Lighting control methods, systems, devices, storage media, and computer program products

Abstract

This application relates to a lighting control method, apparatus, computer device, storage medium, and computer program product. The method includes: acquiring vehicle parameters related to the vehicle's dimensions; acquiring the position information of a target object; based on the vehicle parameters and position information, acquiring a first target angle range relative to the left headlight and a second target angle range relative to the right headlight; matching pixelation units based on the first and second target angle ranges to obtain target pixelation units; and performing lighting-related actions according to the target pixelation units. This method can improve the control accuracy of the vehicle's front lighting range, ensuring the most effective and reliable lighting while preventing glare to pedestrians and vehicles.

Description

Technical Field

[0001] This application relates to the field of vehicle lighting control technology, and in particular to a lighting control method, system, device, storage medium, and computer program product. Background Technology

[0002] Matrix headlights generally refer to a series of LED light sources arranged in a rectangular array. Each LED light source corresponds to a specific area in front of the vehicle, and the on / off state of each LED light source is controlled by a controller, providing variable-range illumination of the area in front of the vehicle. For example, turning off some high beams while driving can reduce glare for oncoming drivers and improve nighttime driving safety.

[0003] The realization of fully intelligent matrix headlights is a systematic engineering project requiring support from both hardware and software technologies. On the hardware side, it necessitates suspension travel sensors, steering wheel angle sensors, illuminance sensors, headlight control modules, and high-resolution cameras, placing significant demands on the manufacturing capabilities of automakers, particularly regarding the light source module and manufacturing precision. On the software side, it requires powerful image recognition and processing capabilities. Only through the coordinated operation of these systems can an intelligent lighting system be created, enabling the vehicle to respond to environmental changes and provide appropriate lighting modes.

[0004] However, due to technological and cost limitations, most matrix headlights have relatively poor control precision, which causes them to shut off incorrect LED light sources. Areas that require safe lighting do not receive sufficient illumination, thus increasing safety hazards when driving at night. Summary of the Invention

[0005] Therefore, it is necessary to provide a lighting control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve the accuracy of lighting range control in response to the above-mentioned technical problems.

[0006] Firstly, this application provides a lighting control method.

[0007] For a vehicle including headlights, the headlights comprising a plurality of independently controlled pixelated units, the method comprising:

[0008] Obtain vehicle parameters including the vehicle's body dimensions and headlight mounting position;

[0009] Obtain the location information of the target object;

[0010] Based on the vehicle parameters and the position information, the angular range of the target object relative to the headlight is determined;

[0011] Based on the angle range, match the target pixelation unit of the target object in the pixelation unit;

[0012] The headlight illumination control is performed based on the target pixelation unit.

[0013] In one embodiment, when the vehicle includes multiple headlights, an independent software control scheme is used to control the lighting of each headlight.

[0014] In one embodiment, the step of controlling the headlight illumination based on the target pixelation unit includes:

[0015] Determine the type of the target object;

[0016] Execute the corresponding headlight lighting control strategy according to the type of the target object.

[0017] In one embodiment, a corresponding headlight illumination control strategy is executed based on the type of the target object, including:

[0018] When the target object is a vehicle or a pedestrian, the headlight illumination control strategy includes controlling the target pixelation unit to turn on or off;

[0019] And / or,

[0020] When the target object is a sign, the headlight illumination control strategy includes reducing the brightness of the target pixelated unit.

[0021] In one embodiment, when multiple targets exist, the matching of the target targets within the pixelation unit includes:

[0022] Each target object is matched to the first target pixelation unit in the headlight pixelation unit;

[0023] Calculate the overlapping pixelation units of the first target pixelation units of the plurality of target objects;

[0024] The step of controlling the headlight illumination based on the target pixelation unit includes:

[0025] A control strategy is implemented to turn the target pixelation unit on or off for the overlapping pixelation unit, and a control strategy is implemented to adjust the brightness of the first target pixelation unit for the first target pixelation unit.

[0026] In one embodiment, the headlights include a left headlight and a right headlight, and the acquisition of vehicle parameters including the vehicle's body dimensions and headlight mounting positions includes:

[0027] Obtain reference points from the vehicle; the reference points include the vehicle origin, a first center point corresponding to the right headlight, and a second center point corresponding to the left headlight.

[0028] Along the first axis of the vehicle, obtain the first distance between the first center point or the second center point and the vehicle origin;

[0029] Along the second axis of the vehicle, obtain the second distance between the first center point and the vehicle origin;

[0030] Along the second axis of the vehicle, obtain the third distance of the second center point relative to the vehicle origin;

[0031] Obtain the ground clearance of the first or second center point;

[0032] The vehicle parameters are determined based on the first distance, the second distance, the third distance, and the ground clearance.

[0033] In one embodiment, obtaining the location information of the target object includes:

[0034] Collect environmental information in front of the vehicle;

[0035] Determine the target boundary of the target object based on environmental information;

[0036] Select multiple key points from the target boundary;

[0037] For each key point, obtain the angle between the projection of the key point and the straight line where the vehicle origin is located and the first axis of the vehicle onto the horizontal plane, and determine the lateral angle based on the angle projected onto the horizontal plane.

[0038] For each key point, obtain the angle between the line containing the key point and the vehicle origin and the horizontal plane, and determine the longitudinal angle based on the angle with the horizontal plane.

[0039] Along the first axis of the vehicle, obtain the fourth distance of each key point relative to the first center point or the second center point;

[0040] The location information is determined based on the horizontal angle, vertical angle, and fourth distance.

[0041] In one embodiment, determining the angular range of the target object relative to the headlights based on vehicle parameters and position information includes:

[0042] Based on the lateral angle, the first distance, the fourth distance, and the second distance, determine the first target lateral angle corresponding to each key point; the first target lateral angle is the angle between the straight line containing the key point and the first center point and the first axis of the vehicle projected onto the horizontal plane;

[0043] Based on the lateral angle, the first distance, the fourth distance, and the third distance, determine the second target lateral angle corresponding to each key point; the second target lateral angle is the angle between the straight line containing the key point and the second center point and the first axis of the vehicle projected onto the horizontal plane;

[0044] Based on the longitudinal angle, the first distance, the fourth distance, and the height above the ground, determine the target longitudinal angle corresponding to each key point; the target longitudinal angle is the angle between the line containing the first center point or the second center point and the key point and the horizontal plane;

[0045] The range of the first target angle and the range of the second target angle are determined based on the first target lateral angle, the second target lateral angle, and the target longitudinal angle.

