An in-vehicle mood light control method and system based on an automatic emergency braking trigger signal

Abstract

The application discloses a vehicle interior atmosphere lamp control method and system based on an automatic emergency braking trigger signal, obtains a braking trigger signal and a braking state signal of an automatic emergency braking system, controls the vehicle interior atmosphere lamp to switch to and remain in an emergency warning mode in response to the braking trigger signal, locks the emergency warning mode during braking of the automatic emergency braking system, and prohibits the emergency warning mode from being exited according to real-time changes of a collision risk parameter, obtains a braking end signal of the automatic emergency braking system, controls the atmosphere lamp to gradually recover from the emergency warning mode to a normal lighting mode in response to the braking end signal, and effectively solves the state recovery problem after braking by introducing a gradual recovery mechanism and a locking mode strategy, effectively avoids visual impact on a driver caused by light mutation of the atmosphere lamp after braking, improves visual comfort, prevents early termination of early warning due to temporary improvement of the collision risk parameter by locking the emergency warning mode, ensures that the driver remains vigilant during braking, and reduces the risk of secondary accidents.

Description

Technical Field

[0001] This application relates to the field of automotive active safety technology, and more specifically, to a method and system for controlling in-vehicle ambient lighting based on an automatic emergency braking trigger signal. Background Technology

[0002] As a core component of modern automotive active safety, the automatic emergency braking system monitors the driving environment ahead in real time and automatically activates the braking function when a potential collision risk is detected, thereby reducing the probability of an accident or mitigating the consequences of a collision. With the increasing intelligence of vehicles, ambient lighting, with its wide coverage, high visual visibility, and multi-color adjustable features, is gradually becoming an important medium for conveying vehicle warning information. Traditional warning methods mainly rely on instrument panel icons and buzzer prompts, while the application of ambient lighting provides drivers with a more intuitive and immersive visual warning experience. In current technological practice, several companies have proposed relevant ambient lighting control solutions. For example, BYD Co., Ltd.'s patent application with publication number CN117360377A describes a method for adjusting the ambient lighting state based on trigger signals in assisted driving mode; China FAW Co., Ltd.'s patent application with publication number CN121316700A designs an ambient lighting zone control strategy based on the vehicle coordinate system for automatic parking scenarios, achieving regionalized alarm light effect projection by quantifying collision risk levels; other technical solutions use a combination of color, brightness, and flashing frequency to achieve graded warnings, such as SAIC-GM-Wuling Automobile Co., Ltd.'s patent application with publication number CN121799289A, which dynamically generates warning parameters based on lane distance and vehicle speed parameters; some studies have also explored multi-dimensional information fusion methods based on risk potential field models, mapping risk data to the physical space of the cabin for visual representation.

[0003] However, the aforementioned technical solutions all focus on the triggering mechanism design of the warning signal, that is, on "under what conditions the warning is activated," but generally neglect the state recovery process after the automatic emergency braking is triggered. Specifically, when the braking action is completed, existing technologies lack systematic management of the transition process of ambient lights from emergency warning state to normal lighting. At the moment braking ends, ambient lights often jump directly to normal lighting state, and this abrupt change in light can easily cause significant visual shock to the driver. After experiencing an emergency braking event, the driver's visual system is in a highly sensitive state, and the sudden change in light may cause temporary visual adaptation difficulties, distracting the driver's continuous attention to the road environment, and thus affecting the safety of subsequent driving operations. At the same time, there is a disconnect between the control logic of ambient lights and the actual braking state of the automatic emergency braking system. During the braking process, if the collision risk parameters temporarily improve due to the braking effect (such as the collision time parameter rising), existing solutions may terminate the warning state prematurely based on the change in this parameter, causing the driver to mistakenly believe that the danger has been completely eliminated. In reality, the vehicle braking process may not have ended yet, and this misjudgment can easily lead the driver to relax their vigilance too early or make improper operations, increasing the risk of secondary accidents. In addition, the recovery strategy fails to adapt to diverse scenario requirements. Different braking types, such as partial braking and full braking, have different effects on driver attention recovery, but existing technologies do not provide a targeted recovery rhythm design; changes in individual driver conditions, such as attention level or physiological stress level, are not taken into account in the recovery process, resulting in the inability to dynamically adjust the recovery process; external traffic environment information, such as surrounding risk data obtained by V2X communication, is also not integrated into the recovery decision, which means that prematurely restoring normal lighting may send incorrect safety signals when there is a persistent risk. Summary of the Invention

[0004] This invention provides a method and system for controlling in-vehicle ambient lighting based on an automatic emergency braking trigger signal, which effectively avoids the visual impact on the driver caused by the sudden change in ambient lighting after braking, and improves visual comfort.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A method for controlling in-vehicle ambient lighting based on an automatic emergency braking trigger signal includes: acquiring the braking trigger signal and braking status signal of the automatic emergency braking system; In response to the braking trigger signal, the ambient lighting inside the vehicle is switched to and maintained in the emergency warning mode; During the automatic emergency braking system's braking operation, the emergency warning mode is locked, preventing the system from exiting the emergency warning mode based on real-time changes in collision risk parameters. Obtain the braking end signal of the automatic emergency braking system; In response to the braking end signal, the ambient light is controlled to gradually return from the emergency warning mode to the normal lighting mode.

[0006] Furthermore, this invention also proposes an in-vehicle ambient lighting control system based on an automatic emergency braking trigger signal, comprising: The perception module is used to collect the vehicle's operating environment parameters and output collision risk characterization data; An automatic emergency braking decision module is used to generate a braking trigger signal, a braking status signal, and a braking end signal based on the collision risk characterization data. Ambient lighting actuators are installed inside the vehicle cabin; The controller is connected to the automatic emergency braking decision module and the ambient light actuator, respectively, and the controller is configured to execute the in-vehicle ambient light control method based on the automatic emergency braking trigger signal of the present invention.

[0007] Beneficial effects This invention discloses a method and system for controlling in-vehicle ambient lighting based on an automatic emergency braking trigger signal. The method acquires the braking trigger signal and braking status signal of the automatic emergency braking system; in response to the braking trigger signal, controls the in-vehicle ambient lighting to switch to and remain in an emergency warning mode; during the automatic emergency braking system's braking operation, the emergency warning mode is locked, preventing exit from the emergency warning mode based on real-time changes in collision risk parameters; the method acquires the braking end signal of the automatic emergency braking system; and in response to the braking end signal, controls the ambient lighting to gradually return from the emergency warning mode to the normal lighting mode. By introducing a gradual return mechanism and a locked mode strategy, the method effectively solves the problem of post-braking state recovery, effectively avoiding the visual impact on the driver caused by sudden changes in ambient lighting after braking, thus improving visual comfort. By locking the emergency warning mode, the method prevents premature termination of the warning due to a temporary improvement in collision risk parameters, ensuring the driver remains alert during braking and reducing the risk of secondary accidents. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0009] Figure 1 This is a flowchart of an in-vehicle ambient lighting control method based on an automatic emergency braking trigger signal, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the in-vehicle ambient lighting control system based on the automatic emergency braking trigger signal, according to an embodiment of the present invention. Detailed Implementation

[0010] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0011] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0012] like Figure 1 As shown, this application proposes a method for controlling in-vehicle ambient lighting based on an automatic emergency braking trigger signal, including: S101: Obtain the braking trigger signal and braking status signal of the automatic emergency braking system; Specifically, in this step, the brake trigger signal and brake status signal can be sent by the AEB system to the ambient lighting controller via the vehicle controller area network (CAN) bus. For example, the brake trigger signal can be a Boolean flag indicating that the AEB system has initiated a warning or braking procedure; the brake status signal can include information such as braking intensity and braking duration. In another possible implementation, the brake trigger signal and brake status signal can also be received in the form of data packets via the vehicle's Ethernet interface.

[0013] S102: In response to the brake trigger signal, control the interior ambient lighting to switch to and remain in the emergency warning mode; In practical applications, when the ambient light controller receives a braking trigger signal, the ambient light color can be set to red, the brightness adjusted to maximum, and it can flash at a preset frequency. For example, the ambient light can be configured as a red and blue light combination to enhance the warning effect.

[0014] S103: During the braking process of the automatic emergency braking system, the emergency warning mode is locked, and exiting the emergency warning mode based on real-time changes in collision risk parameters is prohibited. Specifically, in this step, once the AEB system activates braking, the ambient lighting's emergency warning mode will be forcibly maintained even if collision risk parameters detected by the vehicle's sensors, such as distance to obstacles ahead and relative speed, fluctuate during braking. For example, the system can set a lock flag that is enabled when AEB braking begins and only deactivated when an AEB braking termination signal is received. During this lock period, any mode switching requests based on real-time collision risk parameters will be ignored.

