Vehicle double-lamp projection correction method and device, vehicle, and storage medium

Abstract

The application discloses a vehicle double-lamp projection correction method and device, a vehicle and a storage medium, and relates to the technical field of vehicles. The method comprises the following steps: acquiring a distortion mapping relationship when the double-lamp projection correction trigger condition of the vehicle is met; the distortion mapping relationship is determined based on an image transformation matrix, and the image transformation matrix is used to represent the mapping relationship between a left projection image and a right projection image obtained based on double-lamp projection calibration information; pre-distortion correction is performed on the to-be-projected content corresponding to the double lamps based on the distortion mapping relationship, so that corrected to-be-projected content is obtained; and the corrected to-be-projected content is synchronously projected by the double lamps. In this way, the accuracy of the double-lamp collaborative projection of the vehicle can be improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, apparatus, vehicle, and storage medium for correcting dual-lamp projection in a vehicle. Background Technology

[0002] With the development of intelligent driving and interactive lighting, vehicle lights have been endowed with new functions such as pattern projection, pedestrian warning, and welcome animation. To increase the projection area and brightness, some high-end models adopt dual-lamp collaborative projection from the left and right headlights. However, due to factors such as headlight installation errors and manufacturing tolerances, uneven ground or changes in vehicle posture (load, air spring adjustment), and differences in projection surface curvature and distance, the dual-lamp image often exhibits misalignment and distortion, which seriously affects visual effects and information readability. To solve these problems, related technologies mostly rely on manual calibration or single-lamp operation, and cannot automatically maintain the accuracy of dual-lamp collaborative projection.

[0003] Therefore, improving the accuracy of vehicle dual-lamp collaborative projection has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a method, apparatus, vehicle, and storage medium for correcting dual-lamp projection in vehicles, which can help improve the accuracy of coordinated dual-lamp projection in vehicles.

[0005] In a first aspect, embodiments of this application provide a method for correcting dual-lamp projection of a vehicle, the method comprising:

[0006] Under the condition that the dual-lamp projection correction triggering condition of the vehicle is met, the distortion mapping relationship is obtained; the distortion mapping relationship is determined based on the image transformation matrix, which is used to characterize the mapping relationship between the left projection image and the right projection image obtained based on the dual-lamp projection calibration information;

[0007] Based on the distortion mapping relationship, pre-distortion correction is performed on the content to be projected corresponding to the two lights to obtain the corrected content to be projected.

[0008] Control the dual lamps to synchronously project the corrected content to be projected.

[0009] In the embodiments of this application, since the image transformation matrix represents the mapping relationship between the left and right projected images obtained based on the dual-lamp projection calibration information, that is, the image transformation matrix is ​​a global transformation matrix, and the distortion mapping relationship is determined based on the image transformation matrix, the distortion mapping relationship is also global. Therefore, based on the distortion mapping relationship, global pre-distortion correction is performed on the content to be projected corresponding to the dual lamps, which can avoid geometric distortion of the projected image projected by the dual lamps synchronously as much as possible, thereby improving the accuracy of vehicle dual-lamp collaborative projection.

[0010] In an optional implementation of the first aspect, the method further includes: obtaining a brightness weight map; the brightness weight map includes the brightness weights corresponding to each pixel position in the overlapping brightness increment map corresponding to the left brightness distribution map and the right brightness distribution map; the left brightness distribution map and the right brightness distribution map are obtained by controlling the dual lamps to project photometric calibration information sequentially; based on the brightness weight map, the initial content to be projected corresponding to the dual lamps is brightness corrected, and the content to be projected after brightness correction is used as the content to be projected.

[0011] By adopting this implementation method, the initial content to be projected is subjected to brightness correction processing, and the content to be projected after brightness correction is used as the content to be projected in the subsequent pre-distortion correction. This not only helps to improve the brightness consistency of the projected image projected by the vehicle's two lights synchronously, but also avoids the phenomenon of geometric distortion in the projected image projected by the two lights synchronously as much as possible. Thus, the accuracy of the vehicle's two lights cooperative projection can be further improved.

[0012] In an optional implementation of the first aspect, the luminance weight map is determined by: controlling the two lamps to sequentially project photometric calibration information to obtain a left luminance distribution map and a right luminance distribution map; determining a superimposed luminance distribution map based on the left luminance distribution map and the right luminance distribution map; determining an overlapping luminance increment map and a local superimposed efficiency map based on the left luminance distribution map, the right luminance distribution map, and the superimposed luminance distribution map; the local superimposed efficiency map represents the degree of deviation of the luminance at the target pixel location when the two lamps are projected simultaneously from the sum of the luminances when the two lamps are projected individually; and determining the luminance weight map based on the overlapping luminance increment map and the local superimposed efficiency map.

[0013] In this implementation, since the overlapping brightness increment map represents the brightness difference between two images in the overlapping area, it addresses the global brightness difference in the overlapping area; and the local overlay efficiency map represents the deviation of the brightness at the target pixel location when both lamps are projected simultaneously from the sum of the brightness when both lamps are projected individually, it addresses the local brightness difference in the overlapping area. Therefore, based on the overlapping brightness increment map and the local overlay efficiency map, a more accurate brightness weight map can be determined from both the global and local brightness differences, thus providing an accurate data basis for subsequent brightness correction.

[0014] In one optional implementation of the first aspect, the image transformation matrix is ​​determined by: adjusting the positions of the headlight motors associated with the two headlights in the vehicle to their corresponding target positions; at the target positions, the image clarity projected by the headlights corresponding to the headlight motors reaches a preset clarity threshold; with the headlight motors associated with the two headlights all in their corresponding target positions, controlling the headlight projection calibration information associated with each headlight motor to obtain a left projection image and a right projection image; and determining the image transformation matrix based on the left projection image and the right projection image.

[0015] By adopting this implementation method, since the image projected by the headlight corresponding to the headlight motor at the target position reaches the preset clarity threshold, by controlling the headlight projection calibration information associated with each headlight motor when the positions of the headlight motors associated with the two headlights of the vehicle are all at the corresponding target positions, the clarity of the image projected by each headlight can be improved, thereby improving the accuracy of the determined image transformation matrix.