[0046] In one embodiment, determining the range of the first target angle and the range of the second target angle based on the first target lateral angle, the second target lateral angle, and the target longitudinal angle includes:

[0047] Based on the target longitudinal angle corresponding to each key point, determine the range of the target longitudinal angle that covers the target object relative to the first center point or the second center point;

[0048] Based on the first target lateral angle corresponding to each key point, determine the range of the first target lateral angle that covers the target relative to the first center point; and determine the range of the first target angle based on the range of the first target lateral angle and the range of the target longitudinal angle.

[0049] Based on the second target lateral angle corresponding to each key point, determine the range of the second target lateral angle relative to the second center point that covers the target object. Based on the range of the second target lateral angle and the range of the target longitudinal angle, determine the range of the second target angle.

[0050] In one embodiment, when the headlights include a left headlight and a right headlight, determining the angle range of the target object relative to the headlights based on the vehicle parameters and the position information includes: obtaining a first target angle range of the target object relative to the right headlight and a second target angle range relative to the left headlight based on the vehicle parameters and the position information; and matching the target object to a target pixelation unit in the pixelation unit based on the angle ranges includes:

[0051] Obtain the horizontal and vertical boundary angles corresponding to each pixelation unit;

[0052] By comparing the first target angle range with the horizontal and vertical boundary angles of each pixelated unit, the first pixelated unit covering the first target angle range is obtained;

[0053] By comparing the range of the second target angle with the horizontal and vertical boundary angles of each pixelated unit, the second pixelated unit covering the range of the second target angle is obtained.

[0054] The target pixelation unit is determined based on the first pixelation unit and the second pixelation unit.

[0055] Secondly, this application also provides a lighting control device for a vehicle including headlights, the headlights comprising a plurality of independently controlled pixelated units, the device comprising:

[0056] The first acquisition module is used to acquire vehicle parameters, including the vehicle's body dimensions and the headlight mounting position.

[0057] The second acquisition module is used to acquire the location information of the target object;

[0058] The processing module is used to determine the angle range of the headlights based on the vehicle parameters and position information.

[0059] A matching module is used to match the target pixelation unit of the target object in the pixelation unit based on the angle range;

[0060] The control module is used to control the illumination of the headlights based on the target pixelation unit.

[0061] Thirdly, this application also provides a computer device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method steps described in any embodiment of this disclosure.

[0062] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any embodiment of this disclosure.

[0063] Fifthly, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the method described in any embodiment of this disclosure.

[0064] The aforementioned lighting control method, device, computer equipment, storage medium, and computer program product, based on target location information and vehicle parameters related to vehicle dimensions, independently calculates the left and right headlights to obtain a first target angle range and a second target angle range, respectively. Pixelation units are then matched, and by controlling the matched pixelation units, precise lighting and anti-glare effects are achieved. Each pixelation unit can be independently controlled to open or close, improving the accuracy of lighting range control. Furthermore, because this application can incorporate vehicle parameters into the calculation of the corresponding target angle ranges for the left and right headlights for different vehicle models and headlight installation positions, the matching accuracy of the pixelation units is greatly improved, thereby achieving precise control. Attached Figure Description

[0065] Figure 1 This is an application environment diagram of the lighting control method in one embodiment;

[0066] Figure 2 This is a flowchart illustrating a lighting control method in one embodiment;

[0067] Figure 3 This is a top view illustrating the relationship between key points and vehicle position in one embodiment;

[0068] Figure 4 This is a side view illustrating the relationship between key points and vehicle position in one embodiment;

[0069] Figure 5 This is a schematic diagram illustrating the illumination range of a headlight in one embodiment;

[0070] Figure 6 This is a schematic diagram illustrating the process of matching cells in one embodiment;

[0071] Figure 7 This is a structural block diagram of a lighting control device in one embodiment;

[0072] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0073] 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.

[0074] The lighting control method provided in this application embodiment can be applied to, for example, Figure 1In the application environment shown, the vehicle infotainment system 102 communicates with the server 104 via a network. A data storage system can store the data that the server 104 needs to process. The data storage system can be integrated into the server 104 or the vehicle infotainment system 102. The data storage system can store vehicle-related parameters. The vehicle infotainment system 102 acquires information collected by the sensor 108, analyzes and processes it, and then sends a control signal to the headlight 106. The headlight 106 receives the signal and turns the lighting on or off in a designated area. The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0075] In one embodiment, a lighting control method is provided for a vehicle including a left headlight and a right headlight, each of which includes a plurality of independently controlled pixelated units.

[0076] Pixelated units refer to individually or independently controllable units arranged in a matrix. These pixelated units are manipulated in a suitable manner to adjust the light output of the headlights according to the corresponding images in the image sequence based on the control signals of the vehicle infotainment system 102. Therefore, the pixelated units are preferably substantially point-like light sources. For example, the light source can be a light-emitting diode, but it can also be substantially constructed using a gas discharge tube, a bulb, and / or the like. The light sources can also be combined into a matrix that may include a headlight control unit, which can control individual light sources in a corresponding manner according to the control signals. Furthermore, the pixelated units may also include laser light sources in the form of controlled laser scanners, which can provide light distribution according to the control signals of the vehicle infotainment system 102. In addition, the pixelated units may of course include other active optical elements that can match the light emitted from a single light source in a desired manner to output light according to the light distribution, such as refractive elements, such as lenses, prisms, and / or the like, reflective elements, such as micromirrors, DMDs (Digital Micromirror Devices), combinations thereof, and / or the like.

[0077] This implementation method can be applied to lighting control of any vehicle with pixelated unit lighting devices. In some embodiments, the headlights may also include lighting devices mounted in the middle of the vehicle, on the roof, or even illuminating the rear. This embodiment uses the left and right headlights of a conventional vehicle as an application scenario to illustrate this implementation. Figure 2 As shown, one embodiment of the method provided in this disclosure may include the following steps:

[0078] Step 202: Obtain vehicle parameters including the vehicle's body dimensions and headlight mounting position.

