes:

[0068] LED beads emit light,

[0069] Photosensitive LED beads detect light parameter signals.

[0070] The obstacle detection result is determined based on the light parameter signal detected by the photosensitive LED beads.

[0071] Optionally, the step of determining the obstacle detection result based on the light parameter signal detected by the photosensitive LED in the reflective detection includes:

[0072] If the light parameter signal detected by the photosensitive LED contains reflected light information, then an obstacle is determined to exist within the threshold distance.

[0073] If the light parameter signal detected by the photosensitive LED does not contain reflected light information, it is determined that there is no obstacle within the threshold distance.

[0074] Optionally, the method further includes:

[0075] If an obstacle exists within a certain threshold distance, the obstacle information is output, including the obstacle's location and / or size information.

[0076] Optionally, the method further includes:

[0077] If the light parameters detected by the photosensitive LED are less than or equal to a first threshold, it is determined that there is no reflected light. The first threshold is determined based on the luminous parameters of the LED and the ambient light intensity; or,

[0078] If the light parameters detected by the photosensitive LED are greater than the first threshold, it is determined that reflected light exists.

[0079] Optionally, the first threshold is I△(Lux), I1(Lux)≤I△(Lux)≤I2(Lux), where I1(Lux) is the ambient light intensity when no LED light is emitted, and I2(Lux) is the ambient light intensity when the LED light is emitted.

[0080] Optionally, determining the obstacle detection result based on the light parameter signal detected by the photosensitive LED beads includes:

[0081] Based on the luminous parameters of the light-emitting LED beads and the light parameter signals detected by the photosensitive LED beads, the obstacle detection result is determined to be the presence of an obstacle.

[0082] Optionally, determining the obstacle detection result as the presence of an obstacle based on the luminous parameters of the light-emitting LED and the light parameter signal detected by the photosensitive LED includes:

[0083] If the luminous parameters of the light-emitting LED bead and the light parameters detected by the photosensitive LED bead are within a certain range, the obstacle detection result is determined to be that an obstacle exists.

[0084] Optionally, the method includes shading detection and reflection detection, wherein the shading detection includes:

[0085] The obstacle detection result is determined based on the light parameter signal of the LED beads and the ambient light intensity;

[0086] The reflectivity detection includes:

[0087] LED beads emit light,

[0088] Photosensitive LED beads detect light parameter signals.

[0089] The obstacle detection result is determined based on the light parameter signal detected by the photosensitive LED beads.

[0090] Optionally, the method includes:

[0091] Based on the selection criteria, select the detection mode corresponding to the selection criteria. The detection mode includes shading detection and reflection detection.

[0092] Thirdly, this embodiment also provides an electronic device, which includes a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of the above-described method.

[0093] Fourthly, this embodiment also provides a vehicle that includes the aforementioned electronic equipment.

[0094] Fifthly, this embodiment also provides a computer-readable storage medium including a computer program, which, when run on an electronic device, causes the electronic device to perform the steps of the above-described method.

[0095] Sixthly, this embodiment also provides a computer program product, including a computer program stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, causing the electronic device to perform the steps of the above method.

[0096] In summary, through the above technical solutions, the obstacle detection device of this application can use LEDs to detect obstacles, and can detect obstacles near the vehicle without increasing additional hardware costs.

[0097] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0098] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0099] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0100] Figure 1 This is a schematic diagram illustrating the background technology provided in this application;

[0101] Figure 2 This is a first schematic diagram of an obstacle detection device provided in an exemplary embodiment of this application;

[0102] Figure 3-1 This is a second schematic diagram of the obstacle detection device provided in an exemplary embodiment of this application;

[0103] Figure 3-2 This is a third schematic diagram of the obstacle detection device provided in an exemplary embodiment of this application;

[0104] Figure 4-1 This is a second schematic diagram of the obstacle detection device provided in an exemplary embodiment of this application;

[0105] Figure 4-2 This is a third schematic diagram of the obstacle detection device provided in an exemplary embodiment of this application;

[0106] Figure 5 This is a schematic diagram of the amplifier circuit provided in an exemplary embodiment of this application;

[0107] Figure 6-1 This is a second schematic diagram of the obstacle detection device provided in an exemplary embodiment of this application;

[0108] Figure 6-2 This is a third schematic diagram of the obstacle detection device provided in an exemplary embodiment of this application;

[0109] Figure 7 This is a fourth schematic diagram of the obstacle detection device provided in an exemplary embodiment of this application;

[0110] Figure 8 This is a first schematic diagram of the obstacle detection process provided in an exemplary embodiment of this application;

[0111] Figure 9 This is a second schematic diagram of the obstacle detection process provided in an exemplary embodiment of this application;

[0112] Figure 10 This is a schematic diagram of the architecture of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0113] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0114] With the development of automotive lighting technology, users have increasingly higher requirements for the functionality of automotive lighting products. From the most basic halogen lamps to advanced xenon lamps and then to full LED lamps, automotive lighting has gradually moved from traditional functional products to the stage of intelligence. In-vehicle lighting systems have become a trendsetter in the automotive industry. For example, ADB (Adaptive Driving Beam) adaptive high beam systems and matrix LED light projection functions have brought about an improvement in product competitiveness.

[0115] Based on the background technology description, currently, in order to detect obstacles around a vehicle by installing detection devices such as photoelectric sensors, lidar, millimeter-wave radar, and ultrasonic radar on the vehicle, additional sensors and radars are still required.

[0116] In addition, due to cost and placement limitations, lidar, millimeter-wave radar, and ultrasonic radar often have blind spots within 30cm in front of the headlights. For example, Figure 1 As shown, due to the existence of the field of view (FOV), it is difficult to perceive objects in some close-range areas (such as 30cm).

[0117] Therefore, how to comprehensively detect obstacles around a vehicle to ensure driving safety is an urgent problem that needs to be solved.

[0118] It is worth noting that existing automotive lighting products generally only have an illumination function and do not have a light-sensing function. To detect light intensity, an additional photoelectric sensor needs to be installed, which increases the hardware cost.

[0119] Therefore, in this application, in order to achieve comprehensive recognition of obstacles around a vehicle without adding additional hardware, an obstacle detection device, method, electronic device, vehicle, computer-readable storage medium, and computer program product are proposed. This device senses objects in front of the headlights, fills the blind spots in obstacle detection, and does not affect the lighting function. It uses matrix-type LED headlights to detect objects in the blind spots of the field of view, enabling the headlights to identify obstacles at close range, as well as their position and size. Compared with detection devices such as photoelectric sensors and millimeter-wave radar, this application can directly utilize the vehicle's existing headlights, reducing hardware costs, saving hardware resources, and utilizing the limited space of the vehicle.

[0120] In one embodiment, the obstacle detection device of this application can be applied to a vehicle, which may be a gasoline-powered vehicle, a plug-in hybrid electric vehicle, or a new energy vehicle, etc. This application does not specifically limit the application in this regard. The device, for example... Figure 2 As shown, it may include:

[0121] A detection component, the detection component including LED beads, the LED beads being used to obtain optical parameter signals;

[0122] The control module is used to control the detection component to acquire optical parameter signals and determine the obstacle detection result based on the optical parameter signals.

[0123] It should be noted that in this embodiment, the LED bead can be the LED bead in the vehicle's LED headlight. The LED bead has both light-emitting and light-sensing functions. When the LED bead is used to emit light, it is a light-emitting LED. When the LED bead is used to sense light, it is a light-sensing LED. For example, the same LED bead can be both a light-emitting LED bead and a light-sensing LED bead.

[0124] For example, LED lights can use RGB LEDs. The red LEDs in an RGB LED light can have a photosensitive function, operating in photosensitive mode. When ambient light shines on the LED, the red LED generates a photocurrent, the magnitude of which is related to the light intensity. Correspondingly, the green LED can have a light-emitting function, operating in light source mode for illumination. Besides using green LEDs to emit light, other colors can also be emitted as needed, such as using three LEDs (red, green, and blue) together to create white light. These examples will not be listed further.

[0125] The LED beads in this embodiment can be RGB type, but this embodiment is not limited to RGB type. Non-RGB type single color channel LED beads, phosphor type LED beads, OLED, miniLED or microLED can also be used. In this way, the high-energy short-wavelength light source in the LED beads can be used as the emission light source color channel, and the low-energy long-wavelength LED beads can be used as a photodetector to detect the light source.

[0126] In addition, in this embodiment, the LED can be in a reverse bias state, and photoelectric detection can be performed using the photoconductivity effect. Compared with the photovoltaic effect, this application can have a higher response rate.

[0127] In this embodiment, the control module can determine the obstacle detection result based on the optical parameter signal.

[0128] It should be noted that in this embodiment, the number of LED beads is not limited; there can be one or more LED beads. For example, when there is only one LED bead, the control module can control a single LED bead in the detection component to detect the light parameter signal, and perform obstacle identification based on the light parameter signal to obtain the obstacle detection result.

[0129] It is understood that this embodiment can utilize the diverse shapes and easy arrangement of LED beads to sense obstacles within the vehicle's short range. This embodiment can use an array composed of single or multiple LED beads. By utilizing the light-emitting and light-sensing characteristics of LED beads, combined with the position of the LED beads, it can accurately determine whether there are obstructions and output information such as the position and size of obstacles when they exist.

[0130] As can be seen, the obstacle detection device in this application can use LEDs for obstacle detection. Without increasing the additional hardware cost, this application can also detect obstacles near the vehicle, eliminate blind spots in obstacle detection, realize comprehensive detection of obstacles around the vehicle, and ensure the safe driving of the vehicle.