[0016] In an optional embodiment of the first aspect, before adjusting the positions of the lamp motors associated with each of the two lamps in the vehicle to their respective target positions, the method further includes: controlling the two lamps in the vehicle to synchronously project preset calibration content and determining the projection areas corresponding to each of the two lamps; based on the projection areas corresponding to each of the two lamps, adjusting the positions of the lamp motors associated with each of the two lamps to their respective initial positions; with each lamp motor in its respective initial position, the projection areas corresponding to each of the two lamps are in a geometrically aligned state; calibrating the initial positions of the lamp motors associated with each of the two lamps to obtain the target positions corresponding to each lamp motor.

[0017] By adopting this implementation method, the position of each headlight motor is adjusted to its corresponding initial position, so that the projection area corresponding to each headlight is in a geometrically aligned state. Then, the initial position of each headlight motor is calibrated, which can improve the reliability of the determined target position corresponding to each headlight motor.

[0018] In one optional embodiment of the first aspect, the initial positions of the headlight motors associated with each headlight are calibrated to obtain the target positions corresponding to each headlight motor, including: for each headlight motor, when the headlight motor is in its corresponding initial position, a projected image is obtained based on the headlight projection preset clarity calibration content corresponding to the headlight motor, and the clarity of the projected image is determined; if the clarity does not reach the preset clarity threshold, the initial position of the headlight motor is calibrated based on the clarity until the headlight motor is in the calibrated position, and the clarity of the new projected image obtained after the headlight projection preset clarity calibration content corresponding to the headlight motor reaches the preset clarity threshold, thereby obtaining the target position corresponding to the headlight motor.

[0019] By adopting this implementation method, the initial position of the headlight motor is calibrated based on the clarity of the projected image until the clarity of the final projected image reaches a preset clarity threshold. In this way, the accuracy of the target position corresponding to each headlight motor can be improved.

[0020] In one optional implementation of the first aspect, determining the image transformation matrix based on the left and right projected images includes: determining the coordinates of multiple left projection points corresponding to the left projection image and the coordinates of multiple right projection points corresponding to the right projection image; determining at least two pairs of projection points based on the coordinates of the multiple left and right projection points; constructing an objective function for estimating the image transformation matrix based on the at least two pairs of projection points; performing singular value decomposition on the design matrix included in the objective function to obtain a right singular vector matrix; constructing the design matrix based on the coordinates of the two projection points included in each of the at least two pairs of projection points; and determining the image transformation matrix based on the right singular vector matrix.

[0021] Using this implementation method, the image transformation matrix can be accurately and quickly determined, thus providing a data foundation for subsequent determination of distortion mapping relationships.

[0022] Secondly, embodiments of this application provide a vehicle dual-lamp projection correction device, the device comprising:

[0023] The acquisition module is used to acquire the distortion mapping relationship when the dual-lamp projection correction triggering conditions of the vehicle are met. The distortion mapping relationship is determined based on the image transformation matrix, which is used to characterize the mapping relationship between the left projection image and the right projection image obtained based on the dual-lamp projection calibration information.

[0024] The correction module is used to perform pre-distortion correction on the content to be projected corresponding to the two lamps based on the distortion mapping relationship, so as to obtain the corrected content to be projected.

[0025] The control module is used to control the synchronous projection of the corrected content by the two lamps.

[0026] Thirdly, embodiments of this application provide a vehicle including a memory and a controller. The memory stores a computer program, and the controller executes the computer program to implement the steps of the method provided in the first aspect.

[0027] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by an in-vehicle terminal device, implements the steps of the method provided in the first aspect above.

[0028] Fifthly, this application also provides a computer program product, including a computer program that, when executed by an in-vehicle terminal device, implements the steps of the method provided in the first aspect above.

[0029] Regarding the beneficial effects of any of the technical solutions in the second to fifth aspects mentioned above, refer to the beneficial effects of the corresponding technical solutions in the first aspect; repeated examples will not be listed here. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is an optional flowchart illustrating a vehicle dual-lamp projection correction method provided in an embodiment of this application;

[0032] Figure 2 This is a schematic diagram illustrating an optional process for determining an image transformation matrix, provided in an embodiment of this application.

[0033] Figure 3 This is another optional flowchart illustrating a vehicle dual-lamp projection correction method provided in this application embodiment;

[0034] Figure 4 This is an optional schematic diagram of the projection areas corresponding to two lights, provided in an embodiment of this application;

[0035] Figure 5 This is an optional structural schematic diagram of a vehicle dual-lamp projection correction device provided in an embodiment of this application;

[0036] Figure 6 This is a schematic diagram of an optional structure of a vehicle provided in an embodiment of this application;

[0037] Figure 7This is a schematic diagram of an optional architecture of a vehicle dual-lamp projection correction system provided in an embodiment of this application. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0039] The method for correcting dual-lamp projection of a vehicle provided in the embodiments of this application is described below.

[0040] Please see Figure 1 , Figure 1 This is an optional flowchart illustrating a vehicle dual-lamp projection correction method provided in an embodiment of this application. The method can be executed by a controller in the vehicle (e.g., an Electronic Control Unit (ECU)). Figure 1 As shown, the dual-lamp projection correction method for this vehicle may include, but is not limited to, the following steps:

[0041] S101. Under the condition that the dual-lamp projection correction triggering condition of the vehicle is met, obtain the distortion mapping relationship; the distortion mapping relationship is determined based on the image transformation matrix, which is used to characterize the mapping relationship between the left projection image and the right projection image obtained after dual-lamp projection calibration information.

[0042] The vehicle described in this application may be pre-configured with a dual-lamp projection correction function, as well as triggering conditions for this function. Here, "dual lamps" refers to the vehicle's left and right front headlights, and the dual-lamp projection correction function refers to the function of correcting the image projected collaboratively by the two lamps to increase the projection amplitude. The dual-lamp projection correction triggering conditions may include multiple conditions.

[0043] In one optional implementation, the electronic controller can acquire multiple information such as vehicle status information (e.g., the current gear position of the vehicle) and external environment information (e.g., the intensity of external ambient light) in real time or periodically. Based on the above information, it determines whether the dual-lamp projection correction trigger condition is met. If it is determined that the dual-lamp projection correction trigger condition is met, the distortion mapping relationship can be obtained.

[0044] For example, the electronic controller can acquire multiple pieces of vehicle information in real time and match this information with the dual-lamp projection correction trigger conditions to determine whether the trigger conditions are met. If the dual-lamp projection correction trigger conditions are met, the electronic controller can then acquire the distortion mapping relationship.

