CN117656986A - Car lamp control method, device and equipment based on barrier and storage medium - Google Patents
Car lamp control method, device and equipment based on barrier and storage medium Download PDFInfo
- Publication number
- CN117656986A CN117656986A CN202410129756.XA CN202410129756A CN117656986A CN 117656986 A CN117656986 A CN 117656986A CN 202410129756 A CN202410129756 A CN 202410129756A CN 117656986 A CN117656986 A CN 117656986A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- distance
- obstacle
- road section
- included angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000004888 barrier function Effects 0.000 title abstract description 6
- 238000005286 illumination Methods 0.000 claims description 20
- 230000035484 reaction time Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 9
- 230000001154 acute effect Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000013507 mapping Methods 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 11
- 230000008901 benefit Effects 0.000 description 6
- 230000007704 transition Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000802 evaporation-induced self-assembly Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
Landscapes
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The application discloses a car light control method, device, equipment and storage medium based on barriers, and relates to the technical field of vehicles, wherein the method comprises the following steps: acquiring the residual length of a slope road section driven by a vehicle, the driving speed of the vehicle, the moving speed of an obstacle positioned on a plane road section and the reference distance from the obstacle to the junction of the slope road section and the plane road section; determining a distance threshold according to the running speed, the moving speed and the braking distance; and if the sum of the residual length and the reference distance is equal to the distance threshold value, adjusting the lamp irradiation height of the vehicle. The method can improve the running safety of the vehicle.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a vehicle lamp control method, device and equipment based on barriers and a storage medium.
Background
Vehicle lamps are generally classified into low beam lamps and high beam lamps. The irradiation distance of the dipped headlight is shorter, and the dipped headlight is suitable for roads with better illumination conditions, such as urban roads with street lamps; the irradiation distance of the high beam is longer, and the high beam is suitable for roads with poor illumination conditions, such as highways without street lamps.
In the case where the vehicle travels on a slope road (e.g., a downhill road, an underground garage entrance road), the planar road segment connected to the slope road segment tends to be in a dark area (i.e., an area that cannot be illuminated) of the low beam.
It can be seen that the safety during the running of the vehicle is poor due to the possible presence of obstacles in the dark space.
Disclosure of Invention
The application provides a vehicle lamp control method, device, equipment and storage medium based on an obstacle, which can improve the safety of vehicle running.
In order to achieve the above purpose, the present application adopts the following technical scheme:
in a first aspect, the present application provides a vehicle lamp control method based on an obstacle, the method comprising:
acquiring the residual length of a slope road section driven by a vehicle, the driving speed of the vehicle, the moving speed of an obstacle positioned on a plane road section and the reference distance from the obstacle to the junction of the slope road section and the plane road section;
determining a distance threshold according to the running speed, the moving speed and the braking distance;
and if the sum of the residual length and the reference distance is equal to the distance threshold value, adjusting the lamp irradiation height of the vehicle.
In some possible implementations, the obstacle moves in a direction of the vehicle, and the determining a distance threshold according to the running speed, the moving speed, and a braking distance includes:
wherein,for distance threshold value, ++>For the reaction time of the driver, +.>Driving speed of the i-th section representing driving of the vehicle,/->Movement speed of the ith segment representing movement of the obstacle,/->For braking distance, n is the total number of segments.
In some possible implementations, the obstacle moves away from the vehicle and the travel speed is greater than the travel speed, the determining a distance threshold based on the travel speed, and a braking distance includes:
wherein,for distance threshold value, ++>For the reaction time of the driver, +.>Driving speed of the i-th section representing driving of the vehicle,/->Movement speed of the ith segment representing movement of the obstacle,/->For braking distance, n is the total number of segments.
In some possible implementations, the reference distance is obtained by:
acquiring a first included angle between an inclined plane of the slope road section and a plane of the plane road section, a third included angle between a connecting line direction of the obstacle and the vehicle and the plane road section, and a second distance between the vehicle and the obstacle, wherein the first included angle and the third included angle are acute angles;
and calculating the reference distance according to the first included angle, the third included angle, the second distance and the residual length.
In some possible implementations, the calculating the reference distance according to the first angle, the third angle, the second distance, and the remaining length includes:
wherein,for the reference distance, +.>For said second distance,/>For the third angle,>for the remaining length, < >>Is the first included angle.
In some possible implementations, the adjusting the lamp lighting height of the vehicle includes:
determining a second irradiation height according to the reference distance, the first included angle and the third included angle;
calculating a height difference value between the second irradiation height and a first irradiation height, wherein the first irradiation height is the irradiation height corresponding to the current position of the vehicle;
determining a target angle corresponding to the height difference value according to a second mapping relation between the preset difference value and the angle;
and according to the target angle, the lamp irradiation height of the vehicle is adjusted to be higher.
In some possible implementations, the method further includes:
if the sum of the residual length and the reference distance is larger than the distance threshold value, prompting a driver whether to increase the car light irradiation height;
if the driver chooses to raise the lamp height, the lamp height of the vehicle is raised.
In some possible implementations, the method further includes:
and if the residual length is smaller than a preset length threshold value, recovering the car light irradiation height of the car to be a preset value.
In a second aspect, the present application provides an obstacle-based vehicle lamp control device, the device comprising:
an acquisition unit configured to acquire a remaining length of a slope road section on which a vehicle travels, a traveling speed of the vehicle, a moving speed of an obstacle located on a plane road section, and a reference distance from the obstacle to a junction of the slope road section and the plane road section;
a calculation unit for determining a distance threshold according to the travel speed, the movement speed and the braking distance;
and the control unit is used for adjusting the car light irradiation height of the vehicle if the sum of the residual length and the reference distance is equal to the distance threshold value.
In some possible implementations, the obstacle moves in the direction of the vehicle, and the calculating unit is specifically configured to determine the distance threshold by the following formula:
wherein,for distance threshold value, ++>For the reaction time of the driver, +.>Driving speed of the i-th section representing driving of the vehicle,/->Movement speed of the ith segment representing movement of the obstacle,/->For braking distance, n is the total number of segments.