[0131] In one embodiment, the detection component includes a reflective detection unit, which comprises light-emitting LED beads and photosensitive LED beads.

[0132] The control module is also used to control the light-emitting LED beads to emit light, and the photosensitive LED beads to detect light parameter signals, and to determine the obstacle detection result based on the light parameter signals detected by the photosensitive LED beads.

[0133] In this embodiment, the detection component may include a reflective detection unit, which may include a light-emitting LED and a photosensitive LED. Thus, the control module can control the light-emitting LED to emit light and control the photosensitive LED to detect light parameter signals. Furthermore, the control module can determine the obstacle detection result based on the light parameter signals detected by the photosensitive LED.

[0134] For example, in this embodiment, when there is one light-emitting LED and one photosensitive LED, the control module can control the light-emitting LED to emit light and the photosensitive LED to detect light parameter signals, and determine the obstacle detection result based on the light parameter signals detected by the photosensitive LED.

[0135] It is worth noting that in this embodiment, the photosensitive LED bead detects the ambient light intensity when the LED bead is not emitting light, and generates a light parameter signal. When there is no obstruction, the photosensitive LED bead detects the ambient light intensity without reflection; when there is an obstruction, the photosensitive LED bead detects the ambient light intensity after reflection from the obstacle, and the light parameter signal includes the light parameter signal of the reflected light.

[0136] For ease of distinction, ambient light refers to the light intensity of the ambient light when the LED beads are not emitting light.

[0137] In one specific embodiment, there may be multiple sets of reflective detection units, and the detection result of the obstacle is determined based on the light parameter signals detected by the multiple sets of detection units.

[0138] It should be noted that in this embodiment, considering that the vehicle may be in both strong and weak ambient light conditions, this embodiment can include two obstacle detection modes: occlusion detection and reflection detection. Through the timing design of the circuit and software, the light-emitting and light-sensing functions of the LEDs are utilized to cope with strong and weak light environments, achieving obstacle detection without the need for additional sensor hardware. Compared to the traditional RGB LED white light solution, where three colored LEDs are powered by the driver circuit and emit three colors of light to form white light for illumination, this embodiment can directly improve upon the LED light emission. For example, the green and blue LEDs are still connected to the driver circuit in the traditional way, only the signal connection method of the red LED needs to be changed. Utilizing the characteristic that LEDs can operate in both light source mode and light-sensing mode, and employing a single-pole double-throw switch, the LEDs can be selectively connected to the driver circuit or the amplifier circuit. This allows the LEDs to emit light when connected to the driver circuit and to perform light intensity detection when connected to the amplifier circuit, making it a low-cost and feasible approach.

[0139] It is worth noting that in this embodiment, when the ambient light intensity is high, it is possible to Figure 3-1 The occlusion detection shown in this mode involves multiple LEDs in a matrix LED light operating in photosensitive mode. This allows the LEDs to capture light intensities at multiple locations. Based on the position and number of obstructed LEDs, the location and size of obstacles are determined. For example, when ambient light shines on the LEDs, the red LEDs generate photocurrent (the magnitude of which is related to the light intensity). This photocurrent is amplified and transmitted to the MCU (the control module in this embodiment) to sense the current ambient light information. If an obstacle is located close to the headlights, it will block the ambient light incident on the LED surface. In this case, the light intensity sensed by the obstructed LEDs will be lower than that sensed by the unobstructed LEDs.

[0140] When the ambient light is low or the vehicle is in a dark environment, the reflection detection mode can be activated, such as... Figure 3-2 The reflective detection shown uses RGB LEDs. Two adjacent LEDs in the LED matrix form a reflective detection unit. For example, the G LED (green) operates in light source mode and emits light through a single-pole double-throw switch connected to the driver circuit; the adjacent R LED (red) operates in detection mode and is connected to the amplifier circuit. If an obstacle appears in front of the headlights, the light emitted by the G LED illuminates the obstacle and is reflected or scattered back to the R LED. The R LED generates a corresponding photocurrent, which is sent to the amplifier circuit. The photocurrent is amplified and then transmitted to the controller MCU for obstacle detection.

[0141] In one embodiment, the number of light-emitting LED beads is at least one, and the number of photosensitive LED beads is at least two.

[0142] In this embodiment, the number of LED beads is not limited. For example, during reflection detection, one light-emitting LED bead can be used to emit light, and two photosensitive LED beads can be used to detect light parameter signals.

[0143] In one embodiment, the light-emitting LED and the photosensitive LED are in the same LED group, and the light emitted by the light-emitting LED will not directly shine on the photosensitive LED.

[0144] In this embodiment, the photosensitive LED bead senses the light intensity, and the surrounding adjacent light-emitting LEDs emit light. The light-emitting LED bead and the photosensitive LED bead are located in the same LED group (i.e., in the same vehicle headlight). The arrangement between adjacent LED beads should be designed with an appropriate spacing to ensure that the light emitted by the light-emitting LED does not directly shine on the photosensitive LED bead. This ensures that when there is an obstacle, the photosensitive LED bead will only receive the reflected light from the obstacle and will not receive the direct light emitted by the light-emitting LED, thus ensuring the accuracy of obstacle recognition.

[0145] In one embodiment, the detection units in this application are multiple sets;

[0146] The control module is also used to determine the detection result of the obstacle based on the optical parameter signals detected by multiple detection units.

[0147] It should be noted that, in this embodiment, in order to improve obstacle detection accuracy and reduce costs, the LED light group of the vehicle headlight can be divided into multiple detection units. Each detection component includes LED beads. For example, in reflective detection, each detection component can include light-emitting LED beads and photosensitive LED beads.

[0148] For example, detection components can be sequentially constructed in an LED light group for sensing. Taking an 8×8 LED light group as an example, 64 LED beads are divided into 16 groups, with 4 LED beads in each group. The light parameter signals of each LED are collected, and finally 64 sets of light parameter signals can be obtained. The obstacle detection result can be determined based on the 64 sets of light parameter signals.

[0149] In one embodiment, the control module described in this application is further configured to control the light-emitting LED beads to emit light and / or the photosensitive LED beads to detect light parameter signals according to selection conditions.

[0150] The selection criteria include at least one of light intensity, weather information, vehicle information, and vehicle location information.

[0151] Considering the complexity of the vehicle's driving environment and the fact that vehicle performance and position information may change during driving, this embodiment can control the luminous LED beads to emit light and / or the photosensitive LED beads to detect light parameter signals according to selected conditions. This allows the vehicle lights to switch between lighting modes, reflection detection, and occlusion detection. While ensuring normal illumination, it can also accurately detect obstacles around the vehicle, making it suitable for various types of driving environments and driving paths.

[0152] Specifically, for example, when the selection conditions are met, the target LED can be controlled to be in photosensitive mode to detect light parameter signals. There can be one or more target LEDs, without any specific limitation.

[0153] The target LED beads can include light-emitting target LED beads and light-sensitive target LED beads. When the selection conditions are met, the light-emitting target LED beads are controlled to be in light-emitting mode, and the light-sensitive target LED beads are controlled to be in light-sensitive mode.

[0154] The selection criteria can specifically include information that can distinguish between nighttime and daytime, such as light intensity, nighttime obstacle detection instructions, daytime obstacle detection instructions, and time; or vehicle information that indicates whether the vehicle is driving at night or during the day; or light intensity information that can determine the vehicle's location, such as when the vehicle is in a tunnel; or weather information that can identify light intensity, such as when the vehicle is raining or foggy.

[0155] In this embodiment, the source of light intensity is not limited. For example, light intensity can be detected by the LED light's photosensitive function when the LED light is not emitting light; or light intensity can be detected by other light sensors in the vehicle; or light intensity can be obtained from a database, that is, the vehicle obtains the light intensity corresponding to the current time information and vehicle location information from the database.

[0156] Furthermore, the light intensity in the embodiments of this application can be the ambient light intensity, and the source of the ambient light intensity in the embodiments of this application is not specifically limited.

[0157] In one embodiment, the detection component includes a light-blocking detection unit, which includes at least one photosensitive LED bead.

[0158] The control module is also used to determine the obstacle detection result based on the ambient light and the light parameter signals detected by the at least one photosensitive LED bead.

[0159] The number of photosensitive LED beads in the light-blocking detection unit can be multiple or one. For example, in this embodiment, only one photosensitive LED bead can be used in combination with ambient light to detect obstacles.

[0160] For example, the light parameter signal detected by the photosensitive LED can be compared with the ambient light. If the light intensity of the light parameter signal detected by the photosensitive LED is less than the light intensity of the ambient light, then an obstacle can be identified. This is effective in scenarios with large obstacles. Even if the obstacle completely blocks the headlights, the presence of an obstacle can still be identified by comparing the ambient light. In conjunction with the above description, the ambient light in this embodiment can be defined as the ambient light determined when no LED is emitting light.

[0161] In one embodiment, the detection component includes a light-blocking detection unit, which includes photosensitive LED beads;

[0162] The control module is also used to determine the obstacle detection result based on the light parameter signals detected by the at least two photosensitive LED beads.

[0163] In this embodiment, when multiple photosensitive LED beads are present, in conjunction with the above description, Figure 3-1 The occlusion detection shown in this mode involves the LED beads in the matrix LED light operating in a light-sensing mode. By obtaining the light intensity of the LED beads, the position and size of the obstacle are determined based on the position and number of the occluded LED beads.