[0015] S104: Obtain the braking end signal of the automatic emergency braking system; Specifically, in this step, the braking termination signal can be sent by the AEB system via the CAN bus after the braking action has completely stopped. As another possible implementation, this signal can be generated by the vehicle control unit when the vehicle's deceleration sensor detects that the deceleration has returned to a preset range and the vehicle speed has stabilized. Alternatively, the braking termination can also be determined by monitoring the brake pedal position sensor or the brake hydraulic pressure sensor.

[0016] S105: In response to the braking end signal, control the ambient light to gradually return from the emergency warning mode to the normal lighting mode.

[0017] Specifically, in this step, when a braking end signal is received, the color and brightness of the ambient light can be gradually adjusted from the emergency warning mode setting to the normal lighting mode setting at preset time intervals. For example, the color can gradually transition from red through a series of intermediate color levels, such as orange and yellow, to white, while the brightness gradually decreases from the highest value to the normal brightness.

[0018] In this embodiment, by closely linking the ambient lighting control with the status of the automatic emergency braking system, a complete closed-loop management is achieved, from warning triggering and locking during braking to gradual recovery after braking. This solves the problems of lack of management during the recovery process and the disconnect between the warning status and braking action in traditional solutions, avoiding the visual shock and cognitive bias caused to the driver by sudden changes in lighting, and improving driving comfort and safety.

[0019] In other embodiments, step S105 includes, S115: Perform the first recovery phase, controlling the ambient light to gradually change from a first visual parameter corresponding to an emergency warning to a second visual parameter corresponding to risk mitigation; Specifically, the first recovery phase refers to the initial stage after the automatic emergency braking system executes braking and triggers the emergency warning mode, during which the ambient lighting transitions from a high-intensity warning state to a state of initial risk mitigation. This phase aims to provide the driver with a psychological buffer period, allowing them to gradually adapt to the reduced risk. The implementation of this first recovery phase can include: one method is to smoothly transition the visual parameters of the ambient lighting from a first visual parameter to a second visual parameter within a fixed time period after the automatic emergency braking end signal is issued, according to a preset time curve; another method is to dynamically adjust the duration or rate of change of the first recovery phase based on real-time parameters such as vehicle deceleration and the rate of change of distance to obstacles, to more accurately match the actual risk mitigation process.

[0020] The primary visual parameter refers to the visual performance of the ambient lighting in emergency warning mode, with the aim of maximizing driver attention and conveying emergency information. This primary visual parameter can be achieved in several ways: one is by using high-brightness, high-saturation red or orange light, accompanied by a specific flashing frequency or breathing effect to enhance the warning effect; another is by using synchronized high-intensity flashing of the ambient lighting throughout the vehicle, or by presenting strong warning lights in key areas of the driver's field of vision, such as the dashboard or the bottom of the windshield, to ensure the driver can quickly perceive the danger.

[0021] The second visual parameter refers to the visual performance of ambient lighting in a risk-mitigated state. Its purpose is to convey the message of reduced risk while avoiding sudden visual stimulation. This second visual parameter can be implemented in several ways: one approach is to use a moderately bright, low-saturation yellow or green, or a mid-tone that smoothly transitions from red to yellow or green, with a reduced flashing frequency or constant brightness to suggest a decrease in danger; another approach is to present soft light only in the driver's peripheral vision areas, such as the door panels and sides of the center console, with a brightness lower than the first visual parameter and a neutral color to provide psychological buffer.

[0022] S125: After the first recovery phase is completed, the second recovery phase is executed, and the ambient light is controlled to gradually change from the second visual parameter to the third visual parameter corresponding to normal lighting.

[0023] Specifically, the second recovery phase refers to the stage after the first recovery phase, where the ambient lighting smoothly returns from a risk-mitigated state to the normal lighting state for everyday driving. This phase aims to ensure ultimate visual comfort and avoid secondary visual shock to the driver from sudden changes in lighting. The implementation of this second recovery phase can include: one approach is to activate it immediately after the first recovery phase ends, and according to a preset gradient curve, smoothly transition the visual parameters of the ambient lighting from the second visual parameter to the third visual parameter within a certain time; another approach is to dynamically adjust the duration or gradient rate of the second recovery phase based on the driver's physiological state, such as heart rate and eye movement data, or the vehicle's driving stability, such as vehicle speed and lateral acceleration, to adapt to the driver's individual recovery and the vehicle's driving environment.

[0024] The third visual parameter refers to the visual performance of ambient lighting under normal lighting conditions, with the aim of providing a comfortable and undisturbed driving environment. This third visual parameter can be implemented in two ways: one is to use low-brightness, soft white, blue, or user-defined comfortable tones, and keep it constantly lit without any warning effect; another is to automatically adjust the brightness of warm or cool tones according to ambient light to create comfortable lighting that matches the driver's preferences and the surrounding atmosphere.

[0025] In practical applications, step S105 can be performed as shown in the table below: Phase 1 of Recovery 0.5-1.0 seconds The flashing color gradually changes from emergency flashing (red) to warning (orange), with the flashing frequency decreasing from 4Hz to 2Hz. The driver is informed that "Braking has been completed and the risk is being eliminated." Second recovery phase 1.0-2.0 seconds The color gradually changes from a warning color (orange) to a normal color (such as blue), the flashing stops completely, and the brightness transitions smoothly. Gradually return to a normal driving environment and avoid sudden visual changes. Normal recovery — Restore the ambient lighting mode to the user's preset setting before braking was triggered. The restoration is complete and does not affect the normal function of the ambient light. In emergency braking mode, the ambient light flashes continuously in red (RGB value 255,0,0) at a frequency of 4Hz, or 4 times per second, which is the first visual parameter. Upon entering the first recovery phase, the ambient light color gradually transitions from red to orange (RGB value 255,165,0), while the flashing frequency gradually decreases from 4Hz to 2Hz. The duration of the first recovery phase is 0.5 to 1.0 seconds, preferably 0.8 seconds in this embodiment.

[0026] The purpose of the first recovery phase is to convey a transitional signal to the driver that "braking has been completed and the risk is being eliminated." Compared to a direct jump from flashing red to normal lighting, the gradual transition from red to orange and the gradual decrease in flashing frequency allow the driver to clearly perceive that the level of danger is gradually decreasing, avoiding confusion or misjudgment due to sudden changes in the lighting status.

[0027] After the first recovery phase ends, the second recovery phase begins. In the second recovery phase, the ambient light gradually changes from a second visual parameter (the orange state at the end of the first recovery phase) to a third visual parameter corresponding to normal lighting. Specifically, the ambient light color gradually transitions from orange to the normal color, while simultaneously stopping flickering and smoothly transitioning to normal brightness. The normal color can be a user-preset color, such as blue, white, or other user-defined colors, or it can be the system's default normal lighting color. The duration of the second recovery phase is 1.0 second to 2.0 seconds, preferably 1.5 seconds in this embodiment.

[0028] The purpose of the second recovery phase is to gradually restore the ambient lighting to a normal driving atmosphere, avoiding secondary interference to the driver caused by the sudden visual change from warning status to normal lighting.

[0029] After the second recovery phase ends, the ambient lighting is fully restored to the user-preset ambient lighting mode before the brakes were triggered, and the ambient lighting status is switched from "recovery state" to "normal state", completing the entire recovery process.

[0030] In another embodiment, in step S105, the gradual recovery is achieved by modulating the output parameters of the ambient light through a smooth recovery coefficient; in the first recovery stage and / or the second recovery stage, the smooth recovery coefficient changes monotonically from an initial value to a target value over time to perform stepless smooth modulation of the color and / or brightness of the ambient light.

[0031] Specifically, the smoothing recovery coefficient is a mathematical factor used to quantify and control the rate and trajectory of change of the ambient light's output parameters during the transition process. This coefficient can be a floating-point number between 0 and 1; for example, 0 represents the ambient light being in a fully emergency warning mode, while 1 represents it being in a fully normal lighting mode. Furthermore, the smoothing recovery coefficient can also be designed as a multi-dimensional vector, where each dimension corresponds to a specific output parameter of the ambient light, such as red, green, and blue (RGB) color components, brightness, color temperature, etc. Modulating the output parameters of the ambient light refers to adjusting the actual luminous state of the ambient light according to the smoothing recovery coefficient.