[0079] The headlights described in this embodiment typically include lighting devices for forward illumination of the vehicle, such as the left or right front headlight. This embodiment can acquire some vehicle parameter information, such as the vehicle's dimensions (length, width, height), ground clearance, etc. It can also acquire the installation position of the headlights on the vehicle. This installation position information can be represented using a two-dimensional or three-dimensional spatial coordinate system with the selected vehicle origin as the coordinate origin. Of course, in some embodiments, other parameters can also be acquired. For ease of description in this embodiment, the acquired vehicle dimensions, headlight installation positions, etc., can be referred to as vehicle parameters. Generally, vehicle parameters correspond to various vehicle models. Vehicle parameters can be stored locally for direct use or queried and retrieved online based on the vehicle model.

[0080] Step 204: Obtain the location information of the target object.

[0081] The location information of the target object is obtained from various sensors installed on the vehicle, such as cameras, radar, and infrared sensors. Target objects include vehicles, pedestrians, trees, signs, moving or solid obstacles, etc. The location information of the target object can be calculated based on the data collected by the sensors; it can be absolute physical location information or relative location information relative to a corresponding vehicle reference point, headlight, or other selected reference point. When the target object is a vehicle or pedestrian, the headlight illumination area needs to be adjusted, and the light in specific areas needs to be turned off to avoid glare from direct sunlight causing dazzling oncoming vehicles or pedestrians crossing the road. When the target object is a traffic sign, its brightness can also be reduced to prevent reflected light from dazzling the driver, thereby improving driving safety.

[0082] In this embodiment, the location information of the target object is acquired in real time, thereby enabling dynamic tracking of the target object.

[0083] Step 206: Determine the angular range of the target object relative to the headlight based on the vehicle parameters and position information.

[0084] In this embodiment, the headlights can include the vehicle's left and right headlights. Therefore, the angular range of the target object relative to the headlights can include a first target angle range relative to the right headlight and a second target angle range relative to the left headlight. Of course, this embodiment can be used independently to control the illumination of a single headlight.

[0085] Both the first and second target angle ranges are finite angles. The line connecting the midpoints of the front and rear axles is the centerline, and the vehicle is symmetrical about the left and right axes relative to this centerline. A vertical plane perpendicular to the centerline in front of the vehicle is used as a reference plane. The direction parallel to the lateral extension on this reference plane is defined as lateral, and the direction parallel to the longitudinal extension on this reference plane is defined as longitudinal. Both the first and second target angle ranges include the lateral and longitudinal boundary angles.

[0086] The boundary angles of the first and second target angle ranges can be positive or negative. For example, when the target appears in front of the vehicle and to the left of the center line, the two lateral boundary angles of the target angle range are negative; when the target appears in front of the vehicle and to the right of the center line, the two lateral boundary angles of the target angle range are positive; when the target appears in front of the vehicle and on the center line, one side of the lateral boundary angle of the target angle range is negative and the other side is positive.

[0087] The system acquires the target angle range for the left and right headlights, accurately identifies the target area based on the target angle range, and adjusts the lighting mode, brightness, or turns the lighting on / off for the target area to achieve precise lighting control.

[0088] Step 208: Based on the angle range, match the target pixelation unit of the target object in the pixelation unit.

[0089] In this embodiment, pixelation units can be matched and target pixelation units can be obtained based on the first target angle range and the second target angle range.

[0090] The target area for the right headlight is determined by the first target angle range, and the target area for the left headlight is determined by the second target angle range. A pixelated unit responsible for illuminating the target area of ​​the right headlight is matched, and a pixelated unit responsible for illuminating the target area of ​​the left headlight is matched. The target pixelated unit is obtained based on the corresponding matched pixelated units for the left and right headlights.

[0091] Step 210: Perform illumination control of the headlights based on the target pixelation unit.

[0092] The target pixelated unit is identified, and a control signal is sent to it. The target pixelated unit then performs lighting control according to the control signal. The specific lighting control action involves turning the pixelated unit in the target area on or off based on vehicle requirements. In some embodiments, the brightness within the target area can also be adjusted.

[0093] In the aforementioned lighting control method, each pixelated unit can be independently controlled to turn on or off, improving the accuracy of lighting range control. Furthermore, because this application can incorporate vehicle parameters into the calculation of the target angle range for the left and right headlights, depending on different vehicle models and headlight mounting positions, it greatly improves the matching accuracy of the pixelated units, thereby achieving precise control.

[0094] In other embodiments provided in this disclosure, when the vehicle includes multiple headlights, an independent software control scheme is used for each headlight to achieve lighting control of the corresponding headlight.

[0095] Thus, the embodiments provided in this disclosure can employ independent software control methods for the left and right headlights, achieving more precise lighting control. This solves the technical problem in traditional technologies where using the same control scheme for both headlights may result in blind spots in areas other than the target object in front of the vehicle, posing a significant safety threat. It ensures the most effective and reliable lighting while preventing glare to pedestrians and vehicles. Of course, the above embodiments only illustrate a scenario where the left and right headlights are controlled independently. When there is lighting control for multiple pixelated unit lighting devices on a vehicle, each lighting device can use all or part of the steps in the above method embodiments to achieve lighting control.

[0096] It should be noted that the "independence" of the independent software control scheme described in this embodiment is not limited to complete isolation of the lighting control of each headlight (it can be completely isolated, or there can be data sharing or computation sharing). For example, in one implementation, the software programs of the left and right headlights can each acquire their own data from the initial acquisition of vehicle parameters, target object positions, etc. Each processor (logically divided, such as threads or processes to distinguish different software controls, but in reality, it can be the same physical processor) calculates the target object position information, angle range, and target pixelation units in its own headlight, and then controls the opening and closing of the target pixelation units in its own headlight. In other implementations, there may be partial data sharing or joint calculation, until the pixelation units in each headlight module are controlled, each controlling the target pixelation units in its own headlight.

