A vehicle lamp control method, device, equipment, storage medium and vehicle

Abstract

The present invention provides a vehicle headlight control method, device, equipment and vehicle. When providing lighting services to users, the method acquires image information collected by a front vehicle camera and millimeter-wave point cloud information collected by a front vehicle radar, determines feature information of a target object based on the image information and the millimeter-wave point cloud information, where the feature information at least includes: coordinate information, speed information and height information, and then controls the irradiation angle of the vehicle headlights based on the feature information. Compared with the lighting services with fixed duration and fixed area in the prior art, the above scheme disclosed in the present application can adjust the lighting angle according to the feature information of the target object, thereby realizing the provision of accurate lighting services for the target object.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle lamp control, and particularly relates to a vehicle lamp control method, device, equipment, storage medium and vehicle. Background Art

[0002] With the development of the automotive industry, cars are increasingly involved in our daily life and work. Facing various scenarios and requirements, vehicle intelligent services are becoming more and more important highlights and selling points of cars. Among them, the Follow Me Home headlamp is an intelligent function service for users.

[0003] The Follow Me Home headlamp means that after the driver arrives at the destination and locks the vehicle, the Follow Me Home headlamp of the vehicle will light up for a period of time and then go out, illuminating the way home for the driver, making full use of the relevant configurations of the vehicle to enhance the user's sense of happiness and greatly improving the degree of vehicle intelligent services.

[0004] In the prior art, this solution mainly controls the start and off of the vehicle headlamp based on the relevant information input by the driver for function settings. That is to say, the start duration and irradiation area of the headlamp are fixed and cannot be set after the vehicle is locked, making it difficult to provide accurate lighting services for users. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a vehicle lamp control method, device, equipment, storage medium and vehicle to provide more accurate lighting services for users.

[0006] To achieve the above object, embodiments of the present invention provide the following technical solutions:

[0007] A control method for a vehicle lamp, comprising:

[0008] Obtaining image information collected by a first acquisition device in front of the vehicle;

[0009] Obtaining millimeter-wave point cloud information collected by a second acquisition device in front of the vehicle;

[0010] Identifying feature information of a target object based on the image information and the millimeter-wave point cloud information, the feature information at least including: coordinate information, speed information and height information;

[0011] Controlling the irradiation angle of the vehicle lamp based on the feature information.

[0012] Optionally, in the above vehicle lamp control method, controlling the irradiation angle of the vehicle headlamp based on the feature information includes:

[0013] Judging whether the coordinate information is within the irradiation range of a first matrix headlamp or within the irradiation range of a second matrix headlamp;

[0014] When the coordinate information is within the illumination range of the first matrix headlight, control the first matrix headlight to be in the lit state. When the coordinate information is within the illumination range of the second matrix headlight, control the second matrix headlight to be in the lit state;

[0015] Construct the action trajectory of the target object based on the coordinate information;

[0016] Predict the predicted position of the target object at the next moment based on the action trajectory, coordinate information, and the speed information;

[0017] Adjust the illumination angle of the matrix headlight in the lit state based on the predicted position, so that the predicted position is in the illuminated state;

[0018] Determine the eye position of the target object based on the height information;

[0019] Adjust the illumination angle of the matrix headlight in the lit state based on the eye height, so that the direct illumination range of the matrix headlight in the lit state avoids the eye position.

[0020] Optionally, in the above vehicle headlight control method, after identifying the feature information of the target object based on the image information and millimeter-wave point cloud information, it further includes:

[0021] Judge whether the distance between the coordinate information and the vehicle exceeds a preset distance range;

[0022] Judge whether the duration after the vehicle meets the preset conditions is greater than the preset duration;

[0023] When it exceeds the preset distance range or is greater than the preset duration, turn off the lit vehicle headlights.

[0024] Optionally, in the above vehicle headlight control method, the preset conditions include:

[0025] The vehicle is in the off state, the user triggers the light lever in a preset manner, and the user triggers a preset control through the vehicle center console screen.