In some possible implementations, the obstacle moves away from the vehicle and the travel speed is greater than the movement speed, the calculation unit is specifically configured to determine the distance threshold by the following formula:
wherein,for distance threshold value, ++>For the reaction time of the driver, +.>Driving speed of the i-th section representing driving of the vehicle,/->Movement speed of the ith segment representing movement of the obstacle,/->For braking distance, n is the total number of segments.
In some possible implementations, the acquiring unit is specifically configured to acquire a first included angle between an inclined plane of the slope road section and a plane of the plane road section, a third included angle between a connecting line direction of the obstacle and the vehicle and the plane road section, and a second distance between the vehicle and the obstacle, where the first included angle and the third included angle are acute angles; and calculating the reference distance according to the first included angle, the third included angle, the second distance and the residual length.
In some possible implementations, the obtaining unit is specifically configured to calculate the reference distance by the following formula:
wherein,for the reference distance, +.>For said second distance,/>For the third angle,>for the remaining length, < >>Is the first included angle.
In some possible implementations, the control unit is specifically configured to determine a second illumination height according to the reference distance, the first included angle, and the third included angle; calculating a height difference value between the second irradiation height and a first irradiation height, wherein the first irradiation height is the irradiation height corresponding to the current position of the vehicle; determining a target angle corresponding to the height difference value according to a second mapping relation between the preset difference value and the angle; and according to the target angle, the lamp irradiation height of the vehicle is adjusted to be higher.
In some possible implementations, the control unit is further configured to prompt a driver whether to raise the vehicle lamp illumination height if the sum of the remaining length and the reference distance is greater than the distance threshold; if the driver chooses to raise the lamp height, the lamp height of the vehicle is raised.
In some possible implementations, the control unit is further configured to restore the lamp illumination height of the vehicle to a preset value if the remaining length is less than a preset length threshold.
In a third aspect, the present application provides a computing device comprising a memory and a processor;
wherein one or more computer programs are stored in the memory, the one or more computer programs comprising instructions; the instructions, when executed by the processor, cause the computing device to perform the method of any of the first aspects.
In a fourth aspect, the present application provides a computer readable storage medium for storing a computer program for performing the method of any one of the first aspects.
According to the technical scheme, the application has at least the following beneficial effects:
the application provides a car lamp control method based on an obstacle, which comprises the following steps: the method comprises the steps of obtaining the residual length of a slope road section on which a vehicle runs, the running speed of the vehicle, the moving speed of an obstacle positioned on a plane road section, and the reference distance from the obstacle to the junction of the slope road section and the plane road section, calculating a distance threshold according to the running speed of the vehicle, the moving speed of the obstacle and the braking distance, and if the sum of the residual length of the slope road section and the reference distance is equal to the distance threshold, indicating that the vehicle has a risk of colliding with the obstacle, if the obstacle is positioned in a dark area at the moment, a driver can hardly observe obstacle information, and further, the safe driving is influenced, and at the moment, the vehicle lamp irradiation height of the vehicle is increased, so that the obstacle is changed from the dark area to a bright area, and then the driver can observe the obstacle, and further, the driving safety is improved to a certain extent.
It should be appreciated that the description of technical features, aspects, benefits or similar language in this application does not imply that all of the features and advantages may be realized with any single embodiment. Conversely, it should be understood that the description of features or advantages is intended to include, in at least one embodiment, the particular features, aspects, or advantages. Therefore, the description of technical features, technical solutions or advantageous effects in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and advantageous effects described in the present embodiment may also be combined in any appropriate manner. Those of skill in the art will appreciate that an embodiment may be implemented without one or more particular features, aspects, or benefits of a particular embodiment. In other embodiments, additional features and advantages may be recognized in certain embodiments that may not be present in all embodiments.
Drawings
Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;
fig. 2 is a flowchart of a vehicle lamp control method based on an obstacle according to an embodiment of the present application;
fig. 3 is a schematic diagram of still another application scenario provided in an embodiment of the present application;
fig. 4 is a schematic diagram of still another application scenario provided in an embodiment of the present application;
FIG. 5 is a schematic diagram of various light patterns according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an eugenotyped form according to an embodiment of the present application;
fig. 7 is a schematic diagram of a vehicle lamp control device based on an obstacle according to an embodiment of the present application;
fig. 8 is a schematic diagram of a computing device according to an embodiment of the present application.
Detailed Description
The terms "first," "second," and "third," and the like, in the description and in the drawings, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
In the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as examples, illustrations, or descriptions. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
For clarity and conciseness in the description of the following embodiments, a brief description of the related art will be given first:
a bright zone (bright zone) refers to a bright area illuminated by a vehicle headlamp, typically a region closer to the head of the vehicle, which provides sufficient illumination so that a driver can clearly see obstacles, signs, other vehicles or pedestrians on a road, etc. The bright areas are typically located on the front of the vehicle and are sometimes specifically designed based on the specific needs of the particular vehicle.
Dark zone refers to a relatively far or relatively non-bright area that is illuminated by the vehicle's head lamp, typically a region that is far from the vehicle. In dark areas, the visibility is relatively poor and the illumination is insufficient to clearly identify objects or details on the road. And the driver is less likely to perceive obstacles in dark areas, road conditions, and the like.
Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application. In this application scenario, the vehicle 101 is traveling on a slope road, and when the vehicle 101 turns on the head lamp, the bright area 102 and the dark area 103 are obtained under the irradiation of the head lamp.
As can be seen from the figure, due to the dark space 103, it is difficult for the driver to clearly observe the road condition of the dark space 103 while driving the vehicle 101 down a slope, and thus the safety of the vehicle is poor, especially when there is a moving obstacle in the dark space.
In view of this, the embodiments of the present application provide a vehicle lamp control method based on an obstacle, which may be applied to a vehicle, a controller of the vehicle, a lamp controller, and the like, and it should be noted that the present application does not specifically limit the execution subject of the method. In order to facilitate understanding, a vehicle lamp control method based on an obstacle provided in an embodiment of the present application is described below in terms of a vehicle. Specifically, the method comprises the following steps:
acquiring the residual length of a slope road section driven by a vehicle, the driving speed of the vehicle, the moving speed of an obstacle positioned on a plane road section, and the reference distance of the obstacle reaching the junction of the slope road section and the plane road section, and then determining a distance threshold according to the driving speed, the moving speed and the braking distance; if the sum of the remaining length and the reference distance is equal to the distance threshold value, the risk of collision between the vehicle and the obstacle is indicated, if the obstacle is in a dark area at the moment, the driver can hardly observe the obstacle information and further influence safe driving, and the vehicle lamp irradiation height of the vehicle is adjusted to be high at the moment, so that the obstacle is changed from the dark area to a bright area, and then the driver can observe the obstacle, and the driving safety is improved to a certain extent.