[0032] In practical applications, the optimal output parameters of the ambient light at the current moment can be determined by linear or nonlinear interpolation of the smooth recovery coefficient with the ambient light parameters in emergency warning mode and normal lighting mode. For example, the brightness can be changed by controlling the duty cycle or current of the pulse width modulation (PWM) of the ambient light driver circuit, or the color can be changed by adjusting the relative intensity of different colored light-emitting diodes (LEDs). The smooth recovery coefficient changes monotonically from its initial value to the target value over time, aiming to ensure that the recovery process of the ambient light is continuous and directional, thereby avoiding jumps or regressions in the light parameters. This change can be linear, for example, the coefficient increases or decreases uniformly over time; or it can be nonlinear, for example, using an S-curve, exponential function, or logarithmic function, to better simulate the nonlinear perception characteristics of the human eye to changes in brightness, making the change relatively slow at the beginning and end of the recovery process, and relatively fast in the middle stage. The stepless smooth modulation refers to eliminating the sense of step and abruptness in the light change process, providing the driver with a continuous and natural visual experience. This can be achieved through high-resolution PWM control or digital-to-analog converter (DAC) output, making the change steps of brightness or color parameters extremely small, so that the human eye cannot perceive their discreteness. At the same time, combined with the aforementioned nonlinear change curve, the rate of parameter change can be smoothly transitioned at different points in time, avoiding abrupt changes in slope.

[0033] Specifically, the ambient light brightness and color value at time t can be calculated as follows: L(t) = L_emergency × (1 − α(t)) + L_normal × α(t) C(t) = C_emergency × (1 − α(t)) + C_normal × α(t) Where L(t) is the brightness value at time t, C(t) is the color value at time t (represented by an RGB three-dimensional vector), α(t) is the smoothing recovery coefficient, L_emergency is the brightness value under emergency dynamic conditions, L_normal is the brightness value under normal lighting conditions, C_emergency is the color value under emergency dynamic conditions, and C_normal is the color value under normal lighting conditions.

[0034] The smooth recovery coefficient α(t) monotonically increases from 0 to 1 during the recovery phase. When α(t) = 0, the ambient light fully reflects the parameters of the emergency dynamics; when α(t) = 1, the ambient light fully reflects the parameters of normal lighting; when α(t) is between 0 and 1, the parameters of the ambient light are a weighted combination of the emergency dynamics parameters and the normal lighting parameters, thus achieving a smooth transition.

[0035] In this embodiment, the smoothing recovery coefficient α(t) increases linearly with time during the recovery phase. That is:

[0036] α(t) = t / T Where t is the time that the current recovery phase has been in progress, and T is the total duration of the current recovery phase.

[0037] Taking the first recovery phase as an example, assuming the total duration of the first recovery phase is T1 = 0.8 seconds, then at t = 0, α = 0, and the ambient light fully displays the red flashing of the emergency braking dynamic; at t = 0.4 seconds, α = 0.5, and the color and brightness of the ambient light are the intermediate values ​​between the emergency braking dynamic and the target state, such as orange, flashing at 2Hz; at t = 0.8 seconds, α = 1, and the ambient light fully displays the target state. Through this linear interpolation method, a smooth gradient from red to orange and from 4Hz to 2Hz is achieved.

[0038] In the second recovery phase, the same linear increment method is used to smoothly transition the ambient lighting from an orange, 2Hz flashing state to normal illumination. It should be noted that in the second recovery phase, the initial value of α(t) is 0, corresponding to the state at the end of the first recovery phase, and the target value is 1, corresponding to normal illumination.

[0039] In other implementations, to further improve the smoothness perceived by the human eye, the smoothness recovery coefficient α(t) can be calculated using a nonlinear easing function: α(t) = 0.5 − 0.5·cos(π·t / T) Where t is the time that the current recovery phase has been in progress, and T is the total duration of the current recovery phase.

[0040] The easing function is a cosine ease-in-out function, characterized by a relatively gentle rate of change at the beginning and end of the recovery phase, and a faster rate of change in the middle of the recovery phase. This pattern aligns with the characteristics of human visual perception—the human eye is more sensitive to the beginning and end of light changes, and relatively less sensitive to changes in the middle phase. Therefore, using this nonlinear easing function can provide a smoother visual experience at the beginning and end of the recovery phase, avoiding abrupt changes in light when initiating and completing the recovery process.

[0041] Taking the first recovery phase as an example, assuming T1 = 0.8 seconds, then at t = 0, α = 0; at t = 0.2 seconds, α = 0.5 − 0.5·cos(π × 0.2 / 0.8) = 0.5 − 0.5·cos(π / 4) ≈ 0.146, showing a relatively slow change; at t = 0.4 seconds, α = 0.5 − 0.5·cos(π / 2) = 0.5, reaching its maximum rate of change; at t = 0.6 seconds, α = 0.5 − 0.5·cos(3π / 4) ≈ 0.854, with the change becoming more gradual again; at t = 0.8 seconds, α = 1. This "slow-fast-slow" pattern further optimizes the comfort perceived by the human eye.

[0042] Through the aforementioned technical solution, this application provides a refined quantitative control method for the transition of ambient lighting from emergency warning mode to normal lighting mode. The smooth recovery coefficient monotonically changes from its initial value to the target value over time, ensuring the continuity and stability of the ambient lighting output parameters over time. This stepless smooth modulation mechanism effectively avoids visual flickering or abrupt changes in light caused by parameter jumps during the recovery process, making the color and brightness changes of the ambient lighting conform to the visual perception patterns of the human eye. This creates a smooth and natural visual recovery experience for the driver after automatic emergency braking, effectively mitigating the visual impact caused by the warning being lifted, thereby improving the driver's psychological comfort. By applying this coefficient separately or jointly to the first recovery stage and / or the second recovery stage, refined management of the entire recovery process is achieved, ensuring that the ambient lighting maintains a smooth transition effect in different recovery stages, thus improving the overall user experience and safety of the in-vehicle ambient lighting control system.

[0043] In other embodiments, the gradual recovery process in step S105 is configured differently according to the braking type of the automatic emergency braking system. Specifically, when the braking type is partial braking, execution jumps to the first recovery phase; when the braking type is full braking, the first recovery phase and the second recovery phase are executed sequentially; when the braking type is rear-collision braking, the execution time of the first recovery phase is extended.

[0044] Specifically, the gradual recovery process is configured differently based on the braking type of the automatic emergency braking system. This refers to the entire process of the ambient lighting gradually returning from emergency warning mode to normal lighting mode. Parameters such as execution logic, stage sequence, and duration of each stage are dynamically adjusted according to the braking event type identified and executed by the automatic emergency braking system. This configuration can be implemented based on a preset rule table, decision tree, or state machine. For example, the controller can receive the braking type identifier output by the automatic emergency braking system and select the corresponding recovery strategy based on that identifier.

[0045] When the braking type is partial braking, the system transitions to the first recovery phase. Partial braking typically refers to the automatic emergency braking system applying only partial braking force to mitigate the risk of a collision rather than completely avoid it, or a slight braking intervention when the risk of a collision is low. In this case, the driver's psychological stress level is also relatively low due to the relatively low level of risk. Therefore, the ambient lighting recovery process is optimized to directly enter the first recovery phase, i.e., a gradual transition from the first visual parameter corresponding to the emergency warning to the second visual parameter corresponding to risk mitigation. This transition can be initiated by the controller immediately activating the timer or state machine for the first recovery phase upon receiving the partial braking type signal, thereby skipping any possible pre-recovery or initial transition phases for more severe braking situations, achieving a faster and more natural recovery.

[0046] When the braking type is full braking, the first recovery phase and the second recovery phase are executed sequentially. Full braking typically refers to the automatic emergency braking system applying maximum braking force to minimize or avoid a collision. In this situation, the driver may experience a high level of psychological shock and tension. Therefore, the ambient lighting recovery process is designed to execute the first and second recovery phases completely and sequentially. The first recovery phase gradually transitions the ambient lighting from the first visual parameter of emergency warning to the second visual parameter of risk mitigation, progressively reducing the warning intensity; subsequently, the second recovery phase gradually transitions the ambient lighting from the second visual parameter to the third visual parameter of normal lighting, completing a smooth transition to the everyday driving environment. This phased, sequential recovery method provides the driver with sufficient buffer time, helping their psychological state to gradually calm down.

[0047] When the braking type is rear-collision braking, the execution duration of the first recovery phase is extended. Rear-collision braking refers to the braking performed by the automatic emergency braking system after a vehicle collision to prevent secondary collisions or stabilize the vehicle. In such extreme situations, the driver may be in a state of high stress, confusion, or injury, requiring more time to process the current situation and assess the surrounding environment. Therefore, the ambient lighting recovery strategy is configured to extend the execution duration of the first recovery phase. This means that the ambient lighting will remain in a state of risk mitigation with a second visual parameter or a transition from the first visual parameter to the second visual parameter for a longer period, thereby providing the driver with continuous visual guidance and a warning buffer, helping them maintain environmental perception and psychological stability in complex and high-pressure rear-collision scenarios. The extended duration can be achieved by adjusting the preset duration parameter of the first recovery phase, for example, setting it to 1.5 times or 2 times the standard duration.