[0045] In some embodiments, the electronic controller may determine that the dual-lamp projection correction trigger condition for the vehicle is met if all of the following conditions are met: the vehicle is stationary (e.g., the vehicle is currently in P gear); a projection request is detected or the dual-lamp projection correction self-test cycle is reached; and the ambient light intensity outside the vehicle is less than a preset light intensity threshold.

[0046] Optionally, the controller may detect a projection request by detecting a voice command input within the vehicle cabin to instruct the projection (e.g., a user outputs "Please turn on the collaborative projection function of the left and right front headlights" within the vehicle cabin); or by detecting a touch operation (e.g., a user taps the collaborative projection control) or a voice operation (e.g., a user outputs "Select collaborative projection") on the user interface (e.g., the central control screen or the passenger screen) within the vehicle cabin. No limitation is imposed here.

[0047] Optionally, the preset light intensity threshold can be determined based on expert experience or based on multiple experiments, etc., and no further restrictions are imposed here.

[0048] In one optional implementation, the distortion mapping relationship includes a first distortion mapping relationship and a second distortion mapping relationship; the first distortion mapping relationship includes the correspondence between multiple pixel positions in the target image and multiple pixel horizontal coordinates in the source image, and the second distortion mapping relationship includes the correspondence between multiple pixel positions in the target image and multiple pixel vertical coordinates in the source image.

[0049] Optionally, the distortion mapping relationship can be two tables stored locally on the electronic controller (such as the first distortion mapping relationship table (denoted as map_x) and the second distortion mapping relationship table (denoted as map_y), or it can be two tables stored in a database that the electronic controller can access (such as the first distortion mapping relationship table (denoted as map_x) and the second distortion mapping relationship table (denoted as map_y)), etc., without limitation here.

[0050] In some embodiments, the distortion mapping relationship can be an inverse distortion mapping relationship, which can be determined by the electronic controller in the following ways: obtaining an image transformation matrix; determining the inverse image transformation matrix corresponding to the image transformation matrix; for each pixel in the target image, converting the coordinates corresponding to the pixel into homogeneous coordinates, and performing an inverse transformation on the homogeneous coordinates based on the inverse image transformation matrix to obtain the transformed homogeneous coordinates; determining the pixel position in the source image corresponding to the pixel in the target image based on the transformed homogeneous coordinates; generating an inverse distortion mapping relationship based on multiple pixel positions; wherein, the inverse distortion mapping relationship includes the correspondence between multiple pixel positions in the target image and multiple pixel positions in the source image.

[0051] Optionally, the image transformation matrix can also be called the homography matrix. The image transformation matrix can be stored in the electronic controller or in a database accessible to the electronic controller, etc., without limitation here.

[0052] Optionally, when the electronic controller converts the coordinates of each pixel in the target image into homogeneous coordinates, assuming that the coordinates of pixel 1 are (u, v), then the homogeneous coordinates of pixel 1 are [u, v, 1]. When the electronic controller performs inverse transformation processing on the homogeneous coordinates based on the inverse image transformation matrix to obtain the transformed homogeneous coordinates, the following formula (1) can be used.

[0053] (1)

[0054] In formula (1), H represents the image transformation matrix; H -1 This represents the inverse image transformation matrix (or the inverse of the image transformation matrix); [u, v, 1] represents the homogeneous coordinates corresponding to the pixel coordinates (u, v) in the target image. This represents the transformed homogeneous coordinates.

[0055] Optionally, when the electronic controller determines the pixel position in the source image corresponding to the pixel in the target image based on the transformed homogeneous coordinates, it can use the following formula (2).

[0056] (2)

[0057] In formula (2), This represents the transformed homogeneous coordinates. The elements in; This indicates the pixel position of a pixel in the target image within the corresponding pixel position in the source image.

[0058] S102. Based on the distortion mapping relationship, perform pre-distortion correction on the content to be projected corresponding to the two lamps to obtain the corrected content to be projected.

[0059] In one optional implementation, the distortion mapping relationship is an inverse distortion mapping relationship table; the electronic controller performs pre-distortion correction on the content to be projected corresponding to the two lamps based on the distortion mapping relationship to obtain the corrected content to be projected. This can be achieved by: using the inverse distortion mapping relationship table to determine the pixel source coordinates of each pixel in the image corresponding to the content to be projected in the distortion-free image; obtaining the pixel values ​​corresponding to the multiple pixel source coordinates from the distortion-free image; and determining the corrected content to be projected based on the multiple pixel values.

[0060] S103, Control the dual lamps to synchronously project the corrected content to be projected.

[0061] In one optional implementation, the electronic controller controls the synchronous projection of the corrected content by the dual lamps. This can be achieved by sending control commands to the lamp motors corresponding to the dual lamps, so that each lamp motor synchronously projects the corrected content. The control commands include the corrected content to be projected and are used to instruct the projection of the corrected content.

[0062] In this embodiment, since the image transformation matrix represents the mapping relationship between the left and right projected images obtained based on the dual-lamp projection calibration information, that is, the image transformation matrix is ​​a global transformation matrix, and the distortion mapping relationship is determined based on the image transformation matrix, the distortion mapping relationship is also global. Therefore, based on the distortion mapping relationship, global pre-distortion correction is performed on the content to be projected corresponding to the dual lamps, which can avoid geometric distortion of the projected image projected by the dual lamps synchronously as much as possible, thereby improving the accuracy of vehicle dual-lamp collaborative projection.

[0063] In one alternative implementation, Figure 1 In the vehicle dual-lamp projection correction method shown, the electronic controller can also acquire a brightness weight map; the brightness weight map includes the brightness weight corresponding to each pixel position in the overlapping brightness increment map corresponding to the left brightness distribution map and the right brightness distribution map; the left brightness distribution map and the right brightness distribution map are obtained by controlling the dual lamps to project photometric calibration information sequentially; based on the brightness weight map, the initial content to be projected corresponding to the dual lamps is brightness corrected, and the content to be projected after brightness correction is used as the content to be projected.

[0064] In some embodiments, the luminance weight map may be stored inside the electronic controller or in a database accessible to the electronic controller, etc., without limitation.