[0026] Optionally, in the above vehicle headlight control method, before identifying the feature information of the target object based on the image information and millimeter-wave point cloud information, it further includes:

[0027] Obtain the vehicle key coordinates;

[0028] Determine the target object based on the vehicle key coordinates and the millimeter-wave point cloud information.

[0029] Optionally, for the above vehicle headlight control method, after turning off the lit vehicle headlights, the solution further includes:

[0030] When it is detected that the vehicle key enters the preset distance range from the vehicle, or when a vehicle unlocking instruction is detected, it is determined whether the light intensity is lower than the preset light intensity;

[0031] When the light intensity is lower than the preset light intensity, control the vehicle lights to turn on;

[0032] Obtain the scene image collected by the first acquisition device in front of the vehicle;

[0033] Obtain the radar data collected by the second acquisition device in front of the vehicle;

[0034] Based on the scene image and the radar data, identify the feature information of the target object, and the feature information at least includes: coordinate information, speed information, and height information;

[0035] Control the irradiation angle of the vehicle lights based on the feature information.

[0036] A vehicle light control device, comprising:

[0037] A feature information acquisition unit, configured to, when the vehicle meets the preset conditions, obtain the image information collected by the front camera of the vehicle and obtain the millimeter wave point cloud information collected by the front radar of the vehicle; identify the feature information of the target object based on the image information and the millimeter wave point cloud information, and the feature information at least includes: coordinate information, speed information, and height information;

[0038] An illumination control unit, configured to control the irradiation angle of the vehicle headlights based on the feature information.

[0039] An electronic device, comprising:

[0040] A memory and a processor; the memory stores a program suitable for the processor to execute, and the program is used to execute the control method of the vehicle lights described in any one of the above.

[0041] A storage medium stores multiple instructions, and the instructions are suitable for being loaded by a processor to execute the steps in the vehicle light control method described in any one of the above.

[0042] A vehicle, comprising: a controller, and the controller is configured to execute the control method of the vehicle lights described in any one of the above.

[0043] Based on the above technical solutions, in the above solutions provided by the embodiments of the present invention, when providing lighting services to users, the image information collected by the front vehicle camera and the millimeter-wave point cloud information collected by the front vehicle radar are obtained, and the characteristic information of the target object is determined based on the image information and the millimeter-wave point cloud information. The characteristic information at least includes: coordinate information, speed information, and height information, and then the irradiation angle of the vehicle headlights is controlled based on the characteristic information. Compared with the lighting services with fixed duration and fixed area in the prior art, the above solutions disclosed in the present application can adjust the lighting angle according to the characteristic information of the target object, thereby realizing the provision of accurate lighting services for the target object. Brief Description of the Drawings

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0045] Figure 1 It is a schematic structural diagram of the vehicle headlight control method disclosed in the embodiments of the present application;

[0046] Figure 2 It is a schematic structural diagram of the vehicle headlight control device disclosed in the embodiments of the present application;

[0047] Figure 3 It is a schematic structural diagram of an electronic device disclosed in the embodiments of the present application. Detailed Embodiments

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0049] Aiming at the problem in the prior art that in the Follow Me Home mode of the vehicle, the existing lighting mode is a fixed lighting area and a fixed lighting duration, which is difficult to provide accurate lighting services for users, the present application discloses a vehicle headlight control method. This solution identifies the characteristic information of the target object through the acquisition information of the image acquisition device and the radar device on the vehicle, identifies the moving trajectory of the user based on the characteristic information, and controls the moving trajectory of the lighting area of the vehicle headlights based on the moving trajectory, realizing that in the Follow Me Home mode, the lighting area of the vehicle follows the user's movement, improving the reliability and accuracy of the service.

[0050] For details, see Figure 1 The vehicle light control method disclosed in the embodiment of the present application may include: steps S101-S103.

[0051] Step S101: Obtain image information collected by the front camera of the vehicle, and obtain millimeter wave point cloud information collected by the front radar of the vehicle.