[0164] In this embodiment, based on the light parameter signals of at least two LEDs in the LED light group, an object blocking ambient light can be identified by sensing the weakening of incident light, thus obtaining an obstacle detection result. For example, in this embodiment, all LED beads in the LED light group can be used as photodetectors. The R beads of all LEDs in the LED light group are connected to the detection circuit through a single-pole double-throw switch circuit, so that the red LED beads are in a reverse bias state for photoelectric conversion, converting the light signal incident on the surface into an electrical signal. The signal is then amplified by the amplification circuit in the detection circuit and input to the control module for obstacle identification.

[0165] It is worth noting that in this embodiment, by using at least two photosensitive LED beads for obstacle detection, the light parameter signals detected by at least two photosensitive LED beads can be directly compared to identify whether an obstacle exists, without the need to collect ambient light separately, which is generally applicable to various types of driving scenarios.

[0166] In one embodiment, the obstacle detection device of this application further includes:

[0167] A driving circuit is used to drive the LED beads to emit light;

[0168] The detection circuit is used to acquire the optical parameter signals of the LED beads;

[0169] The switch module has one end connected to the LED bead and the other end connected to the driving circuit and the detection circuit respectively.

[0170] The control module is used to control the connection and disconnection between the LED bead and the driving circuit, and between the LED bead and the detection circuit, through the switch module.

[0171] In this embodiment, as Figure 4-1 and Figure 4-2 As shown, the obstacle detection device in this embodiment may also include a driving circuit to drive the LED light to emit light.

[0172] The obstacle detection device in this embodiment may also include a detection circuit, which may include an amplification circuit for amplifying the photocurrent generated when ambient light is incident on the LED light and inputting the amplified photocurrent to the control module. It is understood that the detection circuit can be connected when the LED light is working in photosensitive mode for obstacle detection.

[0173] In this embodiment, the control module can control the connection and disconnection between the LED beads and the driving circuit, as well as the connection and disconnection between the LED beads and the detection circuit, through the switch module.

[0174] In one specific embodiment, the switch module can be a single-pole double-throw switch. The input terminal of the single-pole double-throw switch can be connected to the LED lamp, and the output terminal of the single-pole double-throw switch can be connected to the driving circuit and the detection circuit, so that the single-pole double-throw switch can control the LED lamp to connect to the driving circuit or to the detection circuit. That is, the single-pole double-throw switch can be used to control the LED lamp bead to sense light or emit light.

[0175] Considering that vehicles may operate in both strong and weak ambient light conditions, this embodiment employs both occlusion detection and light emission detection methods. Through circuit and software timing design, the luminous and light-sensing functions of LEDs are utilized to handle both strong and weak light environments, achieving obstacle detection without the need for additional sensor hardware. Compared to the traditional RGB LED white light solution, where three colored LEDs are powered by a driver circuit and emit three colors of light to form white illumination, this embodiment directly improves upon the LED luminous function. For example, the green and blue LEDs are still connected to the driver circuit in the traditional way; only the signal connection of the red LED needs to be changed. Utilizing the characteristic that LEDs can operate in both light source and light-sensing modes, and employing a single-pole double-throw switch, the LEDs can be selectively connected to either the driver circuit or the amplifier circuit. This allows the LEDs to emit light when connected to the driver circuit and to perform light intensity detection when connected to the amplifier circuit, making it a low-cost and feasible approach.

[0176] In one embodiment, the control module is further configured to control the operating state of the switch module according to selection conditions, so as to control the connection and disconnection between the LED beads and the driving circuit and the detection circuit respectively.

[0177] In this application, in conjunction with the above description, the selection criteria may include at least one of ambient light intensity, weather information, vehicle information, and vehicle location information.

[0178] Among them, such as Figure 4-1 and Figure 4-2 As shown, the working state of the switch module in this embodiment may include a state in which one end of the switch module is connected to the light-emitting LED bead and the other end is connected to the driving circuit, or a state in which one end of the switch module is connected to the photosensitive LED bead and the other end is connected to the driving circuit.

[0179] It is understandable that, considering the complexity of the vehicle's driving environment and the changes in vehicle performance and position during driving, this embodiment can control the on / off connection between the LED beads and the driving circuit, as well as between the LED beads and the detection circuit, through a switch module. This controls the luminous LED beads to emit light and / or the photosensitive LED beads to detect light parameter signals, enabling the headlights to switch between lighting modes, reflection detection, and occlusion detection. While ensuring normal headlight illumination, it can also accurately detect obstacles around the vehicle, making it suitable for various types of driving environments and driving paths.

[0180] As can be seen, in the obstacle detection device of this application, the driving circuit can be used to drive the LED light to emit light; the detection circuit can be used to detect the LED light and obtain light parameter signals; the control module can be used to control the LED light to connect to the driving circuit or the detection circuit, and determine the obstacle detection result based on the light parameter signals. Thus, this application can connect the LED light on the vehicle to the driving circuit so that the LED light can be used for illumination, or connect the LED light to the control module so that the LED light can be used for obstacle detection. Therefore, this application can detect obstacles near the vehicle without increasing additional hardware costs, eliminating blind spots in obstacle detection, achieving comprehensive detection of obstacles around the vehicle, and ensuring safe driving.

[0181] In one specific embodiment, the LED bead includes a photosensitive LED and a light-emitting LED, wherein:

[0182] When the ambient light intensity is less than or equal to the light intensity threshold, the control module controls the switch module to connect the driving circuit and the light-emitting LED, and to connect the detection circuit and the photosensitive LED; or,

[0183] When the ambient light intensity is greater than the light intensity threshold, the switch module connects the detection circuit and the photosensitive LED bead.

[0184] In this embodiment, when the vehicle determines that the ambient light intensity is less than or equal to the light intensity threshold, it means that the ambient light is relatively weak, such as in a dark environment. In this case, there is virtually no ambient light incident on the LED chips, so reflection detection can be used, for example... Figure 4-2 As shown, the switch module connects the drive circuit and the LED light-emitting beads, causing the LED light-emitting beads to emit light. It also connects the detection circuit and the photosensitive LED light-emitting beads, causing the photosensitive LED light-emitting beads to detect the light parameter signal.

[0185] If the vehicle determines that the ambient light intensity is greater than the light intensity threshold, it means that the ambient light is relatively weak, such as during the day. In this case, occlusion detection can be used. At this time, the switch module connects the detection circuit and the photosensitive LED to sense the weakening of the incident light and identify that there is an object blocking the ambient light in front, thus obtaining the obstacle detection result.

[0186] In one embodiment, the control module is further configured to:

[0187] The detection circuit is controlled to process the optical parameter signal according to the processing conditions.

[0188] In one embodiment, the above processing conditions may include at least one of light intensity, weather information, vehicle information, and vehicle location information.

[0189] Thus, in this embodiment, the control module can control the detection circuit to process the light parameter signal detected by the photosensitive LED according to the above processing conditions.

[0190] The processing conditions can specifically include information that can distinguish between nighttime and daytime, such as light intensity, nighttime obstacle detection instructions, daytime obstacle detection instructions, and time; or vehicle information that indicates whether the vehicle is driving at night or during the day; or light intensity information that can determine the vehicle's location, such as when the vehicle is in a tunnel; or weather information that can identify light intensity, such as when the vehicle is raining or foggy.

[0191] In this embodiment, the light intensity may include the light intensity detected by the photosensitive LED, or it may include the ambient light intensity.

[0192] In one embodiment, the detection circuit includes at least two amplification circuits and a switching element, wherein the at least two amplification circuits include a first amplification circuit and a second amplification circuit;

[0193] The input terminal of the first amplifier circuit is connected to the LED bead, and the input terminal of the second amplifier circuit is connected to the output terminal of the first amplifier circuit; one end of the switching element is connected to the output terminals of the first amplifier circuit and the second amplifier circuit respectively, and the other end of the switching element is connected to the control module.

[0194] The control module is further configured to selectively connect to the output terminal of the first amplifier circuit or the output terminal of the second amplifier circuit via the switching element according to the processing conditions.

[0195] In this embodiment, as Figure 5 As shown, the input terminal of the first amplifier circuit can be connected to an LED bead, the input terminal of the second amplifier circuit is connected to the output terminal of the first amplifier circuit, and one end of the switching element is connected to the output terminals of both the first and second amplifier circuits, while the other end of the switching element (i.e., the output terminal of the switching element) is connected to the control module. Specifically, the switching element in this embodiment can be a single-pole double-throw switch.

[0196] Thus, the control module can selectively connect to the output of the first amplifier circuit or the output of the second amplifier circuit through the switching unit, depending on the processing conditions.

[0197] In one specific embodiment, when the light intensity is greater than the target light intensity threshold, the control module is connected to the output terminal of the first amplification circuit through the switching element, and is used to receive the first amplified signal after the first amplification circuit amplifies the light parameter signal detected by the LED beads, and determine the obstacle detection result based on the first amplified signal;

[0198] When the light intensity is less than or equal to the target light intensity threshold, the control module is connected to the output terminal of the second amplification circuit through the switching element, and is used to receive the second amplified signal after the second amplification circuit amplifies the first amplified signal, and determine the obstacle detection result based on the second amplified signal.

[0199] It is understandable that, since the light intensity illuminating the LED surface is different between the two detection methods of occlusion detection and reflection detection, the amplification factor requirements of the amplifier circuit are also different in order to ensure that the light intensity of the light parameter signal is sufficient to control the module to identify obstacles.