[0065] In some embodiments, the luminance weight map can be determined by an electronic controller through the following methods: controlling two lamps to sequentially project photometric calibration information to obtain a left luminance distribution map and a right luminance distribution map; determining a superimposed luminance distribution map based on the left and right luminance distribution maps; determining an overlapping luminance increment map and a local superimposed efficiency map based on the left, right, and superimposed luminance distribution maps; the local superimposed efficiency map represents the degree of deviation of the luminance at the target pixel location when both lamps are projected simultaneously relative to the sum of the luminances when both lamps are projected individually; and determining the luminance weight map based on the overlapping luminance increment map and the local superimposed efficiency map. Thus, since the overlapping luminance increment map characterizes the luminance difference between the two images in the overlapping region, it addresses the global luminance difference in the overlapping region; and the local superimposed efficiency map represents the degree of deviation of the luminance at the target pixel location when both lamps are projected simultaneously relative to the sum of the luminances when both lamps are projected individually, it addresses the local luminance difference in the overlapping region. Therefore, based on the overlapping luminance increment map and the local superimposed efficiency map, a more accurate luminance weight map can be determined comprehensively from both global and local luminance differences, thereby providing an accurate data foundation for subsequent luminance correction.

[0066] Optional, photometric calibration information may include, for example, the beam.

[0067] Optionally, the dual headlights include a left front headlight and a right front headlight. The electronic controller controls the dual headlights to project photometric calibration information sequentially. This can be achieved by controlling the left front headlight to project photometric calibration information separately, resulting in a left luminance distribution map (denoted as L_left); and controlling the right front headlight to project photometric calibration information separately, resulting in a right luminance distribution map (denoted as L_right). In other words, the electronic controller controls the left and right front headlights to project photometric calibration information separately, rather than controlling them synchronously.

[0068] Optionally, the electronic controller determines the superimposed brightness distribution map based on the left and right brightness distribution maps. This can be achieved by superimposing the left and right brightness distribution maps in the same coordinate system to obtain the superimposed brightness distribution map (denoted as L_dual). The superimposed brightness distribution map can be viewed as an experimental brightness map of "simultaneous projection of two lamps".

[0069] Optionally, when the electronic controller determines the overlapping brightness increment map and the local superposition efficiency map based on the left brightness distribution map, the right brightness distribution map and the superimposed brightness distribution map, the following formulas (3) and (4) can be used.

[0070] (3)

[0071] (4)

[0072] In formulas (3) and (4), L_dual represents the overlapping brightness increment map; L_left represents the left brightness distribution map; L_right represents the right brightness distribution map; η represents the local overlay efficiency map.

[0073] Optionally, the electronic controller determines the brightness weight map based on the overlapping brightness increment map and the local overlay efficiency map. This can be achieved by: performing quantization statistics on the overlapping brightness increment map and the local overlay efficiency map to obtain quantization indicators, which are used to measure the brightness correction intensity; establishing a parameterized weight estimation model based on the quantization indicators; and for each pixel (x, y) in the overlapping region of the left and right brightness distribution maps, determining the brightness increment value (denoted as ) corresponding to pixel (x, y) based on the overlapping brightness increment map and the local overlay efficiency map. ) and local stacking efficiency (denoted as );Will and The input is fed into the weight estimation model to obtain the brightness weight w corresponding to pixel (x,y); the brightness weight w is calibrated to a preset range, and the brightness weight is updated based on a nonlinear function to obtain the updated brightness weight; the nonlinear function is constructed based on a quantization index and is used to determine the optimal brightness weight corresponding to pixel (x,y); based on the updated brightness weight corresponding to each pixel (x,y), the brightness weight map is determined.

[0074] Among them, quantitative indicators may include, but are not limited to, the width of the bright or dark band area, the peak brightness of the area, and the statistical value of local superposition efficiency.

[0075] The preset range is, for example, 0.45~0.55.

[0076] By adopting this implementation method, the initial content to be projected is subjected to brightness correction processing, and the content to be projected after brightness correction is used as the content to be projected in the subsequent pre-distortion correction. This not only helps to improve the brightness consistency of the projected image projected by the vehicle's two lights synchronously, but also avoids the phenomenon of geometric distortion in the projected image projected by the two lights synchronously as much as possible. Thus, the accuracy of the vehicle's two lights cooperative projection can be further improved.

[0077] In one alternative implementation, Figure 1In the vehicle dual-lamp projection correction method shown, the image transformation matrix can be determined by the electronic controller in the following way: adjusting the position of the lamp motors associated with each of the two lamps in the vehicle to the corresponding target position; at the target position, the clarity of the image projected by the lamp corresponding to the lamp motor reaches a preset clarity threshold; when the lamp motors associated with each of the two lamps are all in the corresponding target position, controlling the lamp projection calibration information associated with each lamp motor to obtain the left projection image and the right projection image; based on the left projection image and the right projection image, determining the image transformation matrix.

[0078] In some embodiments, the calibration information can be a checkerboard pattern, a stripe pattern, etc., and is not limited here. The checkerboard pattern can be used to accurately locate corner features of the projected image; the stripe pattern can be used to extract edge features.

[0079] In some embodiments, the electronic controller controls the projection calibration information of the headlights associated with each headlight motor. This can be done by controlling the left headlight associated with the left headlight motor to project calibration information separately, and controlling the right headlight associated with the right headlight motor to project calibration information separately; or by controlling the left headlight associated with the left headlight motor and the right headlight associated with the right headlight motor to project calibration information simultaneously.

[0080] In some embodiments, the electronic controller determines the image transformation matrix based on the left and right projected images, including: determining the coordinates of multiple left projection points corresponding to the left projection image and the coordinates of multiple right projection points corresponding to the right projection image; determining at least two pairs of projection points based on the coordinates of the multiple left and right projection points; constructing an objective function for estimating the image transformation matrix based on the at least two pairs of projection points; performing singular value decomposition on the design matrix included in the objective function to obtain a right singular vector matrix; constructing the design matrix based on the coordinates of the two projection points included in each of the at least two pairs of projection points; and determining the image transformation matrix based on the right singular vector matrix. This allows for accurate and rapid determination of the image transformation matrix, thus providing a data foundation for subsequent determination of distortion mapping relationships.

[0081] Optionally, the electronic controller may first construct the image transformation matrix based on the following formula (5).

[0082] (5)

[0083] In formula (5), (x,y) represents the coordinates of the left headlight projection point (i.e., the coordinates of the left projection point). H represents the coordinates of the right headlight projection point (i.e., the coordinates of the right projection point); H represents the image transformation matrix.