[0052] Intelligent driving system refers to the car equipped with advanced sensors, controllers, actuators, communication modules and other equipment to assist the driver in manipulating the vehicle. At present, more and more cars equipped with intelligent driving systems are entering the consumer market, and the number of models equipped with them is also increasing, which provides a hardware foundation for the optimization of the solution. The multi-sensor fusion solution currently adopted by the intelligent driving system is mainly to play to its strengths and avoid its weaknesses, and to design redundancy to improve the safety factor of the whole vehicle. Among them, the visible light camera has many advantages such as multiple recognition targets, easy installation, and relatively low cost. At the same time, the visual algorithm is developing rapidly. More than ten cameras are arranged in the front, back, left, and right positions of the vehicle to serve various functional scenarios. At the same time, the vehicle is also equipped with millimeter-wave radars in the front and rear bumpers. The millimeter-wave radar has a strong ability to identify moving targets. At the same time, the three millimeter-wave radars in front of the vehicle can basically cover the entire front field of view of the vehicle. In this solution, the front camera and front radar used are the cameras and radars that come with the vehicle.

[0053] When the vehicle meets the starting conditions of the technical solution disclosed in the present application, the first acquisition device and the second acquisition device are started, and images in front of the vehicle are acquired by the first acquisition device, and radar detection is performed in front of the vehicle by the second acquisition device to obtain image information acquired by the first acquisition device and millimeter wave point cloud information acquired by the second acquisition device. The first acquisition device can be a front camera of the vehicle and the second acquisition device can be a front radar of the vehicle.

[0054] Step S102: Obtain characteristic information of the target object based on the image information and the millimeter wave point cloud information, wherein the characteristic information includes at least: coordinate information, speed information and height information.

[0055] After acquiring the image information and the millimeter wave point cloud information, the intelligent driving image processing module determines the target object based on the image information and the millimeter wave point cloud information, and identifies the characteristic information of the target object, wherein the characteristic information of the target object includes at least coordinate information, speed information and height information. The coordinate information is used to determine the user's position, and the speed information is used to determine the user's walking speed. The user's real-time position and walking speed can be determined based on the coordinate information and speed information, and the eye height of the target object can be predicted by the height information. Of course, the position of the eyes can also be determined by image recognition.

[0056] Step S103: Control the irradiation angle of the vehicle headlight based on the feature information.

[0057] In this step, after calculating the coordinate information, speed information, and height information of the target object, control the vehicle headlight based on the coordinate information, speed information, and height information, so that the illumination area of the vehicle headlight follows the target user and avoids direct lighting on the eye position of the target object.

[0058] In the above solution disclosed in the embodiment of the present application, when providing lighting service for the user, obtain the image information collected by the first acquisition device and the millimeter-wave point cloud information collected by the second acquisition device, determine the feature information of the target object based on the image information and the millimeter-wave point cloud information, where the feature information at least includes: coordinate information and speed information, and then control the irradiation angle of the vehicle headlight based on the feature information, thereby realizing providing accurate lighting service for the user.

[0059] The user can select to start the control method of the vehicle lamp disclosed in the present application based on their own needs. Specifically, when obtaining the image information collected by the first acquisition device in front of the vehicle and the millimeter-wave point cloud information collected by the second acquisition device in front of the vehicle, it further includes: determining whether the vehicle meets a preset condition. When the preset condition is met, it indicates that the user has started the control method of the vehicle lamp disclosed in the present application. At this time, execute the above step S101. That is, in this embodiment, the in-vehicle system determines whether the vehicle meets the preset condition. The preset condition refers to the trigger condition of the follow-me-home function. For example, the trigger condition can be that the vehicle is in the off state, the user triggers the light lever in a preset manner, and the user triggers a preset control through the vehicle central control screen. That is, when the user triggers a preset control through the vehicle central control screen, after the vehicle is turned off, press the light switch forward and then release it (i.e., the operation of switching to the high beam), and the instrument will display "Follow-me-home lamp has been enabled". At this time, the vehicle meets the preset condition. In this solution, the user can set on the vehicle central control whether to adopt the vehicle lamp control method provided in this solution or the follow-me-home mode in the prior art.