[0048] In other embodiments, the gradual recovery process in step S105 further includes: Obtain the driver's real-time status parameters; The gradual recovery process is dynamically adjusted based on the real-time status parameters; Specifically, when the real-time state parameter indicates that the driver's attention has returned to the driving area, the total duration of the gradual recovery is shortened; when the real-time state parameter indicates that the driver's attention has deviated from the driving area or the physiological stress level exceeds the threshold, the execution duration of the first recovery phase is extended.

[0049] Specifically, "acquiring real-time driver status parameters" refers to using various sensors and algorithms to monitor and assess the driver's physiological, psychological, or behavioral state in real time, in order to determine their level of attention and stress after emergency braking. For example, in-vehicle cameras can monitor the driver's facial expressions, eye movements, and head posture, and combined with image recognition and behavioral analysis algorithms, determine whether the driver's attention is focused on the driving area and whether there is fatigue or distraction. In addition, wearable devices, such as smart bracelets, smartwatches, or sensors integrated into seats and steering wheels, can be used to acquire physiological data such as the driver's heart rate, heart rate variability, skin conductance, and electroencephalogram (EEG), and then use biosignal processing and machine learning algorithms to assess the driver's physiological stress level.

[0050] "Dynamically adjusting the gradual recovery process based on the real-time status parameters" means that the system intelligently modifies or optimizes the speed, stage duration, or overall rhythm of the ambient lighting's gradual recovery from emergency warning mode to normal lighting mode based on the acquired real-time driver status parameters. For example, a preset rule engine can map different driver status parameters, such as focused attention, distracted attention, mild stress, and severe stress, to different recovery strategy parameters, such as the total gradual recovery time, the duration of the first recovery stage, the duration of the second recovery stage, and the gradual rate. Alternatively, a machine learning-based model can be used. This model learns from a large amount of driver feedback data on the ambient lighting recovery process under different states, automatically optimizing and adjusting the gradual recovery process to maximize driver comfort and safety.

[0051] "Shortening the total duration of the gradual recovery when the real-time status parameters indicate that the driver's attention has returned to the driving area" means that when the system determines that the driver has recovered from the stress state after emergency braking and has refocused their attention on the driving task, the ambient lighting recovery process should be accelerated to reduce unnecessary warning interference. For example, the system can determine whether the driver's gaze is stably focused on the road ahead or the dashboard area based on the driver's eye-tracking data. If the preset attention recovery standard is met, the total duration of the gradual recovery will be adjusted to a shorter preset value, or the gradual recovery rate will be increased.

[0052] "Extending the execution duration of the first recovery phase when the real-time status parameters indicate that the driver's attention has deviated from the driving area or the physiological stress level exceeds the threshold" means that when the driver is still in a state of stress, inattentive, or distracted, the first recovery phase of the ambient lighting transition from emergency warning mode to risk mitigation mode should be appropriately extended to provide a longer buffer time to help the driver calm down and refocus. For example, if eye tracking or head posture recognition detects that the driver's gaze has deviated from the road ahead for a long time, or if physiological sensors detect that indicators such as heart rate and skin conductance are consistently high, exceeding a preset threshold, the system will extend the execution duration of the first recovery phase, making the light change more gradual.

[0053] Through the above technical solution, this invention, by introducing real-time driver status parameters, realizes the transformation of the ambient lighting restoration strategy from static preset to dynamic closed-loop control, thereby effectively improving the level of intelligence in human-computer interaction. The system can perceive the driver's psychological and physiological feedback after emergency braking in real time, providing personalized decision-making basis for the ambient lighting restoration logic and overcoming the limitations of uniform preset logic. The gradual restoration process is dynamically adjusted according to real-time status parameters, enabling real-time mapping between the visual feedback of the ambient lighting and the driver's cognitive state. This ensures that lighting changes guide the driver through a smooth transition, avoiding secondary interference caused by excessively fast or slow lighting changes, thereby improving psychological comfort. When real-time status parameters indicate that the driver's attention has returned to the driving area, the total duration of the gradual restoration is shortened. Based on the driver's judgment that they have regained control of the vehicle, normal lighting is quickly restored, reducing unnecessary warning interference and improving the driving experience and comfort. When real-time status parameters indicate that the driver's attention has deviated from the driving area or that the physiological stress level exceeds a threshold, the execution time of the first recovery phase is extended. By prolonging the buffer period between the warning and risk mitigation, a smooth visual transition is used to help alleviate the driver's tension and guide their attention back to the driving task. This achieves a more human-centered interactive experience while ensuring safety, avoiding impacts on driving safety due to mismatched recovery rhythms. Overall, this solution makes the ambient lighting's gradual recovery process more intelligent and personalized, significantly improving driver comfort and safety after emergency braking.

[0054] In another embodiment, after step S105, the process further includes monitoring whether a new collision risk is triggered or whether a driver's active takeover command is received during the gradual recovery process. If a new collision risk is triggered, immediately interrupt the gradient recovery and control the ambient light to switch to the warning state corresponding to the new collision risk; If the active takeover command is received, the gradual recovery is interrupted, and the ambient light is controlled to quickly transition to the normal lighting mode.

[0055] Specifically, "monitoring for new collision risks during the gradual recovery process" refers to the system continuously sensing and analyzing the vehicle's surrounding environment during the specific time period when the ambient lighting gradually returns from emergency warning mode to normal lighting mode, to determine if there are any new hazards that could lead to a collision. Its function is to ensure that even after automatic emergency braking ends, the vehicle safety system remains vigilant against potential secondary hazards and responds promptly. In practical applications, sensors such as onboard radar, cameras, and lidar can acquire real-time data on obstacles in front of, to the sides of, and behind the vehicle, as well as vehicle speed and distance. This data, combined with parameters such as vehicle motion status and driver operation, is used to continuously calculate collision risk through collision risk assessment algorithms, such as those based on time-to-collision (TTC) and collision probability. When the calculated risk value exceeds a preset threshold, it is determined that a new collision risk has been triggered. Furthermore, information on the location, speed, and intentions of surrounding traffic participants, such as other vehicles, pedestrians, and non-motorized vehicles, obtained through V2X (Vehicle-to-Everything) communication technology, can be combined with the vehicle's predicted travel path to determine if there are potential risks of cross-traffic collisions or rear-end collisions. When V2X information indicates a high-risk situation, it is considered to trigger a new collision risk.

[0056] "Or receiving a driver's active takeover command" means that during the ambient lighting's gradual return to normal operation, the system can recognize and respond to the driver's intention to actively intervene in vehicle control. This reflects the human-machine co-driving concept, where the driver retains the highest priority control during the operation of the automated system. Its role is to respect the driver's driving intentions and adjust the ambient lighting display status promptly based on the driver's intervention, thereby enhancing the driving experience and the smoothness of human-machine interaction. In practical applications, this can be determined by monitoring the driver's input signals to key vehicle operating components, such as the steering wheel, accelerator pedal, and brake pedal. For example, when the driver's torque or travel when turning the steering wheel or pressing the accelerator or brake pedal exceeds a preset threshold, it can be determined that a driver's active takeover command has been received. Alternatively, explicit driver commands can be received through in-vehicle human-machine interfaces, such as touchscreens or voice assistants. For instance, if the driver uses the voice command "Cancel Alert" or clicks the "Restore Normal" button on the screen, the system can recognize this as an active takeover command.

[0057] The phrase "If a new collision risk is triggered, immediately interrupt the gradual recovery process and control the ambient lighting to switch to the warning state corresponding to the new collision risk" describes the emergency response mechanism when the system detects a new safety threat during the gradual recovery process. Its function is to ensure that vehicle safety is always the highest priority. Once a new danger occurs, the ambient lighting can quickly switch from recovery mode back to warning mode to deliver danger information to the driver as quickly as possible, avoiding delays in warning due to the recovery process. In practical applications, when a new collision risk is triggered, the control module will immediately stop the currently running ambient lighting gradual recovery algorithm and, based on the level, type, and location of the new collision risk, invoke a preset warning mode. For example, if the new risk is a frontal rear-end collision, the ambient lighting may immediately turn red and flash at a high frequency; if the new risk is a side collision, the ambient lighting in the area on the side of the vehicle may only turn orange and flash in a breathing pattern. Furthermore, the visual parameters of the warning state can be dynamically adjusted according to the severity of the new collision risk. For example, for minor risks, the ambient lights may simply turn yellow and remain on; for moderate risks, they may turn orange and flash; and for high risks, they may turn red and flash frequently, possibly accompanied by maximum brightness, to attract the driver's attention to the greatest extent possible.