[0200] For example, in this embodiment, the series-connected two-stage amplifier circuit is as follows: Figure 5As shown, two signal output points, Signal1 and Signal2, can be selected, each with different amplification factors (the signal strength output at Signal1 is less than that output at Signal2). During occlusion detection, due to strong ambient light, the light parameter signal output from Signal1 can be amplified first-stage. In reflective mode, due to weaker light intensity, the light parameter signal output from Signal2 can be amplified second-stage to better amplify the weak light parameter signal. The vehicle can then acquire either the light parameter signal output from Signal1 or Signal2 to perform obstacle detection and obtain the corresponding obstacle detection result.

[0201] In one embodiment, the detection circuit includes at least two amplification circuits, the at least two amplification circuits including a first amplification circuit and a second amplification circuit;

[0202] The input terminals of the first amplifier circuit and the second amplifier circuit are respectively connected to the LED beads;

[0203] The control module is further configured to selectively connect to the output terminal of the first amplifier circuit or the output terminal of the second amplifier circuit according to the processing conditions.

[0204] In this embodiment, the control module can selectively connect to the output terminal of the first amplifier circuit or the output terminal of the second amplifier circuit according to the processing conditions. The processing conditions may include at least one of light intensity, weather information, vehicle information, and vehicle location information.

[0205] In one specific embodiment, when the light intensity is greater than the target light intensity threshold, the control module is connected to the output terminal of the first amplification circuit to receive a first amplified signal after the first amplification circuit amplifies the light parameter signal detected by the LED beads, and determines the obstacle detection result based on the first amplified signal.

[0206] When the light intensity is less than or equal to the target light intensity threshold, the control module is connected to the output terminal of the second amplification circuit to receive the second amplified signal after the second amplification circuit amplifies the light parameter signal detected by the LED beads, and determines the obstacle detection result based on the second amplified signal.

[0207] In this embodiment, the amplification factor of the first amplifier circuit is less than that of the second amplifier circuit.

[0208] Thus, when the ambient light intensity is greater than the target light intensity threshold, it means that the ambient light is strong, and the light parameter signal can be amplified by the first amplification circuit.

[0209] When the ambient light intensity is less than or equal to the target light intensity threshold, it means that the ambient light is weak. In order to ensure the accuracy of obstacle recognition, the light parameter signal can be amplified by the second amplification circuit, so that even when the ambient light is weak and the photocurrent is small, the presence of obstacles around the vehicle can be accurately perceived, thereby improving the obstacle recognition accuracy.

[0210] Based on this, when the ambient light intensity is high, it is possible to Figure 3-1 or Figure 4-1 The occlusion detection shown in this method involves multiple LED beads in the LED light assembly operating in light-sensing mode. By acquiring light parameter signals detected by LED beads at multiple locations, the position and size of the obstacle are determined based on the position and number of obstructed LED beads. For example, when ambient light shines on the LED beads, the red LED beads generate photocurrent (the magnitude of which is related to the light intensity). This photocurrent is amplified by the first amplification circuit and transmitted to the controller MCU (i.e., the control module in this embodiment) to sense the current ambient light information. If an obstacle is located close to the front of the headlights, it will block the ambient light incident on the surface of the headlight LED beads. In this case, the light intensity sensed by the obstructed LED beads will be lower than that sensed by the unobstructed LED beads.

[0211] When the ambient light is low or the vehicle is in a dark environment, activate the reflective detection function, such as... Figure 3-2 or Figure 4-2 As shown, RGB LEDs are used. Two adjacent LEDs in the LED matrix form a reflective detection unit. For example, a green LED operates in light source mode and emits light through a single-pole double-throw switch connected to the driver circuit; the adjacent red LED operates in detection mode and is connected to the second amplifier circuit. If an obstacle appears in front of the headlights, the light emitted by the green LED illuminates the obstacle and is reflected or scattered back to the red LED. The red LED generates a corresponding photocurrent, which is sent to the second amplifier circuit. The photocurrent is amplified by the second amplifier circuit and then transmitted to the controller MCU for obstacle detection.

[0212] In one embodiment, the device further includes a multiplexer, one end of which is connected to the LED light group, and the other end of which is connected to the control module.

[0213] The control module is also used to control the multiplexer to select target LED beads from the LED group and connect them to the driving circuit or the detection circuit.

[0214] In this embodiment, as Figure 6-1 As shown or as Figure 6-2The multiplexer shown has one end connected to an LED light and the other end connected to a control module.

[0215] In this embodiment, the multiplexer can select the target LED light corresponding to the detection method (occlusion detection or reflection detection) from the LED lights, so that the target LED light is connected to the driving circuit or the detection circuit.

[0216] It is understandable that, such as Figure 6-1 The occlusion detection shown indicates that multiple LED beads in the LED light group are operating in light-sensing mode, while... Figure 6-2 The reflection detection shown uses an LED array where some LEDs operate in photosensitive mode and others in light source mode. When an obstacle is present, the light emitted by the LEDs in light source mode illuminates the obstacle and is reflected or scattered to the LEDs in photosensitive mode. For example, ... Figure 7 As shown, a red LED bead senses light intensity, while adjacent LEDs emit green light. It is worth noting that the arrangement of adjacent LEDs should be designed with appropriate spacing so that the light emitted by the light source mode LED does not directly shine on the light-sensing mode LED, causing the photocurrent of the light-sensing mode LED to increase and affecting the obstacle detection accuracy.

[0217] In one specific embodiment, the input terminal of the multiplexer is connected to the LED light group, the output terminal of the multiplexer is connected to the control module through the switch module and the drive circuit, and the output terminal of the multiplexer is connected to the control module through the switch module and the detection circuit.

[0218] In this embodiment, the input terminal of the multiplexer can be connected to an LED bead, and the output terminal of the multiplexer is connected to the control module through a switch module and a drive circuit, and is also connected to the control module through a switch module and a detection circuit.

[0219] It is understood that, based on the above embodiments, if the LED bead is connected to the driving circuit, it can emit light; if the LED bead is connected to the detection circuit, it can detect light parameter signals to realize the light-sensing and light-emitting functions of the LED bead, which will not be elaborated further here.

[0220] In another embodiment, the input terminal of the multiplexer is connected to the LED beads, and the output terminal of the multiplexer is connected to the control module via the single-pole double-throw switch through the drive circuit and the detection circuit, respectively.

[0221] In this embodiment, the switch module can specifically be a single-pole double-throw switch, such as... Figure 6-1 and Figure 6-2As shown, the input terminal of the multiplexer can be connected to LED beads, and the output terminal of the multiplexer is connected to the drive circuit and the detection circuit respectively through a single-pole double-throw switch. The output terminals of the drive circuit and the detection circuit are respectively connected to the control module.

[0222] As can be seen, the LED selection method and connection method are different under different detection modes. Therefore, in this embodiment, the multiplexer can select the target LED corresponding to the detection mode from the LED group, and connect the target LED to the driving circuit or connect the target LED to the detection circuit according to the detection mode.

[0223] It is worth noting that, in this embodiment, in order to reduce costs and save the number of amplifier circuits in the circuit, a scanning method can be adopted. Detection units are sequentially built in the LED group for detection. For example, taking an 8×8 LED dot matrix as an example, 64 LED beads are divided into 16 groups of 4. When scanning begins, the multiplexer can use 4 LEDs as target LEDs and connect them to the amplifier (i.e., the amplifier circuit in this embodiment) through a single-pole double-throw switch. The remaining LED beads in the LED group are connected to the driver module, and the driver module is at a low level. For example, in this embodiment, the sampling frequency of the digital-to-analog conversion of the control module is on the order of MHz. The time for the first group of 4 LED beads to be in photosensitive mode is set to 625μs. After the first group of light detection is completed, the 4 LED beads are switched from being connected to the amplifier to being connected to the driver module through a single-pole double-throw switch, and the driver module is kept at a low level. The process is repeated for the next group, for a total of 16 groups. In this way, after 10ms, all 64 LED beads have completed signal detection sequentially, and the second round of scanning begins. At the end of each scan, 64 optical parameter signals can be obtained for statistical analysis to determine whether there is an obstacle and, if so, to determine the location and size of the obstacle.

[0224] It is understood that the embodiments of this application can be used not only for obstruction detection, but also for monitoring ambient light. For example, when combined with the ADB (Adaptive Driving Beam) adaptive high beam system, no additional sensors are required. When the LED headlights detect that the ambient light is weak, they can intelligently turn on the lights. Obviously, when the ambient light is weak, the difference between Ix (photocurrent) and I0 (dark current) is not easily detected. At this time, the program can directly turn on the reflection detection.

[0225] In one embodiment, the control module of this application is further configured to control the LED beads to switch between a light-emitting state and a light-sensing state according to an input timing signal, and to determine the obstacle detection result according to the light parameter signal detected by the LED beads in the light-sensing state.

[0226] In this embodiment, the timing signal can be a set of control signals composed of high and low levels. When the timing signal is high or low, the control module can control the LED beads to work in different states. For example, when the timing signal is high, the LED beads can be controlled to work in the light-emitting state, and when the timing signal is low, the LED beads can be controlled to work in the light-sensing state.

[0227] That is, in this embodiment, the timing signal can be used to switch the connection between the LED lamp bead and the driving module and the detection module, so that the LED lamp can emit light after being connected to the driving module, or sense light after being connected to the detection module (i.e., photodetection). For example, since the timing signal can be used to switch the connection between the LED lamp and the driving module and the detection module, so that the LED lamp can emit light after being connected to the driving module, or sense light after being connected to the detection module, in order to avoid the impact of obstacle detection on the vehicle headlight illumination, this embodiment can adopt an alternating method of illumination and sensing (i.e., obstacle detection). For example, for a 1000μs timing signal, 500μs is used for illumination, and the other 500μs is used for sensing. By alternating illumination and sensing, the light can be turned on and off in a frequency range that is not easily perceived by the human eye. Generally, the human eye can hardly perceive flicker when the brightness frequency of a light source exceeds 80Hz.

