Vehicle light control method, illumination system and vehicle

Abstract

To provide a vehicle light control method, an illumination system, and a vehicle for improving a function mounted by a vehicle light.SOLUTION: A method includes: a step for acquiring driving information, the driving information including at least one of navigation information, driving support information, and vehicle data; a step for acquiring information about a travel planned route; a step for acquiring a target light pattern corresponding to the driving information and information about the travel planned route; and a step for displaying beam radiated by a vehicle onto the travel planned route by using the target light pattern.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] This application claims priority to Chinese Patent Application No. 202110939124.6, entitled "VEHICLE LIGHT CONTROL METHOD, LIGHTING SYSTEM, AND VEHICLE," filed with the State Intellectual Property Office of the People's Republic of China on August 16, 2021, the entire contents of which are incorporated herein by reference.

[0002] [Technical field] The present application relates to the field of autonomous driving, and in particular to a vehicle light control method, a lighting system, and a vehicle. [Background technology]

[0003] All vehicles have indicator lights, which can implement corresponding display functions. The vehicles may be autonomous vehicles (self-piloting automobiles), also known as unmanned vehicles. The vehicles may alternatively be cars, trucks, motorcycles, public vehicles, lawn mowers, recreational vehicles, play vehicles, streetcars, golf carts, trains, trolleys, etc.

[0004] Existing indicator lamps on a vehicle, such as headlights, taillights or turn lights, each implement a single indicator function, and can only implement either an indicator function or a driving route illumination function. Summary of the Invention

[0005] SUMMARY OF THE INVENTION Embodiments of the present invention provide a vehicle light control method, a lighting system, and a vehicle for enhancing functionality implemented by vehicle lights.

[0006] According to a first aspect of an embodiment of the present invention, there is provided a vehicle light control method, the method including: acquiring driving information, the driving information including at least one of navigation information, driving assistance information, and vehicle data; acquiring information about a to-be-driven path; acquiring a target light pattern corresponding to the driving information and the information about the to-be-driven path; and displaying a beam emitted by the vehicle on the to-be-driven path by using the target light pattern.

[0007] It can be seen that when the driving information is navigation information, the target light pattern displayed on the planned driving route by using the beam emitted by the vehicle can help improve navigation accuracy and provide illumination on the planned driving route, thereby ensuring safety in the process of driving the vehicle based on navigation. In addition, other people or vehicles on the route can quickly determine where the vehicle is planning to drive based on the prompts of the target light pattern. This makes it easier to avoid other people or vehicles on the route and improves driving safety. It should be understood that the target light pattern represents the shape and dimensions of the light displayed on the ground, and target light patterns with different lengths, widths, curvatures, etc. are different target light patterns.

[0008] When the driving information is driving assistance information, the driving assistance information is relevant information for performing autonomous driving. Specifically, the driving assistance information is information from the vehicle's advanced driver assistance system (ADAS). In addition, the target light pattern can be matched with the driving assistance information and the vehicle's planned driving route. Based on the target light pattern, the vehicle's driving intention, emergency decisions, vehicle driving prediction events, etc. can be accurately recognized, thereby improving vehicle driving safety.

[0009] According to a first aspect, in an optional implementation, the step of acquiring a target light pattern corresponding to driving information and information related to the planned driving route includes the steps of acquiring at least one first display attribute, where the at least one first display attribute corresponds to the driving information; acquiring at least one second display attribute, where the at least one second display attribute corresponds to the information related to the planned driving route; and determining that a light pattern having the at least one first display attribute and the at least one second display attribute is the target light pattern.

[0010] In this manner, it can be seen that the target light pattern can correspond to multiple display attributes, thereby effectively increasing the amount of display attributes of the target light pattern, increasing the amount of driving information that can be prompted by the target light pattern, and effectively increasing the amount of scenarios in which the target light pattern can be applied.

[0011] According to the first aspect, in an optional implementation form, the step of acquiring at least one first display attribute includes: the vehicle acquires a planned driving route based on M planar coordinates included in the navigation information, where the planned driving route includes the i-th planar coordinate to the j-th planar coordinate among the M planar coordinates, where i and j are both positive integers, i is greater than or equal to 1, and j is greater than i and less than or equal to M. The vehicle determines the shape of the target light pattern based on the shape of the planned driving route. For example, if a plurality of planar coordinates included in the planned driving route extend along a straight line, the target light pattern is determined to be rectangular. As another example, if a plurality of planar coordinates included in the planned driving route are determined to extend along an arc-shaped direction, the vehicle determines that the target light pattern is arc-shaped.

[0012] According to this aspect, the vehicle can determine the shape of the target light pattern based on the planned driving route indicated by the navigation information, and the driver can quickly and accurately determine the vehicle's driving direction based on the shape of the target light pattern, thereby improving the efficiency and accuracy of navigation.

[0013] According to the first aspect, in an optional implementation, the second display attribute may be one or more of the following:

[0014] The vehicle determines the second display attribute based on the dimensions of the planned driving route. For example, the second display attribute may be a width, and the width included in the second display attribute may be equal to the width of a lane boundary line of the planned driving route. For example, the second display attribute may be a length, and the second display attribute may be the length between a first position and a second position, where the first position is the current position of the vehicle and the second position is included in the navigation information and may be the position of an intersection closest to the vehicle, or the second position may be the position of a traffic light closest to the vehicle on the planned driving route. The vehicle determines that the first display attribute is an arc shape, the second display attribute includes a turning direction, and the turning direction included in the second display attribute matches the turning direction of a lane boundary line of the planned driving route.

[0015] It can be seen that the width of the target light pattern being equal to the width of the lane boundary line of the planned travel route helps a pedestrian or another vehicle determine the width that will be occupied by the vehicle when the vehicle reaches the position of the target light pattern, and the pedestrian or another vehicle can decide whether to avoid the vehicle based on the width of the target light pattern. This improves driving safety. When the length of the target light pattern is equal to the distance between the current position of the vehicle and the position of the nearest intersection to the vehicle, or when the length of the target light pattern is equal to the distance between the current position of the vehicle and the position of the nearest traffic light to the vehicle, navigation efficiency is improved and driving conditions are recalled. This improves driving safety.

[0016] According to a first aspect, in an optional implementation, the step of obtaining at least one first display attribute includes the steps of obtaining a driving list, where the driving list includes correspondences between different driving information and different display attributes, and obtaining at least one first display attribute, where the at least one first display attribute is a display attribute in the driving list that corresponds to the driving information.

[0017] It can be seen that the display attributes corresponding to the target light pattern are acquired based on the driving list, thereby improving the speed at which the vehicle acquires the target light pattern. In addition, for the same driving information, the vehicle always displays the same target light pattern. This allows the driver to quickly determine the current driving information based on the target light pattern, and improves the efficiency and accuracy of prompting driving information based on the target light pattern.

[0018] According to the first aspect, in an optional implementation, the width of the target light pattern is equal to or greater than the width of the vehicle, and / or the length of the target light pattern is equal to or greater than the length of the vehicle.

[0019] It can be seen that the target light pattern can indicate the area that will be occupied by the vehicle, which can effectively improve the safety of vehicle driving.

[0020] According to the first aspect, in an optional implementation, the vehicle can form a target light pattern on a planned route, the width of the target light pattern is equal to the width of the vehicle, and the target light pattern can indicate the width occupied by the vehicle when the vehicle drives to the area of ​​the target light pattern.

[0021] It can be seen that the target can determine the vehicle's driving range based on the clear boundary of the target light pattern. If the target appears within the target light pattern, it indicates that the target is within the vehicle's safety distance, and there is a high probability of a safety accident occurring between the vehicle and the target. If the target appears outside the target light pattern, it indicates that the target is outside the vehicle's safety distance, and there is a low probability of a safety accident occurring between the vehicle and the target.

[0022] According to the first aspect, in an optional implementation form, the target light pattern matches the shape of the planned travel route. For example, the shape of the planned travel route is rectangular, and the target light pattern is rectangular. As another example, the shape of the planned travel route is an arc, and the target light pattern is arc-shaped.

[0023] It can be seen that by matching the target light pattern with the shape of the planned driving route, navigation efficiency and accuracy can be improved, and cases in which the driver makes incorrect navigation decisions can be avoided.

[0024] According to the first aspect, in an optional implementation, the target light pattern is related to the dimensions of the planned route.

[0025] It can be seen that the area on the route occupied by the vehicle during the driving process can be determined based on the dimensions of the target light pattern, which can avoid traffic accidents and improve driving safety.

[0026] According to the first aspect, in an optional implementation form, when the planned travel route is arc-shaped, the target light pattern is also arc-shaped, and the curve direction of the planned travel route matches the curve direction of the target light pattern.

[0027] It can be seen that in a scenario where a vehicle needs to turn, based on the target light pattern with the turning direction, it can prompt a driver, a pedestrian, or another vehicle that the vehicle is about to turn and indicate the specific turning direction of the vehicle, which can avoid traffic accidents and improve driving safety.

[0028] According to the first aspect, in an optional implementation, the driving information is a driving decision from an advanced driver assistance system (ADAS) of the vehicle, and the target light pattern corresponds to a type of the driving decision. For example, the driving decision is a driving intention of the vehicle, and the driving intention includes at least one of going straight, changing lanes, turning, entering a branch, etc. As another example, the driving decision is an emergency decision, and the emergency decision includes at least one of emergency braking, emergency avoidance, or vehicle malfunction. As another example, the driving decision is a vehicle driving prediction event, and the vehicle driving prediction event includes that the vehicle is in a safe state or that the vehicle is in a dangerous state.

[0029] The target light pattern can indicate a driving decision from the vehicle's ADAS, and a driver, a pedestrian, or another vehicle can know that they can quickly and accurately decide the vehicle's driving decision based on the target light pattern, thereby improving driving safety.

[0030] According to the first aspect, in an optional implementation form, the driving information is a vehicle speed of the vehicle, and there is a positive correlation between the vehicle speed of the vehicle and the length of the target light pattern. Specifically, a higher vehicle speed indicates a longer length of the target light pattern, and a lower vehicle speed indicates a shorter length of the target light pattern.

[0031] It can be seen that the vehicle speed of the vehicle can be quickly determined based on the length of the target light pattern, the driver can decide whether to adjust the vehicle speed based on requirements, and the pedestrian or another vehicle can quickly decide whether to avoid the vehicle, thereby improving driving safety.

[0032] According to a first aspect, in an optional implementation, there is a positive correlation between the vehicle speed of the vehicle and the blinking frequency of the light displayed on the ground by using the target light pattern, where a higher vehicle speed indicates a higher blinking frequency and a lower vehicle speed indicates a lower blinking frequency.

[0033] It can be seen that the vehicle speed of the vehicle can be quickly determined based on the flashing frequency, the driver can decide whether to adjust the vehicle speed based on the requirements, and the pedestrian or another vehicle can quickly decide whether to avoid the vehicle, thereby improving driving safety.

[0034] According to a first aspect, in an optional implementation, there is a positive correlation between the vehicle speed of the vehicle and the brightness of the light displayed on the ground by using the target light pattern, specifically, a higher vehicle speed indicates a higher brightness, and a lower vehicle speed indicates a lower brightness.

[0035] It can be seen that the vehicle speed of the vehicle can be quickly determined based on the brightness, the driver can decide whether to adjust the vehicle speed based on the requirements, and the pedestrian or another vehicle can quickly decide whether to avoid the vehicle, thereby improving driving safety.

[0036] According to the first aspect, in an optional implementation, in one or more of the following cases, the light displayed on the ground by using the target light pattern has a blinking frequency:

[0037] When the shape of the planned driving path changes, the light displayed on the ground by using the target light pattern may have a flashing frequency, and the change in the shape of the driving path may indicate that the planned driving path of the vehicle is switching from a straight-ahead state to a turning state, that the planned driving path of the vehicle is switching from a turning state to a straight-ahead state, that the planned driving path of the vehicle is switching from a turning state to a straight-ahead state, that the planned driving path of the vehicle is switching toward an intersection, or that the planned driving path of the vehicle is switching a dimension of a lane boundary line (e.g., a width of a lane boundary line). Alternatively, a light emitted by the vehicle's vehicle light is displayed on a crosswalk by using the target light pattern. Alternatively, an obstacle (e.g., a pedestrian or another vehicle) appears in the coverage range of the target light pattern.

[0038] It can be seen that the use of flashing frequency can be used to indicate different driving information for multiple vehicles, thereby improving the efficiency of prompting driving information to drivers, pedestrians, or other vehicles, and improving driving safety.

[0039] According to the first aspect, in an optional implementation, the driving information is the brightness of the environment in which the vehicle is located.

[0040] It can be seen that in this embodiment of the present application, the brightness of the light emitted by the vehicle light can be matched with the ambient brightness. For example, when the ambient brightness is low (for example, on a cloudy day, a rainy day, or at night), the vehicle light can provide the function of illuminating the planned driving route, and the driver drives the vehicle based on the driving route illuminated by the target light pattern. This improves driving safety.

[0041] According to the first aspect, in an optional implementation, the driving information is a distance between the vehicle and a preceding vehicle, and there is a negative correlation between the distance value and the brightness of the light displayed on the ground by using the target light pattern. Specifically, a larger distance indicates a lower brightness, and a smaller distance indicates a higher brightness.

[0042] It can be seen that based on the brightness, the driver or the vehicle ahead can quickly determine the distance between the vehicle and the vehicle ahead, and then accurately predict whether there is a possibility of a collision between the vehicle and the vehicle ahead, thereby improving driving safety.

[0043] According to the first aspect, in an optional implementation, there is a negative correlation between the distance value and the flashing frequency of the light displayed on the ground by using the target light pattern, specifically, a larger distance indicates a lower flashing frequency, and a smaller distance indicates a higher flashing frequency.

[0044] It can be seen that based on the flashing frequency, the driver or the vehicle ahead can quickly determine the distance between the vehicle and the vehicle ahead, and then accurately predict whether there is a possibility of a collision between the vehicle and the vehicle ahead, thereby improving driving safety.

[0045] According to the first aspect, in an optional implementation, there is a positive correlation between the distance value and the length of the target light pattern, specifically, a larger distance indicates a longer length of the target light pattern, and a smaller distance indicates a shorter length of the target light pattern.

[0046] It can be seen that based on the length of the target light pattern, the driver or the vehicle ahead can quickly determine the distance between the vehicle and the vehicle ahead, and then accurately predict whether there is a possibility of a collision between the vehicle and the vehicle ahead, thereby improving driving safety.

[0047] According to a first aspect, in an optional implementation form, the driving information is that a recognized object is present around the vehicle, the target light pattern covers at least a target area, and the target area is an area occupied by the recognized object.

