# US 11,999,287 B2 · Vehicle control method and apparatus, vehicle-mounted device, vehicle, and medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,287 B2 - Document ID: US11999287B2 - Status: Granted - Kind: B2 - Application number: 17/743,618 - Filed: 2022-05-13 - Published: 2022-11-17 - Granted: 2024-06-04 - Earliest claimed: 2021-05-13 - Assignees: Nio Technology (Anhui) Co., Ltd - Applicants: Nio Technology (Anhui) Co., Ltd - Inventors: Yongliang Ma; Mingzhi Tong; Rui Zhang - Web page: https://patentgrep.com/patent/US11999287B2 ## CPC - B60Q 1/143: {combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers} - B60Q 1/525: {automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data} - B60Q 1/085: {due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers (B60Q1/10, B60Q1/12, B60Q1/1423 take precedence)} - B60Q 1/52: for indicating emergencies - B60Q 2300/056: Special anti-blinding beams, e.g. a standard beam is chopped or moved in order not to blind - B60Q 2300/112: Vehicle speed - B60Q 2300/116: Vehicle at a stop - B60Q 2300/13: Attitude of the vehicle body - B60Q 2300/314: Ambient light - B60Q 2300/336: Crossings - B60Q 2300/45: Special conditions, e.g. pedestrians, road signs or potential dangers - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL ## Abstract The invention relates to the field of vehicle technologies, and aims to solve a technical problem that when light control for avoidance of a vehicle is improper, traveling safety of the present vehicle, traveling safety of vehicles ahead for which light is controlled for avoidance, and/or safety, walking experience, etc. of the pedestrians for whom light is controlled for avoidance are/is affected to some degree. To solve the technical problem, embodiments of the invention provide a vehicle control method and apparatus, a control apparatus, a vehicle-mounted device, a vehicle, and a computer-readable storage medium. The control method includes: detecting target objects in front of a vehicle; determining whether the target objects are on a traveling path of the vehicle; and performing light control for avoidance for the target objects based on a determination result in a predetermined manner. With this setting, a strategy of light control for avoidance for a target object can be made by learning a traveling path of the target object, such that impact on traveling safety of the present vehicle, traveling safety of vehicles ahead for which light is controlled for avoidance, and/or safety, walking experience, etc. of the pedestrians for whom light is controlled for avoidance are/is kept as little as possible. ## Claims ### Claim 1 A vehicle control method, comprising: detecting target objects in front of a vehicle; determining whether the target objects are on a traveling path of the vehicle; and performing light control for avoidance for the target objects based on a determination result in a predetermined manner, wherein the performing light control for avoidance for the target objects based on a determination result in a predetermined manner comprises: when the target objects are on the traveling path of the vehicle, selectively performing light control for avoidance for target vehicles in the target objects that have overall dimensions less than or equal to a set dimension. ### Claim 2 (depends on 1) The control method according to claim 1, wherein the selectively performing light control for avoidance for target vehicles in the target objects that have overall dimensions less than or equal to a set dimension comprises: performing light control for avoidance for a target vehicle in the target vehicles that have overall dimensions less than or equal to the set dimension and having a change of distance from the vehicle less than or equal to a set value. ### Claim 3 (depends on 1) The control method according to claim 1, wherein the performing light control for avoidance for the target objects based on a determination result in a predetermined manner comprises: when the target objects are not on the traveling path of the vehicle, determining whether the target objects are in a state of moving across the traveling path of the vehicle; and determining, based on a determination result, whether to perform light control for avoidance for the target objects not on the traveling path of the vehicle. ### Claim 4 (depends on 3) The control method according to claim 3, wherein the determining, based on a determination result, whether to perform light control for avoidance for the target objects not on the traveling path of the vehicle comprises: skipping performing light control for avoidance for the target objects, when the target objects are in the state of moving across the traveling path of the vehicle. ### Claim 5 (depends on 1) The control method according to claim 1, wherein in the step of performing light control for avoidance for the target objects based on a determination result in a predetermined manner, the performing light control for avoidance for the target object is specifically: performing light extinguishing control for the target objects based on a preset basic reference value corresponding to the target objects, to implement light control for avoidance for the target objects. ### Claim 6 (depends on 5) The control method according to claim 5, wherein the performing light extinguishing control for the target objects based on a preset basic reference value corresponding to the target objects, to implement light control for avoidance for the target objects is specifically: performing light control for avoidance for the target objects based on a preset first reference value corresponding to the target objects, wherein a manner of determining the first reference value is: determining a scenario mode of the vehicle based on a vehicle speed and a light illuminance of an environment where the vehicle is located; and determining the first reference value based on the scenario mode and the basic reference value. ### Claim 7 (depends on 5) The control method according to claim 5, wherein the performing light extinguishing control for the target objects based on a preset basic reference value corresponding to the target objects, to implement light control for avoidance for the target objects is specifically: performing light control for avoidance for the target objects based on a preset second reference value corresponding to the target objects, wherein a manner of determining the second reference value is: determining a slope mode of the vehicle based on an attitude of a body of the vehicle; and determining the second reference value based on the slope mode and the basic reference value. ### Claim 8 (depends on 1) The control method according to claim 1, wherein before the determining whether the target objects are on a traveling path of the vehicle, the control method further comprises: determining whether the vehicle is in an operating condition of waiting at a crossroads; and when the vehicle is not in the operating condition of waiting at the crossroads, determining whether the target object is on the traveling path of the vehicle. ### Claim 9 (depends on 1) The control method according to claim 1, wherein before the determining whether the target objects are on a traveling path of the vehicle, the control method further comprises: determining whether the vehicle is in an operating condition of waiting at a crossroads; and performing light control for avoidance at least for children, strollers, and wheelchairs in a state of moving across the traveling path when the vehicle is in the operating condition of waiting at the crossroads. ### Claim 10 (depends on 1) A control apparatus, comprising a memory and a processor, wherein the memory is adapted to store a plurality of program codes, and the program codes are adapted to be loaded and run by the processor to perform the vehicle control method according to claim 1. ### Claim 11 (depends on 10) A vehicle, wherein the vehicle comprises the control apparatus according to claim 10.