[0228] In one embodiment, the photosensitive LED includes long-wavelength LED beads, and the light-emitting LED includes short-wavelength LED beads.

[0229] In this embodiment, the high-energy short-wavelength LED beads are used as the light source to emit light, while the low-energy long-wavelength LED beads can be used as photodetectors to sense light.

[0230] In one embodiment, the photosensitive LED includes a red LED, and the light-emitting LED includes a green LED.

[0231] In this embodiment, based on the above description, an LED light using RGB LED beads can be used. The red LED bead in the RGB LED bead system can have a photosensitive function and operate in photosensitive mode. When ambient light shines on the LED light, the red LED bead generates a photocurrent, the magnitude of which is related to the light intensity. Correspondingly, the green LED bead can have a light-emitting function and operate in light source mode for illumination. Besides using green LED beads to emit light, other colors of light can also be emitted as needed, such as using three LED beads of red, green, and blue to emit light together to form white light. These examples will not be listed further.

[0232] Therefore, this embodiment designs two obstacle detection modes based on ambient light intensity: occlusion detection and reflection detection. These modes are generally applicable to various driving scenarios and can achieve obstacle detection without adding additional sensor hardware. This reduces hardware costs and improves obstacle detection accuracy. Compared with existing obstacle detection methods, this application can identify obstacles within close range of the vehicle and has no blind spots.

[0233] Accordingly, this application also proposes an obstacle detection method that can be applied to vehicles, such as... Figure 8 As shown, the method may include:

[0234] S10: Determine the obstacle detection result based on the light parameter signal detected by the LED beads.

[0235] In this embodiment, the vehicle can determine the obstacle detection result based on the light parameter signal detected by the LED beads.

[0236] As illustrated in the above embodiments, the LED beads can be those used in vehicle LED headlights, and they possess both light-emitting and light-sensing functions. The control module can determine the obstacle detection result based on the light parameter signals detected by the LED beads.

[0237] In one embodiment, S10 above, "determining the obstacle detection result based on the light parameter signal detected by the LED beads," may include:

[0238] S101, determine the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads.

[0239] In this embodiment, the vehicle can determine the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads.

[0240] For example, during shading detection, a vehicle can determine the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads.

[0241] In one embodiment, step S101 above, "determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads," may include:

[0242] S1011, if the light parameters detected by at least two photosensitive LED beads are within the specified range, determine that the obstacle detection result is that no obstacle exists; or,

[0243] S1012, if the light parameters detected by at least two photosensitive LED beads are not within the specified range, the obstacle detection result is determined to indicate the presence of an obstacle.

[0244] In this embodiment, if at least two light parameter signals detected by photosensitive LEDs are found to be outside the condition range, it means that an obstacle is blocking the ambient light incident on all or part of the photosensitive LEDs, causing the light signal generated by the LEDs to decrease. In this case, the obstacle detection result can be determined to be that an obstacle exists. It is understood that when the obstacle is small, it may only block a small part of the photosensitive LEDs, while the light intensity of the other LEDs is still within the condition range.

[0245] The range of conditions can be determined based on the light intensity emitted by the LED beads.

[0246] If the vehicle detects that the light parameter signals detected by at least two photosensitive LED beads are within the specified range, then the obstacle detection result can be determined as no obstacle exists.

[0247] Specifically, for example, in this embodiment, the photosensitive LED beads are connected to the amplification circuit, so that the photosensitive LEDs work in the photosensitive mode. If it is determined that the light parameter signals of each photosensitive LED are different, it means that there is an obstacle blocking the ambient light incident on the LED beads, and the obstacle detection result can be determined to be that there is an obstacle.

[0248] If the light parameter signals detected by the LED beads are different, it may be because there is an obstruction nearby.

[0249] It is understandable that in this embodiment, when detecting whether the light parameter signals of each LED are the same, for example, if the ambient light incident on the Ni-th LED is not blocked by an obstacle, the received light intensity is I0. However, considering the complex road conditions, such as the possibility that the headlights of other vehicles may be incident on the LED, which increases the detected ambient light intensity value, and also considering the slight differences between the circuits of multiple LEDs, the boundary values ​​of ambient light intensity can be set as Ia and Ib. If the light intensity value I0 is stable between Ia and Ib, it can be determined that the light parameter signals are the same; otherwise, the light parameter signals are the same but different.

[0250] In one embodiment, step S101 above, "determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads," may include:

[0251] S1013, determine the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads and the ambient light.

[0252] In this embodiment, the vehicle can determine the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads and the ambient light.

[0253] Understandably, if at least two photosensitive LED beads detect the same light parameter signal, it can be preliminarily determined that there are no obstacles nearby blocking the ambient light incident on the surface of the LED light group (i.e., vehicle lights), or if the obstruction area is large and uniformly blocks the light incident on the surface of each LED bead, then it is necessary to further combine the ambient light to determine the obstacle detection result.

[0254] In a specific embodiment, S1013 above, "determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads and the ambient light," may include:

[0255] When the light parameters detected by at least two photosensitive LED beads are within the specified range.

[0256] If the ambient light intensity of the vehicle is not greater than a light intensity threshold, then a reflection detection is performed, which includes:

[0257] LED beads emit light,

[0258] Photosensitive LED beads detect light parameter signals.

[0259] The obstacle detection result is determined based on the light parameter signal detected by the photosensitive LED beads; or,

[0260] If the ambient light intensity of the vehicle is greater than the light intensity threshold, then the obstacle detection result is determined to be that there is no obstacle.

[0261] In this embodiment, when the light parameter signals detected by at least two photosensitive LED beads are within the condition range (or when the light parameter signals detected by at least two photosensitive LED beads are the same), it is further determined whether the ambient light intensity of the vehicle's environment is greater than the light intensity threshold.

[0262] If the ambient light intensity of the vehicle's environment is greater than the light intensity threshold, it means that no obstacle is blocking the photosensitive LED beads, and the obstacle detection result can be determined as no obstacle exists.

[0263] like Figure 9As shown, when the light parameter signals detected by at least two photosensitive LEDs are within the condition range (or when the light parameter signals detected by at least two photosensitive LEDs are the same), if the ambient light intensity of the vehicle's environment is less than or equal to (i.e. not greater than) the light intensity threshold, it means that the vehicle's current environment is a low-light environment. Therefore, reflection detection can be performed based on the light parameter signals detected by the photosensitive LEDs to improve the accuracy of obstacle recognition. In this embodiment, the reflection detection process may include: controlling the light-emitting LEDs to emit light and controlling the photosensitive LEDs to detect light parameter signals. Furthermore, the control module can also determine the obstacle detection result based on the light parameter signals detected by the photosensitive LEDs. For details, please refer to the above embodiment, which will not be repeated here.

[0264] In a specific embodiment, S1013 above, "determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads and the ambient light," may include:

[0265] If the light parameters detected by at least two photosensitive LED beads are not within the stated condition range.

[0266] If the ambient light intensity is not greater than the light intensity threshold, reflectivity detection is performed, which includes:

[0267] LED beads emit light,

[0268] Photosensitive LED beads detect light parameter signals.

[0269] The obstacle detection result is determined based on the light parameter signal detected by the photosensitive LED beads.

[0270] In this embodiment, as Figure 9 As shown, when there is a light parameter signal outside the condition range among the light parameter signals detected by at least two photosensitive LED beads (or when the light parameter signals detected by at least two photosensitive LED beads are different), since there may be an obstruction nearby or the ambient light incident on the LED array surface is uneven, in order to eliminate the influence caused by uneven light (such as the shadow of a distant object falling on the headlights), reflection detection can be performed to identify obstacles, optimize the accuracy of obstacle identification, and eliminate the interference of complex road conditions on obstacle identification.

[0271] In one embodiment, determining the obstacle detection result based on the light parameter signal detected by the photosensitive LED in the reflective detection includes:

[0272] If the light parameter signal detected by the photosensitive LED contains reflected light information, then an obstacle is determined to exist within the threshold distance.

[0273] If the light parameter signal detected by the photosensitive LED does not contain reflected light information, it is determined that there is no obstacle within the threshold distance.

[0274] In this embodiment, the vehicle can detect whether there is reflected light information in the light parameter signal. It can be understood that by detecting whether there is reflected light information in the light parameter signal, it can determine whether there is an obstacle within the vehicle's short range (i.e., the threshold distance in this embodiment).

[0275] When a vehicle detects reflected light information in the light parameter signal detected by the photosensitive LED beads, it can determine that an obstacle exists within a threshold distance; when it detects no reflected light information in the light parameter signal detected by the photosensitive LED beads, it can determine that no obstacle exists within the threshold distance.

[0276] Thus, when an obstacle is detected, this application can further detect whether there is an obstacle in the vicinity of the vehicle. Once an obstacle is detected nearby, the vehicle can be promptly alerted to avoid it, ensuring safe driving.

[0277] In one embodiment, the method of this application may further include:

[0278] S20, if an obstacle exists within a certain threshold distance, output obstacle information, which includes the location information and / or size information of the obstacle.