[0060] In this solution, the purpose of controlling the moving trajectory of the illumination area of the vehicle headlight based on the feature information is to make the position of the illumination area of the vehicle headlight change with the change of the user's position. In this solution, the control of the moving trajectory of the illumination area of the vehicle headlight based on the feature information may specifically include:

[0061] ①. Determine whether the coordinate information is within the illumination range of the first matrix headlight or within the illumination range of the second matrix headlight; when the coordinate information is within the illumination range of the first matrix headlight, control the first matrix headlight to be in the lit state, and when the coordinate information is within the illumination range of the second matrix headlight, control the second matrix headlight to be in the lit state.

[0062] In this solution, the coordinate information refers to the coordinates of the user relative to the vehicle. The origin of the coordinate system where this coordinate is located is the center of the rear axle of the vehicle. In this coordinate system, the left side of the vehicle is the positive X value, the right side of the vehicle is the negative X value, and the Y value is always positive. The coordinate information of the target object relative to the center point of the vehicle's rear drive axle clarifies the position of the target object relative to the vehicle. Since the first matrix headlight and the second matrix headlight (the matrix headlight is the front headlight of the vehicle) of the vehicle are distributed on the left and right sides of the vehicle, the areas that the two matrix headlights can illuminate are also different, that is, within the illumination range of the first matrix headlight and within the illumination range of the second matrix headlight. When both are turned on at the same time, only the matrix headlight whose illumination range covers the coordinate information can provide lighting services for the user, and the other matrix headlight is in an ineffective working condition. Therefore, in this solution, the corresponding matrix headlight can be selected to be lit according to the scene requirements.

[0063] ②. Construct the movement trajectory of the target object based on the coordinate information; predict the predicted position of the target object at the next moment based on the movement trajectory, coordinate information, and the speed information; adjust the illumination angle of the matrix headlight in the lit state based on the predicted position so that the predicted position is in the illuminated state.

[0064] In this solution, in order to better provide lighting services for the user, the position of the user at the next moment can be predicted and illuminated in advance. At this time, the movement trajectory of the target object can be constructed according to the obtained coordinate information. After obtaining the movement trajectory, then predict the predicted position of the target object at the next moment based on the movement trajectory coordinate information and the speed information. After determining the predicted position of the target object at the next moment, adjust the illumination angle of the lit matrix headlight so that the matrix headlight illuminates the predicted position in advance, thereby providing better lighting services for the user.

[0065] The feature information may further include the height information of the target object obtained based on the image information and the millimeter-wave point cloud information. In this solution, the purpose of obtaining the height information of the target object is to estimate the eye height of the target object, and adjust the illumination angle of the matrix headlight based on the eye height, so as to avoid the light of the matrix headlight directly shining into the eyes of the target object. Therefore, in the above method, controlling the illumination angle of the vehicle headlight based on the feature information further includes:

[0066] ③. Predict the eye position of the target object based on the height information, and adjust the irradiation angle of the matrix headlight in the lit state based on the eye height, so that the direct irradiation range of the matrix headlight in the lit state avoids the eye position, so that when the user faces the vehicle, the eyes will not be directly irradiated by the light.

[0067] Of course, in addition to predicting the eye position of the target object based on the height information, the eye position of the user can also be recognized from the image information collected by the first collection device.

[0068] In the technical solution disclosed in another embodiment of the present application, the present application can preset some closing conditions for the headlight matrix. When it is detected that these conditions are met, the lit matrix headlight is controlled to turn off. For example, in this solution, the closing conditions can be: the distance between the coordinate information and the vehicle exceeds the preset distance range, or the duration after the vehicle is locked reaches the preset duration (for example, it can be 30 s). That is, after the solution disclosed in the embodiment of the present application is executed, it is judged whether the distance between the coordinate information and the vehicle exceeds the preset distance range; it is judged whether the duration after the vehicle meets the preset condition is greater than the preset duration; when the preset distance range is exceeded or the preset duration is greater than, the lit vehicle lights are turned off.