[0058] The description of the ambient lighting response mechanism when the driver actively intervenes in vehicle control, stating that "upon receiving the active takeover command, the gradual recovery is interrupted, and the ambient lighting quickly transitions to the normal lighting mode," aims to respect the driver's control intentions and rapidly eliminate visual interference that may arise from the gradual recovery process. This allows the driver to clearly perceive that the vehicle has entered a manual takeover state, thereby enhancing the driver's sense of control and driving comfort. In practical applications, when the system detects the driver's active takeover command, it immediately stops the gradual recovery process and adjusts the ambient lighting's color, brightness, and other visual parameters directly from the current state to the parameters of the normal lighting mode at a preset, relatively fast speed, for example, within 1-2 seconds. This rapid transition avoids sudden jumps and is faster than gradual recovery, adapting to the driver's immediate needs. Alternatively, a preset smoothing function can be used to linearly or non-linearly adjust the ambient lighting's output parameters from the current value to the parameters of the normal lighting mode within a short time, for example, 0.5 seconds, achieving a fast but smooth transition and avoiding visual abruptness.

[0059] In this embodiment, the present invention introduces a dynamic monitoring and response mechanism during the gradual recovery of ambient lighting from emergency warning mode to normal lighting mode after the automatic emergency braking system has finished triggering braking. Specifically, by continuously monitoring the vehicle's driving environment, once a new collision risk is triggered, the system can immediately interrupt the ongoing gradual recovery and quickly switch the ambient lighting to the warning state corresponding to the new collision risk. This ensures that vehicle safety warnings take precedence over the recovery process at all times, avoiding warning delays caused by the recovery phase, thereby effectively improving the vehicle's safety response capability in complex dynamic environments. Simultaneously, the present invention also monitors the driver's active takeover command. Once this command is received, the gradual recovery is immediately interrupted, and the ambient lighting is quickly transitioned to normal lighting mode. This mechanism fully respects the driver's driving intentions, and by quickly responding to driver intervention, it eliminates visual interference that may be caused by the gradual recovery, allowing the driver to more clearly perceive that the vehicle has entered a manual takeover state, thereby significantly improving the rationality of human-machine interaction, driving comfort, and sense of control. In summary, this solution addresses the issue that ambient lighting control cannot respond to sudden new collision risks or driver intervention needs during the relatively long transition period of gradual recovery. It achieves real-time synchronization between safety warnings and driver intentions, enhancing the system's robustness and interactive experience.

[0060] In other embodiments, in step S105, during the gradual recovery process, the vehicle instrument display unit and / or sound prompt unit are synchronously controlled to perform linked recovery, so that visual recovery, display recovery and sound recovery form a coordinated transition on the time axis.

[0061] Specifically, the gradual recovery process refers to the smooth transition of ambient lighting from emergency warning mode to normal lighting mode, aiming to avoid visual discomfort to the driver caused by sudden changes in light. For example, this process can be achieved by gradually adjusting visual parameters such as brightness, color, or flashing frequency of the ambient lighting, gradually returning it from a high-intensity, high-alert state to a soft, comfortable normal lighting state. Another approach is to divide the process into multiple stages, each corresponding to a different range and duration of visual parameter changes, to achieve more refined recovery control.

[0062] Synchronization control refers to coordinating the actions or state changes of multiple independent systems or components within the same time period or according to a preset time sequence. Its function is to ensure consistency and coordination between different information output channels. For example, a central controller can receive the braking termination signal from the automatic emergency braking system and simultaneously send recovery commands to the ambient lighting controller, the in-vehicle instrument display unit controller, and the audible prompt unit controller, along with unified time parameters or recovery curves. Another implementation method is to establish a communication link between the unit controllers, with one master controller initiating the recovery command, and the other slave controllers performing their respective recovery operations according to the master controller's commands or synchronization signals.

[0063] The in-vehicle instrument display unit refers to the display device inside the vehicle used to show the driver various data such as vehicle operating status, navigation information, and warning information, providing visual information feedback. For example, this unit can be a combination of a traditional pointer-type instrument panel and a digital display screen, or it can be a fully digital LCD instrument panel. During the recovery process, its display content or display mode will gradually return from a warning state, such as displaying warning icons and a red background, to a normal display, such as displaying vehicle speed, navigation information, and a blue background.

[0064] The sound alert unit refers to a device inside a vehicle used to provide warnings, prompts, or feedback to the driver through auditory means. Its function is to provide auditory feedback. For example, this unit can be a speaker in a vehicle audio system, used to play beeps, voice prompts, or background music. During the recovery process, its sound output gradually weakens, disappears, or transitions from warning sounds, such as rapid beeps or high-pitched alarms, to normal background sound effects.

[0065] This coordinated recovery refers to the coordinated execution of recovery operations by multiple interconnected systems or functions upon receiving a specific trigger signal, according to preset logic or timing relationships, to achieve a unified recovery goal. Its function is to ensure a smooth transition and information consistency across the entire system. For example, when the automatic emergency braking end signal is triggered, ambient lighting, instrument displays, and audible prompts no longer recover independently but as a whole, with their recovery processes coordinated and mutually influencing each other. Another implementation method is to define a unified recovery protocol or state machine, with all participating units following this protocol for state transitions.

[0066] Visual restoration, display restoration, and sound restoration refer to the restoration of ambient lighting effects, the restoration of the display content of the vehicle's instrument panel, and the restoration of sound alerts, respectively. Visual restoration typically involves adjusting parameters such as the color, brightness, and flashing frequency of the ambient lighting; display restoration typically involves the disappearance of warning icons on the instrument panel, changes in background color, and switching of displayed information; sound restoration typically involves changes or the disappearance of the volume, frequency, and duration of warning sounds.

[0067] The coordinated transition on the timeline refers to the precise coordination and alignment of the start time, duration, rate of change, and end time of the recovery processes of the three different modalities—visual, display, and sound—to create a coherent, smooth, and seamless overall recovery experience at the driver's perceptual level. This avoids cognitive confusion or discomfort caused by asynchronous recovery of information from different modalities. For example, the brightness gradient curve of ambient lighting, the background color gradient curve of the instrument panel, and the volume decay curve of warning sounds can be designed to have similar shapes or synchronized inflection points to ensure temporal consistency.

[0068] In another embodiment, step S105, before triggering the gradient recovery or during the execution of the gradient recovery, further includes: Obtain V2X traffic status information outside the vehicle; When the V2X traffic status information indicates that there is a persistent safety hazard in the surrounding area, the triggering time for the gradual recovery is delayed or the duration of the gradual recovery process is extended.

[0069] Specifically, "before triggering gradual recovery or during the gradual recovery process" refers to the moment when the ambient lighting is about to begin gradually recovering from emergency warning mode to normal lighting mode after the automatic emergency braking system issues a braking end signal, or any point in time when the gradual recovery process has started but not yet completed. This time window ensures that the system can dynamically adjust the ambient lighting recovery strategy based on the latest external environmental information, thereby avoiding misjudgments caused by information lag.

[0070] "Acquiring V2X traffic status information from outside the vehicle" refers to receiving real-time traffic data from other vehicles (V2V), roadside units (V2I), or pedestrian devices (V2P) via the onboard V2X communication module. V2X traffic status information can include, but is not limited to: road congestion ahead, traffic accident information, construction zone warnings, traffic light status, approaching emergency vehicles, and non-motorized vehicles or pedestrians entering dangerous areas. For example, vehicles can use DSRC (Dedicated Short Range Communication) or C-V2X (Cellular Vehicle-to-Everything) technology to obtain real-time dynamic information such as the speed, location, and direction of travel of surrounding vehicles, as well as environmental information such as slippery roads and low visibility provided by roadside sensors. This information provides vehicles with an external environmental insight that exceeds the perception range of their own sensors.

[0071] The phrase "when the V2X traffic status information indicates the existence of a persistent safety hazard" refers to the system using the received V2X traffic status information and a preset risk assessment model or algorithm to determine whether there are any persistent risks around the vehicle that may threaten driving safety. For example, if the V2X information indicates that there is a vehicle running a red light at the intersection ahead, a vehicle suddenly changing lanes in an adjacent lane, or a chain-reaction rear-end collision has occurred ahead, these can all be considered persistent safety hazards. Furthermore, if the V2X information indicates that the vehicle is about to enter a foggy area with extremely low visibility or that an emergency rescue vehicle is approaching ahead, this can also be considered a persistent safety hazard.

[0072] The "delayed triggering of the gradual recovery" refers to the fact that after the automatic emergency braking system issues a braking end signal, the ambient lights do not immediately begin the gradual recovery from the emergency warning mode to the normal lighting mode. Instead, they wait for a period of time until the V2X traffic status information no longer indicates a persistent safety hazard, or the risk level of the persistent safety hazard decreases below a preset threshold. For example, the system can set a delay timer that starts when an external safety hazard is detected. Only after the timer ends and the safety hazard is eliminated is the ambient light allowed to begin the gradual recovery.