In order to make the technical scheme of the application clearer and easier to understand, the technical scheme provided by the embodiment of the application is described with the angle of the vehicle and with reference to the attached drawings. As shown in fig. 2, the present disclosure provides a flow chart of a vehicle lamp control method based on an obstacle, where the method includes:
s201, the vehicle obtains the remaining length of the slope road section on which the vehicle is traveling, the traveling speed of the vehicle, the moving speed of the obstacle on the plane road section, and the reference distance from the obstacle to the junction of the slope road section and the plane road section.
The slope road section is a road section with the gradient larger than a preset gradient threshold value, the vehicle head can sink in the running process of the vehicle, and the gradient of the slope road section is determined through the sinking angle of the vehicle head. The vehicle can detect the vehicle body posture through a gyroscope sensor of the vehicle, when the vehicle body posture represents that the vehicle head starts sinking, the vehicle starts to record the time-dependent change data of the sinking angle of the vehicle in the running process of the road section, and the sinking angle can be the gradient of the road section. And if the sinking angle in the road section information is gradually increased and is larger than the preset gradient threshold value, then the numerical value of the sinking angle after being increased is unchanged along with the time, and the vehicle is determined to be in the slope road section.
For example, the sinking angle of the vehicle gradually increases from 0 degrees to 20 degrees (the vehicle gradually enters the slope road section with the change of the angle), and then remains unchanged by 20 degrees, and then the vehicle is characterized as being on the slope road section, such as the vehicle completely enters the slope road section, wherein the preset inclination threshold value may be 5 degrees, and in some examples, the preset inclination threshold value may be manually set at the time of delivery, and the vehicle judges that the current road section is the slope road section when the sinking angle of the vehicle is equal to or larger than the preset inclination threshold value.
In the case where the road section information of the road section on which the vehicle travels characterizes that the vehicle is at the slope road section, the vehicle acquires the remaining length of the slope road section.
In some embodiments, the vehicle may collect the distance of the vehicle from the end point of the slope road section, i.e., the above-described remaining length, through a distance sensor (e.g., an infrared sensor). Of course, in other embodiments, the remaining length may be obtained by other types of sensors.
The vehicle can also acquire the running speed of the vehicle, and can also detect the moving speed of the obstacle on the plane road section and the reference distance from the obstacle to the junction of the slope road section and the plane road section through the related sensor.
The following describes how to determine the reference distance, as shown in fig. 3, which is a schematic diagram of still another application scenario provided in the embodiment of the present application.
In some examples, the vehicle 101 may obtain a first angle of the incline road segment to the plane of the plane road segmentA third angle +.f between the direction of the link between the obstacle 104 and the vehicle 101 and the plane section>Second distance of vehicle 101 from obstacle 104 ∈ ->Wherein the first included angle->And a third included angle->Are all acute angles, and then are based on the first included angle +.>Third included angle->Second distance->And residual length->The reference distance is calculated. Specifically, the reference distance +.Can be calculated by the following formula>：
Wherein,for reference distance->For a second distance, +>Is a third included angle->For the remaining length->Is a first included angle.
The first included angleAnd a third included angle->Can be detected by a related sensor, the first included angle +.>And a third included angle->See fig. 3 for an illustration.
It should be noted that the planar road section defined in the embodiment of the present application may be a horizontal road section.
S202, determining a distance threshold value according to the running speed, the moving speed and the braking distance of the vehicle.
Since the obstacle is in a moving state, the following description will be made in different cases.
First kind: the obstacle moves in the direction of the vehicle.
The vehicle may determine the distance threshold by the following formula:
wherein,for distance threshold value, ++>For the reaction time of the driver, +.>Driving speed of the i-th section representing driving of the vehicle,/->Movement speed of the ith segment representing movement of the obstacle,/->For braking distance, n is the total number of segments. Wherein, the sum of the residual length and the reference distance can be divided into a plurality of segments, and one segment can be 1 meter or 10 meters. This application is not limited thereto.
In the process that the vehicle and the obstacle approach each other, since the obstacle may be in a dark area, the driver cannot observe the obstacle in the dark area, in which case a relatively safe distance, i.e., a distance threshold, may be determined based on the moving speed of the obstacle, the traveling speed of the vehicle, the braking distance of the vehicle, and the reaction time of the driver. The reaction time can be preset, and the braking distance can be obtained through multiple braking tests.
Second kind: the obstacle moves away from the vehicle, and the traveling speed of the vehicle is greater than the moving speed of the obstacle.
The vehicle may determine the distance threshold by the following formula:
wherein,for distance threshold value, ++>For the reaction time of the driver, +.>Driving speed of the i-th section representing driving of the vehicle,/->Movement speed of the ith segment representing movement of the obstacle,/->For braking distance, n is the total number of segments.
Although the moving direction of the obstacle coincides with the traveling direction of the vehicle, the vehicle and the obstacle are still in a state of being close to each other because the traveling speed of the vehicle is greater than the moving speed of the obstacle. Since the obstacle may be in a dark area, which in turn may result in the driver not being able to observe the obstacle in the dark area, in this case a relatively safe distance, i.e. a distance threshold, may be determined based on the speed of movement of the obstacle, the speed of travel of the vehicle, the braking distance of the vehicle and the reaction time of the driver.
In other embodiments, the obstacle moves away from the vehicle and the travel speed of the vehicle is less than or equal to the movement speed of the obstacle.
In this case, the vehicle does not meet the obstacle, and therefore, the vehicle does not collide, so that the irradiation height of the lamp light can be not controlled, and even if the obstacle exists in the dark area, the vehicle is not influenced.
S203, if the sum of the residual length and the reference distance is equal to the distance threshold value, the vehicle increases the lamp irradiation height of the vehicle.