[0084] The following is combined Figure 2 The process of determining the image transformation matrix is ​​explained in detail. Figure 2 This is a schematic diagram illustrating an optional process for determining an image transformation matrix, provided in an embodiment of this application. For example... Figure 2 As shown, assume that the coordinates of the multiple left projection points corresponding to the left projection image determined by the electronic controller are (x... i ,y i ), 1≤i≤n, where i and n are both integers; the coordinates of the multiple right projection points corresponding to the right projection image are respectively At least two pairs of projection points are The electronic controller can first expand the above formula (5) into the following formula (6).

[0085] (6)

[0086] Secondly, the electronic controller can convert the above formula (6) into a linear form, resulting in the following formula (7). Each pair of projection points corresponds to the system of equations shown in the following formula (7).

[0087] (7)

[0088] Then, the electronic controller can combine at least two sets of projection point pairs to construct an objective function for estimating the image transformation matrix, wherein the objective function can be shown in the following formula (8).

[0089] (8)

[0090] In formula (8), A represents the design matrix, which can be constructed based on the system of equations corresponding to each pair of projection points; .

[0091] Then, the electronic controller can perform singular value decomposition on the design matrix A to obtain the right singular vector matrix V, and use the last column of V as the solution vector h; finally, the solution vector h is reconstructed into a 3*3 matrix to obtain the reconstructed matrix, and the reconstructed matrix is ​​normalized to obtain the image transformation matrix H.

[0092] In some embodiments, before adjusting the positions of the lamp motors associated with each of the two headlights in the vehicle to their respective target positions, the electronic controller can also control the two headlights in the vehicle to synchronously project preset calibration content and determine the projection areas corresponding to each of the two headlights; based on the projection areas corresponding to each of the two headlights, the positions of the lamp motors associated with each headlight in the two headlights are adjusted to their respective initial positions; with each lamp motor in its respective initial position, the projection areas corresponding to each of the two headlights are geometrically aligned; the initial positions of the lamp motors associated with each headlight are calibrated to obtain the target positions corresponding to each lamp motor. Thus, by adjusting the positions of each lamp motor to their respective initial positions, the projection areas corresponding to each headlight can be geometrically aligned, and the subsequent calibration of the initial positions of each lamp motor improves the reliability of the determined target positions corresponding to each lamp motor.

[0093] Optionally, the preset calibration content may be, for example, a preset calibration pattern white point. Here, the calibration pattern white point refers to the absolute color value of a specific area or set of pixels that is defined as a reference white during the color calibration process.

[0094] Optionally, with each headlight motor in its corresponding initial position, the projection areas of the two headlights are geometrically aligned. This can be achieved by having the starting positions of the projection areas of the two headlights on the same horizontal line, with the starting positions intersecting.

[0095] Optionally, the electronic controller calibrates the initial positions of the headlight motors associated with each headlight to obtain the target positions corresponding to each headlight motor. This can be achieved by: for each headlight motor, with the motor in its corresponding initial position, obtaining a projected image based on a preset clarity calibration content for the headlight projection corresponding to that motor, and determining the clarity of the projected image; if the clarity does not reach a preset clarity threshold, calibrating the initial position of the headlight motor based on the clarity, until the headlight motor is in the calibrated position, and the clarity of the new projected image obtained after projecting the preset clarity calibration content for that headlight motor reaches the preset clarity threshold, thus obtaining the target position corresponding to the headlight motor. In this way, by calibrating the initial position of the headlight motor based on the clarity of the projected image until the final clarity of the projected image reaches the preset clarity threshold, the accuracy of determining the target positions corresponding to each headlight motor can be improved.

[0096] The electronic controller can also use the initial position of each individual headlight as the target position of each headlight motor when the clarity reaches a preset clarity threshold.

[0097] The following example illustrates how the electronic controller calibrates the initial position of the left headlight motor associated with the left front headlight, illustrating the process by which the electronic controller determines the target position for each headlight.

[0098] First, when the left headlight motor is in the initial position corresponding to the left headlight motor, the electronic controller can control the left headlight to project a preset clarity calibration content (such as high-contrast text and / or patterns) while keeping the right headlight in the off or standby state; control the image acquisition device (such as a vehicle camera) to capture the projection area of ​​the left headlight and acquire the projection image of the projection area of ​​the left headlight at a preset sampling frequency (such as any value between 25fps and 30fps); second, the electronic controller can acquire the projection image from the image acquisition device; then, the electronic controller can extract high-frequency edge features (such as the edges of text strokes) in the projection image, determine the gradient amplitude histogram based on the high-frequency edge features, and determine the clarity of the projection image; wherein, the clarity of the projection image can be determined by the following formula (9).

[0099] (9)

[0100] In formula (9), I represents the projected image; S represents the sum of the gradients at each pixel position (x,y) in the projected image I, or the sharpness of the projected image.

[0101] Next, the electronic controller determines whether the clarity of the projected image reaches a preset clarity threshold. If so, the initial position of the left headlight motor is taken as the target position of the left headlight motor. If not, the electronic controller performs proportional-integral-derivative (PID) control on the position of the left headlight motor based on the clarity, calibrating the initial position of the left headlight motor until it is in the calibrated position. Then, based on the preset clarity calibration content projected from the left headlight motor, the clarity of the new projected image reaches the preset clarity threshold, thus obtaining the target position of the headlight motor. Finally, the electronic controller stores the target position of the left headlight motor (e.g., in non-volatile memory) and binds it to the Vehicle Identification Number (VIN) to obtain a calibration file for subsequent use.

[0102] By adopting this implementation method, since the image projected by the headlight corresponding to the headlight motor at the target position reaches the preset clarity threshold, by controlling the headlight projection calibration information associated with each headlight motor when the positions of the headlight motors associated with the two headlights of the vehicle are all at the corresponding target positions, the clarity of the image projected by each headlight can be improved, thereby improving the accuracy of the determined image transformation matrix.

[0103] The following is combined Figure 3 This paper provides an overall description of the vehicle dual-lamp projection correction method provided in the embodiments of this application. Please refer to [link to relevant documentation]. Figure 3 , Figure 3 This is another optional flowchart illustrating a vehicle dual-lamp projection correction method provided in an embodiment of this application. For example... Figure 3 As shown, the dual-lamp projection correction method for this vehicle may include, but is not limited to, the following steps:

[0104] S301. When the dual-lamp projection correction triggering conditions of the vehicle are met, control the dual lamps in the vehicle to synchronously project the preset calibration content, and determine the projection area corresponding to each of the dual lamps.