[0097] This disclosure provides a solution for pixel-level refined headlight control. Furthermore, the headlights can be further controlled to employ different lighting strategies based on the type of the target object. Specifically, in another embodiment of the lighting control method provided in this disclosure, the step of controlling the headlight lighting based on the target pixelation unit includes:

[0098] Determine the type of the target object;

[0099] Execute the corresponding headlight lighting control strategy according to the type of the target object.

[0100] In this embodiment, the type of target object can be obtained based on data analysis from radar sensors, vision sensors, etc., and then a lighting control strategy corresponding to the target object type can be adopted, making vehicle lighting control more refined, lighting effect more intelligent, and improving the user's vehicle lighting experience.

[0101] In some specific implementation scenarios, the headlight lighting control strategy is executed according to the type of the target object, including:

[0102] When the target object is a vehicle or a pedestrian, the headlight illumination control strategy includes controlling the target pixelation unit to turn on or off;

[0103] And / or,

[0104] When the target object is a sign, the headlight illumination control strategy includes reducing the brightness of the target pixelated unit.

[0105] For example, when the target is a vehicle or pedestrian, the headlights need to be adjusted to illuminate specific areas, turning off the light in those areas to prevent glare from directly hitting the eyes and dazzling oncoming vehicles or pedestrians crossing the street. When the target is a traffic sign, the headlights can also be identified and their brightness reduced to prevent reflected light from dazzling the driver, thereby improving driving safety.

[0106] In some application scenarios, there may be more than one target object. To achieve more precise headlight control in multi-target scenarios, reduce interference with other vehicles and pedestrians, and improve vehicle driving safety, this disclosure also provides another vehicle lighting control method. In the presence of multiple target objects, matching the target object to the target pixelation unit in the pixelation unit includes:

[0107] Each target object is matched to the first target pixelation unit in the headlight pixelation unit;

[0108] Calculate the overlapping pixelation units of the first target pixelation units of the plurality of target objects;

[0109] The step of controlling the headlight illumination based on the target pixelation unit includes:

[0110] A control strategy is implemented to turn the target pixelation unit on or off for the overlapping pixelation unit, and a control strategy is implemented to adjust the brightness of the first target pixelation unit for the first target pixelation unit.

[0111] When multiple targets are present, this embodiment can choose to turn off the overlapping areas of the pixelated units corresponding to the multiple targets and reduce the brightness of the non-overlapping areas. This lighting control strategy not only prevents too many light sources from being turned off, which would result in a significant decrease in brightness, but also effectively adapts to and intelligently adjusts to cope with complex road conditions, improving the user's experience of using vehicle lights while ensuring driving safety.

[0112] In one embodiment, such as Figure 3 and 4 As shown, the headlights in step 202 include a left headlight and a right headlight. Obtaining vehicle parameters, including the vehicle's dimensions and headlight mounting positions, includes:

[0113] Step 302: Obtain reference points from the vehicle; the reference points include the vehicle origin O, the first center point P corresponding to the right headlight, and the second center point Q corresponding to the left headlight.

[0114] The vehicle origin O is located on the vehicle and is related to the installation positions of sensors and other components. The first center point P and the second center point Q are located on the right headlight and the left headlight, respectively. These center points are not center points in a structural sense, but are defined in the software program as reference points for obtaining the first and second target angle ranges. The first center point P and the second center point Q are located at the same height and are symmetrically arranged relative to the left and right sides of the vehicle.

[0115] Step 304: Along the first axis of the vehicle, obtain the first distance between the first center point P or the second center point Q and the vehicle origin O.

[0116] The first axis of the vehicle refers to the direction parallel to the centerline, which is the straight line connecting the centers of the front and rear axles. Since the first and second center points are symmetrical, they are equidistant from the vehicle's origin O along the first axis. Figure 3 The length A of the line segment in the diagram.

[0117] Step 306: Along the second axis of the vehicle, obtain the second distance of the first center point P relative to the vehicle origin O.

[0118] The second axis of the vehicle refers to the wheel axis, and the second distance between the first center point P and the vehicle origin O is... Figure 3 The length of the line segment B in the diagram.

[0119] Step 308: Along the second axis of the vehicle, obtain the third distance of the second center point Q relative to the vehicle origin O.

[0120] The third distance between the second center point Q and the vehicle origin O is... Figure 3 The length C of the line segment in the diagram.

[0121] Step 310: Obtain the ground clearance of either the first center point P or the second center point Q.

[0122] Since the first center point P and the second center point Q are symmetrical, the ground clearance of the first center point P and the second center point Q is equal, both being... Figure 4 The length h of the line segment in the diagram.

[0123] Step 312: Determine the vehicle parameters based on the first distance, the second distance, the third distance, and the ground clearance.

[0124] In one embodiment, such as Figure 3 and 4 As shown, step 204, obtaining the location information of the target object, includes:

[0125] Step 402: Collect environmental information in front of the vehicle.

[0126] The vehicle uses cameras to capture environmental information in front of it, which is then displayed as images. Each camera has a field of view, which determines the range of environmental information captured, such as a lateral range of -30° to 30°.

[0127] In one embodiment, the field of view may deviate from the illumination range of the headlights. The environmental information can be segmented to narrow its range to the illumination range of the headlights, such as -25° to 25° laterally, to improve processing efficiency.

[0128] Step 404: Determine the target boundary of the target object based on environmental information.

[0129] Object detection technology is used to obtain target objects in environmental information. This technology can determine both the category of the target object and its specific location within the image. Object detection algorithms typically sample a large number of regions in the input image, then determine whether these regions contain the target of interest, and adjust the region edges to more accurately predict the target's ground-truth bounding box. This bounding box is then used to determine the target's boundary.

[0130] In one embodiment, the collected environmental information can be compressed into images, for example, by compressing the images into files with an 8*200 resolution. The number of detectable objects in the compressed image can exceed the limitations of traditional algorithms, thereby improving algorithm performance.

[0131] In one embodiment, the collected environmental information may contain multiple targets. Target pixelation units should be matched and controlled simultaneously for all multiple targets. The control scheme can be referred to the description in the foregoing embodiments.

[0132] Step 406: Select multiple key points from the target boundary.

[0133] The bounding box is a rectangle, and keypoints are taken on each of the four sides of the bounding box. Usually, the midpoint of the four sides of the bounding box is taken as the keypoint, thus obtaining four keypoints.