And the sum of the remaining length and the reference distance is equal to a distance threshold value, so that the driver on the vehicle reacts and then brakes, the vehicle is at risk of collision with an obstacle, and further at safety risk. Under the condition, the vehicle does not need to inquire the driver, but immediately heightens the car light irradiation height of the vehicle and reminds the driver of performing braking treatment, after the car light irradiation height of the vehicle is heightened, the position of the obstacle is changed from a dark area to a bright area, at the moment, the driver can observe the obstacle clearly positioned in the bright area, and further, the braking treatment can be performed in advance, so that collision with the obstacle is avoided, and the safety in the running process of the vehicle is improved. Further, after reminding the driver to brake, if the driver does not brake in a short time (for example, 0.5 s), the vehicle can actively brake, so that the collision between the vehicle and the obstacle is avoided. If the sum of the remaining length and the reference distance is greater than the distance threshold, the obstacle is detected by the vehicle, the vehicle can prompt the driver in a voice prompt or popup mode, and the like, prompts that the obstacle exists in front of the vehicle, and whether the vehicle lamp irradiation height needs to be adjusted, and if the vehicle lamp irradiation height needs to be adjusted, the vehicle increases the vehicle lamp irradiation height.
The following describes a process in which the vehicle increases the lamp irradiation height of the vehicle.
The vehicle determines a second irradiation height according to the reference distance, the first included angle and the third included angle, and calculates a height difference value between the second irradiation height and the first irradiation height, wherein the first irradiation height is the irradiation height corresponding to the current position of the vehicle, and the second irradiation height is the irradiation height corresponding to the obstacle after the obstacle is positioned in the bright area. And then determining a target angle corresponding to the height difference according to a second mapping relation between the preset difference and the angle, and finally adjusting the car lamp irradiation height of the car according to the target angle. For example, the headlight can be turned upwards by controlling the mechanical structure, so that the irradiation height of the headlight is increased.
In some embodiments, the first illumination heightThe method can be calculated by the following formula:
wherein,for the first illumination height, k is a coefficient, k values corresponding to different vehicle types and lamp types are different, < >>Is the remaining length of the slope road section. The first irradiation height->The vehicle headlamp can be obtained by testing the irradiation analog light barrier of the headlamp before the delivery of the vehicle. The distance between the vehicle and the simulated light barrier is different, and the irradiation height of the vehicle lamp is different.
In some embodiments, the vehicle may calculate the second illumination height by the following equation:
wherein,for the second irradiation level, +.>For reference distance->Is a first included angle->Is a third included angle.
Fig. 4 is a schematic diagram of still another application scenario provided in an embodiment of the present application. As can be seen from fig. 4, the vehicle lights at a first lighting heightAdjust up to the second irradiation height +.>The light from the lamp is then raised from the first light 106 to the second light 105, thereby expanding the range of the bright area 102 of the planar road segment, i.e. the area within the distance threshold is the bright area 102. The area outside the reference distance is the dark area 103, and even if the obstacle 104 appears in the dark area 103 outside the distance threshold, no potential safety hazard is caused to the running of the vehicle. The area within the distance threshold is an area from the junction of the obstacle 104 along the planar road segment and the slope road segment to the position of the vehicle, and the area outside the distance threshold is an area away from the slope road segment by the obstacle 104.
In some embodiments, if the vehicle has a dark area in the area within the distance threshold after the vehicle has adjusted the lamp illumination height to the maximum value, the high beam is controlled to be turned on, and the dark area within the distance threshold is illuminated by the high beam for light supplement, so that the driving safety of the vehicle is improved.
In the course of running the vehicle, since the vehicle is running downhill, a dark area appears again in a region within the distance threshold after the remaining length of the slope road section becomes smaller, and therefore, it is necessary to raise the lamp light emission height again.
In this embodiment of the present application, when the sum of the remaining length of the slope road section and the reference distance is equal to the distance threshold, the remaining length corresponding to the slope road section is an initial remaining length, and the initial remaining length may be divided into a plurality of segments, for example, may be divided into one segment every N meters, or may be equally divided into M segments, where N is a positive number and M is a positive integer. After the vehicle enters a new section, the illumination height of the vehicle lamp needs to be adjusted again, so that dark areas within a distance threshold are reduced, the safety of the vehicle in the slope driving process is improved, and the specific adjustment process can be seen in the above embodiment and is not repeated here.
In some embodiments, the vehicle may further determine a relationship between the first distance and the reference distance before raising the lamp height, and if the first distance is greater than the reference distance, indicating that the obstacle is already in the bright zone, the vehicle may determine that no adjustment of the lamp height is required. If the first distance is less than or equal to the reference distance, indicating that the obstacle is still in the dark area, the vehicle needs to adjust the lamp illumination height.
Further, the vehicle may calculate the first distance by the following formula：
Wherein,for said first distance,/a>For the first irradiation height, +.>Is saidFirst included angle->Is the second included angle. Second included angle->Can be detected by a related sensor, the second included angle +.>Referring to fig. 3, the above formula may be modified to the following formula for ease of understanding:
wherein,for the first sub-distance, +.>And a is a fourth included angle which is an included angle of the perpendicular line of the plane road section and the slope road section. Wherein the first sub-distance->Second sub distance->And the fourth included angle a can be seen in fig. 3.
It should be noted that, the second included angle may be determined by first determining the included angle between the light of the dipped headlight and the road surface through a pre-calibrated lamp irradiation angle meter. For example, the illuminance value of the dipped headlight at 50L (left side light 50 m) is larger when the dipped headlight is designed, and the corresponding included angle between the light and the road surface can be obtained from a pre-calibrated car light irradiation angle meter. In a slope scene, the second included angle can be obtained by adding a slope angle on the basis of the obtained included angle between the light of the dipped headlight and the road surface.
It should be noted that, the slope road section is a bidirectional lane, and when the opposite lane has an opposite vehicle, the vehicle performs the lamp illumination height up-adjustment with the light 50L as a standard in order to meet the requirement of the lamp illumination height without affecting the opposite vehicle. If the slope road section is a one-way road, no meeting situation occurs, the requirement of the car light irradiation height is met, and the car light irradiation height is adjusted upwards by taking the position of the light ray 75R as a standard.