[0279] In this embodiment, when an obstacle is detected within a threshold distance, the relative position of each LED in the LED group can be calculated based on the light parameter signals detected by multiple photosensitive LEDs, and the two-dimensional plane coordinates and size of the obstacle can be output, so that the vehicle can avoid the obstacle in time.

[0280] In one embodiment, the method of this application may further include:

[0281] S30, if the light parameters detected by the photosensitive LED are less than or equal to a first threshold, it is determined that there is no reflected light. The first threshold is determined based on the luminous parameters of the LED and the ambient light intensity; or,

[0282] S40, if the light parameters detected by the photosensitive LED bead are greater than the first threshold, it is determined that reflected light exists.

[0283] Wherein, the first threshold is I△(Lux), I1(Lux)≤I△(Lux)≤I2(Lux), I1(Lux) is the ambient light intensity when no LED light is emitted, and I2(Lux) is the ambient light intensity when the LED light is emitted.

[0284] In this embodiment, the first threshold is determined based on the light emission parameters of the LED bead. The light intensity corresponding to the first threshold is less than the light emission intensity of the LED bead. It can be understood that the light emitted by the LED bead is lost after being reflected by an obstacle. Therefore, the light intensity corresponding to the first threshold is less than the light emission intensity of the LED bead.

[0285] In this embodiment, if the light parameter signal detected by the photosensitive LED is less than or equal to the first threshold, it means that the photosensitive LED has not received the obstacle's reflected light signal parameter, and it can be determined that there is no reflected light; if the light parameter signal detected by the photosensitive LED is greater than the first threshold, it means that the photosensitive LED has received the obstacle's reflected light signal parameter, and it can be determined that there is reflected light.

[0286] In one embodiment, S10 above, "determining the obstacle detection result based on the light parameter signal detected by the photosensitive LED beads," may include:

[0287] S102, based on the luminous parameters of the light-emitting LED beads and the light parameter signals detected by the photosensitive LED beads, the obstacle detection result is determined to be that an obstacle exists.

[0288] In this embodiment, in addition to detecting whether an obstacle exists based on the light parameter signal detected by the photosensitive LED and the first threshold, the obstacle detection result can also be determined to be the presence of an obstacle based on the light emission parameter of the emitting LED and the light parameter signal detected by the photosensitive LED.

[0289] Understandably, the light emission detection unit can at least contain one photosensitive LED and one light-emitting LED.

[0290] In a specific embodiment, S102 above, "determining that the obstacle detection result is that an obstacle exists based on the light emission parameters of the light-emitting LED and the light parameter signal detected by the photosensitive LED", may include:

[0291] S1021, if the light emission parameters of the light-emitting LED bead and the light parameters detected by the photosensitive LED bead are within the specified range, the obstacle detection result is determined to be that an obstacle exists.

[0292] In this embodiment, during reflection detection, when an obstacle exists in front of the headlights, the light emitted by the LED beads is reflected by the obstacle and enters the photosensitive LED beads. Although energy loss occurs when the light emitted by the LED beads is reflected on the obstacle, the difference between the light intensity of the LED beads and the light parameter signal detected by the photosensitive LED beads is not significant. Therefore, this embodiment can set a target range. If the light intensity of the LED beads and the light parameter signal detected by the photosensitive LED beads are both within the target range, then the presence of an obstacle can be determined. Alternatively, if the difference between the light parameter signals of at least two LED beads is within the target difference range, the obstacle detection result can also be determined as the presence of an obstacle.

[0293] Considering that the application scenario of reflective detection is a low-light environment, if there are no obstacles, the light parameter signal detected by the photosensitive LED is the ambient light (very weak ambient light). At this time, the light emission parameters of the emitting LED are very different from the light parameter signal detected by the photosensitive LED.

[0294] In another embodiment, with Figure 7 For example, a red LED bead senses light intensity, while neighboring LEDs emit green light as light sources. When the reflection mode is activated, if an obstacle is nearby and the LED is blocked, it will reflect the light emitted by the light source. Assuming the signal weakens due to the obstacle blocking ambient light intensity (δ) and the signal is strengthened due to light reflection (δ'), the total change in the light signal is Δ = δ - δ'. Therefore, by checking whether the light parameter signal changes after activating the reflection mode, it can be determined whether the obstruction is within the effective reflection distance. Thus, in this embodiment, it can be determined whether the light parameter signal that illuminates the object and is reflected back can be detected. If the light parameter signal is detected, it can be determined that an obstacle exists within the effective reflection distance, and the two-dimensional plane coordinates and size of the obstacle can be output. If the light parameter signal is not detected, it can be determined that the obstruction is not nearby or the ambient light is weak.

[0295] In one embodiment, the method in this application may include shading detection and reflection detection, wherein the shading detection includes:

[0296] The obstacle detection result is determined based on the light parameter signal of the LED beads and the ambient light intensity;

[0297] The reflectivity detection includes:

[0298] LED beads emit light,

[0299] Photosensitive LED beads detect light parameter signals.

[0300] The obstacle detection result is determined based on the light parameter signal detected by the photosensitive LED beads.

[0301] In this embodiment, during occlusion detection, if there is only one photosensitive LED, the light parameter signal detected by the photosensitive LED can be compared with the ambient light. If the light intensity of the light parameter signal detected by the photosensitive LED is less than the light intensity of the ambient light, then it can be determined that there is an obstacle.

[0302] In this embodiment, the ambient light can be collected by unobstructed photosensitive LED beads, or it can be predicted by the vehicle. For example, the vehicle can connect to the cloud to collect the light intensity of historical ambient light in order to predict the light intensity of the current ambient light.

[0303] In one embodiment, the method of this application may further include:

[0304] Based on the selection criteria, select the detection mode corresponding to the selection criteria. The detection mode includes shading detection and reflection detection.

[0305] It should be noted that, in this embodiment, the selection conditions may include at least one of light intensity, weather information, vehicle information, and vehicle location information. The light intensity may be ambient light intensity or light intensity detected by the photosensitive LED.

[0306] In this way, the vehicle can determine the detection mode based on the selected conditions, which may include shading detection and reflection detection.

[0307] In one specific embodiment, considering that the vehicle may be in environments with both strong and weak ambient light, the vehicle can control the photosensitive LED to work in photosensitive mode before performing obstacle detection, collect the ambient light of the environment in which the vehicle is located, and determine the obstacle detection mode based on the light intensity of the ambient light. In this embodiment, the detection mode can be divided into occlusion detection and reflection detection.

[0308] In conjunction with the above embodiments, as follows: Figure 6-1 The occlusion detection shown uses multiple photosensitive LED beads in the LED light group operating in photosensitive mode to identify obstacles; for example... Figure 6-2 The reflective detection shown in the diagram uses two adjacent LED beads in the LED matrix to form a reflective detection. The light-emitting LED bead operating in the light source mode emits light, which is reflected by the obstacle to the photosensitive LED bead operating in the photosensitive mode. This LED bead can generate a corresponding photocurrent to identify the obstacle. Refer to the above embodiment for description, and it will not be repeated here.

[0309] In addition, in this embodiment, in order to avoid the impact of obstacle detection on the vehicle headlight illumination, this embodiment can adopt an alternating method of illumination and sensing (i.e. obstacle detection). That is, a first time period and a second time period can be included in a time sequence. During the first time period, the target LED light is controlled to work in the photosensitive mode to perform light detection and obtain the corresponding light parameter signal. During the second time period, the target LED light is driven to emit light.

[0310] Specifically, for example, for a 1000μs timing signal, 500μs is used to control the target LED lighting, and the other 500μs is used to control the target LED sensing. By alternating between lighting and sensing, the LED can be turned on and off in a frequency range that is not easily perceived by the human eye (such as frequencies above 80Hz), making it difficult for the human eye to perceive the flicker and not affecting the normal lighting of the vehicle headlights.

[0311] In one embodiment, the method of this application may further include:

[0312] S60, based on the ambient light intensity of the environment in which the vehicle is located, collects light parameter signals through LED beads.

[0313] In this embodiment, the vehicle can also collect light parameter signals through LED beads according to the ambient light intensity of the environment in which the vehicle is located.

[0314] Specifically, for example:

[0315] When the ambient light intensity is less than or equal to the light intensity threshold, the LED light-emitting beads are driven to emit light, and the light parameter signal is detected by the photosensitive LED light-emitting beads; or...

[0316] When the ambient light intensity is greater than the light intensity threshold, the light parameter signal is detected by at least two LED beads.

[0317] In this embodiment, if the ambient light intensity is less than or equal to the light intensity threshold, it means that the vehicle is in a low light environment. The vehicle can drive the light-emitting LED beads to emit light and detect the light parameter signal through the photosensitive LED beads to perform reflection detection to identify obstacles.

[0318] If the ambient light intensity is greater than the light intensity threshold, it means that the vehicle is in a strong light environment (or a normal light environment, such as daytime). The vehicle can detect the light parameter signal through at least two LED beads to perform occlusion detection and identify obstacles.

[0319] In one specific embodiment, such as Figure 9 As shown, the method in this application may include at least the following steps:

[0320] Step 01: Enable occlusion detection and acquire the light intensity signals received by multiple LEDs;

[0321] When the ambient light is strong, all the red LEDs in the RGB LED group act as photodetectors. They detect the weakening of the incident light to identify that an object is blocking the background light. For example, the R LEDs in the RGB LED group are connected to a signal amplifier through a single-pole double-throw switch circuit, so that the red LEDs are in a reverse bias state for photoelectric conversion. This converts the light signal incident on the surface into an electrical signal, and the signal is amplified by the amplifier circuit. Alternatively, a signal amplifier may not be used, and there is no specific limitation on this.