[0134] Step 408: For each key point, obtain the angle between the projection of the key point and the straight line where the vehicle origin O is located and the first axis of the vehicle onto the horizontal plane, and determine the lateral angle based on the angle projected onto the horizontal plane.

[0135] The key point and the straight line containing the vehicle origin O form a spatial angle with the vehicle's first axis. Projecting this angle onto a horizontal plane yields the lateral angle, which is... Figure 3 ∠a in the middle.

[0136] Step 410: For each key point, obtain the angle between the line containing the key point and the vehicle origin O and the horizontal plane, and determine the longitudinal angle based on the angle with the horizontal plane.

[0137] The angle between the line containing the key point and the vehicle origin O and the horizontal plane is used to obtain the longitudinal angle, which is... Figure 4 ∠d in the middle.

[0138] Step 412: Along the first axis of the vehicle, obtain the fourth distance of each key point relative to the first center point P or the second center point Q.

[0139] Using the distance-measuring sensors installed on the vehicle, the fourth distance along the first axis of the vehicle, relative to either the first center point P or the second center point Q, is obtained; this is... Figure 3 The length D of the line segment in the diagram.

[0140] Step 414: Determine the position information based on the horizontal angle, vertical angle, and fourth distance.

[0141] In one embodiment, such as Figure 3 and 4 As shown, step 206, based on the vehicle parameters and position information, determines the angular range of the target object relative to the headlight, including:

[0142] Step 502: Determine the first target lateral angle corresponding to each key point based on the lateral angle ∠a, the first distance A, the fourth distance D, and the second distance B; the first target lateral angle is the angle between the straight line where the key point and the first center point P are located and the first axis of the vehicle projected onto the horizontal plane.

[0143] Each keypoint corresponds to a lateral angle ∠a, a first distance A, a fourth distance D, and a second distance B. Using trigonometric and inverse trigonometric functions, the first target lateral angle corresponding to each keypoint is calculated. The first target lateral angle is... Figure 3In this context, ∠b is the angle of infinity. The formula for calculating ∠b is:

[0144] Step 504: Determine the second target lateral angle corresponding to each key point based on the lateral angle ∠a, the first distance A, the fourth distance D, and the third distance C; the second target lateral angle is the angle between the straight line where the key point and the second center point Q are located and the first axis of the vehicle projected onto the horizontal plane.

[0145] Each keypoint corresponds to a lateral angle ∠a, a first distance A, a fourth distance D, and a third distance C. Using trigonometric and inverse trigonometric functions, the second target lateral angle corresponding to each keypoint is calculated. The second target lateral angle is... Figure 3 In this context, ∠c is the angle of infinity. The formula for calculating ∠c is:

[0146] Step 506: Determine the target longitudinal angle corresponding to each key point based on the longitudinal angle ∠d, the first distance A, the fourth distance D, and the height above the ground h; the target longitudinal angle is the angle between the first center point P or the second center point Q and the line where the key point is located and the horizontal plane.

[0147] Each keypoint corresponds to a longitudinal angle ∠d, a first distance A, a fourth distance D, and a ground clearance h. Using trigonometric and inverse trigonometric functions, the target longitudinal angle corresponding to each keypoint is calculated. The target longitudinal angle is... Figure 4 In this context, ∠e is the angle of infinity. The formula for calculating ∠e is:

[0148] Step 508: Determine the range of the first target angle and the range of the second target angle based on the first target lateral angle ∠b, the second target lateral angle ∠c, and the target longitudinal angle ∠e.

[0149] The first target's lateral angle ∠b, the second target's lateral angle ∠c, and the target's longitudinal angle ∠e correspond to key points. By combining all the key points, the range of the first target angle and the range of the second target angle are determined.

[0150] In one embodiment, step 508, determining the range of the first target angle and the range of the second target angle based on the first target lateral angle ∠b, the second target lateral angle ∠c, and the target longitudinal angle ∠e, includes:

[0151] Step 602: Based on the target longitudinal angle ∠e corresponding to each key point, determine the range of the target longitudinal angle that covers the target object relative to the first center point P or the second center point Q.

[0152] Step 604: Based on the first target lateral angle ∠b corresponding to each key point, determine the range of the first target lateral angle that covers the target relative to the first center point P. Based on the range of the first target lateral angle and the range of the target longitudinal angle, determine the range of the first target angle.

[0153] Step 606: Based on the second target lateral angle ∠c corresponding to each key point, determine the range of the second target lateral angle that covers the target relative to the second center point Q. Based on the range of the second target lateral angle and the range of the target longitudinal angle, determine the range of the second target angle.

[0154] Using a vertical plane perpendicular to the centerline at the front of the vehicle as a reference plane, the target boundary lies on this plane. The target boundary has four sides: top, bottom, left, and right. The midpoint of each side is taken as a key point. The target longitudinal angle ∠e, corresponding to the top and bottom key points of the target boundary, determines the range of the target longitudinal angle. The first target lateral angle ∠b, corresponding to the left and right key points of the target boundary, determines the range of the first target lateral angle relative to the first center point P. The second target lateral angle ∠c, corresponding to the left and right key points of the target boundary, determines the range of the second target lateral angle relative to the second center point Q.

[0155] The first target range angle relative to the right headlight is determined by using the first target lateral angle range and the target longitudinal angle range. The second target range angle relative to the left headlight is determined by using the second target lateral angle range and the target longitudinal angle range.

[0156] By using the first and second target angle ranges, the positional information of the target object relative to the vehicle as a whole is converted into identifiable angular information relative to the right and left headlights. This conversion process directly affects the accuracy of lighting control and facilitates the subsequent independent control of the pixelated units of the right and left headlights, resulting in higher control precision compared to the traditional method of controlling both headlights as a whole.

[0157] In one embodiment, step 208, based on a first target angle range and a second target angle range, matches pixelated units to obtain target pixelated units, including: obtaining the lateral boundary angle and vertical boundary angle corresponding to each pixelated unit; comparing the first target angle range with the lateral and vertical boundary angles of each pixelated unit to obtain a first pixelated unit covering the first target angle range; comparing the second target angle range with the lateral and vertical boundary angles of each pixelated unit to obtain a second pixelated unit covering the second target angle range; and determining the target pixelated unit based on the first and second pixelated units.