[0073] The phrase "extending the duration of the gradual recovery process" refers to the system adjusting the speed of the gradual recovery process after the ambient lighting has begun to gradually recover. If V2X traffic status information indicates a persistent safety hazard in the surrounding area, the system will lengthen the transition time, thus allowing the ambient lighting to remain in emergency warning mode or near emergency warning mode for a longer period. For example, by reducing the rate of change in ambient lighting brightness or color, drivers can have more time to adapt to changes in the external environment and remain alert to potential risks.

[0074] In practical applications, when the AEB braking ends and the ambient lighting graded smooth recovery process is about to be initiated, the surrounding traffic status information is continuously received. Based on this information, it is determined whether there are still ongoing safety hazards in the current traffic environment, and a decision is made on whether to delay the start of recovery or extend the recovery process.

[0075] The following describes this embodiment in detail through several typical application scenarios.

[0076] Scenario 1: The vehicle in front continues to brake suddenly After the vehicle triggered AEB (Autonomous Emergency Braking) to fully decelerate to a safe speed due to the sudden deceleration of the vehicle in front, it received a braking termination signal. However, at this time, the V2X communication module received an Emergency Brake Warning (EBW) message from the vehicle in front via V2V communication. This message indicates that the vehicle in front is still performing emergency braking and has not yet returned to normal driving conditions.

[0077] In this situation, it is determined that there is a persistent safety hazard in the surrounding area—although the vehicle has slowed down to a safe level, the abnormal driving behavior of the vehicle in front means that the risk of collision has not been completely eliminated, and the vehicle still needs to remain vigilant. Therefore, the gradual recovery process of the ambient lighting is delayed until the V2X communication module receives information that the vehicle in front has returned to normal driving status, such as the vehicle's speed returning to the normal range and the emergency braking warning message being cleared, before the graded smooth recovery process is initiated.

[0078] The technical effect of this delayed recovery mechanism is to avoid prematurely removing the driver's visual warnings when there are still potential risks in the surrounding traffic environment, so that the driver can maintain the necessary risk awareness in complex traffic flow.

[0079] Scenario 2: Roadside Unit Issues Accident Warning After the vehicle completes AEB braking, the V2X communication module receives a Hazardous Location Warning (HLW) message from the Roadside Unit (RSU) ahead via V2I communication. This message indicates that a traffic accident has occurred a certain distance ahead in the vehicle's direction of travel, with the involved vehicles occupying part of the lane, and there is a potential risk of secondary accidents.

[0080] In this situation, although the risk of direct collision in front of the vehicle has been eliminated by AEB braking, the accident warning information issued by the roadside unit indicates that there is still a continuous safety hazard on the road ahead. It is determined that this safety hazard may pose a threat to the subsequent driving of the vehicle. Therefore, it is necessary not only to delay the start of the ambient light restoration process, but also to extend the duration of the first restoration stage after the restoration is started, so that the ambient light remains in warning color for a longer period of time to continuously remind the driver that there is an abnormal situation on the road ahead.

[0081] In a preferred embodiment, the extended duration can be dynamically calculated based on the distance between the accident location information carried in the V2X message and the current location of the vehicle. The closer the distance, the longer the extended duration. Once the vehicle has safely passed the accident area, the normal graded recovery process is resumed.

[0082] Scenario 3: Risk of cross traffic at intersections When the vehicle triggers AEB braking due to a forward collision risk and the braking ends, the vehicle is either in or about to enter an intersection. At this time, the V2X communication module receives information about a vehicle approaching from the side at the intersection via V2V or V2I communication. This vehicle may not have been detected by the vehicle's onboard sensors, such as cameras or radar, due to obstructed visibility.

[0083] In this situation, although the vehicle's AEB braking has eliminated the risk of a forward collision, the lateral traffic at the intersection poses a new potential safety hazard. Assessing this lateral traffic risk requires the driver to remain attentive. Therefore, during the duration of the first recovery phase, the ambient lights remain in a warning color for an extended period to remind the driver to pay attention to the traffic conditions on both sides of the intersection.

[0084] In a preferred embodiment, the V2X communication module can also acquire information such as the speed of the lateral approaching vehicle and the estimated time of arrival at the intersection, and dynamically calculate the extension duration based on this information—the faster the approaching vehicle's speed and the shorter the estimated arrival time, the longer the extension duration; after the lateral approaching vehicle safely passes through the intersection, the normal hierarchical recovery process is resumed.

[0085] Scenario 4: Severe weather or special road conditions After the vehicle completes AEB braking, the V2X communication module receives weather warnings or road condition information from the cloud via V2N communication, such as adverse conditions such as water accumulation, ice, and low visibility ahead.

[0086] In this situation, it is determined that severe weather or special road conditions may reduce road surface adhesion, increasing the risk of subsequent driving. Therefore, the total duration of the entire gradual recovery needs to be extended, including the first recovery phase and the second recovery phase, so that the ambient lights transition from the emergency warning state to normal lighting at a slower pace, in order to maintain the driver's continuous awareness of road conditions.

[0087] Through the above technical solution, this invention links the gradual recovery process of ambient lighting with V2X traffic status information outside the vehicle, realizing a leap from single-vehicle internal state perception to vehicle-road cooperative perception in ambient lighting control logic. After automatic emergency braking ends, even if the braking status inside the vehicle has returned to normal, if V2X information indicates that there are still ongoing safety hazards in the surrounding area, the system can intelligently delay the timing of the ambient lighting recovery or extend its recovery process duration. This design ensures that the warning effect of the ambient lighting can be dynamically synchronized with the risk level of the external traffic environment, avoiding warning interruptions caused by premature restoration of normal lighting. When potential risks still exist in the external environment, the driver can maintain necessary vigilance through the continuous or slowly changing warning effect of the ambient lighting, thereby effectively improving the driver's perception of potential external risks, enhancing the environmental adaptability and warning continuity of the active safety system, and further ensuring driving safety.

[0088] like Figure 2 As shown, this application also discloses an in-vehicle ambient lighting control system 600 based on an automatic emergency braking trigger signal, comprising: The perception module 601 is used to collect the vehicle's operating environment parameters and output collision risk characterization data; Automatic emergency braking decision module 602 is used to generate braking trigger signal, braking status signal and braking end signal based on the collision risk characterization data; Ambient lighting actuator 603, installed in the vehicle cabin; The controller 604 is connected to the automatic emergency braking decision module 602 and the ambient light actuator 603 respectively. The controller 604 is configured to execute the in-vehicle ambient light control method based on the automatic emergency braking trigger signal of the present invention.

[0089] Specifically, the perception module 601 collects operating environment parameters and outputs collision risk characterization data, providing an objective physical environment basis for subsequent braking decisions and ambient lighting control, ensuring the accuracy of the system response. The automatic emergency braking decision module 602 generates braking trigger signals, braking status signals, and braking end signals based on the collision risk characterization data. This design tightly binds the ambient lighting control logic to the vehicle's actual braking state, avoiding a disconnect between ambient lighting warnings and braking actions, and ensuring the authority and consistency of the warning signals. The ambient lighting actuator 603, as a physical output terminal, is installed in the cabin to provide the driver with intuitive visual feedback. The controller 604, as the core of the system, connects to both the automatic emergency braking decision module 602 and the ambient lighting actuator 603, enabling refined management of the ambient lighting status, ensuring that the warning mode is locked during braking and smoothly transitions to a gradual recovery mode after braking.

[0090] In other embodiments, the automatic emergency braking decision module 602 is also used to generate an alarm level signal based on the comparison result between the collision risk characterization data and a preset threshold and output it to the controller 604. The controller 604 performs hierarchical early warning mapping control based on the alarm level signal: When the alarm level is level one, the controller 604 controls the ambient light actuator 603 to flash the first color for a first preset number of times, controls the instrument display unit to display the first prompt information, and controls the sound prompt unit to emit the first sound mode; When the alarm level is level two, the controller 604 controls the ambient light actuator 603 to flash a second color at a first frequency for a second preset number of times, controls the instrument display unit to display a second prompt message, and controls the sound prompt unit to emit a second sound mode. When the alarm level is level three, the controller 604 controls the ambient light actuator 603 to flash continuously at the first frequency in the third color, controls the instrument display unit to display the third prompt information, and controls the sound prompt unit to emit the third sound mode. Furthermore, when the controller 604 receives the braking trigger signal, the controller 604 switches the ambient light actuator 603 from its current state to emergency braking mode and locks it. Under emergency braking mode, the ambient light actuator 603 continuously flashes the third color and does not exit the emergency braking mode due to real-time changes in the collision risk characterization data during the braking process of the automatic emergency braking system.