[0048] The light emitted by the vehicle light can illuminate the target object in the target area, which allows the vehicle to accurately recognize the type of the target object. In addition, the illuminated target object can help the driver predict whether to avoid the target object, thereby improving driving safety.

[0049] According to the first aspect, in an optional implementation, the vehicle determines a driving decision based on the type of object to be recognized.

[0050] It can be seen that when a recognition target object exists on a planned driving route of the vehicle, the vehicle can illuminate the recognition target object, and the vehicle can recognize the illuminated recognition target object and recognize a specific type, so that the vehicle can make a corresponding driving decision, or the driver of the vehicle can drive the vehicle to avoid the illuminated recognition target object based on the illuminated recognition target object, etc., thereby improving the driving safety of the vehicle in a scenario where a recognition target object exists ahead of the vehicle.

[0051] According to a first aspect, in an optional implementation, the target light pattern includes a first light pattern and a second light pattern, the first light pattern corresponds to driving information, and the second light pattern covers at least a target area, and the target area is an area occupied by an object to be recognized.

[0052] It can be seen that the first light pattern shown in this embodiment can illuminate the planned driving route, and the second light pattern can illuminate the object to be recognized located around the planned driving route, thereby ensuring the vehicle's travel while accurately determining the safety of driving around the route.

[0053] According to the first aspect, in an optional implementation, the information about the planned route may be one or more of the following: The information about the planned driving route may include the shape of the planned driving route, the dimensions of the planned driving route, the positions of intersections included in the planned driving route, the status of traffic lights on the planned driving route, and the distance between the current position of the vehicle on the planned driving route and the nearest intersection. The shape of the planned driving route may be that lane lines of the planned driving route are straight lane lines, or that lane lines of the planned driving route are curved lane lines. The dimensions of the planned driving route may be the width, length, and / or the like of lane lines of the planned driving route. As another example, the dimensions of the planned driving route may alternatively be that, if the lane lines of the planned driving route are curved, the dimensions of the lane lines of the planned driving route may alternatively be the radians and / or the curvature direction of the lane lines of the planned driving route. If the planned driving route of the vehicle is located in a multi-branch road scenario, the information about the planned driving route may further include the position of a to-be-driven intersection. The distance between the current position of the vehicle on the planned driving route and the nearest intersection may be the distance between the current position of the vehicle and the to-be-driven intersection.

[0054] It can be seen that the target light pattern can indicate multiple different types of to-be-driven information, thereby increasing the amount of scenarios in which the target light pattern is applied and improving driving efficiency and safety.

[0055] According to the first aspect, in an optional implementation form, the step of acquiring information about the planned driving route includes: a camera of the vehicle captures an image of the planned driving route to acquire a video stream including information about the planned driving route; a processor of the vehicle receives the video stream from the camera; the processor extracts video frames included in the video stream; and the processor extracts the video frames from the video stream at a preset extraction rate. The processor acquires information about the planned driving route by performing analysis based on the video frames.

[0056] It can be seen that the method in which a vehicle acquires information about the planned route based on a video stream containing information about the planned route ensures that the vehicle can accurately acquire the specific conditions of the planned route, effectively improves the accuracy of acquiring the target light pattern, and avoids the possibility of discrepancies in the information about the planned route indicated by the target light pattern.

[0057] According to the first aspect, in an optional implementation, a higher extraction rate indicates a greater ability to obtain up-to-date information about the planned route, whereas a lower extraction rate indicates a greater ability to reduce processor power consumption.

[0058] It is understood that the vehicle can determine the extraction rate based on the vehicle's particular circumstances (eg, remaining power, or the complexity of the road conditions for the journey).

[0059] According to the first aspect, in an optional implementation, before the step of acquiring driving information, the method further includes: when a trigger condition is satisfied, the vehicle is triggered to perform a step of acquiring information about a planned driving route. The trigger condition can be an instruction input by the driver to display a target light pattern on the planned driving route, or the trigger condition can be at least one of the following:

[0060] The current speed of the vehicle is equal to or greater than a first preset value, the brightness of the environment where the vehicle is currently located is equal to or less than a second preset value, the shape of the planned driving route of the vehicle changes, the change in vehicle speed is equal to or greater than a third preset value, the change in environmental brightness is equal to or greater than a fourth preset value, etc. A change in the shape of the driving route may be that the planned driving route of the vehicle indicates that the vehicle will switch from a straight-ahead direction to a turning state, that the planned driving route of the vehicle indicates that the vehicle will switch from a turning state to a straight-ahead state, that the planned driving route of the vehicle indicates that the vehicle is about to drive toward an intersection, or that the planned driving route of the vehicle indicates that the dimensions of lane markings will change (e.g., the width of lane markings will change).

[0061] It can be seen that the vehicle can determine whether to display the target light pattern on the planned route based on the trigger condition, thereby avoiding wasting power consumption by displaying the target light pattern in scenarios where it is not necessary.

[0062] According to the first aspect, in an optional implementation, along the extension direction of the planned travel route, a center line of the target light pattern may coincide with a center line of the planned travel route, or an offset between the center line of the target light pattern and the center line of the planned travel route may be equal to or less than a first distance. For example, the first distance may be 0.5 m.

[0063] It will be appreciated that the display method of the target light pattern is used to ensure that the target light pattern can be accurately displayed on the intended route.

[0064] According to the first aspect, in an optional implementation form, the distance between the boundary line of the target light pattern and the lane boundary line of the planned travel route along the lateral direction of the planned travel route is equal to or less than a second distance. For example, the distance between the left boundary line of the target light pattern and the left lane boundary line of the planned travel route is equal to or less than the second distance. As another example, the distance between the right boundary line of the target light pattern and the right lane boundary line of the planned travel route is equal to or less than the second distance. Alternatively, when the length indicated by the second display attribute is the length between a first position and a second position along the extension direction of the planned travel route, the upper and lower boundary lines of the target light pattern coincide with the first position and the second position, respectively.

[0065] It can be seen that the target light pattern can accurately indicate the width of the lane markings or the distance between the first position and the second position, thereby improving driving safety.

[0066] According to the first aspect, in an optional implementation, the width of the target light pattern is equal to the narrowest width of the lane boundary line of the planned driving route. Based on the illuminated planned driving route, the driver can accurately determine when the lane boundary line suddenly narrows, thereby improving driving safety.

[0067] According to the first aspect, in an optional implementation form, a vehicle forms a target light pattern on a pedestrian crossing on a planned travel route, and the target light pattern can illuminate the pedestrian crossing. Pedestrians notice the target light pattern when walking through the pedestrian crossing, which helps pedestrians avoid vehicles on the pedestrian crossing. In addition, because the target light pattern can illuminate the pedestrian crossing, the pedestrian crossing will not be in the driver's blind spot, thereby effectively avoiding the possibility of safety-related accidents between vehicles and pedestrians.

[0068] According to the first aspect, in an optional implementation form, the greater the degree of change in the shape of the planned travel route, the higher the brightness of the light displayed on the ground by using the target light pattern, and the smaller the degree of change in the shape of the planned travel route, the lower the brightness. For example, the structure of the planned travel route has radians, and the greater the radians, the higher the brightness, and the smaller the radians, the lower the brightness.

[0069] It can be seen that, based on the brightness, it is possible to quickly determine when the shape of the planned driving route changes, thereby ensuring the safety of the driver during the driving process.

[0070] According to a first aspect, in an optional implementation, the brightness provided when the vehicle's planned route indicates that the dimensions of the lane line markings will change is greater than the brightness provided when the planned route indicates that the dimensions of the lane line markings will not change.

[0071] It can be seen that based on the brightness, it is possible to quickly determine the case where the dimension of the planned driving route changes, thereby ensuring the safety of the driver during the driving process.

[0072] According to a first aspect, in an optional implementation, the brightness provided when light emitted by a vehicle is displayed on a crosswalk by using a target light pattern is greater than the brightness provided when light emitted by the vehicle is not displayed on a crosswalk by using the target light pattern.

[0073] It can be seen that the target light pattern helps to make pedestrians aware of cases in which a vehicle is about to drive towards a pedestrian crossing, thereby avoiding safety-related accidents between vehicles and pedestrians.

[0074] According to a first aspect, in an optional implementation, when an obstacle (e.g., a pedestrian or another vehicle) appears within the range of the vehicle's target light pattern, the brightness of the light within the range of the target light pattern is greater than the brightness provided when no obstacle appears within the range of the vehicle's target light pattern.

[0075] It has been found that brightness helps to make the driver aware of cases in which obstacles appear ahead of the vehicle, thereby improving driving safety.

[0076] According to the first aspect, in an optional implementation, after the step of displaying the beam emitted by the vehicle on the planned travel route by using the target light pattern, the method further includes: the vehicle re-captures a calibrated image by using the vehicle's camera, the calibrated image including the planned travel route and the target light pattern displayed on the planned travel route. The vehicle determines whether the target light pattern satisfies a recalibration condition based on the calibrated image. Specifically, when the vehicle determines that the calibrated image satisfies at least one of the following conditions, the vehicle determines that the target light pattern satisfies the recalibration condition:

[0077] The vehicle determines that the center line of the target light pattern deviates from the center line of the lane of the planned driving route, or the vehicle determines that the distance between the center line of the target light pattern and the center line of the lane of the planned driving route is greater than the offset; along the lateral direction of the planned driving route, the boundary lines on both sides of the target light pattern deviate from the boundary lines on both sides of the lane boundary line when the width of the target light pattern is equal to the width of the lane boundary line of the planned driving route; the turning direction of the target light pattern does not match the turning direction of the planned driving route when the turning direction of the target light pattern needs to match the turning direction of the planned driving route, etc.

[0078] In this manner, it is possible to accurately determine whether the target light pattern is displayed correctly on the planned driving route based on the recalibration conditions, thereby avoiding cases where the target light pattern is not displayed correctly on the planned driving route and improving the accuracy of displaying driving information by the target light pattern.

[0079] According to a second aspect of an embodiment of the present invention, there is provided a lighting system. The lighting system includes a vehicle light module and a control unit. The control unit is connected to the vehicle light module. The control unit is configured to acquire driving information, where the driving information includes at least one of navigation information, driving assistance information, and vehicle data. The control unit is further configured to acquire information related to a planned driving route and to acquire a target light pattern corresponding to the driving information and the information related to the planned driving route. The vehicle light module is configured to display a beam emitted by the vehicle on the planned driving route by using the target light pattern.

[0080] For a description of the beneficial effects exhibited by this embodiment, please refer to the first embodiment, and the details will not be described again.

[0081] According to a second aspect, in an optional implementation, the control unit is configured to acquire at least one first display attribute, where the at least one first display attribute corresponds to driving information; acquire at least one second display attribute, where the at least one second display attribute corresponds to information related to a planned driving route; and determine that a light pattern having the at least one first display attribute and the at least one second display attribute is a target light pattern.

[0082] According to a second aspect, in an optional implementation form, the control unit is configured to acquire a planned driving route based on M planar coordinates included in the navigation information, the planned driving route including the i-th planar coordinate to the j-th planar coordinate among the M planar coordinates, where i and j are both positive integers, i is equal to or greater than 1, and j is greater than i and equal to or less than M. The vehicle determines the shape of the target light pattern based on the shape of the planned driving route. For example, if multiple planar coordinates included in the planned driving route extend along a straight line, the target light pattern is determined to be rectangular. As another example, if it is determined that a plurality of planar coordinates included in the planned travel route extend along an arc-shaped direction, the control unit determines that the target light pattern is arc-shaped.

[0083] According to the second aspect, in an optional implementation, the second display attribute may be one or more of the following:

[0084] The control unit determines the second display attribute based on the dimensions of the planned driving route. For example, the second display attribute is a width, and the width included in the second display attribute is equal to the width of a lane boundary line of the planned driving route. The second display attribute determined by the control unit is a length. For example, the length indicated by the second display attribute is the length between a first position and a second position, where the first position is the current position of the vehicle and the second position is included in the navigation information and may be the position of an intersection closest to the vehicle, or the second position may be the position of a traffic light closest to the vehicle on the planned driving route. The control unit determines that the first display attribute is an arc shape, the second display attribute includes a turning direction, and the turning direction included in the second display attribute matches the turning direction of the lane boundary line of the planned driving route.

[0085] According to a second aspect, in an optional implementation, the control unit is configured to: acquire a driving list, where the driving list includes correspondences between different driving information and different display attributes; and acquire at least one first display attribute, where the at least one first display attribute is a display attribute in the driving list that corresponds to the driving information.

[0086] According to the second aspect, in an optional implementation, the width of the target light pattern is equal to or greater than the width of the vehicle, and / or the length of the target light pattern is equal to or greater than the length of the vehicle.

[0087] According to a second aspect, in an optional implementation form, the control unit is configured to form a target light pattern on a planned driving route, wherein the width of the target light pattern is equal to or greater than the width of the vehicle, and the target light pattern can indicate the width occupied by the vehicle when the vehicle drives up to the area of ​​the target light pattern.

[0088] According to the second aspect, in an optional implementation form, the target light pattern matches the shape of the planned travel route. For example, the shape of the planned travel route is rectangular, and the target light pattern is rectangular. As another example, the shape of the planned travel route is arc, and the target light pattern is arc-shaped.

[0089] According to the second aspect, in an optional implementation, the target light pattern is related to the dimensions of the intended route.

[0090] According to the second aspect, in an optional implementation form, when the planned travel route is arc-shaped, the target light pattern is also arc-shaped, and the direction of curvature of the planned travel route matches the direction of curvature of the target light pattern.

[0091] According to a second aspect, in an optional implementation, the driving information is a driving decision from an advanced driver assistance system (ADAS) of the vehicle, and the target light pattern corresponds to a type of the driving decision.

[0092] According to a second aspect, in an optional implementation, the driving decision is a driving intention of the vehicle, and the driving intention includes at least one of going straight, changing lanes, turning, entering a branch, and the like.

[0093] According to a second aspect, in an optional implementation, the driving decision is an emergency decision, and the emergency decision includes at least one of emergency braking, emergency avoidance, or vehicle failure.

[0094] According to a second aspect, in an optional implementation, the driving decision is a vehicle driving prediction event, and the vehicle driving prediction event includes the vehicle being in a safe state or the vehicle being in a dangerous state.

[0095] According to a second aspect, in an optional implementation, the driving information is a vehicle speed of the vehicle, and there is a positive correlation between the vehicle speed of the vehicle and the length of the target light pattern. Specifically, a higher vehicle speed indicates a longer length of the target light pattern, and a lower vehicle speed indicates a shorter length of the target light pattern.

[0096] According to a second aspect, in an optional implementation, there is a positive correlation between the vehicle speed of the vehicle and the blinking frequency of the light displayed on the ground by using the target light pattern, where a higher vehicle speed indicates a higher blinking frequency and a lower vehicle speed indicates a lower blinking frequency.