[0069] In the technical solution disclosed in another embodiment of the present application, in addition to using the intelligent driving image processing module to determine the target object based on the image information and the millimeter wave point cloud information, the target object can also be determined from the image information and the millimeter wave point cloud information through the vehicle key coordinates. That is, obtain the coordinates where the vehicle key is located, obtain the detection object adapted to the vehicle key coordinates from the image information and the millimeter wave point cloud information, and use this detection object as the target object.

[0070] In the technical solution disclosed in another embodiment of the present application, when the user needs to use the vehicle at night or in other scenarios with relatively dim light, in order to provide lighting services to the user, in this solution, after turning off the vehicle's lit headlights, the solution further includes: when it is detected that the distance between the vehicle key and the vehicle enters within the preset distance range, or when it is detected that the user sends an unlocking instruction to the vehicle through the unlocking button on the vehicle key, determine whether the light intensity is lower than the preset light intensity; when the light intensity is lower than the preset light intensity, it indicates that the vehicle is in a relatively dim environment, and at this time, lighting services need to be provided to the user. At this time, control the headlights to turn on. After the headlights are turned on, turn on the first acquisition device and the second acquisition device on the vehicle, and obtain the scene image collected by the first acquisition device in front of the vehicle; obtain the radar data collected by the second acquisition device in front of the vehicle, and this radar data can also be millimeter-wave point cloud information; based on the scene image and the radar data, identify the characteristic information of the target object, and control the irradiation angle of the headlights based on the characteristic information to provide accurate lighting services for the user approaching the vehicle (the user about to get on the vehicle). Thus, it can be seen that the technical solution disclosed in the present application can not only provide accurate lighting services for the user when getting off the vehicle and going home, but also provide accurate lighting services for the user when getting on the vehicle.

[0071] In this embodiment, a vehicle headlight control device is disclosed. For the specific working content of each unit in the device, please refer to the content of the above method embodiment.

[0072] Next, the vehicle headlight control device provided by the embodiment of the present invention will be described. The vehicle headlight control device described below can be mutually corresponding and referred to with the vehicle headlight control method described above.

[0073] See Figure 2 , the vehicle headlight control device disclosed in the embodiment of the present application may include:

[0074] The feature information acquisition unit 1 is used to obtain the image information collected by the front camera of the vehicle and obtain the millimeter-wave point cloud information collected by the front radar of the vehicle; based on the image information and the millimeter-wave point cloud information, identify the characteristic information of the target object, and the characteristic information at least includes: coordinate information, speed information, and height information;

[0075] The lighting control unit 2 is used to control the irradiation angle of the vehicle headlights based on the characteristic information.

[0076] Corresponding to the above method, the above device may further include: a condition judgment unit, which is used to judge whether the vehicle meets the preset conditions.

[0077] Corresponding to the above method, when the lighting control unit controls the irradiation angle of the vehicle headlights based on the characteristic information, it is specifically used for:

[0078] Determining whether the coordinate information is within the illumination range of the first matrix headlight or within the illumination range of the second matrix headlight;

[0079] When the coordinate information is within the illumination range of the first matrix headlight, the first matrix headlight is controlled to be in a lighting state; when the coordinate information is within the illumination range of the second matrix headlight, the second matrix headlight is controlled to be in a lighting state, wherein the first matrix headlight may be the left front headlight of the vehicle, and the second matrix headlight may be the right front headlight of the vehicle;

[0080] Constructing a movement trajectory of the target object based on the coordinate information;

[0081] Predicting the predicted position of the target object at the next moment based on the motion trajectory, coordinate information and speed information;

[0082] adjusting the illumination angle of the matrix headlight in the lit state based on the predicted position so that the predicted position is in an illuminated state;

[0083] When the characteristic information includes height information, the lighting control unit is further configured to:

[0084] The eye position of the target object is determined based on the height information, and the illumination angle of the matrix headlight in the illuminated state is adjusted based on the eye height, so that the direct illumination range of the matrix headlight in the illuminated state avoids the eye position.