[0105] In some embodiments, the electronic controller may determine that the dual-lamp projection correction trigger condition for the vehicle is met if all of the following conditions are met: the vehicle is stationary (e.g., the vehicle is currently in P gear); a projection request is detected or the dual-lamp projection correction self-test cycle is reached; and the ambient light intensity outside the vehicle is less than a preset light intensity threshold.

[0106] Optionally, preset calibration content may include, for example, a preset calibration pattern white field.

[0107] For example, please see Figure 4 , Figure 4 This is an optional schematic diagram of the projection areas corresponding to two lights, provided in an embodiment of this application. For example... Figure 4 As shown, the dashed lines represent the light path, and the areas formed by the solid lines represent the projection areas; among them, the area formed by the thick solid lines is the projection area corresponding to the left headlight, and the area formed by the thin solid lines is the projection area corresponding to the right headlight.

[0108] S302. Based on the projection areas corresponding to the two lights, adjust the positions of the headlight motors associated with each headlight in the two lights to their respective initial positions.

[0109] With each headlight motor in its corresponding initial position, the projection areas of the two headlights are geometrically aligned.

[0110] S303. The initial position of the headlight motor associated with each headlight is calibrated to obtain the target position corresponding to each headlight motor; wherein, at the target position, the image projection of the headlight corresponding to the headlight motor reaches the preset clarity threshold.

[0111] In some embodiments, the electronic controller calibrates the initial position of the headlight motors associated with each headlight to obtain the target position corresponding to each headlight motor. This can be achieved by: for each headlight motor, when the headlight motor is in its corresponding initial position, obtaining a projected image based on the preset clarity calibration content of the headlight projection corresponding to the headlight motor, and determining the clarity of the projected image; if the clarity does not reach the preset clarity threshold, calibrating the initial position of the headlight motor based on the clarity, until the headlight motor is in the calibrated position, and the clarity of the new projected image obtained after projecting the preset clarity calibration content of the headlight projection corresponding to the headlight motor reaches the preset clarity threshold, thus obtaining the target position corresponding to the headlight motor.

[0112] S304. Adjust the position of the headlight motors associated with each of the two headlights in the vehicle to the corresponding target position.

[0113] S305. When the headlight motors associated with each of the two headlights are in their respective target positions, control the headlight projection calibration information associated with each headlight motor to obtain the left projection image and the right projection image.

[0114] S306. Based on the left and right projected images, determine the image transformation matrix used to characterize the mapping relationship between the left and right projected images.

[0115] In some embodiments, the electronic controller determines the image transformation matrix based on the left and right projected images. For a detailed explanation of this, please refer to the relevant explanation above, which will not be repeated here.

[0116] S307. Generate an inverse distortion mapping table based on the image transformation matrix.

[0117] S308. Determine the brightness weight map; wherein, the brightness weight map includes the brightness weight corresponding to each pixel position in the overlapping brightness increment map corresponding to the left brightness distribution map and the right brightness distribution map.

[0118] In some embodiments, the specific details of how the electronic controller determines the brightness weight map can be found in the relevant descriptions above, and will not be repeated here.

[0119] In an optional implementation, after step S308, the electronic controller may further store the image transformation matrix, the inverse distortion mapping table, and the brightness weight map to perform dual-lamp projection correction when the dual-lamp projection correction trigger condition of the vehicle is subsequently detected.

[0120] In some embodiments, the electronic controller may also update the dual-lamp projection correction parameters (i.e., the image transformation matrix, the inverse distortion mapping table, and the luminance weight map) upon detecting that the adaptive update conditions for the dual-lamp projection correction parameters are met. Optionally, the electronic controller may determine that the adaptive update conditions for the dual-lamp projection correction parameters are met upon detecting that either of the following conditions is met: the duration between the current time and the time of the last determination of the dual-lamp projection correction parameters is greater than or equal to a preset duration; or an update operation for the dual-lamp projection correction parameters input is detected. The preset duration may be determined based on expert experience or based on multiple trials, etc.; the update operation may be a touch operation (e.g., a dual-lamp projection correction control in a motor display screen) or a voice operation (e.g., a user outputting "Please update the dual-lamp projection correction parameters"), etc.

[0121] S309. Based on the brightness weighting map, perform brightness correction on the initial content to be projected corresponding to the two lamps to obtain the content to be projected after brightness correction.

[0122] S310. Based on the inverse distortion mapping table, perform pre-distortion correction on the content to be projected after brightness correction to obtain the corrected content to be projected.

[0123] S311, Control the dual lamps to synchronously project the corrected content to be projected.

[0124] In an alternative implementation, the electronic controller may also perform the above steps S301 to S311 in sections based on the requirements for projection distance.

[0125] In this embodiment, since the image projected by the headlight motor corresponding to the headlight motor at the target position reaches a preset clarity threshold, the clarity of the projected image can be improved by adjusting the positions of the headlight motors associated with the two headlights to the corresponding target positions. Since the brightness weight map includes the brightness weights corresponding to each pixel position in the overlapping brightness increment map corresponding to the left and right brightness distribution maps, brightness correction of the initial content to be projected corresponding to the two headlights based on the brightness weight map can ensure that the brightness of the projected images corresponding to the two headlights remains consistent. Because the image transformation matrix represents... The mapping relationship between the left and right projected images is obtained based on the dual-lamp projection calibration information. That is, the image transformation matrix is ​​a global transformation matrix, and the inverse distortion mapping table is based on the image transformation matrix. Therefore, the inverse distortion mapping table is also global. Thus, based on the inverse distortion mapping table, the pre-distortion correction of the content to be projected after brightness correction is performed globally, which can minimize the geometric distortion of the projected image from the dual-lamp synchronous projection. In summary, the embodiments of this application can help improve the accuracy of dual-lamp collaborative projection in vehicles.

[0126] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0127] Based on the same inventive concept, this application also provides a vehicle dual-lamp projection correction device for implementing the aforementioned vehicle dual-lamp projection correction method. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle dual-lamp projection correction device embodiments provided below can be found in the limitations of the vehicle dual-lamp projection correction method described above, and will not be repeated here.