[0097] According to a second aspect, in an optional implementation, there is a positive correlation between the vehicle speed of the vehicle and the brightness of the light displayed on the ground by using the target light pattern, specifically, a higher vehicle speed indicates a higher brightness, and a lower vehicle speed indicates a lower brightness.

[0098] According to a second aspect, in an optional implementation, in one or more of the following cases, the light displayed on the ground by using the target light pattern has a blinking frequency:

[0099] When the shape of the planned driving path changes, the light displayed on the ground by using the target light pattern has a flashing frequency, and the change in the shape of the driving path may indicate that the planned driving path of the vehicle is switching from a straight-ahead state to a turning state, that the planned driving path of the vehicle is switching from a turning state to a straight-ahead state, that the planned driving path of the vehicle is indicating that the vehicle is about to drive toward an intersection, or that the planned driving path of the vehicle is indicating that the dimensions of the lane boundary lines are changing (e.g., the width of the lane boundary lines is changing).

[0100] Alternatively, a target light pattern for the vehicle is displayed on the crosswalk.

[0101] Alternatively, an obstacle (eg, a pedestrian or another vehicle) appears within range of the vehicle's target light pattern.

[0102] According to a second aspect, in an optional implementation, the driving information is the brightness of the environment in which the vehicle is located.

[0103] According to a second aspect, in an optional implementation, the driving information is a distance between the vehicle and a preceding vehicle, and there is a negative correlation between the distance value and the brightness of the light displayed on the ground by using the target light pattern. Specifically, a larger distance indicates a lower brightness, and a smaller distance indicates a higher brightness.

[0104] According to a second aspect, in an optional implementation, there is a negative correlation between the distance value and the flashing frequency of the light displayed on the ground by using the target light pattern, specifically, a larger distance indicates a lower flashing frequency, and a smaller distance indicates a higher flashing frequency.

[0105] According to the second aspect, in an optional implementation, there is a positive correlation between the distance value and the length of the target light pattern, specifically, a larger distance indicates a longer length of the target light pattern, and a smaller distance indicates a shorter length of the target light pattern.

[0106] According to a second aspect, in an optional implementation, the driving information is that a recognized object is present around the vehicle, the target light pattern covers at least a target area, and the target area is an area occupied by the recognized object.

[0107] According to a second aspect, in an optional implementation form, the control unit is configured to capture a to-be-recognized image including a to-be-recognized object, and the control unit obtains a type of the to-be-recognized object based on the to-be-recognized image.

[0108] According to a second aspect, in an optional implementation, the control unit determines a driving decision based on the type of the object to be recognized.

[0109] According to a second aspect, in an optional implementation, the target light pattern includes a first light pattern and a second light pattern, the first light pattern corresponds to driving information, and the second light pattern covers at least a target area, and the target area is an area occupied by an object to be recognized.

[0110] According to the second aspect, in an optional implementation, the information about the planned route may be one or more of the following: The information about the planned driving route may include the shape of the planned driving route, the dimensions of the planned driving route, the positions of intersections included in the planned driving route, the status of traffic lights on the planned driving route, and the distance between the current position of the vehicle on the planned driving route and the nearest intersection. The shape of the planned driving route may be that lane boundaries of the planned driving route are straight lane boundaries, or that lane boundaries of the planned driving route are curved lane boundaries. The dimensions of the planned driving route may be the width, length, and / or the like of the lane boundaries of the planned driving route. As another example, the dimensions of the planned driving route may alternatively be that, if the lane boundaries of the planned driving route are curved, the dimensions of the lane boundaries of the planned driving route may alternatively be the radians and / or the curvature direction of the lane boundaries of the planned driving route. If the planned driving route of the vehicle is located in a multi-branch road scenario, the information about the planned driving route may further include the position of the planned driving intersection. The distance between the current position of the vehicle on the planned driving route and the nearest intersection may be the distance between the current position of the vehicle and the planned driving intersection.

[0111] According to the second aspect, in an optional implementation form, the control unit is configured to capture a planned travel route by using a camera to obtain a video stream including information about the planned travel route. The control unit receives the video stream from the camera. The control unit extracts video frames included in the video stream. The control unit extracts the video frames from the video stream at a preset extraction rate. The control unit is configured to obtain information about the planned travel route by performing analysis based on the video frames.

[0112] According to a second aspect, in an optional implementation, a higher extraction rate indicates a greater ability to obtain up-to-date information about the planned route, whereas a lower extraction rate indicates a greater ability to reduce processor power consumption.

[0113] According to the second aspect, in an optional implementation, the control unit is further configured to be triggered to execute a step of acquiring information about a planned driving route when a trigger condition is satisfied. The trigger condition may be an instruction input by a driver to display a target light pattern on the planned driving route, or the trigger condition may be at least one of the following:

[0114] The current speed of the vehicle is equal to or greater than a first preset value, the brightness of the environment where the vehicle is currently located is equal to or less than a second preset value, the shape of the planned driving route of the vehicle changes, the change in vehicle speed is equal to or greater than a third preset value, the change in environmental brightness is equal to or greater than a fourth preset value, etc. A change in the shape of the driving route may be that the planned driving route of the vehicle indicates that the vehicle will switch from a straight-ahead direction to a turning state, that the planned driving route of the vehicle indicates that the vehicle will switch from a turning state to a straight-ahead state, that the planned driving route of the vehicle indicates that the vehicle is about to drive toward an intersection, or that the planned driving route of the vehicle indicates that the dimensions of lane markings will change (e.g., the width of lane markings will change).

[0115] According to the second aspect, in an optional implementation, along the extension direction of the planned travel route, a center line of the target light pattern may coincide with a center line of the planned travel route, or an offset between the center line of the target light pattern and the center line of the planned travel route may be equal to or less than a first distance. For example, the first distance may be 0.5 m.

[0116] According to the second aspect, in an optional implementation form, the distance between the boundary line of the target light pattern and the lane boundary line of the planned travel route along the lateral direction of the planned travel route is equal to or less than a second distance. For example, the distance between the left boundary line of the target light pattern and the left lane boundary line of the planned travel route is equal to or less than the second distance. As another example, the distance between the right boundary line of the target light pattern and the right lane boundary line of the planned travel route is equal to or less than the second distance. Alternatively, when the length indicated by the second display attribute is the length between a first position and a second position along the extension direction of the planned travel route, the upper and lower boundary lines of the target light pattern coincide with the first position and the second position, respectively.

[0117] According to the second aspect, in an optional implementation, the width of the target light pattern is equal to the narrowest width of the lane boundary line of the planned driving route. Based on the illuminated planned driving route, the driver can accurately determine when the lane boundary line suddenly narrows, thereby improving driving safety.

[0118] According to a second aspect, in an optional implementation, the vehicle light module is configured to form a target light pattern on a crosswalk of a planned travel route to illuminate the crosswalk.

[0119] According to a second aspect, in an optional implementation form, the greater the degree of change in the shape of the planned driving route, the higher the brightness of the light displayed on the ground by using the target light pattern, and the smaller the degree of change in the shape of the planned driving route, the lower the brightness of the light displayed on the ground by using the target light pattern. For example, the structure of the planned driving route has radians, and a larger radian indicates a higher brightness, and a smaller radian indicates a lower brightness.

[0120] According to a second aspect, in an optional implementation, the brightness provided when the planned travel route changes is greater than the brightness provided when the planned travel route does not change. For example, the brightness provided when the planned travel route is always straight is less than the brightness provided when the planned travel route turns.

[0121] According to a second aspect, in an optional implementation, the brightness provided when the vehicle's planned route indicates that the dimensions of the lane line markings will change is greater than the brightness provided when the planned route indicates that the dimensions of the lane line markings will not change.

[0122] According to a second aspect, in an optional implementation, the brightness provided when light emitted by a vehicle is displayed on a crosswalk by using the target light pattern is greater than the brightness provided when light emitted by the vehicle is not displayed on the crosswalk by using the target light pattern.

[0123] According to a second aspect, in an optional implementation, when an obstacle (e.g., a pedestrian or another vehicle) appears within the range of the vehicle's target light pattern, the brightness of the light emitted by the vehicle light is greater than the brightness of the light emitted by the vehicle light provided when no obstacle appears within the range of the vehicle's target light pattern.

[0124] According to a second aspect, in an optional implementation, a beam emitted by a vehicle light module is displayed on a planned travel route by using a target light pattern. The control unit is configured to recapture a calibrated image by using a camera, the calibrated image including the planned travel route and the target light pattern displayed on the planned travel route. The control unit is configured to determine, based on the calibrated image, whether the target light pattern satisfies a recalibration condition. Specifically, the control unit determines that the target light pattern satisfies the recalibration condition when it determines that the calibrated image satisfies at least one of the following conditions:

[0125] The control unit is configured to determine that the center line of the target light pattern deviates from the center line of the lane of the planned driving route, or the control unit is configured to determine that the distance between the center line of the target light pattern and the center line of the lane of the planned driving route is greater than the offset; along the lateral direction of the planned driving route, when the width of the target light pattern is equal to the width of the lane boundary line of the planned driving route, the boundary lines on both sides of the target light pattern deviate from the boundary lines on both sides of the lane boundary line; when the turning direction of the target light pattern needs to match the turning direction of the planned driving route, the turning direction of the target light pattern does not match the turning direction of the planned driving route, etc.

[0126] According to a third aspect of an embodiment of the present invention, there is provided a vehicle, the vehicle including the lighting system of the second aspect. [Brief explanation of the drawings]

[0127] [Figure 1] FIG. 1 is a functional block diagram of one embodiment of a vehicle according to the present application. [Figure 2] 1 is a flowchart of steps of a first embodiment of a vehicle light control method according to the present application. [Figure 3a] FIG. 2 is an exemplary diagram of a first application scenario according to the present application. [Figure 3b] FIG. 10 is an exemplary diagram of a second application scenario according to the present application. [Figure 3c] FIG. 10 is an exemplary diagram of a third application scenario according to the present application. [Figure 3d] FIG. 10 is an exemplary diagram of a fourth application scenario according to the present application. [Figure 3e] FIG. 10 is an exemplary diagram of a fifth application scenario according to the present application. [Figure 4] 4A and 4B are first exemplary diagrams of application scenario comparisons according to the present application: Fig. 4a is an exemplary diagram of a specific road condition in which a vehicle makes a right turn according to an existing solution; Fig. 4b is an exemplary diagram of a specific road condition in which a vehicle makes a right turn according to the present application; [Figure 5] 5A and 5B are second exemplary diagrams of application scenario comparisons according to the present application: Fig. 5a is an exemplary diagram of illumination of a vehicle low beam light according to an existing solution; and Fig. 5b is an exemplary diagram of illumination of a target light pattern according to the present application. [Figure 6] 6A and 6B are third exemplary diagrams of application scenario comparisons according to the present application: Fig. 6a is an exemplary diagram of illumination of a vehicle low beam light when the width of a lane boundary line changes according to an existing solution; Fig. 6b is an exemplary diagram of illumination of a target light pattern when the width of a lane boundary line changes according to the present application; [Figure 7] 7A and 7B are fourth exemplary diagrams of application scenario comparisons according to the present application. Fig. 7A is an exemplary diagram of illumination provided when a vehicle low beam light illuminates a pedestrian crossing according to an existing solution. Fig. 7B is an exemplary diagram of illumination provided when a target light pattern illuminates a pedestrian crossing according to the present application. [Figure 8a] 1 is an exemplary diagram of the illumination provided when a vehicle low beam light illuminates the area ahead of the vehicle according to existing solutions; [Figure 8b] 1 is an exemplary diagram of illumination provided when a target light pattern illuminates the front of a vehicle according to the present application. [Figure 8c] 1 is an exemplary diagram in which a first distance exists between a vehicle and a vehicle ahead. [Figure 8d] FIG. 10 is an exemplary diagram in which a second distance exists between the vehicle and the vehicle ahead. [Figure 9] 4 is a flowchart of steps of a second embodiment of a vehicle light control method according to the present application. [Figure 10] 10a is an exemplary diagram of the illumination provided when a vehicle backs into a parking lot according to an existing solution; and FIG. 10b is an exemplary diagram of the illumination provided by a target light pattern when a vehicle backs into a parking lot according to the present application. [Figure 11]11a is an exemplary diagram of illumination provided by an existing solution when a vehicle is in a dangerous state; and FIG. 11b is an exemplary diagram of illumination provided by a target light pattern when a vehicle is in a dangerous state according to the present application. [Figure 12] 4 is a flowchart of steps of a third embodiment of a vehicle light control method according to the present invention. [Figure 13] 13a is an exemplary diagram of illumination provided to a recognition target object located on a planned travel route by an existing solution; and FIG. 13b is an exemplary diagram of illumination provided by a target light pattern to a recognition target object located on a planned travel route by the present application. [Figure 14] 10 is a flowchart of steps of a fourth embodiment of a vehicle light control method according to the present application. [Figure 15] 15A and 15B are ninth exemplary diagrams for comparing application scenarios according to the present application. Fig. 15A is an exemplary diagram of illumination provided to an object to be recognized in front of a vehicle according to an existing solution. Fig. 15B is an exemplary diagram of illumination provided by a target light pattern to an object to be recognized in front of a vehicle according to the present application. [Figure 16] 1 is an exemplary diagram of the structure of an embodiment of a lighting system according to the present application; DETAILED DESCRIPTION OF THE INVENTION

[0128] The following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. It is clear that the described embodiments are only a part of the embodiments of the present invention, and are not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0129] First, a vehicle to which the present invention is applicable will be described. FIG. 1 is a functional block diagram of one embodiment of a vehicle according to the present application. In one embodiment, vehicle 100 is configured to be in a fully or partially autonomous driving mode. For example, vehicle 100 may be controlled in the autonomous driving mode by using manual operation to determine the current state of the vehicle and its surrounding environment, determine possible behaviors of at least one other vehicle in the surrounding environment, determine a confidence level corresponding to the likelihood that the other vehicle will perform the possible behavior, and control vehicle 100 based on the determined information. When vehicle 100 is in the autonomous driving mode, vehicle 100 may be operated without human-machine interaction. Vehicle 100 may include various systems, and each system may include multiple elements. In addition, all systems and elements of vehicle 100 may be connected to each other via wired or wireless connections.