In some embodiments, the vehicle may also determine whether the vehicle has left the incline road segment. Specifically, the vehicle may acquire the remaining length of the slope road section in real time, and if the remaining length is less than a preset length threshold (e.g., 1 meter, 0 meter, etc.), the lamp irradiation height of the vehicle is restored to a preset value, which may be the lamp irradiation height before adjustment, such as the first irradiation height.
In some embodiments, the light types corresponding to the lamps with different standards are different, as shown in fig. 5, which is a schematic diagram of the light types according to the embodiments of the present application, wherein 401 is a mei standard light type, 402 is a hybrid standard light type, 403 is an euro standard light type, 404 is a national standard light type, and a shadow portion is a dark area.
As shown in fig. 6, the schematic diagram of an euler light pattern according to the embodiment of the present application includes a first region 501, a second region 502, and a transition region 503, it can be seen from the figure that, due to the existence of the transition region 503, the area of the bright region in the first region 501 is different from the area of the bright region in the second region 502, and the area of the bright region in the second region 502 is larger than the area of the bright region in the first region 501. Although the area of the transition area 503 is small, when the obstacle is in the dark area of the transition area 503, the driver still cannot observe the obstacle, so when the obstacle is detected to start entering the transition area 503, the vehicle again adjusts the height of the light to make the obstacle in a bright area, so that the driver can observe the obstacle as much as possible, and the driving safety is improved.
It should be noted that, the vehicle may determine whether the obstacle starts to enter the transition zone 503 by using an image recognition algorithm or a distance detection method. The tangential light shapes and the offset angles of the lights of different light types are different, the sizes of the areas of the bright area and the dark area corresponding to the head lamp are different, and the calculation method for the up-adjustment of the illumination height of the car lamp can carry out adaptive adjustment according to the light type of the car lamp and the area (for example, the area I, the area II and the area III in fig. 6) of the obstacle located in the light type.
Based on the above, the embodiment of the application provides a vehicle lamp control method based on an obstacle, which includes: the method comprises the steps of obtaining the residual length of a slope road section on which a vehicle runs, the running speed of the vehicle, the moving speed of an obstacle positioned on a plane road section, and the reference distance from the obstacle to the junction of the slope road section and the plane road section, calculating a distance threshold according to the running speed of the vehicle, the moving speed of the obstacle and the braking distance, and if the sum of the residual length of the slope road section and the reference distance is equal to the distance threshold, indicating that the vehicle has a risk of colliding with the obstacle, if the obstacle is positioned in a dark area at the moment, a driver can hardly observe obstacle information, and further, the safe driving is influenced, and at the moment, the vehicle lamp irradiation height of the vehicle is increased, so that the obstacle is changed from the dark area to a bright area, and then the driver can observe the obstacle, and further, the driving safety is improved to a certain extent.
The method for controlling the vehicle lamp based on the obstacle according to the embodiments of the present application is described in detail above with reference to fig. 1 to 6, and the apparatus and the device according to the embodiments of the present application will be described below with reference to the accompanying drawings.
Referring to fig. 7, the schematic diagram of a vehicle lamp control device based on an obstacle according to an embodiment of the present application includes:
an obtaining unit 601, configured to obtain a remaining length of a slope road section on which a vehicle travels, a traveling speed of the vehicle, a moving speed of an obstacle located on a plane road section, and a reference distance from the obstacle to a junction of the slope road section and the plane road section;
a calculating unit 602, configured to determine a distance threshold according to the running speed, the moving speed, and a braking distance;
and a control unit 603 for adjusting the lamp irradiation height of the vehicle if the sum of the remaining length and the reference distance is equal to the distance threshold value.
In some possible implementations, the obstacle moves in the direction of the vehicle, and the calculating unit 602 is specifically configured to determine the distance threshold by the following formula:
wherein,for distance threshold value, ++>For the reaction time of the driver, +.>Driving speed of the i-th section representing driving of the vehicle,/->Movement speed of the ith segment representing movement of the obstacle,/->For braking distance, n is the total number of segments.
In some possible implementations, the obstacle moves away from the vehicle and the travel speed is greater than the movement speed, the calculation unit 602 is specifically configured to determine the distance threshold by the following formula:
wherein,for distance threshold value, ++>For the reaction time of the driver, +.>Driving speed of the i-th section representing driving of the vehicle,/->Movement speed of the ith segment representing movement of the obstacle,/->For braking distance, n is the total number of segments.
In some possible implementations, the obtaining unit 601 is specifically configured to obtain a first included angle between an inclined plane of the slope road section and a plane of the plane road section, a third included angle between a connecting line direction of the obstacle and the vehicle and the plane road section, and a second distance between the vehicle and the obstacle, where the first included angle and the third included angle are acute angles; and calculating the reference distance according to the first included angle, the third included angle, the second distance and the residual length.
In some possible implementations, the obtaining unit 601 is specifically configured to calculate the reference distance by the following formula:
wherein,for the reference distance, +.>For said second distance,/>For the third angle,>for the remaining length, < >>Is the first included angle.
In some possible implementations, the control unit 603 is specifically configured to determine a second illumination height according to the reference distance, the first included angle, and the third included angle; calculating a height difference value between the second irradiation height and a first irradiation height, wherein the first irradiation height is the irradiation height corresponding to the current position of the vehicle; determining a target angle corresponding to the height difference value according to a second mapping relation between the preset difference value and the angle; and according to the target angle, the lamp irradiation height of the vehicle is adjusted to be higher.
In some possible implementations, the control unit 603 is further configured to prompt the driver whether to adjust the vehicle lamp illumination height higher if the sum of the remaining length and the reference distance is greater than the distance threshold; if the driver chooses to raise the lamp height, the lamp height of the vehicle is raised.
In some possible implementations, the control unit 603 is further configured to restore the lamp illumination height of the vehicle to a preset value if the remaining length is less than a preset length threshold.
The obstacle-based vehicle lamp control device provided in the embodiment of the present application may correspond to performing the method described in the embodiment of the present application, and the above other operations and/or functions of each module/unit of the obstacle-based vehicle lamp control device are respectively for implementing the corresponding flow of each method in the embodiment shown in fig. 2, which is not repeated herein for brevity.
The embodiment of the application also provides a computing device. The computing device is particularly useful for implementing the function of the obstacle-based vehicle light control device in the embodiment shown in fig. 7.