[0085] Corresponding to the above method, the lighting control unit is further used for:

[0086] Determining whether the distance between the coordinate information and the vehicle exceeds a preset distance range;

[0087] Determine whether the time after the vehicle meets the preset conditions is greater than the preset time;

[0088] When the preset distance range is exceeded or the preset time is exceeded, the vehicle lights are turned off.

[0089] Corresponding to the above method, before the feature information acquisition unit obtains the feature information of the target object based on the image information and the millimeter wave point cloud information, it is also used to: obtain the vehicle key coordinates; and determine the target object based on the vehicle key coordinates and the millimeter wave point cloud information.

[0090] Figure 3 For a hardware structure diagram of an electronic device provided by an embodiment of the present invention, see Figure 3 As shown, it may include: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400;

[0091] In an embodiment of the present invention, the number of the processor 100, the communication interface 200, the memory 300, and the communication bus 400 is at least one, and the processor 100, the communication interface 200, and the memory 300 complete communication with each other through the communication bus 400; obviously, Figure 3 The schematic diagram of the communication connection shown by the processor 100, the communication interface 200, the memory 300, and the communication bus 400 shown is only optional;

[0092] Optionally, the communication interface 200 may be an interface of a communication module, such as an interface of a GSM module;

[0093] The processor 100 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0094] The memory 300 may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0095] Among them, the processor 100 is specifically configured to:

[0096] Determine whether the vehicle meets a preset condition;

[0097] When the vehicle meets the preset condition, obtain the image information collected by the front camera of the vehicle and the millimeter-wave point cloud information collected by the front radar of the vehicle;

[0098] Based on the image information and the millimeter-wave point cloud information, identify the feature information of the target object, and the feature information includes at least: coordinate information and speed information;

[0099] Control the irradiation angle of the vehicle headlight based on the feature information.

[0100] Corresponding to the above method, the present application also discloses a storage medium, which stores multiple instructions, and the instructions are suitable for being loaded by a processor to execute the steps in the headlight control method described in any one of the above of the present application.

[0101] Corresponding to the above device, the present application also discloses a vehicle, and this vehicle can apply the headlight control device described in any one of the above embodiments.

[0102] For the convenience of description, when describing the above system, various modules are described separately according to functions. Of course, when implementing the present invention, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0103] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for a system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and reference can be made to the corresponding part of the method embodiment for the relevant content. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement this without creative work.

[0104] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0105] The steps of the methods or algorithms described in combination with the embodiments disclosed in this article can be directly implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the technical field.

[0106] It should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0107] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle lamp control method, characterized in that, Including: Determine whether the vehicle meets a preset condition, where the preset condition refers to the trigger condition of the Follow Me Home function; When the preset condition is met, perform the following steps: Obtain the image information collected by the first acquisition device in front of the vehicle; Obtain the millimeter-wave point cloud information collected by the second acquisition device in front of the vehicle; Based on the image information and the millimeter-wave point cloud information, identify the characteristic information of the target object, where the characteristic information at least includes: coordinate information, speed information, and height information; Control the irradiation angle of the vehicle lights based on the characteristic information; Among them, the vehicle lights include: a first matrix headlight and a second matrix headlight, and controlling the irradiation angle of the vehicle headlights based on the characteristic information includes: Determine whether the coordinate information is within the irradiation range of the first matrix headlight or within the irradiation range of the second matrix headlight; When the coordinate information is within the irradiation range of the first matrix headlight, control the first matrix headlight to be in the lit state, and when the coordinate information is within the irradiation range of the second matrix headlight, control the second matrix headlight to be in the lit state; Construct the action trajectory of the target object based on the coordinate information; Predict the predicted position of the target object at the next moment based on the action trajectory, coordinate information, and the speed information; Adjust the irradiation angle of the lit matrix headlight based on the predicted position so that the predicted position is in the illuminated state; Determine the eye position of the target object based on the height information; Adjust the irradiation angle of the lit matrix headlight based on the eye position so that the direct irradiation range of the lit matrix headlight avoids the eye position.