[0158] like Figure 5As shown, the vehicle's headlights illuminate a certain area in front of the vehicle. The left side represents the illumination range of the left headlight, the right side represents the illumination range of the right headlight, and the middle section is the overlapping area of ​​the left and right headlights. The illumination range is divided into individual cells, each controlled by a pixelated unit. The vehicle stores the lateral and longitudinal boundary angles corresponding to each pixelated unit. The lateral and longitudinal boundary angles are determined by the range of the cell and are both fixed ranges. For example, for a single pixelated unit, its corresponding lateral boundary angle may be -13° to -12°, and its longitudinal boundary angle may be 2° to 4°.

[0159] like Figure 6 As shown, a cell is considered occupied when its range intersects with the range of the target object; otherwise, it is unoccupied. Occupied cells are marked with "1," and unoccupied cells are marked with "0." The corresponding pixelated unit can be found based on these markings.

[0160] Based on the first pixelation unit and the second pixelation unit, the target pixelation unit is finally determined, and then the illumination range is adjusted according to the target pixelation unit, such as turning off the illumination of the target area to prevent glare.

[0161] Based on the foregoing embodiments and examples, in one embodiment, the lighting control method includes:

[0162] Obtain reference points from the vehicle; the reference points include the vehicle origin, a first center point corresponding to the right headlight, and a second center point corresponding to the left headlight.

[0163] Along the first axis of the vehicle, obtain the first distance between the first center point or the second center point and the vehicle origin;

[0164] Along the second axis of the vehicle, obtain the second distance between the first center point and the vehicle origin;

[0165] Along the second axis of the vehicle, obtain the third distance of the second center point relative to the vehicle origin;

[0166] Obtain the ground clearance of the first or second center point;

[0167] The vehicle parameters are determined based on the first distance, the second distance, the third distance, and the ground clearance.

[0168] In another embodiment of the method, obtaining the location information of the target object includes:

[0169] Collect environmental information in front of the vehicle;

[0170] Determine the target boundary of the target object based on environmental information;

[0171] Select multiple key points from the target boundary;

[0172] For each key point, obtain the angle between the projection of the key point and the straight line where the vehicle origin is located and the first axis of the vehicle onto the horizontal plane, and determine the lateral angle based on the angle projected onto the horizontal plane.

[0173] For each key point, obtain the angle between the line containing the key point and the vehicle origin and the horizontal plane, and determine the longitudinal angle based on the angle with the horizontal plane.

[0174] Along the first axis of the vehicle, obtain the fourth distance of each key point relative to the first center point or the second center point;

[0175] The location information is determined based on the horizontal angle, vertical angle, and fourth distance.

[0176] In another embodiment, obtaining the first target angle range of the target object relative to the right headlight and the second target angle range relative to the left headlight based on the vehicle parameters and the position information includes:

[0177] Based on the lateral angle, the first distance, the fourth distance, and the second distance, determine the first target lateral angle corresponding to each key point; the first target lateral angle is the angle between the straight line containing the key point and the first center point and the first axis of the vehicle projected onto the horizontal plane;

[0178] Based on the lateral angle, the first distance, the fourth distance, and the third distance, determine the second target lateral angle corresponding to each key point; the second target lateral angle is the angle between the straight line containing the key point and the second center point and the first axis of the vehicle projected onto the horizontal plane;

[0179] Based on the longitudinal angle, the first distance, the fourth distance, and the height above the ground, determine the target longitudinal angle corresponding to each key point; the target longitudinal angle is the angle between the line containing the first center point or the second center point and the key point and the horizontal plane;

[0180] Based on the target longitudinal angle corresponding to each key point, determine the range of the target longitudinal angle that covers the target object relative to the first center point or the second center point.

[0181] In another embodiment of the method, determining the first target angle range and the second target angle range based on the first target lateral angle, the second target lateral angle, and the target longitudinal angle includes:

[0182] Based on the first target lateral angle corresponding to each key point, determine the range of the first target lateral angle that covers the target relative to the first center point; and determine the range of the first target angle based on the range of the first target lateral angle and the range of the target longitudinal angle.

[0183] Based on the second target lateral angle corresponding to each key point, determine the range of the second target lateral angle relative to the second center point that covers the target object. Based on the range of the second target lateral angle and the range of the target longitudinal angle, determine the range of the second target angle.

[0184] In another embodiment of the method, when the headlights include a left headlight and a right headlight, determining the angle range of the target object relative to the headlights based on the vehicle parameters and the position information includes: obtaining a first target angle range of the target object relative to the right headlight and a second target angle range relative to the left headlight based on the vehicle parameters and the position information; and matching the target object to the target pixelation unit in the pixelation unit based on the angle range includes:

[0185] Obtain the horizontal and vertical boundary angles corresponding to each pixelation unit;

[0186] By comparing the first target angle range with the horizontal and vertical boundary angles of each pixelated unit, the first pixelated unit covering the first target angle range is obtained;

[0187] By comparing the range of the second target angle with the horizontal and vertical boundary angles of each pixelated unit, the second pixelated unit covering the range of the second target angle is obtained.

[0188] The target pixelation unit is determined based on the first pixelation unit and the second pixelation unit.

[0189] To achieve better lighting effects, in one embodiment, a transition shadow algorithm is incorporated. The transition shadow algorithm is an algorithm used to control the lighting brightness. It can perform brightness transitions based on the current brightness state and the target brightness state to achieve a smooth dark area formation effect.

[0190] 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.

[0191] Based on the same inventive concept, this application also provides a lighting control device for implementing the lighting control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more lighting control device embodiments provided below can be found in the limitations of the lighting control method described above, and will not be repeated here.

[0192] In one embodiment, such as Figure 7 As shown, a lighting control device is provided for a vehicle including a left headlight and a right headlight, each of which includes several independently controlled pixelated units. The device includes: a first acquisition module 702, a second acquisition module 704, a processing module 706, a matching module 708, and a control module 710, wherein:

[0193] The first acquisition module 702 is used to acquire vehicle parameters including the vehicle's body dimensions and headlight mounting position.