[0130] The vehicle described in the embodiment includes a sensor system 120, which may include several sensors that sense information about the vehicle 100's surrounding environment. For example, the sensor system 120 may include a positioning system 121 (which may be a global positioning system (GPS), a BeiDou system, or another positioning system), an inertial measurement unit (IMU) 122, a radar 123, a laser rangefinder 124, and a camera 125. The sensor system 120 may further include sensors of internal systems of the monitored vehicle 100 (e.g., an on-board air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (e.g., position, shape, direction, speed, etc.). Such detection and recognition are important functions for the safe operation of the autonomous vehicle 100. The positioning system 121 may be configured to estimate the geographic location of the vehicle 100. The IMU 122 is configured to sense changes in the position and orientation of the vehicle 100 based on inertial acceleration. In one embodiment, the IMU 122 may be a combination of an accelerometer and a gyroscope. The radar 123 senses objects in the vehicle 100's environment by using radio signals. In some embodiments, in addition to sensing objects, the radar 123 may further be configured to sense the object's speed and / or direction of travel. The specific type of radar 123 is not limited in the embodiments. For example, the radar 123 may be a millimeter-wave radar or a lidar. The laser rangefinder 124 may sense objects in the environment in which the vehicle 100 is located by using a laser. In some embodiments, the laser rangefinder 124 may include one or more laser sources, a laser scanner, one or more detectors, and other system components. The camera 125 may be configured to capture multiple images of the vehicle 100's environment. The camera 125 may be a static camera, a video camera, a monocular / binocular camera, or an infrared imager.

[0131] The vehicle 100 further includes an advanced driving assistance system (ADAS) 110. During vehicle operation, the ADAS 110 constantly senses the surrounding environment, collects data, identifies, detects, and tracks static and dynamic objects, and performs system computing and analysis based on navigation map data. In this way, the driver can be aware of potential risks in advance, improving the comfort and safety of vehicle operation. For example, the ADAS 110 may control the vehicle based on data acquired by the sensor system 120. As another example, the ADAS 110 may control the vehicle based on vehicle data. The vehicle data may be main data on the vehicle dashboard (e.g., fuel consumption, engine RPM, temperature, etc.), vehicle speed information, steering angle information, vehicle body posture data, etc.

[0132] The ADAS 110 may control the vehicle in one or more of the following ways:

[0133] The ADAS 110 adjusts the direction of travel of the vehicle 100. The ADAS 110 controls the operating speed of the vehicle's engine and thus the speed of the vehicle 100. The ADAS 110 manipulates images captured by the camera 125 to identify objects and / or features in the vehicle's 100 environment. In some embodiments, the ADAS 110 may be configured to map the environment, track objects, estimate object speeds, and the like. The ADAS 110 determines the path of travel for the vehicle 100. In some embodiments, the ADAS 110 may determine the path of travel for the vehicle 100 by reference to one or more predetermined map data from the sensor system 120. The ADAS 110 may identify, evaluate, avoid, or otherwise traverse potential obstacles in the vehicle's 100 environment.

[0134] Vehicle 100 interacts with external sensors, other vehicles, other computer systems, or a user through peripheral devices 130. Peripheral devices 130 may include a wireless communication system 131, an onboard computer 132, a microphone 133, and / or a speaker 134.

[0135] In some embodiments, peripheral devices 130 provide a means for a user of vehicle 100 to interact with a user interface. For example, onboard computer 132 may provide information to the user of vehicle 100. The user interface may also be used to operate onboard computer 132 and receive user input. Onboard computer 132 may perform operation through the use of a touchscreen. In other cases, peripheral devices 130 may provide a means for vehicle 100 to communicate with other devices within the vehicle. For example, microphone 133 may receive audio (e.g., voice commands or other audio input) from the user of vehicle 100. Similarly, speaker 134 may output audio to the user of vehicle 100.

[0136] The wireless communication system 131 may wirelessly communicate with one or more devices directly or indirectly via a communication network. For example, the wireless communication system 131 may be a third generation (3G) system, such as code division multiple access (CDMA), global system for mobile communications (GSM), or general packet radio service (GPRS) technology. rd The wireless communication system 131 may use a fourth-generation mobile communication technology (4G), such as long term evolution (LTE), for cellular communication. thThe wireless communication system 131 may further use fifth generation mobile communication technology (5G) for cellular communication. th The wireless communication system 131 may use 5G (Next Generation Mobile Communication Technology) for cellular communications. The wireless communication system 131 may use a wireless local area network (WLAN) for communications. In some embodiments, the wireless communication system 131 may communicate directly with devices via an infrared link, Bluetooth, or ZigBee protocol. The wireless communication system 131 may alternatively use various vehicle communication systems; for example, the wireless communication system 131 may include one or more dedicated short-range communications (DSRC) devices, which may include public and / or private data communications between vehicles and / or roadside stations.

[0137] Some or all functions of vehicle 100 are controlled by computer system 140. Computer system 140 may control functions of vehicle 100 based on inputs received from various systems (e.g., sensor system 120, ADAS 110, and peripheral devices 130) and from a user interface. Computer system 140 may include at least one processor 141 that executes instructions stored in a non-transitory computer-readable medium, such as memory 142. Computer system 140 may alternatively be multiple computing devices that control individual components or subsystems of vehicle 100 in a distributed manner.

[0138] The type of processor 141 is not limited in the embodiments. For example, processor 141 may be one or more field-programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), systems on chips (SoCs), central processor units (CPUs), network processors (NPs), digital signal processors (DSPs), microcontrollers (MCUs), programmable controllers (programmable logic devices (PLDs)), or other integrated chips, or any combination of the aforementioned chips or processors. Processor 141 may be located inside the vehicle, or processor 141 may be located remotely from the vehicle and communicate wirelessly with the vehicle.

[0139] In some embodiments, memory 142 may include instructions (e.g., program logic). The instructions may be executed by processor 141 to perform various functions of vehicle 100. In addition to instructions, memory 142 may further store data such as map data, route information, and vehicle position, direction, speed, and other vehicle data. Information stored in memory 142 may be used by vehicle 100 and computer system 140 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0140] The vehicle 100 described in the embodiments further includes a vehicle light module 150. The beam emitted by the vehicle light module 150 can display a target light pattern on a planned driving route of the vehicle 100. Hereinafter, a process in which the beam emitted by the vehicle forms a target light pattern on a planned driving route will be described with reference to each embodiment. The light module described in the embodiments can be used not only in vehicles but also in driving tools such as ships, airplanes, or helicopters. Embodiment 1

[0141] In this embodiment, a process in which the vehicle 100 displays a target light pattern on a planned driving route will be described with reference to Fig. 2. Fig. 2 is a flowchart of steps in a first embodiment of a vehicle light control method according to the present application.

[0142] Step 201: The vehicle determines that a trigger condition has been met.

[0143] In this embodiment, when the vehicle determines that a trigger condition has been met, a process of performing the method in this embodiment is initiated, thereby enabling a beam emitted by the vehicle to display a target light pattern on the intended route.

[0144] Optionally, the vehicle determines that the trigger condition is satisfied in a manner in which a driver inputs a start command. For example, the vehicle receives a start command input by the driver, the start command being a command to display a target light pattern on a planned driving route. Optionally, the driver may input the start command in a manner such as voice input to a lighting system, touch gesture input to a cockpit screen of the vehicle, or pressing operation.

[0145] As another example, the vehicle may determine that the trigger condition may be at least one of the following:

[0146] The current speed of the vehicle is greater than or equal to a first preset value (e.g., the first preset value may be 60 km / h), the brightness of the environment where the vehicle is currently located is less than or equal to a second preset value (e.g., the second preset value may be 50 lux), the shape of the planned route of the vehicle changes, the change in the vehicle's speed is greater than or equal to a third preset value, the change in the vehicle's environment brightness is greater than or equal to a fourth preset value, the remaining power of the vehicle is greater than or equal to a fifth preset value, etc.

[0147] A change in the shape of the driving path can be the vehicle switching from a straight ahead direction to a turning state, the vehicle switching from a turning state to a straight ahead direction, the vehicle heading towards an intersection, or a change in the dimensions of the lane markings on which the vehicle is traveling (e.g., the width of the lane markings changes).

[0148] The change in the vehicle speed of the vehicle may be that the vehicle speed of the vehicle acquired by the vehicle at moment T1 is V1 and that the vehicle speed acquired by the vehicle at moment T2 is V2, where moment T1 is the current moment and moment T2 is before moment T1. The change in the vehicle speed of the vehicle is equal to or greater than a third preset value may be that the difference between V2 and V1 is equal to or greater than a third preset value. For example, the preset value may be 10 km / h. It can be seen that the trigger condition is met when the change in the vehicle speed of the vehicle is equal to or greater than 10 km / h.

[0149] For an explanation of the change in the vehicle's ambient brightness being equal to or greater than the fourth preset value, please refer to the above explanation of the change in the vehicle's speed being equal to or greater than the third preset value, and the details will not be described again.

[0150] In this embodiment, by using step 201, when it is determined that the trigger condition is met, the vehicle is triggered to perform the following steps:

[0151] Step 202: The vehicle acquires navigation information.

[0152] The vehicle in this embodiment obtains navigation information based on a navigation destination that needs to be reached and is input by the driver. The driver may input the navigation destination by voice input to the in-vehicle navigation system, by inputting touch gestures on a cockpit screen of the in-vehicle navigation system, by pressing a button on the in-vehicle navigation system, etc.

[0153] As described in this embodiment, the computer system shown in FIG. 1 may obtain navigation information from a positioning system. The navigation information may be a series of plane coordinates for a vehicle to reach a navigation destination. For example, FIG. 3a is an exemplary diagram of a first application scenario according to the present application. The navigation information described in this embodiment is a series of plane coordinates that a vehicle 300 needs to pass through sequentially in the process of traveling to a destination, such as plane coordinate A(x1, y1), plane coordinate B(x2, y2), plane coordinate C(x3, y3), and by analogy, plane coordinate K(xk, yk), where plane coordinate K(xk, yk) is the plane coordinate of the destination to which the vehicle is traveling or a plane coordinate close to the destination to which the vehicle is traveling. It can be seen that the vehicle can successfully reach the destination by passing through the plane coordinates included in the navigation information sequentially.

[0154] The process of the vehicle obtaining navigation information may be that when the vehicle obtains a destination to which the vehicle needs to travel, the vehicle may obtain the GPS coordinates of the current location of the vehicle and the GPS coordinates of the destination. The vehicle obtains map data, and then obtains navigation information based on the map data, the GPS coordinates of the current location of the vehicle, and the GPS coordinates of the destination.

[0155] Step 203: The vehicle acquires information about the planned route.

[0156] The beam emitted by the vehicle in this embodiment can be displayed on the planned driving route. Therefore, the vehicle needs to obtain information about the planned driving route. Specifically, the vehicle can determine the planned driving route based on navigation information. It can be seen that FIG. 3b is an exemplary diagram of a second application scenario according to the present application. The planned driving route 301 described in this embodiment includes some or all of the planar coordinates included in the navigation information described above. The length of the planned driving route is not limited in this embodiment. For example, the length of the planned driving route can be 10 m. In this example, it indicates that the planned driving route includes planar coordinates included in the navigation information and located within 10 m ahead of the vehicle 300.

[0157] The information about the planned route described in this embodiment may be one or more of the following: The shape of the planned driving route, the dimensions of the planned driving route, the positions of intersections included in the planned driving route, the status of traffic lights on the planned driving route, and the distance between the current position of the vehicle on the planned driving route and the nearest intersection. The shape of the planned driving route may be such that the lane boundaries of the planned driving route are straight, or such that the lane boundaries of the planned driving route are curved.

[0158] For example, as shown in FIG. 3b, in the process of vehicle 300 traveling to the destination, the lane boundary lines of the planned traveling route are curved lane boundary lines. The dimensions of the planned traveling route may be widths, lengths, and / or the like of the lane boundary lines of the planned traveling route. As another example, the dimensions of the planned traveling route may alternatively be that, if the lane boundary lines of the planned traveling route are curved, the dimensions of the lane boundary lines of the planned traveling route may alternatively be radians and / or a curvature direction of the lane boundary lines of the planned traveling route.

[0159] 3c is an exemplary diagram of a third application scenario according to the present application. When the planned driving route of the vehicle 302 is located in a multi-branch road scenario, the information about the planned driving route may further include the location of the planned driving intersection 304. The distance between the current position of the vehicle on the planned driving route and the nearest intersection may be the distance between the current position of the vehicle 302 and the planned driving intersection 304.

[0160] The process by which the vehicle acquires information about the planned driving route in this embodiment will be described below.

[0161] The camera of the vehicle shown in FIG. 1 captures a planned route and obtains a video stream containing information about the planned route. For a specific description of the camera, please refer to FIG. 1. The details will not be described again. The computer system of the vehicle receives the video stream from the camera. A processor included in the computer system extracts video frames included in the video stream. For example, the processor may extract video frames from the video stream at a rate of 30 frames per second. It should be noted that the speed at which the processor extracts video frames is not limited in this embodiment. A faster speed at which the processor extracts video frames indicates a higher ability to obtain up-to-date information about the planned route. However, a slower speed at which the processor extracts video frames indicates a higher ability to reduce the processor's power consumption.

[0162] In a particular application, the processor may determine the speed at which to extract video frames based on the complexity of current road conditions. For example, if the conditions of the currently traveling road are more complex (e.g., the shape of the planned traveling route changes frequently, specifically, for example, the planned traveling route switches from a straight state to a turning state or there are a large number of intersections), the processor may extract video frames at a high speed. As another example, if the conditions of the currently traveling road are simpler (e.g., the shape of the planned traveling route is stable, specifically, for example, the planned traveling route is always in a straight state), the processor may extract video frames at a low speed.

[0163] After extracting the video frames, the processor may perform analysis based on the video frames to obtain information about the planned driving route. The analysis method used by the processor is not limited in this embodiment. For example, the analysis method may be an object recognition algorithm, a structure from motion (SFM) algorithm, video tracking, artificial intelligence (AI), etc.

[0164] Step 204: The vehicle acquires the target light pattern.

[0165] Step 205: The beam emitted by the vehicle is displayed on the intended route by using a target light pattern.

[0166] Steps 204 and 205 will be explained together below.

[0167] In this embodiment, after obtaining the navigation information and the information about the planned driving route, the vehicle may obtain a target light pattern corresponding to the navigation information and the information about the planned driving route. Specifically, the vehicle may obtain one or more first display attributes corresponding to the navigation information. Then, the vehicle obtains one or more second display attributes corresponding to the information about the planned driving route. In this case, the vehicle determines that the light pattern having both the first display attribute and the second display attribute is the target light pattern.

[0168] After the vehicle acquires the target light pattern, the vehicle emits a beam based on the target light pattern, ensuring that the beam emitted by the vehicle can be displayed on the planned driving route by using the target light pattern. In this embodiment, as long as the driver in the vehicle can clearly see the target light pattern displayed in front of the vehicle, the distance between the target light pattern displayed on the planned driving route and the vehicle is not limited. For example, the distance between the target light pattern and the vehicle may be 10 m.