As shown in fig. 8, which is a schematic diagram of a computing device provided in an embodiment of the present application, a computing device 700 includes a bus 701, a processor 702, a communication interface 703, and a memory 704. Communication between processor 702, memory 704 and communication interface 703 is via bus 701.
Bus 701 may be a peripheral component interconnect standard (peripheral component interconnect, PCI) bus or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 8, but not only one bus or one type of bus.
The processor 702 may be any one or more of a central processing unit (central processing unit, CPU), a graphics processor (graphics processing unit, GPU), a Microprocessor (MP), or a digital signal processor (digital signal processor, DSP).
The communication interface 703 is used for communication with the outside.
The memory 704 may include volatile memory (RAM), such as random access memory (random access memory). The memory 704 may also include a non-volatile memory (non-volatile memory), such as read-only memory (ROM), flash memory, hard Disk Drive (HDD), or solid state drive (solid state drive, SSD).
The memory 704 has stored therein executable code that the processor 702 executes to perform the aforementioned obstacle-based vehicle lamp control method.
Specifically, in the case where the embodiment shown in fig. 7 is implemented, and each module or unit of the obstacle-based vehicle lamp control device described in the embodiment of fig. 7 is implemented by software, software or program code required to perform the functions of each module/unit in fig. 7 may be stored in part or in whole in the memory 704. The processor 702 executes program codes corresponding to the respective units stored in the memory 704, and executes the aforementioned obstacle-based vehicle lamp control method.
Embodiments of the present application also provide a computer-readable storage medium. The computer readable storage medium may be any available medium that can be stored by a computing device or a data storage device such as a data center containing one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), etc. The computer-readable storage medium includes instructions that instruct a computing device to perform the above-described obstacle-based vehicle light control method applied to a server.
Embodiments of the present application also provide a computer program product comprising one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the processes or functions described in accordance with the embodiments of the present application are produced in whole or in part.
The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, or data center to another website, computer, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.).
The computer program product, when executed by a computer, performs any one of the aforementioned obstacle-based vehicle light control methods. The computer program product may be a software installation package which may be downloaded and executed on a computer in case any one of the aforementioned obstacle based vehicle light control methods is required.
The descriptions of the processes or structures corresponding to the drawings have emphasis, and the descriptions of other processes or structures may be referred to for the parts of a certain process or structure that are not described in detail.
The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope of the present disclosure should be covered in the protection scope of the present application.
Claims (11)
1. A method for controlling a vehicle lamp based on an obstacle, the method comprising:
acquiring the residual length of a slope road section driven by a vehicle, the driving speed of the vehicle, the moving speed of an obstacle positioned on a plane road section and the reference distance from the obstacle to the junction of the slope road section and the plane road section;
determining a distance threshold according to the running speed, the moving speed and the braking distance;
and if the sum of the residual length and the reference distance is equal to the distance threshold value, adjusting the lamp irradiation height of the vehicle.
2. The method of claim 1, wherein the obstacle moves in a direction of the vehicle, the determining a distance threshold based on the travel speed, the movement speed, and a braking distance comprises:
wherein,for distance threshold value, ++>For the reaction time of the driver, +.>Driving speed of the i-th section representing driving of the vehicle,/->Ith segment representing obstacle movementIs>For braking distance, n is the total number of segments.
3. The method of claim 1, wherein the obstacle moves away from the vehicle and the travel speed is greater than the travel speed, the determining a distance threshold based on the travel speed, and a braking distance comprises:
wherein,for distance threshold value, ++>For the reaction time of the driver, +.>Driving speed of the i-th section representing driving of the vehicle,/->Movement speed of the ith segment representing movement of the obstacle,/->For braking distance, n is the total number of segments.
4. The method according to claim 1, characterized in that the reference distance is obtained by:
acquiring a first included angle between an inclined plane of the slope road section and a plane of the plane road section, a third included angle between a connecting line direction of the obstacle and the vehicle and the plane road section, and a second distance between the vehicle and the obstacle, wherein the first included angle and the third included angle are acute angles;
and calculating the reference distance according to the first included angle, the third included angle, the second distance and the residual length.
5. The method of claim 4, wherein said calculating said reference distance from said first included angle, said third included angle, said second distance, and said remaining length comprises:
wherein,for the reference distance, +.>For said second distance,/>For the third angle,>for the remaining length, < >>Is the first included angle.
6. The method of claim 5, wherein said elevating the lamp illumination height of the vehicle comprises:
determining a second irradiation height according to the reference distance, the first included angle and the third included angle;
calculating a height difference value between the second irradiation height and a first irradiation height, wherein the first irradiation height is the irradiation height corresponding to the current position of the vehicle;
determining a target angle corresponding to the height difference value according to a second mapping relation between the preset difference value and the angle;
and according to the target angle, the lamp irradiation height of the vehicle is adjusted to be higher.
7. The method according to claim 1, wherein the method further comprises:
if the sum of the residual length and the reference distance is larger than the distance threshold value, prompting a driver whether to increase the car light irradiation height;
if the driver chooses to raise the lamp height, the lamp height of the vehicle is raised.
8. The method according to any one of claims 1-7, further comprising:
and if the residual length is smaller than a preset length threshold value, recovering the car light irradiation height of the car to be a preset value.
9. An obstacle-based vehicle lamp control device, the device comprising:
an acquisition unit configured to acquire a remaining length of a slope road section on which a vehicle travels, a traveling speed of the vehicle, a moving speed of an obstacle located on a plane road section, and a reference distance from the obstacle to a junction of the slope road section and the plane road section;
a calculation unit for determining a distance threshold according to the travel speed, the movement speed and the braking distance;
and the control unit is used for adjusting the car light irradiation height of the vehicle if the sum of the residual length and the reference distance is equal to the distance threshold value.
10. A computing device comprising a memory and a processor;
wherein one or more computer programs are stored in the memory, the one or more computer programs comprising instructions; the instructions, when executed by the processor, cause the computing device to perform the method of any of claims 1 to 8.