[0194] The second acquisition module 704 is used to acquire the location information of the target object.

[0195] The processing module 706 is used to determine the angle range of the headlights based on the vehicle parameters and position information.

[0196] Matching module 708 is used to match the target pixelation unit of the target object in the pixelation unit based on the angle range.

[0197] The control module 710 is used to control the illumination of the headlights according to the target pixelation unit.

[0198] In one embodiment, when the vehicle includes multiple headlights, an independent software control scheme is used to control the lighting of each headlight.

[0199] The control module 710 is also used to control the headlight illumination based on the target pixelation unit, including: determining the type of the target object; and executing the corresponding headlight illumination control strategy based on the type of the target object.

[0200] The control module 710 is further configured to, when the target object is a vehicle or pedestrian, include controlling the target pixelation unit to turn on or off in the headlight illumination control strategy; and / or, when the target object is a sign, include reducing the brightness of the target pixelation unit. In the presence of multiple targets, the matching module 708 is further configured to match the first target pixelation unit of each target object in the headlight pixelation unit; calculate the overlapping pixelation units of the first target pixelation units of the multiple targets; and the control module 710 is further configured to implement the target pixelation unit on / off control strategy for the overlapping pixelation units, and implement the first target pixelation unit brightness adjustment control strategy for the first target pixelation unit.

[0201] The headlights include a left headlight and a right headlight. The first acquisition module 702 is also used to acquire reference points from the vehicle. The reference points include the vehicle origin, a first center point corresponding to the right headlight, and a second center point corresponding to the left headlight. Along the first axis of the vehicle, a first distance between the first center point or the second center point and the vehicle origin is acquired. Along the second axis of the vehicle, a second distance between the first center point and the vehicle origin is acquired. Along the second axis of the vehicle, a third distance between the second center point and the vehicle origin is acquired. The ground clearance of the first center point or the second center point is acquired. Based on the first distance, the second distance, the third distance, and the ground clearance, the vehicle parameters are determined.

[0202] The second acquisition module 704 is also used to collect environmental information in front of the vehicle; determine the target boundary of the target object based on the environmental information; select multiple key points from the target boundary; for each key point, obtain the angle between the projection of the key point and the straight line where the vehicle origin is located and the first axis of the vehicle onto the horizontal plane, and determine the lateral angle based on the angle projected onto the horizontal plane; for each key point, obtain the angle between the key point and the straight line where the vehicle origin is located and the horizontal plane, and determine the longitudinal angle based on the angle with the horizontal plane; along the first axis of the vehicle, obtain the fourth distance of each key point relative to the first center point or the second center point; and determine the position information based on the lateral angle, the longitudinal angle, and the fourth distance.

[0203] The processing module 706 is further configured to determine the first target lateral angle corresponding to each key point based on the lateral angle, the first distance, the fourth distance, and the second distance; the first target lateral angle is the angle between the projection of the straight line containing the key point and the first center point onto the horizontal plane and the first axis of the vehicle; determine the second target lateral angle corresponding to each key point based on the lateral angle, the first distance, the fourth distance, and the third distance; the second target lateral angle is the angle between the projection of the straight line containing the key point and the second center point onto the horizontal plane and the first axis of the vehicle; determine the target longitudinal angle corresponding to each key point based on the longitudinal angle, the first distance, the fourth distance, and the ground clearance; the target longitudinal angle is the angle between the straight line containing the first center point or the second center point and the key point and the horizontal plane; and determine the range of the first target angle and the range of the second target angle based on the first target lateral angle, the second target lateral angle, and the target longitudinal angle.

[0204] The processing module 706 is further configured to: determine the range of target longitudinal angles covering the target object relative to the first center point or the second center point based on the target longitudinal angles corresponding to each key point; determine the range of first target lateral angles covering the target object relative to the first center point based on the first target lateral angles corresponding to each key point; determine the range of first target angles based on the range of first target lateral angles and the range of target longitudinal angles; and determine the range of second target lateral angles covering the target object relative to the second center point based on the second target lateral angles corresponding to each key point; and determine the range of second target angles based on the range of second target lateral angles and the range of target longitudinal angles.

[0205] The matching module 708 is also used to obtain the horizontal and vertical boundary angles corresponding to each pixelated unit; compare the first target angle range with the horizontal and vertical boundary angles of each pixelated unit to obtain the first pixelated unit covering the first target angle range; compare the second target angle range with the horizontal and vertical boundary angles of each pixelated unit to obtain the second pixelated unit covering the second target angle range; and determine the target pixelated unit based on the first and second pixelated units.

[0206] Each module in the aforementioned lighting control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0207] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores sampled data and vehicle parameters. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When executed by the processor, the computer program implements a lighting control method.

[0208] Those skilled in the art will understand that Figure 8 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 computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0209] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of all the above method embodiments.

[0210] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of all the above method embodiments.

[0211] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of all the above method embodiments.

[0212] In this application, all directional terms such as "front," "rear," "left," and "right" are used with reference to the vehicle. For example, the front of the vehicle is "front" relative to the rear, and the rear of the vehicle is "rear" relative to the front. The left side refers to the location of the left side mirror on the center line, and the right side refers to the location of the right side mirror on the center line.

[0213] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0214] 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 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, etc., and are not limited to these.

[0215] 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 specification.