[0169] Next, the target light pattern in this embodiment will be described.

[0170] In this embodiment, the vehicle determines the first display attribute based on the plane coordinates included in the navigation information. Specifically, the vehicle acquires a planned driving route, and the planned driving route includes the i-th plane coordinate to the j-th plane coordinate among M coordinates, where i and j are both positive integers, i is 1 or more, and j is greater than i and less than or equal to M.

[0171] As shown in FIG. 3b, the M plane coordinates may be plane coordinate A, plane coordinate B, plane coordinate C, etc. Furthermore, as shown in FIG. 3c, the vehicle determines, based on navigation information, that all plane coordinates included between the current position of the vehicle and the intersection 304 through which the vehicle is to travel are M plane coordinates (for example, plane coordinate A to plane coordinate M shown in FIG. 3c). It can be seen that the vehicle can travel through the M plane coordinates sequentially to the intersection 304 closest to the vehicle. The vehicle determines first display attributes based on the M plane coordinates. For a specific determination process, please refer to the first driving list shown in Table 1 below. Correspondence relationships between different extension directions of the M plane coordinates and different first display attributes are established in the first driving list. [Table 1]

[0172] 3d (FIG. 3d is an exemplary diagram of the fourth application scenario according to the present application), it can be seen that if the M plane coordinates extend along a linear direction, the vehicle determines that the first display attribute is rectangular. As another example, with reference to Table 1 and FIG. 3b, if the M plane coordinates extend along an arc-shaped direction, the vehicle determines that the first display attribute is arc-shaped.

[0173] The vehicle then determines a second display attribute based on the planned route. The second display attribute may be one or more of the following:

[0174] For example, the vehicle determines the second display attribute based on the dimensions of the planned driving route. For example, the second display attribute is width, and the width included in the second display attribute is equal to the width of the lane boundary line of the planned driving route. In this embodiment, the description of the relationship between the width included in the second display attribute and the width of the lane boundary line of the planned driving route is an optional example. As another example, the width included in the second display attribute may alternatively be smaller than the width of the lane boundary line. As another example, the width included in the second display attribute may alternatively be larger than the width of the lane boundary line, etc. This is not particularly limited.

[0175] As another example, the second display attribute determined by the vehicle may be a length. For example, the length indicated by the second display attribute may be a length between a first position and a second position, where the first position is the current position of the vehicle and the second position is the position of an intersection included in navigation information that is closest to the vehicle. The second position may be the position of a traffic light that is closest to the vehicle on the planned travel route, as collected by the vehicle.

[0176] As another example, if the vehicle determines that the first display attribute is arc-shaped, the second display attribute includes a turning direction. Specifically, as shown in FIG. 3b, the vehicle determines the turning direction included in the second display attribute based on the radian of the lane boundary line 301 of the planned driving route, and ensures that the turning direction included in the second display attribute matches the turning direction of the lane boundary line of the planned driving route.

[0177] When the vehicle determines the first display attribute and the second display attribute, the vehicle determines that the light pattern having both the first display attribute and the second display attribute is the target light pattern. As shown in Figure 3d, when the first display attribute is rectangular and the second display attribute is the width of the lane boundary line of the planned driving route (for example, the width of the lane boundary line is 3.5m), it can be seen that the shape of the target light pattern is rectangular and the width of the rectangle is 3.5m.

[0178] 3e is an exemplary diagram of a fifth application scenario according to the present application. When the first display attribute is an arc shape and the turning direction included in the second display attribute matches the turning direction of the planned driving route 321, it can be seen that the target light pattern having the second display attribute is an arc shape and the turning direction matches the turning direction of the planned driving route 321.

[0179] The manner in which the target light pattern is displayed on the planned driving route will now be described as an option.

[0180] Along the extension direction of the planned travel route, the center line of the target light pattern may coincide with the center line of the planned travel route, or the offset between the center line of the target light pattern and the center line of the planned travel route may be equal to or less than a first distance. It can be seen that the display manner of the target light pattern is used to ensure that the target light pattern can be accurately displayed on the planned travel route. Alternatively, when the width included in the second display attribute is equal to the width of the lane boundary line of the planned travel route, along the lateral direction of the planned travel route, the boundary lines on both sides of the target light pattern coincide with the boundary lines of the lane boundary line of the planned travel route, or the offset between the boundary lines on both sides of the target light pattern and the lane boundary line of the planned travel route is equal to or less than a second distance. Alternatively, when the length indicated by the second display attribute is the length between the first position and the second position, along the extension direction of the planned travel route, the upper boundary line and the lower boundary line of the target light pattern coincide with the first position and the second position, respectively.

[0181] When the target light pattern is displayed on the planned driving route, the target light pattern can indicate the area occupied by the vehicle during the driving process. As can be seen from the target light pattern 310 shown in FIG. 3d, the vehicle drives to the lane position occupied by the target light pattern 310. Also, as can be seen from the target light pattern 321 shown in FIG. 3e, the vehicle drives to the lane position occupied by the target light pattern 321. It can be seen that the target light pattern displayed on the planned driving route by using the beam emitted by the vehicle can help improve navigation accuracy and provide illumination on the planned driving route, thereby ensuring safety in the process of driving the vehicle based on navigation. For example, FIG. 4 is an exemplary diagram comparing application scenarios according to the present application.

[0182] The vehicle can know from the navigation map that the vehicle needs to turn right at the next intersection. Figure 4a is an exemplary diagram of a specific road condition in which the vehicle turns right according to an existing solution. As can be seen from Figure 4a, the vehicle 401 determines based on the in-vehicle navigation that the vehicle 401 needs to turn right at the next intersection, i.e., intersection 402, but the vehicle 401 is still traveling straight ahead. The light emitted by the vehicle (e.g., the light emitted by the vehicle's low beam lights) can only illuminate a limited area ahead of the vehicle 401, but cannot illuminate the intersection 402 where the vehicle is scheduled to travel.

[0183] For the method in this embodiment, please refer to Fig. 4b. Fig. 4b is an exemplary diagram of a specific road condition in which a vehicle makes a right turn according to the present application. When it is determined that the planned driving route is to turn right at the intersection 402, a target light pattern 403 can be determined. For the process of determining the target light pattern 403, please refer to the above description and the details will not be described again. It can be seen that the target light pattern 403 can illuminate the intersection 402 based on the planned driving route of the vehicle 401, so as to ensure safety when the user drives the vehicle 401 and turns through the intersection 402.

[0184] As another example, FIG. 5 is a second exemplary diagram of a comparison of application scenarios according to the present application. In the example shown in FIG. 5a, FIG. 5a is an exemplary diagram of illumination of a vehicle low beam light according to an existing solution. In the existing solution, when the vehicle 501 is in a scenario with low ambient brightness (e.g., at night, on a cloudy day, or on a rainy day), the illumination range of the light emitted by the low beam light of the vehicle 501 is small. In the scenario shown in FIG. 5a, the light emitted by the low beam light of the vehicle 501 can only illuminate within 25 meters ahead of the vehicle 501.

[0185] For the method in this embodiment, please refer to FIG. 5b. FIG. 5b is an exemplary diagram of the illumination of a target light pattern according to the present application. For example, the target light pattern 503 displayed on the planned driving route ahead of the vehicle 502 is 20 m long, 3.5 m wide, and rectangular in shape. The target light pattern 503 in this embodiment is formed by a beam emitted by the vehicle 502 and irradiated directly onto the planned driving route. It can be seen that the brightness of the target light pattern 503 is greater than the brightness of the route illuminated by the light emitted by the low beam lights shown in existing solutions. Since the target light pattern 503 illuminates the planned driving route, the driver drives based on the area illuminated by the target light pattern 503, thereby improving driving safety. In addition, other people or vehicles on the route can quickly determine the location where the vehicle 503 is planning to travel based on the prompts of the target light pattern 503. This makes it easier to avoid other people or vehicles on the route, improving driving safety.

[0186] As another example, FIG. 6 is a third exemplary diagram of application scenario comparison according to the present application. In the process of driving a vehicle, a scenario in which the width of a lane marking changes is often encountered. FIG. 6a is an exemplary diagram of the illumination of a vehicle low beam light according to an existing solution when the width of a lane marking changes. There is a case in which the width of a lane marking on the path ahead of a vehicle 601 suddenly narrows, that is, the width 602 of the lane marking is larger than the width 603 of the lane marking. If a driver cannot accurately determine the change in the width of the lane marking, a driving hazard is likely to occur.

[0187] For the method in this embodiment, please refer to Figure 6b. Figure 6b is an exemplary diagram of the illumination of the target light pattern when the width of the lane boundary line changes according to the present application. The target light pattern 605 formed in front of the vehicle 604 can accurately illuminate the path ahead, and the width of the target light pattern 605 can be equal to the narrowest width of the lane boundary line. Based on the planned driving path illuminated by the target light pattern, the driver can accurately determine when the lane boundary line suddenly narrows, thereby improving driving safety.

[0188] As another example, FIG. 7 is a fourth exemplary diagram of application scenario comparison according to the present application. Specifically, FIG. 7a is an exemplary diagram of illumination provided when a vehicle low beam light illuminates a pedestrian crossing according to an existing solution. In the process of a vehicle 702 traveling toward a pedestrian crossing 701, a pedestrian on the pedestrian crossing 701 should not cross the pedestrian crossing under a red light phase, and the vehicle 702 should cross the pedestrian crossing under a green light phase. However, because pedestrians have weak safety awareness, the pedestrian continues to cross the pedestrian crossing even under a red light phase. If the vehicle 702 cannot avoid the pedestrian, a safety-related accident occurs.

[0189] FIG. 7b illustrates an example of illumination provided when a target light pattern illuminates a pedestrian crossing according to the present application. A vehicle 703 can form a target light pattern 704 on a pedestrian crossing along a planned travel route, and the target light pattern 704 can illuminate the pedestrian crossing. When walking at the pedestrian crossing, the pedestrian notices the target light pattern 704, which allows the pedestrian to avoid the vehicle 703 on the pedestrian crossing. In addition, because the target light pattern 704 can illuminate the pedestrian crossing, the pedestrian crossing is not in the driver's blind spot, thereby effectively avoiding the possibility of a safety-related accident between the vehicle 703 and the pedestrian.

[0190] 8a is an exemplary diagram of illumination provided when a vehicle low beam light illuminates the front of the vehicle according to an existing solution. In the driving process of the vehicle 801, if a target 802 appears in front of the vehicle 801, the target 802 may be any other vehicle, a non-motor vehicle, a pedestrian, etc. In the driving process of the vehicle 801, neither the vehicle 801 nor the target 802 in front of the vehicle 801 determines whether the vehicle 801 will collide with the target 802 in the driving process, i.e., whether the target 802 is located outside the safety distance of the vehicle 801.

[0191] FIG. 8b illustrates a method in this embodiment. FIG. 8b is an exemplary diagram of illumination provided when a target light pattern illuminates the area ahead of a vehicle according to the present application. A vehicle 803 can form a target light pattern 804 on a planned driving route, and the width of the target light pattern 804 is equal to the width of the vehicle 803. The target light pattern 804 can indicate the width occupied by the vehicle 803 when the vehicle 803 drives into the area of ​​the target light pattern 804. It can be seen that the target 805 can determine the driving range of the vehicle 803 based on the clear boundary of the target light pattern 804. If the target 805 appears within the target light pattern 804, it indicates that the target 805 is within the safety distance of the vehicle 804, and a safety-related accident is likely to occur between the vehicle 804 and the target 805. If the target 805 appears outside the target light pattern 804, it indicates that the target 805 is outside the safety distance of the vehicle 804, and a safety-related accident is unlikely to occur between the vehicle 805 and the target 805.

[0192] It should be noted that the description of the target light pattern in this embodiment is an optional example and is not limiting. In another example, the target light pattern may be further related to data from the vehicle state (e.g., vehicle speed). In this case, pedestrians or vehicles around the vehicle can determine the vehicle speed based on the target light pattern.

[0193] Specifically, there is a positive correlation between the length of the target light pattern and the vehicle speed. Specifically, the higher the vehicle speed, the longer the length of the target light pattern, and the lower the vehicle speed, the shorter the length of the target light pattern. The vehicle may store a correspondence list between vehicle speed and target light pattern, as shown in Table 2 below. [Table 2]

[0194] For example, if the vehicle determines that the vehicle speed is 70 km / h, the vehicle may determine that the length of the corresponding target light pattern is 45 m. As another example, if the vehicle determines that the vehicle speed is greater than 120 km / h, the vehicle may determine that the length of the corresponding target light pattern is 80 m. It should be noted that the description of the correspondence between the vehicle speed and the length of the target light pattern in this embodiment is merely an example and is not limited thereto as long as the vehicle speed can be determined based on the length of the target light pattern.

[0195] The length of the target light pattern in this embodiment may also have a dynamic relationship with the vehicle speed. Specifically, the vehicle obtains the vehicle speed and obtains the target light pattern corresponding to the vehicle speed according to the following Equation 1: Equation 1: Length of target light pattern L = 50 + [(120 - current vehicle speed) / 40] × 10

[0196] It can be seen that the vehicle can obtain the length of the corresponding target light pattern by substituting the current vehicle speed into Equation 1. It should be noted that the description of Equation 1 described in this embodiment is an optional example, and is not limited as long as the vehicle can create a linear relationship between different vehicle speeds and different target light pattern lengths based on Equation 1.

[0197] Optionally, in this embodiment, the vehicle may periodically substitute the current vehicle speed of the vehicle into Equation 1. In a case where the vehicle determines that the change in vehicle speed is equal to or greater than a preset value, the current vehicle speed of the vehicle is substituted into Equation 1. Specifically, the vehicle speed of the vehicle acquired by the vehicle at moment T1 is V1, and the vehicle speed acquired by the vehicle at moment T2 is V2, where moment T1 is the current moment and moment T2 is before moment T1. The change in the vehicle speed of the vehicle being equal to or greater than the preset value may be that the difference between V2 and V1 is equal to or greater than a preset value. For example, the preset value may be 10 km / h. It can be seen that when the change in the vehicle speed of the vehicle is equal to or greater than 10 km / h, the length of the target light pattern is obtained according to Equation 1.

[0198] Optionally, in this embodiment, the light displayed on the ground by using the target light pattern may further have a specific flashing frequency, for which please refer to at least one of the following examples.

[0199] For example, there is a positive correlation between the vehicle speed and the blinking frequency. Specifically, the higher the vehicle speed, the higher the blinking frequency, and the lower the vehicle speed, the lower the blinking frequency. As another example, when the shape of the planned route changes, the light displayed on the ground by using the target light pattern will have a blinking frequency.