[0322] Step 02: Determine whether the light intensity values ​​received by each LED are consistent;

[0323] When an object is in front of the headlights, the object blocks the ambient light, and the light intensity received by the blocked red LED is reduced. The controller monitors the signal intensity changes of each red LED at different positions in the LED matrix in real time to determine the position and area of ​​the obstruction.

[0324] Step 03: If the light intensity signal value of each point of the LED dot matrix is ​​uniform, it is preliminarily determined that there are no obstacles nearby blocking the ambient light incident on the surface of the LED light group (vehicle lights), or the blocking area of ​​the obstacle is large and uniformly blocks the light incident on the surface of each LED bead.

[0325] Step 04: Determine whether the light intensity is greater than the threshold (i.e., the preset light intensity range in this embodiment);

[0326] Step 05: If the light intensity is greater than the threshold, it is determined that there are no obstacles nearby.

[0327] Step 06: If the light intensity received by each LED is inconsistent, it may be due to the presence of an obstruction nearby or uneven ambient light incident on the surface of the LED assembly. To eliminate the influence of uneven light (such as the shadow of a distant object falling on the headlights), reflection detection can be turned on at this time.

[0328] Step 07: Enable reflection detection;

[0329] A red LED bead senses light intensity, and neighboring LEDs emit green light, such as... Figure 5 As shown, for the N1 LEDs that are not blocked, the arrangement between adjacent LEDs should be designed with appropriate spacing, and green light will not affect the signal received by the red light beads in the N1 LEDs;

[0330] Step 08: In the LED light group, reflective detection units are constructed sequentially, and the reflection of light emitted by the G LED bead by obstacles at each position is detected by scanning.

[0331] After enabling the reflection mode, for the N2 LEDs that are blocked, if the obstacle is close by, it will reflect the light emitted by the light source. Assuming that the signal weakens due to the obstacle blocking the background light intensity by δ, and the signal is enhanced due to the light reflection by δ', the total change in signal is Δ = δ - δ'. By checking whether the signal changes after enabling the reflection mode, it can be determined whether the obstacle is within the effective reflection distance.

[0332] Step 09: Determine whether light that has illuminated the object and been reflected back can be detected;

[0333] Step 10: If the reflected light can be detected, then there is an obstacle within the effective reflection distance;

[0334] Step 11: Output the two-dimensional planar coordinates and dimensions of the obstacle;

[0335] Step 12: If reflected light is not detected, the obstruction is not nearby or the ambient light is weak.

[0336] Thus, this application can detect objects in the blind spot of the field of view by using an array of LED headlights, enabling the headlights to identify the presence, location and size of obstacles at close range. Compared with existing technologies such as millimeter-wave radar technology, this application can directly utilize the vehicle's original headlights, which is low-cost and saves hardware resources and space.

[0337] Accordingly, embodiments of this application also provide an electronic device, such as... Figure 10 As shown, Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 1100 includes a processor 1101 with one or more processing cores, a memory 1102 with one or more computer-readable storage media, and a computer program stored on the memory 1102 and executable on the processor. The processor 1101 and the memory 1102 are electrically connected. Those skilled in the art will understand that the vehicle structure shown in the figure does not constitute a limitation on the vehicle and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0338] The processor 1101 is the control center of the electronic device 1100. It connects various parts of the electronic device 1100 via various interfaces and lines. By running or loading software programs and / or units stored in the memory 1102, and by calling data stored in the memory 1102, it executes various functions and processes data of the electronic device 1100, thereby providing overall monitoring of the electronic device 1100. The processor 1101 can be a processor (Central Processing Unit, CPU), graphics processing unit (GPU), network processor (NP), etc., and can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0339] In this embodiment, the processor 1101 in the electronic device 1100 loads the instructions corresponding to the processes of one or more applications into the memory 1102 according to the following steps, and the processor 1101 runs the applications stored in the memory 1102 to realize various functions, such as:

[0340] The obstacle detection result is determined based on the light parameter signals detected by the LED beads.

[0341] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0342] Optional, such as Figure 10 As shown, the electronic device 1100 also includes: a touch display screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch display screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107. Those skilled in the art will understand that... Figure 10 The vehicle structure shown does not constitute a limitation on the vehicle and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0343] The touch display screen 1103 can be used to display a graphical user interface (GUI) and receive operation commands generated by the user interacting with the GUI. The touch display screen 1103 may include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the vehicle. These graphical user interfaces can be composed of graphics, text, icons, video, and any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), organic light-emitting diode (OLED), or other similar technologies. The touch panel can be used to collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel), generate corresponding operation commands, and execute the corresponding program according to the operation commands. Optionally, the touch panel may include two parts: a touch display system and a touch controller. The touch display system detects the user's touch location and the signal generated by the touch operation, transmitting the signal to the touch controller. The touch controller receives touch information from the touch display system, converts it into touch point coordinates, and sends it to the processor 1101. It can also receive and execute commands from the processor 1101. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it transmits the information to the processor 1101 to determine the type of touch event. Subsequently, the processor 1101 provides corresponding visual output on the display panel based on the type of touch event. In this embodiment, the touch panel and the display panel can be integrated into the touch display screen 1103 to achieve input and output functions. However, in some embodiments, the touch panel and the touch display screen 1103 can be implemented as two independent components to achieve input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to achieve input functions.

[0344] The radio frequency circuit 1104 can be used to transmit and receive radio frequency signals to establish wireless communication with network devices or other vehicles, and to transmit and receive signals with network devices or other vehicles.

[0345] Audio circuit 1105 can be used to provide an audio interface between the user and the vehicle via a speaker and a microphone. Audio circuit 1105 can convert received audio data into electrical signals and transmit them to the speaker, where the speaker converts them into sound signals for output. Conversely, the microphone converts collected sound signals into electrical signals, which are then received by audio circuit 1105, converted back into audio data, and processed by processor 1101 before being transmitted via radio frequency circuit 1104 to, for example, another vehicle, or output to memory 1102 for further processing. Audio circuit 1105 may also include an earphone jack to provide communication between external headphones and the vehicle.

[0346] The input unit 1106 can be used to receive input numbers, characters, or user characteristic information (such as fingerprints, iris, facial information, etc.), and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.

[0347] Power supply 1107 is used to supply power to various components of electronic device 1100. Optionally, power supply 1107 can be logically connected to processor 1101 through a power management device, thereby enabling functions such as charging, discharging, and power consumption management through the power management device. Power supply 1107 may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0348] although Figure 10 As not shown in the diagram, the electronic device 1100 may also include a camera, sensor, wireless fidelity module, Bluetooth module, etc., which will not be described in detail here.

[0349] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0350] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0351] Therefore, embodiments of this application provide a computer-readable storage medium storing a plurality of computer programs. These computer programs can be loaded by a processor to execute any of the obstacle detection methods provided in this application. The computer program can execute the following steps of the obstacle detection method:

[0352] The obstacle detection result is determined based on the light parameter signals detected by the LED beads.

[0353] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0354] The computer-readable storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0355] Since the computer program stored in the computer-readable storage medium can execute any of the obstacle detection methods provided in the embodiments of this application, the beneficial effects that any of the obstacle detection methods provided in the embodiments of this application can achieve can be realized, as detailed in the preceding embodiments, and will not be repeated here.

[0356] Those skilled in the art will understand that embodiments of this application can be provided as apparatus, method, electronic device, vehicle, computer-readable storage medium, or computer program product. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0357] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0358] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0359] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0360] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0361] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0362] Computer-readable media include both permanent and non-permanent, removable and non-removable media, which can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient media, such as modulated communication signals and carrier waves.

[0363] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0364] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0365] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0366] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. An obstacle detection device, characterized by, The device is applied to a vehicle, and the device includes: A detection component, the detection component including LED beads, the LED beads being used to obtain optical parameter signals; The control module is used to control the detection component to acquire optical parameter signals and determine the obstacle detection result based on the optical parameter signals.

2. The apparatus of claim 1, wherein, The detection component includes a reflective detection unit, which comprises light-emitting LED beads and photosensitive LED beads. The control module is also used to control the light-emitting LED beads to emit light, and the photosensitive LED beads to detect light parameter signals, and to determine the obstacle detection result based on the light parameter signals detected by the photosensitive LED beads.

3. The apparatus of claim 2, wherein, The reflective detection unit has at least one light-emitting LED and at least two photosensitive LEDs.

4. The apparatus of claim 2, wherein, The light-emitting LED and the photosensitive LED are in the same LED group, and the light emitted by the light-emitting LED will not shine directly on the photosensitive LED.

5. The apparatus of claim 1, wherein, The detection components are in multiple groups; The control module is also used to determine the detection result of the obstacle based on the optical parameter signals detected by multiple detection units.

6. The apparatus of claim 2, wherein, The control module is also used to control the light-emitting LED beads to emit light and / or control the photosensitive LED beads to detect light parameter signals according to the selection conditions.

7. The apparatus of claim 6, wherein, The selection criteria include at least one of light intensity, weather information, vehicle information, and vehicle location information.

8. The apparatus of claim 1, wherein, The detection component includes a light-blocking detection unit, which includes at least one photosensitive LED bead. The control module is also used to determine the obstacle detection result based on the ambient light and the light parameter signals detected by the at least one photosensitive LED bead.

9. The apparatus of claim 1, wherein, The detection component includes a light-blocking detection unit, which includes at least two photosensitive LED beads. The control module is also used to determine the obstacle detection result based on the light parameter signals detected by the at least two photosensitive LED beads.