[0091] Specifically, the perception module 601 collects the vehicle's operating environment parameters in real time at a preset sampling period, such as 50 milliseconds. The perception module 601 measures the relative distance D between the vehicle and a target object ahead using its lidar subunit, and calculates the relative velocity V_rel between the vehicle and the target object ahead using the Doppler effect or the rate of change of distance between adjacent moments. Simultaneously, the perception module 601 identifies the type of the target object ahead, such as a car, truck, pedestrian, or two-wheeled vehicle, its size, and determines whether the target object is within the vehicle's driving lane.

[0092] The perception module 601 fuses and processes multi-source sensing information collected by lidar and camera to obtain comprehensive attribute information of the target object, including the target object type, size, motion state (including stationary, constant speed, decelerating, and accelerating), and whether the target object is within the vehicle's lane.

[0093] Subsequently, the perception module 601 calculates the collision time TTC according to the following formula: TTC = D / V_rel Where D is the relative distance between the vehicle and the target object ahead, and V_rel is the relative speed between the vehicle and the target object ahead. When the vehicle's speed is greater than the target object's speed, V_rel is a positive value, and TTC is a finite positive number; when the vehicle's speed is less than or equal to the target object's speed, the collision risk is low, and TTC has no practical physical meaning or is infinite.

[0094] The perception module 601 outputs the calculated TTC value and target object attribute information as collision risk characterization data to the automatic emergency braking decision module 602.

[0095] The automatic emergency braking decision module 602 receives collision risk characterization data output by the perception module, including TTC value and target object attribute information, and then executes threshold comparison logic.

[0096] The automatic emergency braking decision module 602 has three preset collision time thresholds: a first threshold T1, a second threshold T2, and a third threshold T3, where T1 > T2 > T3. The specific values ​​of these thresholds can be calibrated based on parameters such as vehicle model, vehicle weight, braking performance, and tire adhesion coefficient. As an exemplary, and not limiting, implementation, T1 can be calibrated to 2.5 seconds, T2 to 1.8 seconds, and T3 to 1.2 seconds.

[0097] The automatic emergency braking decision module 602 compares the real-time calculated TTC value with the three preset thresholds mentioned above. Before generating an alarm level signal, it first determines whether the alarm suppression condition is met. When any of the following conditions are met, the automatic emergency braking decision module suppresses the output of the alarm signal and does not generate any alarm level signal:

[0098] The driver has proactively applied the brake pedal or turned the steering wheel to avoid the obstacle. The target object has left the vehicle's driving lane; The vehicle speed is lower than the preset minimum warning speed, such as 15km / h; The system detected that the vehicle is currently in parking or low-speed maneuvering mode.

[0099] If the alarm suppression condition is not met, the automatic emergency braking decision module 602 generates the corresponding alarm level signal according to the following logic: When TTC ≤ T1 and TTC > T2, the automatic emergency braking decision module 602 generates a level one alarm signal; When TTC ≤ T2 and TTC > T3, the automatic emergency braking decision module 602 generates a level 2 alarm signal; When TTC ≤ T3, the automatic emergency braking decision module 602 generates a level 3 alarm signal.

[0100] If TTC > T1, the automatic emergency braking decision module 602 will not generate any alarm level signal, and the system will be in a normal monitoring state without warning.

[0101] In this embodiment, the automatic emergency braking decision module 602 also dynamically adjusts the aforementioned thresholds based on the target object attribute information. For example, when the target object attribute information indicates that the target ahead is a large truck, the driver may not be able to perceive the traffic conditions ahead of the truck in advance due to the visual occlusion effect of the large truck. The automatic emergency braking decision module appropriately increases the thresholds of T1, T2, and T3, so that the system issues a warning earlier.

[0102] When the target object attribute information indicates that the target ahead is a pedestrian or a two-wheeled vehicle, the automatic emergency braking decision module 602 adopts a more conservative threshold setting because the movement trajectory of pedestrians and two-wheeled vehicles has a high degree of uncertainty, in order to maximize the safety of vulnerable road users.

[0103] The aforementioned threshold adjustment coefficients can be implemented through a pre-calibrated mapping table. Different types of calibration coefficients are stored in the non-volatile memory of the automatic emergency braking decision module 602. The automatic emergency braking decision module 602 looks up the corresponding adjustment coefficients according to the target object type identified in real time, and multiplies them with the basic threshold to obtain the judgment threshold used in practice.

[0104] The automatic emergency braking decision module 602 outputs the generated alarm level signal to the controller 604. At the same time, when the braking trigger condition is met, i.e. TTC ≤ T3 and there is no suppression condition, the automatic emergency braking decision module 602 also outputs an AEB braking trigger signal, a braking status signal, including braking in progress, braking end, and a braking type signal, including partial braking, full braking, and rear collision braking, to the controller.

[0105] The controller 604 receives various signals output by the automatic emergency braking decision module 602 in real time. When the controller 604 receives a Level 1 alarm signal but does not receive an AEB braking trigger signal, the controller 604 executes the following multimodal warning control:

[0106] Regarding ambient lighting control, the controller 604 sends control commands to the ambient lighting actuator 603, controlling the actuator to flash a first preset number of times with a first color. The duration of each flash can be 0.2 seconds, and the interval between two flashes is 0.3 seconds, visually alerting the driver to the distance to the vehicle ahead.

[0107] In terms of instrument display control, the controller 604 sends a display command to the instrument display unit to control the central display area of ​​the vehicle's instrument panel to display the first prompt information, such as the text prompt "Please maintain a safe distance", and at the same time controls the distance warning icon on the instrument panel to light up in yellow.

[0108] Regarding the sound alert control, the controller 604 sends a drive signal to the sound alert unit, such as a buzzer drive circuit, to control the buzzer to emit a first sound mode, such as two short beeps. The duration of each beep can be 0.15 seconds, and the interval between two beeps is 0.3 seconds, gently reminding the driver to pay attention to the distance to the vehicle ahead.

[0109] The Level 1 alarm stage is a "warning" stage, during which the AEB system has not yet triggered braking. If the TTC value subsequently rises above T1, indicating that the collision risk has been eliminated, the Automatic Emergency Braking Decision Module 602 cancels the Level 1 alarm signal, the controller 604 cancels all warning outputs, and the ambient lighting actuator 603 resumes normal lighting. If the TTC value continues to drop below T2, the Automatic Emergency Braking Decision Module 602 escalates the alarm to Level 2 and outputs a Level 2 alarm signal to the controller 604.

[0110] When controller 604 receives a level 2 alarm signal output by automatic emergency braking decision module 602 but does not receive an AEB braking trigger signal, controller 604 performs the following multimodal warning control: Regarding ambient lighting control, the controller 604 sends a control command to the ambient lighting actuator 603, controlling the actuator to flash a second preset number of times at a first frequency using a second color, for a total duration of approximately 1 second. The second color is a transitional color between the first-level and third-level alarm colors, conveying a visual signal to the driver that "the risk is escalating."

[0111] In terms of instrument display control, the controller 604 sends a display command to the instrument display unit to control the central display area of ​​the vehicle's instrument panel to display the second warning message - "collision risk" text prompt, and at the same time controls the collision warning icon on the instrument panel to flash at a frequency of 2Hz.

[0112] Regarding audible alert control, the controller 604 sends a drive signal to the audible alert unit, controlling the buzzer to emit a second sound mode, such as four rapid beeps at a frequency of 4Hz. Each beep lasts 0.125 seconds, with a 0.125-second interval between each beep, for a total duration of approximately one second. The secondary alarm's beep is more rapid than the primary alarm, conveying an escalating risk message to the driver audibly.

[0113] The Level 2 alert stage is also a "warning" stage, during which the AEB system has not yet triggered braking. If the TTC value subsequently rises above T1, the alert will be downgraded to Level 1 or lifted; if the TTC value continues to fall below T3, the alert will be upgraded to Level 3, and the AEB system will trigger braking.

[0114] When the controller 604 receives a Level 3 alarm signal output by the automatic emergency braking decision module 602, the controller 604 executes the following multimodal early warning control: In terms of ambient lighting control, the controller 604 sends control commands to the ambient lighting actuator 603, controlling the ambient lighting actuator 603 to continuously flash in a third color at a first frequency.

[0115] In terms of instrument display control, the controller 604 sends a display command to the instrument display unit, controlling the central display area of ​​the instrument panel to display the third prompt message in red full screen mode – “Automatic emergency braking has taken effect”. At the same time, it controls the AEB activation icon on the instrument panel to be continuously lit in red, clearly conveying to the driver the information that “the system has taken over braking”.