[0200] A change in the form of the driving path may be that the planned driving path of the vehicle indicates that the vehicle will switch from a straight-ahead state to a turning state, that the planned driving path of the vehicle indicates that the vehicle will switch from a turning state to a straight-ahead state, that the planned driving path of the vehicle indicates that the vehicle is heading toward an intersection, or that the planned driving path of the vehicle indicates that the dimensions of a lane boundary line will change (e.g., the width of a lane boundary line will change). As another example, the target light pattern of the vehicle is displayed on a crosswalk. As another example, an obstacle (e.g., a pedestrian or another vehicle) appears within the range of the target light pattern of the vehicle. As another example, there is a negative correlation between the blinking frequency of the vehicle and the ambient brightness. Specifically, a lower ambient brightness indicates a higher blinking frequency, and a higher ambient brightness indicates a lower blinking frequency.

[0201] Optionally, for the brightness of the target light pattern in this embodiment, please refer to at least one of the following examples.

[0202] For example, there is a positive correlation between the vehicle speed and the brightness of the light displayed on the ground by using the target light pattern. Specifically, a higher vehicle speed indicates a higher brightness, and a lower vehicle speed indicates a lower brightness. As another example, a greater degree of change in the shape of the planned travel route indicates a higher brightness, and a smaller degree of change in the shape of the planned travel route indicates a lower brightness. For example, the structure of the planned travel route has radians, and a larger radian indicates a higher brightness, and a smaller radian indicates a lower brightness. As another example, the brightness of the light emitted by the vehicle is matched to the ambient brightness to ensure that the driver can notice it without excessively irritating the driver's eyes. As another example, the brightness provided when the planned travel route changes is greater than the brightness provided when the planned travel route does not change. Specifically, the brightness provided when the planned travel route is always straight is less than the brightness of the light emitted by the vehicle lights when the planned travel route turns. As another example, the brightness of the light emitted by the vehicle lights when the vehicle's planned travel path indicates that the dimensions of the lane markings will change is greater than the brightness of the light emitted by the vehicle lights when the planned travel path indicates that the dimensions of the lane markings will not change. As another example, the brightness of the light emitted by the vehicle lights when the target light pattern is used to display the light on a pedestrian crossing is greater than the brightness of the light emitted by the vehicle lights when the target light pattern is used to display the light on a pedestrian crossing. As another example, the brightness of the light emitted by the vehicle lights when an obstacle (e.g., a pedestrian or another vehicle) appears within the range of the vehicle's target light pattern is greater than the brightness of the light emitted by the vehicle lights when no obstacle appears within the range of the vehicle's target light pattern.

[0203] Optionally, the target light pattern in this embodiment is further related to the distance between the vehicle and the preceding vehicle. The preceding vehicle is located directly in front of the vehicle or diagonally ahead. Referring to FIGS. 8c and 8d, an example is used in which the preceding vehicle is located directly in front of the vehicle. For example, as shown in FIG. 8c, the distance between vehicle 811 and preceding vehicle 812 is L1. In FIG. 8d, the distance between vehicle 811 and preceding vehicle 812 is L2, where L1 is smaller than L1. In this example, the target light pattern displayed by vehicle 811 is located on the path between vehicle 811 and preceding vehicle 812. Specifically, in the example shown in FIG. 8c, target light pattern 813 is located on the path between vehicle 811 and preceding vehicle 812. In the example shown in FIG. 8d, target light pattern 814 is located on the path between vehicle 811 and preceding vehicle 812.

[0204] In this embodiment, there is a positive correlation between the length of the target light pattern and the distance between the vehicle and the preceding vehicle. Specifically, the longer the distance between the vehicle and the preceding vehicle, the longer the length of the target light pattern. Comparing FIG. 8c and FIG. 8d, it can be seen that when the distance L2 between the vehicle 811 and the preceding vehicle 812 shown in FIG. 8d is greater than the distance L1 between the vehicle 811 and the preceding vehicle 812 shown in FIG. 8c, the length of the target light pattern 814 shown in FIG. 8d is greater than the length of the target light pattern 813 shown in FIG. 8c. It should be understood that when the distance between the vehicle and the preceding vehicle is sufficiently large, for example, when the distance is 150 m or more, the length of the target light pattern remains unchanged.

[0205] It should be noted that this embodiment is described using an example in which there is a positive correlation between the length of the target light pattern and the distance between the vehicle and the vehicle ahead. In another example, there may also be a negative correlation between the distance between the vehicle and the vehicle ahead and the brightness of the light displayed on the ground using the target light pattern. Specifically, the shorter the distance between the vehicle and the vehicle ahead, the higher the brightness, and the longer the distance between the vehicle and the vehicle ahead, the lower the brightness. In another example, there is a negative correlation between the distance between the vehicle and the vehicle ahead and the flashing frequency of the light displayed on the ground using the target light pattern. Specifically, the shorter the distance between the vehicle and the vehicle ahead, the higher the flashing frequency, and the longer the distance between the vehicle and the vehicle ahead, the lower the flashing frequency. Similarly, when the distance between the vehicle and the vehicle ahead is sufficiently large, for example, when the distance reaches 150 m or more, the brightness may remain unchanged, and the flashing frequency may also remain unchanged, or may not flash.

[0206] Step 206: If the vehicle determines that the target light pattern satisfies the recalibration condition, then return to execution of step 203.

[0207] Step 206 in this embodiment is an optional step. By performing step 206, the target light pattern to be displayed on the planned driving route by the vehicle can be calibrated. When the target light pattern is inaccurate, the vehicle needs to return to performing step 203 to recalibrate the target light pattern, i.e., to reacquire the target light pattern. When the target light pattern does not satisfy the recalibration condition, it indicates that the target light pattern is accurate, and the target light pattern does not need to be reacquired. In this case, when the vehicle travels to the aforementioned planned driving route, it can acquire the target light pattern that needs to be displayed on the next planned driving route.

[0208] To achieve the goal of determining by the vehicle whether the target light pattern satisfies the recalibration condition, the vehicle needs to perform the following specific processes.

[0209] First, the vehicle recaptures a calibrated image by using the vehicle's camera, the calibrated image including the determined intended travel path and a target light pattern displayed on the intended travel path.

[0210] The vehicle then determines whether the target light pattern satisfies the recalibration condition based on the calibrated image. Specifically, the vehicle determines that the target light pattern satisfies the recalibration condition when it determines that the calibrated image satisfies at least one of the following conditions:

[0211] The vehicle determines that the center line of the target light pattern deviates from the center line of the lane of the planned driving route; the boundary lines on both sides of the target light pattern deviate from the boundary lines on both sides of the lane boundary lines along the lateral direction of the planned driving route when the width of the target light pattern along the lateral direction of the planned driving route should be equal to the width of the lane boundary lines of the planned driving route; the turning direction of the target light pattern does not match the turning direction of the planned driving route when the turning direction of the target light pattern should match the turning direction of the planned driving route, etc.

[0212] It should be noted that in this embodiment, the description of the process in which the vehicle determines whether the target light pattern satisfies the recalibration condition based on the calibrated image is an optional example and is not limited as long as the vehicle can accurately determine whether the target light pattern can assist the driver in navigation based on the calibrated image and improve driving safety.

[0213] According to the method of this embodiment, it can be seen that the target light pattern of the beam displayed on the planned driving route and emitted by the vehicle can be consistent with the vehicle's navigation information in order to improve driving safety based on the target light pattern. Embodiment 2

[0214] In the first embodiment, the target light pattern is related to the navigation information, i.e., the target light pattern changes according to the navigation information. However, in the present embodiment, the target light pattern is related to the driving assistance information, i.e., the target light pattern changes according to the driving assistance information. Referring to Figure 9, a specific implementation process is shown. Figure 9 is a flowchart of the steps of a second embodiment of the vehicle light control method according to the present application.

[0215] Step 901: The vehicle determines that a trigger condition has been met.

[0216] For the execution process of step 901 in this embodiment, please refer to step 201 shown in embodiment 1. Details will not be described again.

[0217] Step 902: The vehicle acquires driving assistance information.

[0218] The driving assistance information in this embodiment is information related to performing autonomous driving. In this embodiment, the driving assistance information is information from the ADAS of the vehicle. For a specific description of the ADAS, please refer to the related description in FIG. 1. The details will not be described again.

[0219] Step 903: The vehicle acquires information about the planned route.

[0220] For a specific description of step 902 in this embodiment, please refer to step 203 shown in embodiment 1. Details will not be explained again.

[0221] Step 904: The vehicle acquires a target light pattern.

[0222] Step 905: A beam emitted by the vehicle is displayed on the intended route by using a target light pattern.

[0223] Steps 904 and 905 will be explained together below.

[0224] In this embodiment, after obtaining the driving assistance information and the information about the planned driving route, the vehicle may obtain a target light pattern corresponding to the driving assistance information and the information about the planned driving route. Specifically, the vehicle may obtain one or more first display attributes corresponding to the driving assistance information. Then, the vehicle obtains one or more second display attributes corresponding to the information about the planned driving route. The vehicle determines that a light pattern having both the first display attribute and the second display attribute is the target light pattern. For a description of the second display attribute, please refer to embodiment 1. Details will not be described again.

[0225] The vehicle emits a beam based on the target light pattern, and ensures that the beam emitted by the vehicle can be displayed on the planned driving route by using the target light pattern. For a description of how the target light pattern is displayed on the planned driving route in this embodiment, please refer to embodiment 1. Details will not be described again. The distance between the target light pattern displayed on the planned driving route and the vehicle is not limited as long as the driver in the vehicle can clearly see the target light pattern displayed in front of the vehicle. For example, the distance between the target light pattern and the vehicle may be 10 m.

[0226] The driving assistance information in this embodiment is a driving decision from the ADAS, and the vehicle can determine different first display attributes based on different driving decisions of the ADAS. Hereinafter, different first display attributes corresponding to different driving decisions of the ADAS will be described with reference to specific examples.

[0227] Example 1

[0228] The vehicle determines a correspondence between different driving decisions of the ADAS and different first display attributes based on the second driving list. In this example, the driving decision is used as an example that the driving intention of the vehicle. The driving intention shown in this example is the direction in which the vehicle intends to drive. For the second driving list shown in this example, please refer to Table 3 below. The correspondence between different driving intentions and different first display attributes is created in the second driving list shown in Table 3.

[0229] It should be noted that the description of the contents of the second driving list in this embodiment is an optional example and is not limited as long as the first display attribute of the light (which may also be referred to as a light carpet) displayed on the ground by using the target light pattern changes according to the driving intention determined by the ADAS. [Table 3]

[0230] It should be noted that the number of first display attributes corresponding to each driving intention is not limited in this embodiment. For example, as shown in Table 3, the driving intention "go straight" corresponds to one first display attribute (i.e., the light carpet is rectangular), and the driving intention "change lane" corresponds to two first display attributes (i.e., the light carpet has a flashing frequency and the brightness of the light carpet is increased), which is merely an example. In a specific application, if one driving intention corresponds to multiple first display attributes, the multiple first display attributes are superimposed on the light carpet corresponding to the driving intention.

[0231] For example, based on the second driving list shown in Table 3, when the ADAS indicates to the computer system of the vehicle that the driving decision of the ADAS is to change lanes, the computer system can see that, based on Table 3, the corresponding first display attributes are that the light carpet has a flashing frequency and that the brightness of the light carpet is increased. In the lane changing process of the vehicle, it can be seen that the light carpet will prompt surrounding vehicles or pedestrians that the vehicle is about to change lanes by using the first display attribute of the light carpet.

[0232] As another example, when the ADAS indicates to the vehicle's computer system that the driving decision of the ADAS is to turn based on the second driving list shown in Table 3, the computer system obtains, based on Table 3, the corresponding first display attribute that the light carpet is arc-shaped. The arc-shaped turning direction and radian can be specifically obtained based on the second display attribute. For a description of the process of how to determine the arc-shaped turning direction and radian of the light carpet based on the planned driving route, please refer to Embodiment 1. Details will not be described again. For better understanding, the following provides an explanation with reference to FIG. 10. FIG. 10 is a sixth exemplary diagram of application scenario comparison according to the present application. In the example shown in FIG. 10a, FIG. 10a is an exemplary diagram of lighting provided when a vehicle backs into a parking lot according to an existing solution. A vehicle 1001 shown in the existing solution is in an autonomous driving state and needs to turn to back into a parking lot. In a scenario where a person 1002 or another vehicle is present around the vehicle 1001, the person 1002 may not be able to determine the driving intention of the vehicle 1001, which may result in a dangerous situation.

[0233] For the method in this embodiment, please refer to Figure 10b. Figure 10b is an exemplary diagram of illumination provided by a light carpet when a vehicle backs into a parking lot according to the present application. The ADAS indicates that the driving intention is to turn right to back into the parking lot. The vehicle determines a second display attribute based on the first display attribute corresponding to the driving intention of turning (the light carpet being arc-shaped, as shown in Table 3) and based on the collected planned driving route, thereby displaying an arc-shaped light carpet 1004 on the planned driving route of the vehicle 1003. Based on the turning direction of the light carpet 1004, the person 1005 can accurately determine the driving intention of the vehicle 1003, thereby preventing the person 1005 from appearing in the area occupied by the light carpet 1004 and avoiding a possible safety-related accident between the person 1005 and the vehicle 1003.

[0234] Example 2

[0235] The vehicle determines a correspondence between different driving decisions of the ADAS and different first display attributes based on the third driving list. In this example, the driving decision is used as an example that the vehicle is in an emergency, and the emergency decision may be an emergency braking of the vehicle, an emergency avoidance, a vehicle malfunction, etc. For the third driving list shown in this example, see Table 4 below. The correspondence between different emergency decisions and different first display attributes is created in the third driving list shown in Table 4.

[0236] Please note that the description of the contents of the third driving list in this embodiment is an optional example and is not limited as long as the first display attribute of the light carpet changes according to each emergency decision made by the ADAS. [Table 4]

[0237] It should be noted that the number of first display attributes corresponding to each emergency decision is not limited in this embodiment. For example, as shown in Table 3, emergency avoidance corresponds to one first display attribute (i.e., the light carpet has a second flashing frequency), and emergency braking corresponds to three first display attributes (i.e., the light carpet has a first flashing frequency, the light carpet changes shape, and the light carpet has a first brightness), which is merely an example. In a specific application, if one emergency braking corresponds to multiple first display attributes, the multiple first display attributes are superimposed on the light carpet corresponding to the emergency decision.

[0238] The specific values ​​of the first and second flashing frequencies shown in Table 4 are not limited in this embodiment. For example, during the normal driving process of the vehicle (e.g., driving straight or turning), the light carpet does not have a flashing frequency. In the case of emergency braking or emergency avoidance of the vehicle, the light carpet has a flashing frequency.

[0239] There is no limitation on the specific brightness of the first brightness and the second brightness shown in Table 4. For example, both the first brightness and the second brightness may be greater than the brightness of the light carpet during normal driving of the vehicle.

[0240] The specific manner in which the shape of the light carpet shown in Table 4 changes is not limited in this embodiment, as long as the change in shape of the light carpet can alert pedestrians or other vehicles around the vehicle that the vehicle is currently in an "emergency braking" state. For example, the change in shape of the light carpet may be a shortening of the length of the light carpet, an increase in the width of the light carpet, or the like. This is not particularly limited.

[0241] For example, based on the third driving list shown in Table 4, when the ADAS indicates to the computer system of the vehicle that the emergency decision of the ADAS is to brake urgently, the computer system can see that, based on Table 4, the corresponding first display attributes are that the light carpet has a first flashing frequency, that the shape of the light carpet changes, and that the light carpet has a first brightness. In the process of emergency braking of the vehicle, the light carpet can be seen to use the above-mentioned first display attributes of the light carpet to prompt surrounding pedestrians or vehicles that the vehicle is about to brake urgently.

[0242] Example 3

[0243] The vehicle determines a correspondence between different driving decisions of the ADAS and different first display attributes based on the fourth driving list. In this example, the driving decisions are used as an example of vehicle driving prediction events, and the vehicle driving prediction events are predictions made by the ADAS for events that may occur on the vehicle. For example, the vehicle driving prediction events may be that the vehicle is in a safe state, that the vehicle is in a dangerous state, that is, that a safety-related accident may occur to the vehicle, etc. For the fourth driving list shown in this example, please refer to Table 5 below. The correspondence between different vehicle driving prediction events and different first display attributes is created in the fourth driving list shown in Table 5.

[0244] Please note that the description of the contents of the fourth driving list in this embodiment is an optional example and is not limited as long as the first display attribute of the light carpet changes according to each vehicle driving prediction event determined by the ADAS. [Table 5]

[0245] It should be noted that the number of first display attributes corresponding to each vehicle driving predicted event is not limited in this embodiment. For example, as shown in Table 5, it is merely an example that a predicted event that the vehicle is in a dangerous state corresponds to two first display attributes, and a predicted event that the vehicle is in a safe state corresponds to one first display attribute. In a specific application, if one vehicle driving predicted event corresponds to multiple first display attributes, the multiple first display attributes are superimposed on the light carpet corresponding to the vehicle driving predicted event.

[0246] The specific values ​​of the third brightness and the fourth brightness shown in Table 5 are not limited in this embodiment. In order to alert vehicles and pedestrians around the vehicle of the predicted event that the vehicle is about to enter a dangerous state, the fourth brightness of the light carpet when the vehicle is in a dangerous state is greater than the third brightness of the light carpet when the vehicle is in a safe state.

[0247] The specific value of the third flashing frequency is not limited in this embodiment. For example, during the normal driving process of the vehicle (for example, driving straight or turning), the light carpet has no flashing frequency. The light carpet has the third flashing frequency in the predicted event that the vehicle is in a dangerous state.

[0248] In this embodiment, the description of the specific types of the first display attributes corresponding to different vehicle driving prediction events is an optional example and is not limited thereto. For example, in another example, the vehicle driving prediction event may further correspond to the form, change method, etc. of the light carpet. This is not particularly limited.

[0249] For better understanding, the following description will be provided with reference to the example shown in Fig. 11. Fig. 11 is a seventh exemplary diagram of application scenario comparison according to the present application.

[0250] Specifically, FIG. 11a is an exemplary diagram of illumination provided when a vehicle is in a dangerous state according to an existing solution. A vehicle 1100 is about to travel toward an intersection. The ADAS of the vehicle 1100 determines that a target vehicle 1101 on the right side of the intersection is also about to enter the intersection. The ADAS of the vehicle 1100 determines whether the vehicle is in a safe state. A safe state means that the vehicle 1100 will not collide with the target vehicle 1101 when traveling to the intersection. Therefore, the ADAS of the vehicle 1100 determines that the vehicle 1100 is in a safe state based on the vehicle speed of the vehicle 1100, the vehicle speed of the target vehicle 1101, and the distance between the vehicle 1100 and the target vehicle 1101. As can be seen from Table 5, in this case, the light carpet of the vehicle 1100 has a third brightness. For the second display attribute of the light carpet, please refer to the description of the second display attribute shown in Embodiment 1. Details will not be described again. For example, in this example, there is a positive correlation between the length of the light carpet when the vehicle 1100 is in a safe state and the vehicle speed of the vehicle 1100, and the width of the light carpet matches the width of the lanes on the planned route.

[0251] The ADAS of the vehicle 1100 detects the vehicle speed of the vehicle 1100, the vehicle speed of the target vehicle 1101, and the distance between the vehicle 1100 and the target vehicle 1101 in real time.

[0252] 11a, when the vehicle 1100 continues to approach the intersection, if the ADAS of the vehicle 1100 obtains through detection that at least one of the vehicle 1100 and the target vehicle 1101 is in an accelerating state, the ADAS of the vehicle 1100 determines that the vehicle 1100 is in a dangerous state, that is, that the vehicle 1100 and the target vehicle 1101 may collide at the intersection, based on the vehicle speed of the vehicle 1100, the vehicle speed of the target vehicle 1101, and the distance between the vehicle 1100 and the target vehicle 1101. In this case, the vehicle 1100 may use the emergency braking determination shown in Example 2. However, the emergency braking may generate an alarm to the driver or pedestrians or vehicles around the vehicle 1100.

[0253] Therefore, in this example, in the case of a predicted event that the vehicle 1100 is about to enter a dangerous state, the light carpet can be used to alert the driver or pedestrians or vehicles around the vehicle. FIG. 11b is an exemplary diagram of illumination provided by the light carpet when the vehicle is in a dangerous state according to the present application. When the vehicle 1100 determines that the vehicle is in a dangerous state, the first display attribute of the light carpet displayed by the vehicle 1100 on the planned driving route is a fourth brightness and a third flashing frequency. For example, the fourth brightness is 10 lux (lx) higher than the third brightness. Based on the light carpet 1102 displayed on the planned driving route, the target vehicle can be made aware of the light carpet, and a case in which the vehicle 1100 collides with the target vehicle 1101 at an intersection can be avoided.

[0254] Step 906: If the vehicle determines that the light carpet meets the recalibration conditions, it returns to executing step 902.

[0255] For a detailed description of the execution process of step 905 in this embodiment, please refer to the description of the execution process of step 205 shown in embodiment 1. Details will not be described again.

[0256] The light carpet in this embodiment can match the driving assistance information with the planned driving route of the vehicle, and based on the light carpet, it can accurately recognize the driving intention of the vehicle, emergency decisions, predicted driving events of the vehicle, etc., thereby improving the safety of driving the vehicle. Embodiment 3

[0257] In embodiment 1, the function of the light carpet is to assist the driver in navigation. In embodiment 2, the function of the light carpet is to improve driving safety in the autonomous driving process. In this embodiment, the function of the light carpet is to accurately recognize a target object in front of the vehicle. In this embodiment, the process by which the beam emitted by the vehicle forms a target light pattern will be described with reference to FIG. 12. FIG. 12 is a flowchart of the steps of a third embodiment of the vehicle light control method according to the present application.

[0258] Step 1201: The vehicle determines that a trigger condition has been met.

[0259] Step 1202: The vehicle acquires navigation information.

[0260] For the execution process of step 1201 and step 1202 in this embodiment, please refer to step 201 and step 202 shown in embodiment 1. Details will not be described again.

[0261] Step 1203: The vehicle determines that the object to be recognized satisfies a preset condition.

[0262] For better understanding, a specific application scenario will be described below with reference to Fig. 13. Fig. 13 is an eighth exemplary diagram of application scenario comparison according to the present application.

[0263] FIG. 13a is an exemplary diagram of illumination provided for a target object to be recognized on a planned travel route according to an existing solution. When a vehicle 1300 travels at night, the vehicle has a limited vehicle light illumination range. For example, if a target object 1301 to be recognized is outside the illumination range of the low beam lights of the vehicle 1300, neither the driver of the vehicle 1300 nor the ADAS can accurately recognize the target object. For example, the ADAS of the vehicle recognizes that an unknown type of target object to be recognized exists ahead of the vehicle 1300 based on the vehicle's sensor system (e.g., an infrared imager or lidar mounted on the vehicle). The type of target object to be recognized may be an object that may affect the driving safety of the vehicle 1300, such as an obstacle, a pedestrian, etc. In this case, the vehicle's ambient brightness is very low, so the vehicle's camera cannot recognize the specific type of target object to be recognized.

[0264] As can be seen from the first embodiment, the navigation information is a series of plane coordinates for a vehicle to reach a navigation destination. The preset condition in this embodiment is that the ADAS determines that the plane coordinates of the object to be recognized are close to the series of plane coordinates included in the navigation information. It can be seen that when the object to be recognized satisfies the preset condition, a safety-related accident is likely to occur due to a collision with the object to be recognized during the process of the vehicle traveling based on the navigation information.

[0265] Step 1204: The vehicle acquires information about the planned route.

[0266] For the execution process of step 1204 in this embodiment, please refer to step 203 shown in embodiment 1. Details will not be described again.

[0267] Step 1205: The vehicle acquires a target light pattern.

[0268] Step 1206: The beam emitted by the vehicle is displayed on the planned driving route by using a target light pattern. In this embodiment of the present application, the light displayed on the ground by using the target light pattern may be called a light carpet.

[0269] Steps 1205 and 1206 will be explained together below.

[0270] For a description of the length, width, curvature direction, flashing frequency, brightness, etc. of the light carpet in this embodiment, please refer to the previous embodiment. This is not particularly limited in this embodiment. The condition satisfied by the light carpet in this embodiment is that the light carpet covers the plane coordinates of the object to be recognized. It can be seen that Figure 13b is an exemplary diagram of illumination provided by the light carpet to an object to be recognized that is located on a planned driving route according to the present application.

[0271] A light carpet 1302 displayed by a vehicle 1300 on a planned travel route covers at least a target area 1303, which is an area occupied by an object to be recognized. It can be seen that the light carpet 1302 can illuminate the target area 1303.

[0272] The target area 1303 in this embodiment may be located in the central area of ​​the light carpet 1302. It should be noted that the relative positional relationship between the light carpet 1303 and the light carpet 1302 is not limited in this embodiment, as long as the light carpet 1302 covers at least the target area 1303.

[0273] Step 1207: The vehicle captures an image to be recognized.

[0274] In this embodiment, when the vehicle's light carpet covers the target area, the light carpet can illuminate the object to be recognized located in the target area. The vehicle can then use the vehicle's camera to capture a clear image of the object to be recognized, including the light carpet, because the light carpet's brightness is sufficient.

[0275] Step 1208: The vehicle acquires the type of the object to be recognized based on the image of the object to be recognized.

[0276] The vehicle may recognize the type of the recognition target object included in the recognition target image based on an object recognition algorithm, an SFM algorithm, video tracking, AI, or the like. Specifically, the type of the recognition target object may be recognized as, for example, a pedestrian, a vehicle, or an obstacle, and optionally, specific dimensions of the recognition target object may be recognized. For example, if the recognition target object is a pedestrian, the vehicle may further recognize the height of the pedestrian based on the recognition target image. As another example, if the recognition target object is an obstacle, the vehicle may further recognize the dimensions of the obstacle based on the recognition target image.

[0277] Step 1209: The vehicle determines a driving decision based on the type of the recognized object.

[0278] In this embodiment, when the vehicle recognizes the type of the recognized object, the ADAS of the vehicle can determine a driving decision based on the type of the recognized object. For a specific description of the driving decision, please refer to embodiment 2. Details will not be described again. It can be seen that the vehicle performs vehicle avoidance of the recognized object on the planned driving route based on the driving decision made by the ADAS based on the type of the recognized object. Avoidance methods include, but are not limited to, turning, changing lanes, emergency braking, etc.

[0279] Optionally, once the vehicle recognizes the type of object to be recognized, the vehicle may alternatively prompt the driver by using voice or the like.

[0280] It should be noted that in this embodiment, an example in which the object to be recognized is located on a planned travel route is used for explanation. In another example, the object to be recognized may be located in any area around the vehicle. After the vehicle's ADAS obtains the planar coordinates of the object to be recognized through detection, a beam can be emitted based on the planar coordinates of the object to be recognized, ensuring that the light carpet formed by the beam can illuminate the object to be recognized. The vehicle can recognize a specific type of the illuminated object to be recognized.

[0281] According to the method of this embodiment, when a recognition target object exists on the planned driving route of the vehicle, the vehicle can illuminate the recognition target object by using a light carpet formed by the emitted beam, and the vehicle can recognize the illuminated recognition target object and recognize its specific type, so that the vehicle can make a corresponding driving decision, or the vehicle driver can drive the vehicle to achieve avoidance based on the illuminated recognition target object, etc., thereby improving the driving safety of the vehicle in the scenario where the recognition target object exists ahead of the vehicle. Embodiment 4

[0282] In the third embodiment, an example is used in which the object to be recognized is located on the planned driving route ahead of the vehicle. In this embodiment, the object to be recognized is located at any position around the vehicle. For example, the object to be recognized may be located directly in front of the vehicle, diagonally ahead of the vehicle, on the right side of the vehicle, on the left side of the vehicle, or behind the vehicle. The function of the light carpet in this embodiment is to accurately recognize the object to be recognized located around the vehicle. In this embodiment, the process by which the beam emitted by the vehicle forms the light carpet will be described with reference to FIG. 14. FIG. 14 is a flowchart of the steps of a fourth embodiment of the vehicle light control method according to the present application.

[0283] Step 1401: The vehicle determines that a trigger condition has been met.

[0284] Step 1402: The vehicle acquires driving information.

[0285] The driving information in this embodiment may be the navigation information or vehicle data shown in embodiment 1, or may be the driving assistance information shown in embodiment 2. For a specific description, please refer to embodiment 1 or embodiment 2. Details will not be described again.

[0286] Step 1403: The vehicle acquires information about the planned route.

[0287] Step 1404: The vehicle acquires a first light pattern.

[0288] Step 1405: A first beam emitted by the vehicle is displayed on the intended driving route by using a first light pattern.

[0289] The vehicle in this embodiment acquires a first light pattern by performing steps 1401 to 1405. For a description of the process of determining the first light pattern, please refer to the description of the process of acquiring the light carpet shown in embodiment 1 or embodiment 2. Details will not be described again.

[0290] Step 1406: The vehicle acquires the plane coordinates of the object to be recognized.

[0291] For better understanding, the following provides an explanation with reference to the application scenarios shown in Fig. 15. Fig. 15 is a ninth exemplary diagram of the application scenario comparison according to the present application.

[0292] 15a is an exemplary diagram of illumination provided for a recognition target object present in front of a vehicle according to an existing solution. When a vehicle 1500 is traveling at night, the vehicle has a limited vehicle light illumination range. For example, if a recognition target object 1501 is present outside the illumination range of the low beam light of the vehicle 1500, neither the driver of the vehicle 1500 nor the ADAS can accurately recognize the recognition target object 1501.

[0293] 15b is an exemplary diagram of illumination provided by a light carpet to an object to be recognized that is located in front of a vehicle according to the present application. The vehicle 1500 displays a first light pattern 1502 on a planned driving route. However, the first light pattern 1502 has a limited illumination range. For example, if the object to be recognized 1501 is located outside the illumination range of the first light pattern 1502, neither the driver of the vehicle 1500 nor the ADAS can accurately recognize the object to be recognized 1501.

[0294] It can be seen that the ADAS of the vehicle recognizes, based on the vehicle's sensor system (for example, an infrared imaging device or a lidar mounted on the vehicle), that an unknown type of object to be recognized 1501 exists ahead of the vehicle 1500. The type of object to be recognized 1501 may be an object that may affect the driving safety of the vehicle 1500, such as an obstacle, a pedestrian, etc. In this case, the ambient brightness of the vehicle is very low, so the vehicle's camera cannot recognize the object to be recognized 1501. Therefore, the ADAS of the vehicle in this embodiment acquires the planar coordinates of the object to be recognized 1501.

[0295] Step 1407: The vehicle acquires a second light pattern.

[0296] Step 1408: A second beam emitted by the vehicle is displayed around the vehicle by using a second light pattern.

[0297] For a description of the length, width, curvature direction, flashing frequency, brightness, etc. of the second light pattern in this embodiment, please refer to the description of the light carpet in the previous embodiment. This is not particularly limited in this embodiment. The condition satisfied by the second light pattern in this embodiment is that the second light pattern covers the plane coordinates of the object to be recognized. As shown in FIG. 15b, it can be seen that the second light pattern 1503 displayed by the vehicle 1500 covers at least the target area, and the target area is the area occupied by the object to be recognized. It can be seen that the second light pattern 1503 can illuminate the target area.

[0298] The target area in this embodiment may be located in the central area of ​​the second light pattern 1503. It should be noted that the relative positional relationship between the target area and the second light pattern 1503 is not limited in this embodiment, as long as the second light pattern 1503 covers at least the target area.

[0299] In this embodiment, the light carpet displayed by the vehicle includes a first light pattern for illuminating the planned driving route and a second light pattern for illuminating the object to be recognized. Specifically, the light carpet in this embodiment includes the first light pattern and the second light pattern that overlap each other.

[0300] Step 1409: The vehicle captures an image to be recognized.

[0301] Step 1410: The vehicle acquires the type of the object to be recognized based on the image of the object to be recognized.

[0302] Step 1411: The vehicle determines a driving decision based on the type of the recognized object.

[0303] For the specific execution process of steps 1409 to 1411 in this embodiment, please refer to the description of the execution process of steps 1207 and 1208 shown in embodiment 3. Details will not be explained again. Embodiment 5

[0304] This embodiment provides a lighting system. The beam emitted by the lighting system can display a light carpet on the planned driving route. For a detailed description of the light carpet, please refer to any one of the above-mentioned embodiments 1 to 4. This is not particularly limited in this embodiment.

[0305] FIG. 16 is an exemplary diagram of the structure of an embodiment of a lighting system according to the present application.

[0306] The lighting system 1600 of this embodiment includes a vehicle light module 1601 and a control unit 1602 connected to the vehicle light module 1601 .

[0307] The control unit 1602 is configured to acquire driving information, the driving information including navigation information and / or driving assistance information. The control unit 1602 is further configured to acquire information related to a planned driving route. The control unit 1602 is further configured to acquire a target light pattern corresponding to the driving information and the information related to the planned driving route.

[0308] The vehicle light module 1601 is configured to emit a beam, which is displayed on the intended route by using a target light pattern.

[0309] Below, some optional examples of specific locations of the lighting system 1600 in the vehicle in this embodiment are described.

[0310] 1 is used as an example. An independent vehicle light module 150 is disposed in front of the vehicle 100, and the independently disposed vehicle light module is configured to emit only a beam having a target light pattern. The vehicle light module 150 includes a vehicle light module 1601 and a control unit 1602 connected to the vehicle light module 1601.

[0311] Example 2: An independent vehicle light module 150 is disposed in front of the vehicle 100, and the independently disposed vehicle light module is configured to emit only a beam having a target light pattern. The vehicle light module 150 includes a vehicle light module 1601, and the vehicle's computer system 140 includes a control unit 1602.

[0312] Example 3: The vehicle has a left headlight, and the left headlight includes a vehicle light module 1601 and a control unit 1602 connected to the vehicle light module 1601, or the left headlight includes a vehicle light module 1601 and the vehicle's computer system 140 includes a control unit 1602.

[0313] Example 4: The vehicle has a right-side headlight, and the right-side headlight includes a vehicle light module 1601 and a control unit 1602 connected to the vehicle light module 1601, or the right-side headlight includes a vehicle light module 1601 and the vehicle's computer system 140 includes a control unit 1602.

[0314] Example 5: The vehicle light module 1601 shown in this example includes a first sub-vehicle light module and a second sub-vehicle light module. The first sub-vehicle light module emits a first sub-beam, and the second sub-vehicle light module emits a second sub-beam. The target light pattern shown in this example includes a light pattern displayed by the first sub-beam on the planned driving route and a light pattern displayed by the second sub-beam on the planned driving route. The first sub-vehicle light module is located inside the right headlight, and the second sub-vehicle light module is located inside the left headlight.

[0315] Optionally, the control unit 1602 is located in the computer system 140, the control unit 1602 is located in the right headlight, the control unit 1602 is located in the left headlight, or the control unit 1602 includes a first sub-control unit and a second sub-control unit, the first sub-control unit and the second sub-control unit being located in any two of the right headlight, the left headlight, or the computer system 140 of the vehicle, respectively.

[0316] Optionally, the vehicle light module 1601 includes a first sub-vehicle light module and a second sub-vehicle light module located in the left fog light and the right fog light of the vehicle, respectively. For specific descriptions, please refer to Example 5. Details will not be described again.

[0317] The present application further includes a vehicle, the vehicle including the lighting system shown in FIG.

[0318] The above embodiments do not limit the present invention, but are merely intended to describe the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the above embodiments, or equivalent substitutions can be made to some technical features thereof. Such modifications and substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle light control, comprising: acquiring driving information, the driving information including at least one of navigation information, driving assistance information, and vehicle data; acquiring information about a planned driving route; displaying a first beam emitted by the vehicle on a planned driving route using a first light pattern, the first light pattern corresponding to the driving information and information related to the planned driving route; acquiring a recognition target object; displaying a second beam emitted by the vehicle on a target area using a second light pattern, the target area being an area occupied by an object to be recognized, the target area being located around the vehicle; A method comprising:

2. The method further comprises: a step of controlling the brightness value of the second light pattern displayed on the ground to increase based on the fact that the distance value between the vehicle and the object to be recognized is equal to or less than a first value; The method of claim 1 , comprising:

3. The method further comprises: controlling the second light pattern to flash at a first frequency on the ground based on the distance value between the vehicle and the object to be recognized being equal to or less than a second value; The method of claim 1 , comprising:

4. The method further comprises: controlling the second light pattern to flash at a second frequency on the ground based on the distance value between the vehicle and the object to be recognized being equal to or less than a third value, wherein the third value is smaller than the second value and the second frequency is greater than the first frequency; The method of claim 3, comprising:

5. The method further comprises: obtaining a first light pattern corresponding to the driving information and the information regarding the planned driving route; The step of acquiring a first light pattern corresponding to the driving information and the information regarding the planned driving route includes: obtaining at least one first display attribute, the at least one first display attribute corresponding to the driving information; obtaining at least one second display attribute, the at least one second display attribute corresponding to the information about the planned driving route; determining that a light pattern having the at least one first display attribute and the at least one second display attribute is the first light pattern; The method of claim 1 , comprising:

6. The step of obtaining at least one first display attribute comprises: Obtaining a driving list, the driving list including a correspondence between different driving information and different display attributes; obtaining the at least one first display attribute, the at least one first display attribute being a display attribute in the driving list and corresponding to the driving information; The method of claim 5 , comprising:

7. the width of the first light pattern is equal to the width of the vehicle; and / or The length of the first light pattern is equal to or greater than the length of the vehicle. The method of claim 1.

8. the first light pattern corresponds to the shape of the intended route; and / or The width of the first light pattern is equal to or greater than the width of the planned travel route. The method of claim 1.

9. the driving information is a driving decision from an advanced driver assistance system (ADAS) of the vehicle; and the first light pattern corresponds to the type of driving decision; The method of claim 1.

10. The driving information is a vehicle speed of the vehicle, and There is a positive correlation between the vehicle speed of the vehicle and at least one of a length of the first light pattern, a flashing frequency of the light displayed on the ground by using the first light pattern, or a brightness of the light displayed on the ground by using the first light pattern. The method of claim 1.

11. The driving information is the brightness of the environment in which the vehicle is located. The method of claim 1.

12. a distance between a center line of the planned travel route and a center line of the first light pattern is equal to or shorter than a first distance; The method of claim 1.

13. a distance between a boundary line of the first light pattern and a lane boundary line of the planned driving route along a lateral direction of the planned driving route is equal to or less than a second distance; The method of claim 1.

14. Prior to the step of obtaining driving information, the method further comprises: determining that a trigger condition is met; and the trigger condition further comprises: at least one of: a command to display the first light pattern is obtained; a vehicle speed is equal to or greater than a first preset value; an ambient brightness is equal to or less than a second preset value; a change in the vehicle speed is equal to or greater than a third preset value; a change in the ambient brightness is equal to or greater than a fourth preset value; or a change in the shape of the planned travel route. The method of claim 1.

15. The method further comprises: acquiring a recognition target image, the recognition target image including the recognition target object illuminated by the second light pattern; acquiring type information of the object to be recognized based on the image to be recognized; The method of claim 1 , comprising:

16. The first light pattern indicates first shape information and / or a first size value of the first beam displayed on the planned travel route, and the second light pattern indicates second shape information and / or second size value of the second beam in the target area; The method of claim 1.

17. a first illumination area of ​​the first light pattern that is different from a second illumination area of ​​the second light pattern; The method of claim 1.

18. the object to be recognized is located outside a third illumination range of the headlights of the vehicle and outside a first illumination range of the first light pattern; The method of claim 1.

19. The vehicle is in operation. The method of claim 1.

20. 1. A lighting system comprising: the lighting system comprises a vehicle light module and a control unit; the control unit is connected to the vehicle light module; The control unit Acquire driving information, the driving information including at least one of navigation information, driving assistance information, and vehicle data; Obtain information about the planned route, Displaying a first beam emitted by the vehicle on a planned driving route using a first light pattern, the first light pattern corresponding to the driving information and the information related to the planned driving route; Acquire the object to be recognized, displaying a second beam emitted by the vehicle on a target area using a second light pattern, the target area being an area occupied by an object to be recognized, the target area being located around the vehicle; It is configured as follows: Lighting system.

21. The control unit further comprises: controlling the brightness value of the second light pattern displayed on the ground to be increased based on the fact that the distance value between the vehicle and the object to be recognized is equal to or less than a first value; 21. The lighting system of claim 20, configured as follows:

22. The control unit further comprises: controlling the second light pattern to flash on the ground at a first frequency based on the distance between the vehicle and the object to be recognized being equal to or less than a second value; 21. The lighting system of claim 20, configured as follows:

23. The control unit further comprises: and controlling the second light pattern to flash on the ground at a second frequency based on the fact that the distance between the vehicle and the object to be recognized is equal to or less than a third value; the third value is less than the second value, and the second frequency is greater than the first frequency; 21. The lighting system of claim 20.

24. The control unit further comprises: obtaining a first light pattern corresponding to the driving information and the information regarding the planned driving route; It is structured as follows: Obtaining a first light pattern corresponding to the driving information and the information regarding the planned driving route includes: Obtain at least one first display attribute, the at least one first display attribute corresponding to the driving information; acquiring at least one second display attribute, the at least one second display attribute corresponding to the information regarding the planned driving route; determining that a light pattern having the at least one first display attribute and the at least one second display attribute is the first light pattern; Including, 21. The lighting system of claim 20.

25. the width of the first light pattern is equal to the width of the vehicle; and / or The length of the first light pattern is equal to or greater than the length of the vehicle.

21. The lighting system of claim 20.

26. the first light pattern corresponds to the shape of the intended route; and / or The width of the first light pattern is equal to or greater than the width of the planned travel route.

21. The lighting system of claim 20.

27. the driving information is a driving decision from an advanced driver assistance system (ADAS) of the vehicle; and the first light pattern corresponds to the type of driving decision; 21. The lighting system of claim 20.

28. The driving information is a vehicle speed of the vehicle, and There is a positive correlation between the vehicle speed of the vehicle and at least one of a length of the first light pattern, a flashing frequency of the light displayed on the ground by using the first light pattern, or a brightness of the light displayed on the ground by using the first light pattern.

21. The lighting system of claim 20.

29. The driving information is the brightness of the environment in which the vehicle is located.

21. The lighting system of claim 20.

30. The control unit further comprises: determining that a trigger condition is met; The trigger condition is: at least one of: a command to display the first light pattern is obtained; a vehicle speed is equal to or greater than a first preset value; an ambient brightness is equal to or less than a second preset value; a change in the vehicle speed is equal to or greater than a third preset value; a change in the ambient brightness is equal to or greater than a fourth preset value; or a change in the shape of the planned travel route.

21. The lighting system of claim 20.

31. The control unit further comprises: acquiring a recognition target image, the recognition target image including the recognition target object illuminated by the second light pattern; acquiring type information of the object to be recognized based on the recognition target image; 21. The lighting system of claim 20, configured as follows:

32. The first light pattern indicates first shape information and / or a first size value of the first beam displayed on the planned travel route, and the second light pattern indicates second shape information and / or second size value of the second beam in the target area; 21. The lighting system of claim 20.

33. a first illumination area of ​​the first light pattern that is different from a second illumination area of ​​the second light pattern; 21. The lighting system of claim 20.

34. the object to be recognized is located outside a third illumination range of the headlights of the vehicle and outside a first illumination range of the first light pattern; 21. The lighting system of claim 20.

35. The vehicle is in operation.

21. The lighting system of claim 20.

36. A vehicle comprising a lighting system according to any one of claims 20 to 35.

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