10. The apparatus of claim 1, wherein, The optical parameter signal includes the optical intensity signal.

11. The device of any one of claims 1 to 10, wherein, The device further includes: A driving circuit is used to drive the LED beads to emit light; The detection circuit is used to acquire the optical parameter signals of the LED beads; The switch module has one end connected to the LED bead and the other end connected to the driving circuit and the detection circuit respectively. The control module is used to control the connection and disconnection between the LED bead and the driving circuit, and between the LED bead and the detection circuit, through the switch module.

12. The apparatus of claim 11, wherein, The control module is also used to control the working state of the switch module according to the selection conditions, so as to control the connection and disconnection between the LED beads and the driving circuit and the detection circuit respectively.

13. The apparatus of claim 12, wherein, The LED beads include photosensitive LEDs and light-emitting LEDs, wherein: When the ambient light intensity is less than or equal to the light intensity threshold, the control module controls the switch module to connect the driving circuit and the light-emitting LED, and to connect the detection circuit and the photosensitive LED; or, When the ambient light intensity is greater than the light intensity threshold, the switch module connects the detection circuit and the photosensitive LED bead.

14. The apparatus of claim 11, wherein, The control module is also used for: The detection circuit is controlled to process the optical parameter signal according to the processing conditions.

15. The apparatus according to claim 14, characterized in that, The processing conditions include at least one of the following: light intensity, weather information, vehicle information, and vehicle location information.

16. The apparatus according to claim 14, characterized in that, The detection circuit includes at least two amplifier circuits and a switching element, wherein the at least two amplifier circuits include a first amplifier circuit and a second amplifier circuit. The input terminal of the first amplifier circuit is connected to the LED bead, and the input terminal of the second amplifier circuit is connected to the output terminal of the first amplifier circuit; one end of the switching element is connected to the output terminals of the first amplifier circuit and the second amplifier circuit respectively, and the other end of the switching element is connected to the control module. The control module is further configured to selectively connect to the output terminal of the first amplifier circuit or the output terminal of the second amplifier circuit via the switching element according to the processing conditions.

17. The apparatus according to claim 16, characterized in that, When the light intensity is greater than the target light intensity threshold, the control module is connected to the output terminal of the first amplification circuit through the switching element, and is used to receive the first amplified signal after the first amplification circuit amplifies the light parameter signal detected by the LED beads, and determine the obstacle detection result based on the first amplified signal; When the light intensity is less than or equal to the target light intensity threshold, the control module is connected to the output terminal of the second amplification circuit through the switching element, and is used to receive the second amplified signal after the second amplification circuit amplifies the first amplified signal, and determine the obstacle detection result based on the second amplified signal.

18. The apparatus according to claim 14, characterized in that, The detection circuit includes at least two amplification circuits, and the at least two amplification circuits include a first amplification circuit and a second amplification circuit. The input terminals of the first amplifier circuit and the second amplifier circuit are respectively connected to the LED beads; The control module is further configured to selectively connect to the output terminal of the first amplifier circuit or the output terminal of the second amplifier circuit according to the processing conditions. The amplification factor of the first amplifier circuit is less than that of the second amplifier circuit.

19. The apparatus according to claim 18, characterized in that, When the light intensity is greater than the target light intensity threshold, the control module is connected to the output terminal of the first amplification circuit to receive the first amplified signal after the first amplification circuit amplifies the light parameter signal detected by the LED beads, and determines the obstacle detection result based on the first amplified signal. When the light intensity is less than or equal to the target light intensity threshold, the control module is connected to the output terminal of the second amplification circuit to receive the second amplified signal after the second amplification circuit amplifies the light parameter signal detected by the LED beads, and determines the obstacle detection result based on the second amplified signal.

20. The apparatus according to any one of claims 12 to 19, characterized in that, The device further includes a multiplexer, one end of which is connected to the LED light group, and the other end of which is connected to the control module. The control module is also used to control the multiplexer to select target LED beads from the LED group and connect them to the driving circuit or the detection circuit.

21. The apparatus according to claim 20, characterized in that, The input terminal of the multiplexer is connected to the LED light group, the output terminal of the multiplexer is connected to the control module through the switch module and the drive circuit, and the output terminal of the multiplexer is connected to the control module through the switch module and the detection circuit.

22. The apparatus according to claim 1, characterized in that, The control module is also used to control the LED beads to switch between a light-emitting state and a light-sensing state according to the input timing signal, and to determine the obstacle detection result according to the light parameter signal detected by the LED beads in the light-sensing state.

23. The apparatus according to any one of claims 1-22, characterized in that, Photosensitive LEDs include long-wavelength LED beads, while light-emitting LEDs include short-wavelength LED beads.

24. The apparatus according to any one of claims 23, characterized in that, Photosensitive LEDs include red LEDs, and light-emitting LEDs include green LEDs.

25. An obstacle detection method, characterized in that, The method is applied to a vehicle, and the method includes: The obstacle detection result is determined based on the light parameter signals detected by the LED beads.

26. The method according to claim 25, characterized in that, The step of determining the obstacle detection result based on the light parameter signals detected by the LED beads includes: The obstacle detection result is determined based on the light parameter signals detected by at least two photosensitive LED beads.

27. The method according to claim 26, characterized in that, The step of determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads includes: If the light parameters detected by at least two photosensitive LED beads are within the specified range, the obstacle detection result is determined to be that no obstacle exists; or, If the light parameters detected by at least two photosensitive LED beads are not within the specified range, the obstacle detection result is determined to indicate the presence of an obstacle.

28. The method according to claim 26, characterized in that, The step of determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads includes: The obstacle detection result is determined based on the light parameter signals detected by at least two photosensitive LED beads and the ambient light.

29. The method according to claim 28, characterized in that, The step of determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads and the ambient light includes: When the light parameters detected by at least two photosensitive LED beads are within the specified range. If the ambient light intensity of the vehicle is not greater than a light intensity threshold, then a reflection detection is performed, which includes: LED beads emit light, Photosensitive LED beads detect light parameter signals. The obstacle detection result is determined based on the light parameter signal detected by the photosensitive LED beads; or, If the ambient light intensity of the vehicle is greater than the light intensity threshold, then the obstacle detection result is determined to be that there is no obstacle.

30. The method according to claim 28, characterized in that, The step of determining the obstacle detection result based on the light parameter signals detected by at least two photosensitive LED beads and the ambient light includes: If the light parameters detected by at least two photosensitive LED beads are not within the stated condition range. If the ambient light intensity is not greater than the light intensity threshold, reflectivity detection is performed, which includes: LED beads emit light, Photosensitive LED beads detect light parameter signals. The obstacle detection result is determined based on the light parameter signal detected by the photosensitive LED beads.

31. The method according to claim 29 or 30, characterized in that, The process of determining the obstacle detection result based on the light parameter signal detected by the photosensitive LED beads in the reflective detection includes: If the light parameter signal detected by the photosensitive LED contains reflected light information, then an obstacle is determined to exist within the threshold distance. If the light parameter signal detected by the photosensitive LED does not contain reflected light information, it is determined that there is no obstacle within the threshold distance.

32. The method according to claim 31, characterized in that, The method further includes: If an obstacle exists within a certain threshold distance, the obstacle information is output, including the obstacle's location and / or size information.

33. The method according to claim 31, characterized in that, The method further includes: If the light parameters detected by the photosensitive LED are less than or equal to a first threshold, it is determined that there is no reflected light. The first threshold is determined based on the luminous parameters of the LED and the ambient light intensity; or, If the light parameters detected by the photosensitive LED are greater than the first threshold, it is determined that reflected light exists.

34. The method according to claim 33, characterized in that, The first threshold is I△(Lux), where I1(Lux)≤I△(Lux)≤I2(Lux), where I1(Lux) is the ambient light intensity when no LED is emitting light, and I2(Lux) is the ambient light intensity when the LED is emitting light.

35. The method according to claim 25, characterized in that, Determining the obstacle detection result based on the light parameter signal detected by the photosensitive LED beads includes: Based on the luminous parameters of the light-emitting LED beads and the light parameter signals detected by the photosensitive LED beads, the obstacle detection result is determined to be the presence of an obstacle.

36. The method according to claim 35, characterized in that, The step of determining the obstacle detection result as the presence of an obstacle based on the luminous parameters of the light-emitting LED and the light parameter signal detected by the photosensitive LED includes: If the luminous parameters of the light-emitting LED bead and the light parameters detected by the photosensitive LED bead are within a certain range, the obstacle detection result is determined to be that an obstacle exists.

37. The method according to claim 25, characterized in that, The method includes shading detection and reflection detection. The light-blocking detection includes: The obstacle detection result is determined based on the light parameter signal of the LED beads and the ambient light intensity; The reflectivity detection includes: LED beads emit light, Photosensitive LED beads detect light parameter signals. The obstacle detection result is determined based on the light parameter signal detected by the photosensitive LED beads.

38. The method according to claim 37, characterized in that, The method includes: Based on the selection criteria, select the detection mode corresponding to the selection criteria. The detection mode includes shading detection and reflection detection.

39. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the method of any one of claims 25 to 38.

40. A vehicle, characterized in that, The vehicle is equipped with the electronic equipment as described in claim 39.

41. A computer-readable storage medium, characterized in that, It includes a computer program that, when run on an electronic device, causes the electronic device to perform the method of any one of claims 25 to 38.

42. A computer program product, characterized in that, The method includes a computer program stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, causing the electronic device to perform the method of any one of claims 25 to 38.

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