[0216] 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 lighting control method, characterized in that, For a vehicle including headlights, the headlights comprising a plurality of independently controlled pixelated units, the method comprising: The method involves acquiring vehicle parameters, including the vehicle's dimensions and headlight mounting positions. The headlights include a left headlight and a right headlight. Acquiring the headlight mounting positions includes: obtaining a reference point from the vehicle; the reference point includes the vehicle's origin, a first center point corresponding to the right headlight, and a second center point corresponding to the left headlight; along a first axial direction of the vehicle, acquiring a first distance between the first or second center point and the vehicle's origin; along a second axial direction of the vehicle, acquiring a second distance between the first center point and the vehicle's origin; along the second axial direction of the vehicle, acquiring a third distance between the second center point and the vehicle's origin; acquiring the ground clearance of the first or second center point; and determining the headlight mounting positions based on the first distance, the second distance, the third distance, and the ground clearance. Obtain the location information of the target object; Based on the vehicle parameters and the position information, the angular range of the target object relative to the headlight is determined; Based on the angle range, match the target pixelation unit of the target object in the pixelation unit; The headlight illumination control is performed based on the target pixelation unit; The acquisition of the target object's location information includes: Collect environmental information in front of the vehicle; Determine the target boundary of the target object based on the environmental information; Select multiple key points from the target boundary; For each key point, obtain the angle between the projection of the key point and the straight line where the vehicle origin is located and the first axis of the vehicle onto the horizontal plane, and determine the lateral angle based on the angle projected onto the horizontal plane. For each key point, obtain the angle between the line containing the key point and the vehicle origin and the horizontal plane, and determine the longitudinal angle based on the angle with the horizontal plane; Along the first axis of the vehicle, obtain the fourth distance of each key point relative to the first center point or the second center point; The position information is determined based on the horizontal angle, the vertical angle, and the fourth distance; Determining the angular range of the target object relative to the headlight based on the vehicle parameters and the position information includes: Based on the lateral angle, the first distance, the fourth distance, and the second distance, a first target lateral angle corresponding to each of the key points is determined; the first target lateral angle is the angle between the straight line containing the key point and the first center point and the first axis of the vehicle projected onto the horizontal plane; Based on the lateral angle, the first distance, the fourth distance, and the third distance, the second target lateral angle corresponding to each of the key points is determined; the second target lateral angle is the angle between the straight line containing the key point and the second center point and the first axis of the vehicle projected onto the horizontal plane; Based on the longitudinal angle, the first distance, the fourth distance, and the ground clearance, the target longitudinal angle corresponding to each key point is determined; the target longitudinal angle is the angle between the straight line containing the first center point or the second center point and the key point and the horizontal plane; The range of the first target angle and the range of the second target angle are determined based on the first target lateral angle, the second target lateral angle, and the target longitudinal angle.

2. The method according to claim 1, characterized in that, In the case where the vehicle includes multiple headlights, an independent software control scheme is used for each headlight to achieve lighting control of the corresponding headlight.

3. The method according to claim 1, characterized in that, The step of controlling the headlight illumination based on the target pixelation unit includes: Determine the type of the target object; The corresponding headlight lighting control strategy is executed according to the type of the target object.

4. The method according to claim 3, characterized in that, Execute the corresponding headlight illumination control strategy according to the type of the target object, including: When the target object is a vehicle or a pedestrian, the headlight illumination control strategy includes controlling the target pixelation unit to turn on or off; And / or, When the target object is a sign, the headlight illumination control strategy includes reducing the brightness of the target pixelated unit.

5. The method according to claim 1, characterized in that, In the presence of multiple target objects, the matching of the target objects within the pixelation unit includes: Each target object is matched to the first target pixelation unit in the headlight pixelation unit; Calculate the overlapping pixelation units of the first target pixelation units of the plurality of target objects; The step of controlling the headlight illumination based on the target pixelation unit includes: A control strategy is implemented to turn the target pixelation unit on or off for the overlapping pixelation unit, and a control strategy is implemented to adjust the brightness of the first target pixelation unit for the first target pixelation unit.

6. The method according to claim 1, characterized in that, Determining the range of the first target angle and the range of the second target angle based on the first target lateral angle, the second target lateral angle, and the target longitudinal angle includes: Based on the target longitudinal angle corresponding to each of the key points, determine the range of target longitudinal angles that cover the target object relative to the first center point or the second center point; Based on the first target lateral angle corresponding to each of the key points, determine the range of the first target lateral angle that covers the target relative to the first center point; and determine the range of the first target angle based on the range of the first target lateral angle and the range of the target longitudinal angle. Based on the second target lateral angle corresponding to each of the key points, determine the range of the second target lateral angle that covers the target relative to the second center point, and determine the range of the second target angle based on the range of the second target lateral angle and the range of the target longitudinal angle.

7. The method according to any one of claims 1-6, characterized in that, When the headlights include a left headlight and a right headlight, determining the angle range of the target object relative to the headlights based on the vehicle parameters and the position information includes: obtaining a first target angle range of the target object relative to the right headlight and a second target angle range relative to the left headlight based on the vehicle parameters and the position information; matching the target object to the target pixelation unit in the pixelation unit based on the angle range includes: Obtain the horizontal and vertical boundary angles corresponding to each pixelated unit; By comparing the first target angle range with the lateral and vertical boundary angles of each pixelated unit, a first pixelated unit covering the first target angle range is obtained; By comparing the second target angle range with the lateral and vertical boundary angles of each pixelated unit, a second pixelated unit covering the second target angle range is obtained; The target pixelation unit is determined based on the first pixelation unit and the second pixelation unit.

8. A lighting control device, characterized in that, For a vehicle including a headlight, the headlight comprising a plurality of independently controlled pixelated units, the apparatus being used to implement the steps of the method of any one of claims 1 to 7; the apparatus comprising: The first acquisition module is used to acquire vehicle parameters including the vehicle's body dimensions and headlight mounting position; The second acquisition module is used to acquire the location information of the target object; The processing module is used to determine the angle range of the headlights based on the vehicle parameters and the position information. A matching module is used to match the target pixelation unit of the target object in the pixelation unit based on the angle range; A control module is used to control the illumination of the headlights based on the target pixelation unit; The headlights include a left headlight and a right headlight. The first acquisition module is further configured to acquire reference points from the vehicle; the reference points include the vehicle origin, a first center point corresponding to the right headlight, and a second center point corresponding to the left headlight; along a first axis of the vehicle, acquire a first distance between the first center point or the second center point and the vehicle origin; along a second axis of the vehicle, acquire a second distance between the first center point and the vehicle origin; along a second axis of the vehicle, acquire a third distance between the second center point and the vehicle origin; acquire the ground clearance of the first center point or the second center point; and determine the headlight mounting position based on the first distance, the second distance, the third distance, and the ground clearance.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor 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.

11. A computer program product, comprising a computer program, 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.

12. A vehicle, characterized in that, Includes a headlight, wherein the headlight achieves lighting control using the method described in any one of claims 1-7.

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