[0116] In terms of sound prompt control, the controller 604 sends a drive signal to the sound prompt unit to control the buzzer to emit a third sound mode, such as first emitting four rapid buzzing sounds at a frequency of 4Hz, and then switching to an intermittent long beeping state, which can be cyclically sounded in a rhythm of "long beeping for 0.5 seconds and intermittent for 0.2 seconds" to remind the driver to pay attention to the current emergency situation with a continuous high-intensity auditory warning.

[0117] Unlike Level 1 and Level 2 alarms, the ambient lighting control at this Level 3 alarm stage has the following key differences: When the automatic emergency braking decision module 602 determines that TTC ≤ T3, it not only outputs a level 3 alarm signal to the controller, but also outputs an AEB braking trigger signal to the controller 604, and activates the emergency braking actuator of the automatic emergency braking system. Simultaneously, the controller's signal receiving unit receives the AEB braking trigger signal upon receiving the level 3 alarm signal.

[0118] At this point, the controller 604 switches the ambient light actuator from the current "alarm state" to "emergency control state"—in emergency control state, the ambient light actuator flashes continuously in red at a frequency of 4Hz. The difference between this and the normal alarm state (level one or level two) is that the ambient light flashing in emergency control state is continuous; that is, there is no limit to the number of flashes. It flashes continuously as long as the emergency control state is active, unlike the level one alarm which only flashes twice or the level two alarm which only flashes four times before stopping.

[0119] More importantly, the controller 604 locks the emergency braking state during the automatic emergency braking system's braking action—even if the TTC rises above T1 due to the automatic emergency braking system's braking action, meaning it has theoretically exited all warning ranges, the ambient light actuator 604 still maintains the emergency braking state and does not prematurely revert to normal lighting or downgrade to a lower level of warning status.

[0120] The technical significance of this locking mechanism lies in preventing drivers from mistakenly believing the danger has passed due to the premature restoration of the lights. During emergency braking, although the vehicle is decelerating, the braking process is not yet complete, and the vehicle remains in an abnormal driving state. If the ambient light actuator suddenly returns to normal illumination due to TTC (Total Traffic Control) recovery, the driver may mistakenly believe the danger has completely passed, thus prematurely lowering their guard or making unsafe driving maneuvers, such as prematurely pressing the accelerator pedal. Through this locking mechanism, the ambient light actuator maintains an emergency warning state throughout the braking process, continuously conveying the signal "Braking is in progress, please remain vigilant" to the driver.

[0121] To facilitate understanding of the complete methodology and process of the above three-level early warning system, it is summarized as follows: Level 1 Alert <![CDATA[TTC ≤ T1 and > T2, and not suppressed]]> Please maintain a safe following distance. Two beeping sounds Flashes twice, yellow If the brake trigger signal is valid, switch to emergency braking mode. Level 2 Alert <![CDATA[TTC ≤ T2 and > T3]]> Collision risk 4 beeps at 4Hz Flashes 4 times at 4Hz, orange If the brake trigger signal is valid, switch to emergency braking mode. Level 3 Alert <![CDATA[TTC ≤ T3]]> "Automatic emergency braking is in effect" Four beeps followed by intermittent long beeps 4Hz continuous flashing, red Maintain emergency braking dynamics until braking ends. Through the aforementioned multi-channel time-series coordinated activation and recovery, the hierarchical early warning mapping scheme ensures the full transmission of early warning information while achieving a smooth transition between the early warning triggering phase and the early warning recovery phase.

[0122] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

[0123] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

Claims

1. A method for controlling in-vehicle ambient lighting based on an automatic emergency braking trigger signal, characterized in that, include: Acquire the braking trigger signal and braking status signal of the automatic emergency braking system; In response to the braking trigger signal, the ambient lighting inside the vehicle is switched to and maintained in the emergency warning mode; During the automatic emergency braking system's braking operation, the emergency warning mode is locked, preventing the system from exiting the emergency warning mode based on real-time changes in collision risk parameters. Obtain the braking end signal of the automatic emergency braking system; In response to the braking end signal, the ambient light is controlled to gradually return from the emergency warning mode to the normal lighting mode.

2. The in-vehicle ambient lighting control method based on an automatic emergency braking trigger signal according to claim 1, characterized in that, The step of controlling the ambient light to gradually return from the emergency warning mode to the normal lighting mode includes: During the first recovery phase, the ambient light is controlled to gradually change from a first visual parameter corresponding to an emergency warning to a second visual parameter corresponding to risk mitigation. After the first recovery phase is completed, the second recovery phase is executed, controlling the ambient light to gradually change from the second visual parameter to the third visual parameter corresponding to normal lighting.

3. The in-vehicle ambient lighting control method based on an automatic emergency braking trigger signal according to claim 2, characterized in that, The gradual recovery is achieved by modulating the output parameters of the ambient light through a smooth recovery coefficient; in the first recovery stage and / or the second recovery stage, the smooth recovery coefficient changes monotonically from an initial value to a target value over time to perform stepless smooth modulation of the color and / or brightness of the ambient light.

4. The in-vehicle ambient lighting control method based on an automatic emergency braking trigger signal according to claim 2, characterized in that, The gradual recovery process is configured differently according to the braking type of the automatic emergency braking system; Specifically, when the braking type is partial braking, execution jumps to the first recovery phase; when the braking type is full braking, the first recovery phase and the second recovery phase are executed sequentially; when the braking type is rear-collision braking, the execution time of the first recovery phase is extended.

5. The in-vehicle ambient lighting control method based on an automatic emergency braking trigger signal according to claim 2, characterized in that, The gradual recovery process also includes: Obtain the driver's real-time status parameters; The gradual recovery process is dynamically adjusted based on the real-time status parameters. Specifically, when the real-time state parameters indicate that the driver's attention has returned to the driving area, the total duration of the gradual recovery is shortened; when the real-time state parameters indicate that the driver's attention has deviated from the driving area or the physiological stress level exceeds the threshold, the execution duration of the first recovery phase is extended.

6. The in-vehicle ambient lighting control method based on an automatic emergency braking trigger signal according to claim 1, characterized in that, Also includes: During the gradual recovery process, it is monitored whether a new collision risk is triggered or whether a driver's active takeover command is received; If a new collision risk is triggered, the gradual recovery is immediately interrupted, and the ambient light is switched to the warning state corresponding to the new collision risk. If the active takeover command is received, the gradual recovery is interrupted, and the ambient light is controlled to quickly transition to the normal lighting mode.

7. The in-vehicle ambient lighting control method based on an automatic emergency braking trigger signal according to claim 1, characterized in that, During the gradual recovery process, the vehicle instrument display unit and / or sound prompt unit are synchronously controlled to perform linked recovery, so that visual recovery, display recovery and sound recovery form a coordinated transition on the time axis.

8. The in-vehicle ambient lighting control method based on an automatic emergency braking trigger signal according to claim 1, characterized in that, Before triggering the gradient restore or during the execution of the gradient restore, the method also includes: Obtain V2X traffic status information outside the vehicle; When the V2X traffic status information indicates that there is a persistent safety hazard in the surrounding area, the triggering time for the gradual recovery is delayed or the duration of the gradual recovery process is extended.

9. An in-vehicle ambient lighting control system based on an automatic emergency braking trigger signal, characterized in that, include: The perception module is used to collect the vehicle's operating environment parameters and output collision risk characterization data; An automatic emergency braking decision module is used to generate a braking trigger signal, a braking status signal, and a braking end signal based on the collision risk characterization data. Ambient lighting actuators are installed inside the vehicle cabin; A controller is connected to the automatic emergency braking decision module and the ambient light actuator, respectively, and the controller is configured to perform the method as described in any one of claims 1 to 8.

10. The in-vehicle ambient lighting control system based on an automatic emergency braking trigger signal according to claim 9, characterized in that, The automatic emergency braking decision module is also used to generate an alarm level signal based on the comparison result between the collision risk characterization data and a preset threshold, and output it to the controller; The controller performs hierarchical early warning mapping control based on the alarm level signal: When the alarm level is level one, the controller controls the ambient light actuator to flash a first color a first preset number of times, controls the instrument display unit to display a first prompt message, and controls the sound prompt unit to emit a first sound mode; When the alarm level is level two, the controller controls the ambient light actuator to flash a second color at a first frequency for a second preset number of times, controls the instrument display unit to display a second prompt message, and controls the sound prompt unit to emit a second sound mode; When the alarm level is level three, the controller controls the ambient light actuator to flash continuously at the first frequency in the third color, controls the instrument display unit to display the third prompt information, and controls the sound prompt unit to emit the third sound mode; Furthermore, when the controller receives the braking trigger signal, the controller switches the ambient light actuator from the current state to the emergency braking state and locks it. Under the emergency braking state, the ambient light actuator continuously flashes the third color and does not exit the emergency braking state due to real-time changes in the collision risk characterization data during the automatic emergency braking system's braking process.

Images