2. The headlight control method according to claim 1, wherein After identifying the characteristic information of the target object based on the image information and the millimeter-wave point cloud information, it further includes: Determine whether the distance between the coordinate information and the vehicle exceeds a preset distance range; Determine whether the duration after the vehicle meets the preset condition is greater than a preset duration; When the preset distance range is exceeded or the preset duration is greater than, turn off the lit vehicle lights.

3. The vehicle light control method according to claim 1, wherein The preset condition includes: The vehicle is in an off state, the user triggers the light lever in a preset manner, and the user triggers at least one of the preset controls through the vehicle center console screen.

4. The headlamp control method according to claim 1, characterized in that, Before identifying the characteristic information of the target object based on the image information and the millimeter-wave point cloud information, it further includes: Obtain the vehicle key coordinates; Determine the target object based on the vehicle key coordinates and the millimeter-wave point cloud information.

5. The headlight control method according to claim 2, wherein After turning off the lit vehicle lights, the solution further includes: When it is detected that the distance between the vehicle key and the vehicle enters the preset distance range, or when a vehicle unlocking instruction is detected, determine whether the light intensity is lower than a preset light intensity; When the light intensity is lower than the preset light intensity, control the vehicle lights to turn on; Obtain the scene image collected by the first acquisition device in front of the vehicle; Obtain the radar data collected by the second acquisition device in front of the vehicle; Based on the scene image and the radar data, identify the characteristic information of the target object, where the characteristic information at least includes: coordinate information, speed information, and height information; Control the irradiation angle of the vehicle lights based on the characteristic information.

6. A vehicle lamp control device, characterized in that, Including: The feature information acquisition unit is used to obtain the image information collected by the front camera of the vehicle and the millimeter wave point cloud information collected by the front radar of the vehicle when the vehicle meets the preset conditions; the feature information of the target object is obtained based on the image information and the millimeter wave point cloud information, and the feature information includes at least: coordinate information, speed information and height information; the preset conditions refer to the trigger conditions of the accompany me home function; A lighting control unit, used to control the illumination angle of the vehicle headlights based on the characteristic information; The vehicle headlights include: a first matrix headlight and a second matrix headlight, and the controlling of the illumination angle of the vehicle headlights based on the characteristic information includes: Determining whether the coordinate information is within the illumination range of the first matrix headlight or within the illumination range of the second matrix headlight; When the coordinate information is within the illumination range of the first matrix headlight, the first matrix headlight is controlled to be in a lighting state; when the coordinate information is within the illumination range of the second matrix headlight, the second matrix headlight is controlled to be in a lighting state; Constructing a movement trajectory of the target object based on the coordinate information; Predicting the predicted position of the target object at the next moment based on the motion trajectory, coordinate information and speed information; adjusting the illumination angle of the matrix headlight in the lit state based on the predicted position so that the predicted position is in an illuminated state; determining the eye position of the target object based on the height information; The illumination angle of the matrix headlight in the illuminated state is adjusted based on the eye position so that the direct illumination range of the matrix headlight in the illuminated state avoids the eye position.

7. An electronic device, characterized in that, include: Memory and processor; The memory stores a program suitable for execution by the processor, and the program is used to execute the vehicle light control method according to any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores a plurality of instructions, and the instructions are suitable for being loaded by a processor to execute the steps in the vehicle light control method according to any one of claims 1 to 5.

9. A vehicle, characterized in that, include: A controller, wherein the controller is used to execute the vehicle light control method according to any one of claims 1 to 5.

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