Autonomous driving vehicle and method for high beam control thereof
A method of controlling an autonomous vehicle includes sensing, using a first sensor, an object located in front of the autonomous vehicle as the autonomous vehicle is driving on a driving path using a low beam of a headlight mounted on the autonomous vehicle. The method also includes, when a portion of the object is exposed by the low beam and is additionally sensed by a second sensor, switching, by a processor, the low beam to a high beam.
1 . A method of controlling an autonomous vehicle, the method comprising:
sensing, using a first sensor, an object located in front of the autonomous vehicle as the autonomous vehicle is driving on a driving path using a low beam of a headlight mounted on the autonomous vehicle;
when a portion of the object is exposed by the low beam and is additionally sensed by a second sensor, switching, by a processor, the low beam to a high beam;
in response to switching to the high beam, setting, by the processor, the object to be a target; and
determining, by the processor, a braking distance between the autonomous vehicle and the target.
2 . The method of claim 1 , further comprising controlling, by the processor, a forward collision-avoidance assist (FCA) system or steering of the autonomous vehicle, based on the determined braking distance.
3 . The method of claim 2 , wherein controlling the FCA system or the steering includes controlling the FCA system in response to determining, by the processor, that the determined braking distance is greater than a preset safety distance.
4 . The method of claim 2 , wherein controlling the FCA system or the steering includes controlling the steering in response to determining, by the processor, that the determined braking distance is less than a preset safety distance.
5 . The method of claim 1 , wherein switching the low beam to the high beam includes switching the low beam gradually to the high beam.
6 . The method of claim 1 , further comprising predicting, by the processor, at least one of a movement of the object or a direction of the object while determining the braking distance.
7 . The method of claim 6 , further comprising re-determining, by the processor, the braking distance based on the at least one of the movement of the object or the direction of the object.
8 . The method of claim 7 , further comprising controlling, by the processor, a forward collision-avoidance assist (FCA) system or steering of the autonomous vehicle, based on the re-determined braking distance.
9 . A non-transitory computer-readable storage medium storing instructions that, by being executed by a processor, cause the processor to:
sense, using a first sensor, an object located in front of an autonomous vehicle as the autonomous vehicle is driving on a driving path using a low beam mounted on the autonomous vehicle;
when a portion of the object is exposed by the low beam and is additionally sensed by a second sensor, switch the low beam to a high beam
in response to switching to the high beam, set the object to be a target; and
determine a braking distance between the autonomous vehicle and the target.
10 . An autonomous vehicle, comprising:
a headlight;
a first sensor;
a second sensor; and
a processor configured to control the headlight,
wherein the processor is configured to
sense an object located in front of the autonomous vehicle using the first sensor as the autonomous vehicle is driving on a driving path using a low beam,
when a portion of the object is exposed by the low beam and is additionally sensed by the second sensor, switch the low beam to a high beam,
in response to switching to the high beam, set the object to be a target, and
determine a braking distance between the autonomous vehicle and the target.
11 . The autonomous vehicle of claim 10 , wherein the processor is further configured to control a forward collision-avoidance assist (FCA) system or steering, based on the determined braking distance.
12 . The autonomous vehicle of claim 11 , wherein the processor is configured to control the FCA system in response to determining that the determined braking distance is greater than a preset safety distance.
13 . The autonomous vehicle of claim 11 , wherein the processor is configured to control the steering in response to determining that the determined braking distance is less than a preset safety distance.
14 . The autonomous vehicle of claim 10 , wherein the processor is configured to switch the low beam gradually to the high beam.
15 . The autonomous vehicle of claim 10 , wherein the processor is further configured to predict at least one of a movement of the object or a direction of the object while determining the braking distance.
16 . The autonomous vehicle of claim 15 , wherein the processor is further configured to re-determine the braking distance based on the at least one of a movement of the object or a direction of the object.
17 . The autonomous vehicle of claim 16 , wherein the processor is further configured to control a forward collision-avoidance assist (FCA) system or steering, based on the re-determined braking distance.