[0128] Please see Figure 5 , Figure 5 This is a schematic diagram of an optional structure of a vehicle dual-lamp projection correction device provided in an embodiment of this application. For example... Figure 5 As shown, the vehicle dual-lamp projection correction device may include, but is not limited to:

[0129] The acquisition module 501 is used to acquire the distortion mapping relationship when the dual-lamp projection correction trigger condition of the vehicle is met; the distortion mapping relationship is determined based on the image transformation matrix, which is used to characterize the mapping relationship between the left projection image and the right projection image obtained based on the dual-lamp projection calibration information;

[0130] The correction module 502 is used to perform pre-distortion correction on the content to be projected corresponding to the two lamps based on the distortion mapping relationship, so as to obtain the corrected content to be projected.

[0131] The control module 503 is used to control the synchronous projection of the corrected content by the dual lamps.

[0132] In some embodiments, the acquisition module 501 is further configured to acquire a brightness weight map; the brightness weight map includes the brightness weights corresponding to each pixel position in the overlapping brightness increment map corresponding to the left brightness distribution map and the right brightness distribution map; the left brightness distribution map and the right brightness distribution map are obtained by controlling the dual lamps to project photometric calibration information sequentially; the correction module 502 is further configured to perform brightness correction on the initial content to be projected corresponding to the dual lamps based on the brightness weight map, and use the content to be projected after brightness correction as the content to be projected.

[0133] In some embodiments, the device may further include a determining module. The control module 503 is further configured to control the two lamps to sequentially project photometric calibration information to obtain a left luminance distribution map and a right luminance distribution map; the determining module is configured to determine a superimposed luminance distribution map based on the left luminance distribution map and the right luminance distribution map; and to determine an overlapping luminance increment map and a local superimposed efficiency map based on the left luminance distribution map, the right luminance distribution map, and the superimposed luminance distribution map; the local superimposed efficiency map represents the degree of deviation of the luminance at the target pixel location when the two lamps are projected simultaneously from the sum of the luminance when the two lamps are projected individually; and to determine a luminance weight map based on the overlapping luminance increment map and the local superimposed efficiency map.

[0134] In some embodiments, the control module 503 is further configured to adjust the positions of the headlight motors associated with the two headlights in the vehicle to the corresponding target positions; at the target positions, the clarity of the image projected by the headlights corresponding to the headlight motors reaches a preset clarity threshold; when the headlight motors associated with the two headlights are all in the corresponding target positions, the control module controls the headlight projection calibration information associated with each headlight motor to obtain a left projection image and a right projection image; the determination module is further configured to determine an image transformation matrix based on the left projection image and the right projection image.

[0135] In some embodiments, before adjusting the positions of the headlight motors associated with each of the two headlights in the vehicle to their respective target positions, the control module 503 is further configured to: control the two headlights in the vehicle to synchronously project preset calibration content and determine the projection areas corresponding to each of the two headlights; based on the projection areas corresponding to each of the two headlights, adjust the positions of the headlight motors associated with each headlight in the two headlights to their respective initial positions; with each headlight motor in its respective initial position, the projection areas corresponding to each of the two headlights are in a geometrically aligned state; the correction module 502 is further configured to calibrate the initial positions of the headlight motors associated with each headlight to obtain the target positions corresponding to each headlight motor.

[0136] In some embodiments, when the calibration module 502 calibrates the initial position of the headlight motors associated with each headlight to obtain the target position corresponding to each headlight motor, it specifically performs the following: for each headlight motor, when the headlight motor is in its corresponding initial position, it obtains a projected image based on the preset clarity calibration content of the headlight projection corresponding to the headlight motor, and determines the clarity of the projected image; if the clarity does not reach the preset clarity threshold, it calibrates the initial position of the headlight motor based on the clarity, until the headlight motor is in the calibrated position, and the clarity of the new projected image obtained after the headlight projection of the headlight corresponding to the headlight motor reaches the preset clarity threshold, thereby obtaining the target position corresponding to the headlight motor.

[0137] In some embodiments, when determining the image transformation matrix based on the left and right projected images, the determining module specifically performs the following steps: determining the coordinates of multiple left projection points corresponding to the left projection image and the coordinates of multiple right projection points corresponding to the right projection image; determining at least two pairs of projection points based on the coordinates of the multiple left and right projection points; constructing an objective function for estimating the image transformation matrix based on the at least two pairs of projection points; performing singular value decomposition on the design matrix included in the objective function to obtain a right singular vector matrix; constructing the design matrix based on the coordinates of the two projection points included in each of the at least two pairs of projection points; and determining the image transformation matrix based on the right singular vector matrix.

[0138] It is understood that the specific implementation of each module in the vehicle dual-lamp projection correction device provided in this application embodiment and the beneficial effects that can be achieved can be referred to the description of the aforementioned vehicle dual-lamp projection correction method embodiment, and will not be repeated here.

[0139] Each module in the aforementioned vehicle dual-lamp projection correction device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the in-vehicle terminal device in hardware form or stored in the memory of the vehicle dual-lamp projection correction device in software form, so that the processor can call and execute the corresponding operations of each module.

[0140] In one exemplary embodiment, a vehicle is provided whose internal structure diagram can be as follows: Figure 6 As shown, the vehicle includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The vehicle's processor provides computing and control capabilities. The vehicle's memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The vehicle's input / output interface is used for exchanging information between the processor and external devices. The vehicle's communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a vehicle dual-lamp projection correction method. The vehicle's display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the vehicle can be a touch layer covering the display screen, or it can be a button, trackball, or touchpad installed in the vehicle.

[0141] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the vehicle to which the present application is applied. A specific vehicle may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0142] In one exemplary embodiment, this application also provides a vehicle dual-lamp projection correction system. See also... Figure 7 , Figure 7 This is a schematic diagram of an optional architecture for a vehicle dual-lamp projection correction system provided in an embodiment of this application. For example... Figure 7As shown, the vehicle dual-lamp projection correction system may include a left headlight motor module, a right headlight motor module, an image acquisition module (e.g., an onboard camera), and a controller (e.g., an electronic control unit (ECU) in the vehicle); wherein, the controller controls the left headlight motor module and the right headlight motor module through a controller area network (CAN).

[0143] The left headlight motor module includes a left headlight motor and a left headlight; the right headlight motor module includes a right headlight motor and a right headlight.

[0144] The controller is used to determine the target position of the left headlight motor in the left headlight motor module and the target position of the right headlight motor in the right headlight motor module when the dual headlight projection correction trigger conditions of the vehicle are met, and adjust the left headlight motor and the right headlight motor to the corresponding target positions respectively; then, it controls the projection calibration information of the left headlight and the right headlight.