11. A computer readable storage medium for storing a computer program for performing the method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410129756.XA CN117656986B (en) | 2024-01-31 | 2024-01-31 | Car lamp control method, device and equipment based on barrier and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410129756.XA CN117656986B (en) | 2024-01-31 | 2024-01-31 | Car lamp control method, device and equipment based on barrier and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117656986A true CN117656986A (en) | 2024-03-08 |
| CN117656986B CN117656986B (en) | 2024-04-16 |
Family
ID=90064395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410129756.XA Active CN117656986B (en) | 2024-01-31 | 2024-01-31 | Car lamp control method, device and equipment based on barrier and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117656986B (en) |
Citations (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07318644A (en) * | 1994-05-27 | 1995-12-08 | Fuji Heavy Ind Ltd | Obstacle detector |
| US5877680A (en) * | 1996-12-13 | 1999-03-02 | Denso Corporation | Apparatus for automatically adjusting aiming of headlights of an automotive vehicle |
| JP2003072461A (en) * | 2001-08-31 | 2003-03-12 | Denso Corp | Automatic adjusting device for optical axis direction of vehicular headlamp |
| JP2005047383A (en) * | 2003-07-29 | 2005-02-24 | Daihatsu Motor Co Ltd | Drive assisting device |
| JP2005067294A (en) * | 2003-08-21 | 2005-03-17 | Nissan Motor Co Ltd | Headlamp control system |
| JP2006282044A (en) * | 2005-04-01 | 2006-10-19 | Toyota Motor Corp | Headlight device for vehicle |
| JP2006327334A (en) * | 2005-05-24 | 2006-12-07 | Nissan Motor Co Ltd | Control device for vehicular headlight |
| JP2008096196A (en) * | 2006-10-10 | 2008-04-24 | Mitsubishi Electric Corp | In-vehicle radar system |
| JP2008195344A (en) * | 2007-02-15 | 2008-08-28 | Toyota Motor Corp | Obstacle irradiation device for vehicle |
| US20090043458A1 (en) * | 2007-03-01 | 2009-02-12 | Denso Corporation | System for adjusting direction of optical axis of headlight |
| JP2009120147A (en) * | 2007-11-19 | 2009-06-04 | Aisin Seiki Co Ltd | Vehicular lamp control system |
| CN102951065A (en) * | 2012-11-07 | 2013-03-06 | 浙江吉利汽车研究院有限公司杭州分公司 | Automobile headlamp and method for changing irradiation distance of automobile headlamp |
| US20140042325A1 (en) * | 2011-04-22 | 2014-02-13 | Koito Manufacturing Co., Ltd. | Obstacle detecting device |
| CN104553961A (en) * | 2013-10-24 | 2015-04-29 | 现代摩比斯株式会社 | Apparatus and method for headlamp control |
| CN104890564A (en) * | 2014-03-06 | 2015-09-09 | 鸿富锦精密工业（深圳）有限公司 | Vehicle head lamp |
| CN105501107A (en) * | 2015-12-15 | 2016-04-20 | 长安大学 | Automatic vehicle illumination control system and control method |
| US20160185276A1 (en) * | 2014-12-25 | 2016-06-30 | Koito Manufacturing Co., Ltd. | Vehicle lamp |
| WO2016185683A1 (en) * | 2015-05-21 | 2016-11-24 | 株式会社デンソー | Driver assist control device and driver assist control method |
| CN106347204A (en) * | 2016-11-25 | 2017-01-25 | 王昱淇 | Vehicle headlamp control system |
| US20170050554A1 (en) * | 2014-02-17 | 2017-02-23 | Jeong Yong Lee | Vehicle headlight irradiation angle automatic adjustment device |
| CN107110454A (en) * | 2014-10-24 | 2017-08-29 | 法雷奥照明公司 | Illumination and/or signal system including telemetering equipment |
| CN107117168A (en) * | 2017-06-09 | 2017-09-01 | 宇龙计算机通信科技(深圳)有限公司 | Anticollision of motor vehicles reminding method, alarm set and mobile terminal |
| CN108202741A (en) * | 2016-12-20 | 2018-06-26 | 现代自动车株式会社 | Vehicle and method for controlling a vehicle |
| CN108928292A (en) * | 2018-06-27 | 2018-12-04 | 郑州轻工业学院 | The automobile long-and-short distant light that lighting angle adjusts in real time automatically switches and networked system |
| CN109733344A (en) * | 2018-12-04 | 2019-05-10 | 宁波吉利汽车研究开发有限公司 | A kind of vehicle at night drive assistance device, method and vehicle |
| CN111727135A (en) * | 2018-03-14 | 2020-09-29 | 日立汽车***株式会社 | Automatic lighting system |
| CN114604167A (en) * | 2022-03-10 | 2022-06-10 | 武汉理工大学 | Low-illumination environment car lamp projection system for traffic safety |
| CN115805862A (en) * | 2022-12-29 | 2023-03-17 | 苏州市欧冶半导体有限公司 | Self-adaptive headlamp adjusting method and related equipment |
| WO2023049645A1 (en) * | 2021-09-24 | 2023-03-30 | Tusimple, Inc. | System and method for implementing an adaptive light distribution for an autonomous vehicle |
| CN117465421A (en) * | 2023-11-07 | 2024-01-30 | 重庆赛力斯新能源汽车设计院有限公司 | Parking method, control system, electronic device and readable storage medium of vehicle |
-
2024
- 2024-01-31 CN CN202410129756.XA patent/CN117656986B/en active Active
Patent Citations (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07318644A (en) * | 1994-05-27 | 1995-12-08 | Fuji Heavy Ind Ltd | Obstacle detector |
| US5877680A (en) * | 1996-12-13 | 1999-03-02 | Denso Corporation | Apparatus for automatically adjusting aiming of headlights of an automotive vehicle |
| JP2003072461A (en) * | 2001-08-31 | 2003-03-12 | Denso Corp | Automatic adjusting device for optical axis direction of vehicular headlamp |
| JP2005047383A (en) * | 2003-07-29 | 2005-02-24 | Daihatsu Motor Co Ltd | Drive assisting device |
| JP2005067294A (en) * | 2003-08-21 | 2005-03-17 | Nissan Motor Co Ltd | Headlamp control system |
| JP2006282044A (en) * | 2005-04-01 | 2006-10-19 | Toyota Motor Corp | Headlight device for vehicle |
| JP2006327334A (en) * | 2005-05-24 | 2006-12-07 | Nissan Motor Co Ltd | Control device for vehicular headlight |