[0145] The image acquisition module is used to acquire the left projection image after the left headlight projection calibration information and the right projection image after the right headlight projection calibration information, and send the left projection image and the right projection image to the controller.

[0146] The controller is also used to determine an image transformation matrix that characterizes the mapping relationship between the left and right projected images based on the left and right projected images, and to generate an inverse distortion mapping table based on the image transformation matrix; determine a brightness weight map; correct the content to be projected based on the brightness weight map and the inverse distortion mapping table to obtain the corrected content to be projected; and control the left and right headlights to synchronously project the corrected content to be projected.

[0147] In one exemplary embodiment, this application provides a controller, including a memory and a processor, wherein the memory stores a computer program; when the processor executes the computer program, it implements the steps in the above-described vehicle dual-lamp projection correction methods.

[0148] In one exemplary embodiment, this application provides a computer-readable storage medium having a computer program stored thereon. When executed by a processor, the computer program implements the steps in the above-described vehicle dual-lamp projection correction methods.

[0149] In one exemplary embodiment, this application provides a computer program product, including a computer program. When executed by a processor, the computer program implements the steps in the aforementioned vehicle dual-lamp projection correction methods.

[0150] It should be noted that the data involved in this application (including but not limited to data used for analysis, data stored, data displayed, etc.) are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0151] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0152] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0153] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for correcting dual-lamp projection in a vehicle, characterized in that, The method includes: Under the condition that the dual-lamp projection correction triggering condition of the vehicle is met, the distortion mapping relationship is obtained; the distortion mapping relationship is determined based on the image transformation matrix, which is used to characterize the mapping relationship between the left projection image and the right projection image obtained based on the dual-lamp projection calibration information; Based on the distortion mapping relationship, the content to be projected corresponding to the two lights is pre-distorted to obtain the corrected content to be projected. The dual lamps are controlled to synchronously project the corrected content to be projected.

2. The method according to claim 1, characterized in that, The method further includes: A brightness weight map is obtained; the brightness weight map includes the brightness weight corresponding to each pixel position in the overlapping brightness increment map corresponding to the left brightness distribution map and the right brightness distribution map; the left brightness map and the right brightness map are obtained by controlling the dual lamps to project photometric calibration information sequentially; Based on the brightness weighting map, the initial content to be projected corresponding to the two lights is brightness corrected, and the content to be projected after brightness correction is taken as the content to be projected.

3. The method according to claim 2, characterized in that, The brightness weight map is determined in the following way: The dual lamps are controlled to project photometric calibration information sequentially to obtain a left luminance distribution map and a right luminance distribution map; Based on the left luminance distribution map and the right luminance distribution map, a superimposed luminance distribution map is determined; Based on the left brightness distribution map, the right brightness distribution map, and the superimposed brightness distribution map, an overlapping brightness increment map and a local superimposed efficiency map are determined; the local superimposed efficiency map represents the degree of deviation of the brightness of the dual lamps when projecting simultaneously at the target pixel location from the sum of the brightness of the dual lamps when projecting individually. A brightness weight map is determined based on the overlapping brightness increment map and the local superposition efficiency map.

4. The method according to any one of claims 1 to 3, characterized in that, The image transformation matrix is ​​determined in the following way: The positions of the headlight motors associated with the two headlights in the vehicle are adjusted to the corresponding target positions; at the target positions, the image projected by the headlights corresponding to the headlight motors reaches a preset clarity threshold. When the headlight motors associated with the two headlights are all in their respective target positions, the headlight projection calibration information associated with each headlight motor is controlled to obtain the left projection image and the right projection image. Based on the left projected image and the right projected image, the image transformation matrix is ​​determined.

5. The method according to claim 4, characterized in that, Before adjusting the positions of the headlight motors associated with the two headlights in the vehicle to their corresponding target positions, the method further includes: Control the dual lights in the vehicle to synchronously project preset calibration content, and determine the projection area corresponding to each of the dual lights; Based on the projection areas corresponding to the two lights, the positions of the headlight motors associated with each headlight in the two lights are adjusted to their respective initial positions; with each headlight motor in its respective initial position, the projection areas corresponding to the two lights are in a geometrically aligned state. The initial positions of the headlight motors associated with each headlight are calibrated to obtain the target positions corresponding to each headlight motor.

6. The method according to claim 5, characterized in that, The calibration of the initial position of the headlight motor associated with each headlight to obtain the target position corresponding to each headlight motor includes: For each headlight motor, when the headlight motor is in its corresponding initial position, a projected image is obtained based on the preset clarity calibration content of the headlight projection corresponding to the headlight motor, and the clarity of the projected image is determined. If the clarity does not reach the preset clarity threshold, the initial position of the headlight motor is calibrated based on the clarity until the headlight motor is in the calibrated position. Then, the clarity of the new projected image obtained after the headlight corresponding to the headlight motor projects the preset clarity calibration content reaches the preset clarity threshold, and the target position corresponding to the headlight motor is obtained.

7. The method according to claim 4, characterized in that, Determining the image transformation matrix based on the left projected image and the right projected image includes: Determine the coordinates of multiple left projection points corresponding to the left projection image, and the coordinates of multiple right projection points corresponding to the right projection image; Based on the coordinates of multiple left projection points and multiple right projection points, at least two pairs of projection points are determined. Based on at least two sets of the projection point pairs, an objective function is constructed for estimating the image transformation matrix; The design matrix included in the objective function is subjected to singular value decomposition to obtain a right singular vector matrix; the design matrix is ​​constructed based on the coordinates of the two projection points in each of at least two sets of projection point pairs; Based on the right singular vector matrix, the image transformation matrix is ​​determined.

8. A vehicle dual-lamp projection correction device, characterized in that, The device includes: The acquisition module is used to acquire the distortion mapping relationship when the dual-lamp projection correction triggering condition of the vehicle is met; the distortion mapping relationship is determined based on the image transformation matrix, which is used to characterize the mapping relationship between the left projection image and the right projection image obtained based on the dual-lamp projection calibration information; The correction module is used to perform pre-distortion correction on the content to be projected corresponding to the two lamps based on the distortion mapping relationship, so as to obtain the corrected content to be projected. The control module is used to control the dual lamps to synchronously project the corrected content to be projected.

9. A vehicle, comprising a memory and a controller, characterized in that, The memory stores a computer program; when the controller executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

Images