| JP2008096196A (en) * | 2006-10-10 | 2008-04-24 | Mitsubishi Electric Corp | In-vehicle radar system |
| JP2008195344A (en) * | 2007-02-15 | 2008-08-28 | Toyota Motor Corp | Obstacle irradiation device for vehicle |
| US20090043458A1 (en) * | 2007-03-01 | 2009-02-12 | Denso Corporation | System for adjusting direction of optical axis of headlight |
| JP2009120147A (en) * | 2007-11-19 | 2009-06-04 | Aisin Seiki Co Ltd | Vehicular lamp control system |
| US20140042325A1 (en) * | 2011-04-22 | 2014-02-13 | Koito Manufacturing Co., Ltd. | Obstacle detecting device |
| CN102951065A (en) * | 2012-11-07 | 2013-03-06 | 浙江吉利汽车研究院有限公司杭州分公司 | Automobile headlamp and method for changing irradiation distance of automobile headlamp |
| CN104553961A (en) * | 2013-10-24 | 2015-04-29 | 现代摩比斯株式会社 | Apparatus and method for headlamp control |
| US20170050554A1 (en) * | 2014-02-17 | 2017-02-23 | Jeong Yong Lee | Vehicle headlight irradiation angle automatic adjustment device |
| CN104890564A (en) * | 2014-03-06 | 2015-09-09 | 鸿富锦精密工业（深圳）有限公司 | Vehicle head lamp |
| CN107110454A (en) * | 2014-10-24 | 2017-08-29 | 法雷奥照明公司 | Illumination and/or signal system including telemetering equipment |
| US20160185276A1 (en) * | 2014-12-25 | 2016-06-30 | Koito Manufacturing Co., Ltd. | Vehicle lamp |
| WO2016185683A1 (en) * | 2015-05-21 | 2016-11-24 | 株式会社デンソー | Driver assist control device and driver assist control method |
| CN105501107A (en) * | 2015-12-15 | 2016-04-20 | 长安大学 | Automatic vehicle illumination control system and control method |
| CN106347204A (en) * | 2016-11-25 | 2017-01-25 | 王昱淇 | Vehicle headlamp control system |
| CN108202741A (en) * | 2016-12-20 | 2018-06-26 | 现代自动车株式会社 | Vehicle and method for controlling a vehicle |
| CN107117168A (en) * | 2017-06-09 | 2017-09-01 | 宇龙计算机通信科技(深圳)有限公司 | Anticollision of motor vehicles reminding method, alarm set and mobile terminal |
| CN111727135A (en) * | 2018-03-14 | 2020-09-29 | 日立汽车***株式会社 | Automatic lighting system |
| CN108928292A (en) * | 2018-06-27 | 2018-12-04 | 郑州轻工业学院 | The automobile long-and-short distant light that lighting angle adjusts in real time automatically switches and networked system |
| CN109733344A (en) * | 2018-12-04 | 2019-05-10 | 宁波吉利汽车研究开发有限公司 | A kind of vehicle at night drive assistance device, method and vehicle |
| WO2023049645A1 (en) * | 2021-09-24 | 2023-03-30 | Tusimple, Inc. | System and method for implementing an adaptive light distribution for an autonomous vehicle |
| CN114604167A (en) * | 2022-03-10 | 2022-06-10 | 武汉理工大学 | Low-illumination environment car lamp projection system for traffic safety |
| CN115805862A (en) * | 2022-12-29 | 2023-03-17 | 苏州市欧冶半导体有限公司 | Self-adaptive headlamp adjusting method and related equipment |
| CN117465421A (en) * | 2023-11-07 | 2024-01-30 | 重庆赛力斯新能源汽车设计院有限公司 | Parking method, control system, electronic device and readable storage medium of vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 于晓良: "汽车自适应照明控制***的研究", 《中国优秀硕士学位论文全文数据库 (工程科技Ⅱ辑)》, no. 07, 15 July 2010 (2010-07-15), pages 140 - 299 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117656986B (en) | 2024-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3709280A1 (en) | Method, device and apparatus for generating a defensive driving strategy, and storage medium | |
| US8781644B2 (en) | Method and apparatus for recognizing shape of road for vehicles | |
| JP6310899B2 (en) | Outside environment recognition device | |
| CN110675656B (en) | Intelligent vehicle lane change early warning method based on instantaneous risk identification | |
| JP6200481B2 (en) | Outside environment recognition device | |
| US7532109B2 (en) | Vehicle obstacle verification system | |
| US9527429B2 (en) | Method and device for controlling a light emission of at least one headlight of a vehicle | |
| CN103874931B (en) | For the method and apparatus of the position of the object in the environment for asking for vehicle | |
| CN107924625A (en) | Lane recognition device and lane recognition method | |
| CN107031618B (en) | Control of a vehicle | |
| CN104276075B (en) | Method for controlling the light distribution of headlight before motor vehicles | |
| CN105835753B (en) | Method and control device for adjusting at least one parameter of a driver assistance device of a vehicle | |
| JP2009298344A (en) | Apparatus and program for determining lights of vehicle | |
| CN109543636B (en) | Method and equipment for detecting sharp curve of road | |
| CN106274644A (en) | A kind of automobiles indicator lamp control method and device | |
| CN109598256B (en) | Method and device for judging access ramp, vehicle, storage medium and electronic equipment | |
| CN117656986B (en) | Car lamp control method, device and equipment based on barrier and storage medium | |
| WO2022142354A1 (en) | Vehicle, and vehicle headlamp adjustment device and method | |
| CN111353339A (en) | Object recognition device and method | |
| CN117656985B (en) | Vehicle light control method, device and storage medium | |
| JP6929481B1 (en) | Light distribution control device, light distribution control method and light distribution control program | |
| CN117944566A (en) | Car lamp control method, device, equipment and storage medium | |
| KR20170049927A (en) | Collision Avoidance System of Vehicle and Method Thereof | |
| CN114688506A (en) | Intelligent street lamp illumination control method and device, electronic equipment and storage medium | |
| CN111605473B (en) | Car light adjusting method and device, electronic equipment, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |