Vehicle lamp imaging correction method and system based on gray scale modulation and storage medium

Abstract

The invention discloses a vehicle lamp imaging correction method and system based on gray scale modulation, and a storage medium. The method comprises the following steps: obtaining the illuminance of each pixel point on an image plane before and after inclination according to a gray scale matrix of an input image; calculating a correction factor of the illumination of each pixel point according to the imaging surface roughness and / or the illumination intensity and / or the illumination uniformity; calculating an illuminance distribution matrix of the inclined projection system according to the illuminance of each pixel point on the non-inclined image surface and the correction factor; calculating a corrected input image gray matrix according to a function relationship between the gray matrix of the input image and the illumination distribution matrix of the inclined projection system; and modulating the gray scale of each pixel point of the original input image according to the corrected input image gray scale matrix and pulse width modulation. According to the invention, the problem of non-uniform illuminance of a projection image surface of a vehicle lamp projection system, wherein the near part is bright and the far part is dark, is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle lamps, and in particular relates to a vehicle lamp imaging correction method, system and storage medium based on grayscale modulation. Background Art

[0002] With the development of new energy vehicles and smart cars, the adaptive adjustment of car lights is the future development trend of smart cars. Most existing car lights have the problem of uneven projection imaging illumination. When driving at night, drivers are very likely to fail to find pedestrians or vehicles in time due to low illumination in the distance, thus causing traffic accidents.

[0003] In order to solve the problem of uneven illumination of projection imaging, one of the current solutions is to use higher brightness LED light groups or more LED modules to reduce the problem caused by uneven illumination with high brightness; however, this kind of headlight will affect the driving of oncoming vehicles and easily cause traffic accidents. At the same time, this solution requires high power and heat generation of the headlight, and has high requirements for heat dissipation, which affects the service life of the headlight.

[0004] In order to solve the problem of uneven illumination of the existing vehicle light projection system, where the projection image is bright near and dark far away, a vehicle light imaging correction method, system and storage medium based on grayscale modulation are proposed. Summary of the invention

[0005] The present invention provides a vehicle lamp imaging correction method, system and storage medium based on grayscale modulation, so as to at least solve the problem of uneven illumination of a projection image plane of a vehicle lamp projection system in the related art, that is, the projection image plane is bright near and dark far away.

[0006] According to one embodiment of the present invention, a vehicle light imaging correction method based on grayscale modulation is provided, comprising the steps of:

[0007] According to the grayscale matrix of the input image, the illumination of each pixel on the image plane before and after tilting is obtained;

[0008] Calculate the correction factor of the illumination of each pixel point according to the imaging surface roughness and / or the light intensity and / or the illumination uniformity;

[0009] Calculate the illumination distribution matrix of the tilted projection system according to the illumination of each pixel on the image plane when not tilted and the correction factor;

[0010] Calculating a corrected input image grayscale matrix according to a functional relationship between a grayscale matrix of the input image and an illumination distribution matrix of the oblique projection system;

[0011] The grayscale of each pixel of the original input image is modulated according to the corrected input image grayscale matrix and pulse width modulation.

[0012] Optionally, obtaining the illumination of each pixel on the image plane before and after tilting according to the grayscale matrix of the input image comprises the steps of:

[0013] Calculate the proportion of the effective time of the current signal in one cycle of each pixel point and use the obtained duty cycle as the grayscale of each pixel point corresponding to the input image;

[0014] List the grayscale matrix of the input image according to the grayscale value of each pixel corresponding to the input image;

[0015] The illumination of each pixel on the image plane before and after tilt is calculated based on the grayscale and tilt angle of the input image.

[0016] Optionally, calculating the correction factor according to the imaging surface roughness and / or the light intensity and / or the illumination uniformity comprises the steps of:

[0017] Normalize the imaging surface roughness, external light intensity, and external illumination uniformity according to the preset parameter threshold range;

[0018] Calculate the influence coefficient according to the roughness of the imaging surface and / or the external light intensity and / or the uniformity of the external illumination;

[0019] The correction factor of the illumination of each pixel on the image plane is calculated according to the illumination and influence coefficient of each pixel on the image plane before and after tilting.

[0020] Optionally, the influence coefficient is calculated according to the roughness of the imaging surface and / or the external light intensity and / or the external illumination uniformity, including:

[0021] Calculate the roughness impact value according to the influence of the imaging surface roughness on the imaging;

[0022] Calculate the external light impact value according to the impact of external light intensity on imaging;

[0023] Calculate the illumination uniformity impact value according to the influence of external illumination uniformity on imaging;

[0024] The influence coefficient is calculated according to the roughness influence value and / or the external light influence value and / or the illumination uniformity influence value.

[0025] Optionally, calculating the illumination distribution matrix of the tilted projection system according to the illumination of each pixel point on the image plane when not tilted and the correction factor comprises the steps of:

[0026] Constructing an illumination matrix of each pixel point on the image plane when not tilted according to the illumination of each pixel point on the image plane when not tilted;

[0027] The illumination distribution matrix of the tilted projection system is calculated based on the matrix composed of correction factors and the illumination matrix of each pixel on the image plane when not tilted.

[0028] Optionally, the step of calculating the corrected grayscale matrix of the input image according to the functional relationship between the grayscale matrix of the input image and the illumination distribution matrix of the oblique projection system comprises the steps of:

[0029] According to the projection image plane illumination uniformity requirement, the illumination distribution matrix of the corrected projection image plane is constructed;

[0030] Calculate the corrected illumination distribution matrix of the image plane when it is not tilted according to the corrected illumination distribution matrix of the projection image plane and the correction factor of the illumination of each pixel point on the image plane;

[0031] The grayscale matrix of the corrected input image when the illumination of the projection image plane is uniform is calculated according to the corrected illumination distribution matrix of the image plane when it is not tilted.

[0032] Optionally, constructing the illumination distribution matrix of the corrected projection image plane according to the projection image plane illumination uniformity requirement comprises the steps of:

[0033] Calculate the average value of the illumination of each pixel on the image plane of the tilted projection system when it is not corrected and use it as the expected value of the illumination of each pixel on the projection image plane after correction;

[0034] The illumination distribution matrix of the corrected projection image plane is constructed according to the expected value of the illumination of each pixel point on the corrected projection image plane.

[0035] Optionally, the step of modulating the grayscale of each pixel of the original input image according to the corrected input image grayscale matrix and pulse width modulation comprises the following steps:

[0036] List the grayscale matrix of the original input image according to the grayscale value of each pixel of the original input image;

[0037] Determine the on-time of the current within a time period according to the grayscale value of the corresponding pixel point of the corrected input image;

[0038] The on-time of the current of each pixel point of the original input image is adjusted to the on-time of the current of the corresponding pixel point of the corrected input image.

[0039] According to another embodiment of the present invention, a computer-readable storage medium is provided, which stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the above method.

[0040] According to another embodiment of the present invention, a vehicle light imaging correction system based on grayscale modulation is provided, comprising:

[0041] processor;

[0042] Memory;

[0043] and one or more programs, wherein the one or more programs are stored in a memory and configured to be executed by the signal processing unit, the programs causing a computer to perform the above method.

[0044] The advantages of the vehicle light imaging correction device, method, system and storage medium based on grayscale modulation of the present invention are:

[0045] (1) The correction factor is calculated based on the influence of the imaging surface roughness and / or light intensity and / or illumination uniformity on the imaging, and the illumination distribution matrix of the tilted projection system is calculated based on this. Compared with the traditional headlight imaging technology solution, the influence of different external conditions on the headlight imaging can be effectively evaluated to ensure the accuracy of the projected illumination distribution, which is convenient for the subsequent accurate calculation of the grayscale matrix of the illumination uniformity.

[0046] (2) The illumination distribution matrix of the tilted projection system is calculated based on the illumination of each pixel on the image plane when not tilted and the correction factor, and the grayscale matrix of the corrected input image is calculated based on the functional relationship between the grayscale matrix of the input image and the illumination distribution matrix of the tilted projection system. Compared with the traditional technical solution of headlight projection imaging, the grayscale matrix of illumination uniformity can be effectively and accurately calculated, which is convenient for subsequent grayscale modulation.

[0047] (3) The grayscale of each pixel of the original input image is modulated according to the corrected input image grayscale matrix and pulse width modulation. Compared with the traditional headlight imaging technology solution, the correction of the imaging image can be effectively realized, and the illumination uniformity of the headlight projection image surface can be significantly improved, thus compensating for the defect of uneven illumination of the existing headlight projection system, that is, the projection image surface is brighter near and darker far away. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a flow chart of a vehicle light imaging correction method based on grayscale modulation according to an embodiment of the present invention;

[0049] Figure 2 is a flow chart of step S01 of a vehicle light imaging correction method based on grayscale modulation according to an embodiment of the present invention;

[0050] Figure 3 is a flow chart of step S02 of the vehicle light imaging correction method based on grayscale modulation according to an embodiment of the present invention;

[0051] Figure 4 is a flowchart of sub-step S022 of the vehicle light imaging correction method based on grayscale modulation according to an embodiment of the present invention;

[0052] Figure 5 is a flow chart of step S03 of the vehicle light imaging correction method based on grayscale modulation according to an embodiment of the present invention;

[0053] Figure 6is a flow chart of step S04 of the vehicle light imaging correction method based on grayscale modulation according to an embodiment of the present invention;

[0054] Figure 7 is a flowchart of sub-step S041 of the vehicle light imaging correction method based on grayscale modulation according to an embodiment of the present invention;

[0055] Figure 8 is a flow chart of step S05 of the vehicle light imaging correction method based on grayscale modulation according to an embodiment of the present invention;

[0056] Fig. 9 It is a structural schematic diagram of a vehicle light imaging correction system based on grayscale modulation according to an embodiment of the present invention. DETAILED DESCRIPTION

[0057] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0058] The vehicle lights described in this embodiment include headlights, taillights, etc. of motor vehicles or non-motor vehicles.

[0059] According to an embodiment of the present invention, a vehicle light imaging correction method based on grayscale modulation is provided, and the flow chart is as follows: Figure 1 As shown, including:

[0060] Step S01, obtaining the illumination of each pixel on the image plane before and after tilting according to the grayscale matrix of the input image;

[0061] Step S02, calculating the correction factor of the illumination of each pixel point according to the imaging surface roughness and / or the light intensity and / or the illumination uniformity;

[0062] Step S03, calculating the illumination distribution matrix of the tilted projection system according to the illumination of each pixel on the image plane when not tilted and the correction factor;

[0063] Step S04, calculating a corrected input image grayscale matrix according to a functional relationship between the grayscale matrix of the input image and the illumination distribution matrix of the oblique projection system;

[0064] Step S05: modulate the grayscale of each pixel of the original input image according to the corrected input image grayscale matrix and pulse width modulation.

[0065] This embodiment takes into account the impact of external environmental factors of the headlights on imaging, performs grayscale modulation on the headlight illumination distribution, and significantly improves the illumination uniformity of the headlight projection image plane, compensating for the defect of uneven illumination of the existing headlight projection system, where the projection image plane is brighter near and darker far away.

[0066] In an exemplary embodiment, the step S01, according to the gray matrix of the input image, obtains the illumination of each pixel on the image plane before and after tilting, the flow chart is as follows: Figure 2 As shown, the steps include:

[0067] Step S011, calculating the proportion of the effective time of the current signal in one cycle of each pixel point and using the obtained duty cycle as the grayscale of each pixel point corresponding to the input image;

[0068] Step S012, listing the grayscale matrix of the input image according to the grayscale value of each pixel corresponding to the input image;

[0069] Step S013: Calculate the illumination of each pixel on the image plane before and after the tilt according to the grayscale and tilt angle of the input image.

[0070] In this embodiment, the proportion of the effective time of the current signal in one cycle of each pixel is calculated, and the obtained duty cycle is used as the grayscale of each pixel corresponding to the input image. The illumination of each pixel on the image plane before and after tilting is calculated according to formula (1).

[0071] (1)

[0072] in, is the illumination at a point on the image plane, is the light transmittance, is the circumference of a circle, is the brightness of the conjugate point of the point on the object plane, and the gray value of the input image related, is the aperture angle of the central field of view, The angle between the principal ray and the optical axis.

[0073] In an exemplary embodiment, the step S02, calculating the correction factor according to the imaging surface roughness and / or the light intensity and / or the illumination uniformity, is as follows: Figure 3 As shown, the steps include:

[0074] Step S021, normalizing the imaging surface roughness, external light intensity, and external illumination uniformity according to a preset parameter threshold range;

[0075] Step S022, calculating the influence coefficient according to the roughness of the imaging surface and / or the external light intensity and / or the external illumination uniformity;

[0076] Step S023, calculating a correction factor for the illumination of each pixel on the image plane according to the illumination and influence coefficient of each pixel on the image plane before and after tilting.

[0077] In this embodiment, typical influencing factors such as surface texture and light intensity are taken into consideration, the wavelength of 0-1 mm is used as the range of roughness, and night and day are used as the upper and lower limits of light intensity, ranging from 0-10000 lux, and maximum and minimum normalization processing is performed on the imaging surface roughness and light intensity.

[0078] In an exemplary embodiment, the step S022, calculating the influence coefficient according to the imaging surface roughness and / or the external light intensity and / or the external illumination uniformity, the flow chart is as follows: Figure 4 As shown, the steps include:

[0079] Step S0221, calculating a roughness influence value according to the influence of the imaging surface roughness on imaging;

[0080] Step S0222, calculating the external light impact value according to the impact of the external light intensity on imaging;

[0081] Step S0223, calculating the illumination uniformity influence value according to the influence of the external illumination uniformity on imaging;

[0082] Step S0224: Calculate the influence coefficient according to the roughness influence value and / or the external light influence value and / or the illumination uniformity influence value.

[0083] In this embodiment, the roughness influence value is calculated according to the influence of the imaging surface roughness on the imaging, and a positive correlation between the imaging surface roughness and the influence value is obtained according to the influence of the imaging surface roughness on the imaging distortion (the greater the imaging surface roughness, the greater the imaging distortion, that is, the greater the roughness influence value), and the roughness influence value is calculated according to the positive correlation between the imaging surface roughness and the roughness influence value, and the roughness influence value is represented by a variable l;

[0084] The calculation of the external light influence value according to the influence of the external light intensity on the imaging is to obtain a positive correlation between the external light intensity and the influence value according to the influence of the external light intensity on the imaging quality (the greater the external light intensity, the greater the influence on the imaging quality, that is, the greater the external light influence value), obtain the external light intensity value according to the average value, maximum value or minimum value of the external light intensity within a certain range of the vehicle light image, and calculate the external light influence value according to the positive correlation between the external light intensity and the external light influence value, and the external light influence value is represented by the variable w;

[0085] The calculation of the illumination uniformity influence value according to the influence of the external illumination uniformity on the imaging is to obtain a negative correlation between the external illumination uniformity and the influence value according to the influence of the external illumination uniformity on the imaging quality (the smaller the external illumination uniformity, the greater the influence on the imaging quality, that is, the greater the illumination uniformity influence value), evaluate the external illumination uniformity according to the variance of the illumination intensity of multiple sampling points within a certain distance range near the headlights (the larger the variance, the smaller the external illumination uniformity, the greater the illumination uniformity influence value, that is, the illumination intensity variance is positively correlated with the illumination uniformity influence value), calculate the illumination uniformity influence value according to the illumination intensity variance and the illumination uniformity influence value, and the illumination uniformity influence value is represented by a variable r;

[0086] The influence coefficient calculated according to the roughness influence value and / or the external light influence value and / or the illumination uniformity influence value is calculated according to the positive correlation between the influence coefficient and the roughness influence value and / or the external light influence value and / or the illumination uniformity influence value, and the influence coefficient is represented by the variable s.

[0087] A1 to A7 in Table A represent different implementation methods for calculating the influence coefficient. The roughness influence value l, the external light influence value w, and the illumination uniformity influence value r in Table A are calculated according to any of the above implementation methods.

[0088] Table A Different ways to calculate the influence coefficient

[0089] In an exemplary embodiment, the step S03 calculates the illumination distribution matrix of the tilted projection system according to the illumination of each pixel point on the image plane when not tilted and the correction factor, and the flow chart is as follows: Figure 5 As shown, the steps include:

[0090] Step S031, constructing an illumination matrix of each pixel point on the image plane when it is not tilted according to the illumination of each pixel point on the image plane when it is not tilted;

[0091] Step S032: Calculate the illumination distribution matrix of the tilted projection system according to the matrix formed by the correction factors and the illumination matrix of each pixel on the image plane when not tilted.

[0092] In this embodiment, the correction factor of the illumination of each pixel on the image plane is obtained based on the illumination of each pixel on the image plane before and after tilting and taking into account the influence coefficient. , the calculation formula of the correction factor of the illumination of each pixel on the image plane is shown in formula (2).

[0093] (2)

[0094] in, is the correction factor of the illumination of each pixel on the image plane, is the influence coefficient of each pixel point calculated by any method described in Table A, is the normalized light intensity of each pixel, is the smallest positive constant that prevents the denominator from being 0.

[0095] The illumination distribution matrix of the tilted projection system is calculated based on the matrix composed of correction factors and the illumination matrix of each pixel on the image plane when not tilted, as shown in formula (3).

[0096] (3)

[0097] in, is the illumination distribution matrix of the oblique projection system, is the correction factor of the illumination of each pixel on the image plane, is the illumination of each pixel on the image plane when it is not tilted, It is the number of pixels on the image plane in the left and right and up and down dimensions.

[0098] In another exemplary embodiment, the step S04, calculating the corrected input image grayscale matrix according to the functional relationship between the grayscale matrix of the input image and the illumination distribution matrix of the tilted projection system, the flow chart is as follows: Figure 6 As shown, the steps include:

[0099] Step S041, constructing a corrected illumination distribution matrix of the projection image plane according to the illumination uniformity requirement of the projection image plane;

[0100] Step S042, calculating the corrected illumination distribution matrix of the image plane when not tilted according to the corrected illumination distribution matrix of the projection image plane and the correction factor of the illumination of each pixel on the image plane;

[0101] Step S043 : calculating the grayscale matrix of the corrected input image when the illumination of the projection image plane is uniform according to the corrected illumination distribution matrix of the image plane when it is not tilted.

[0102] In an exemplary embodiment, the step S041 constructs a corrected illumination distribution matrix of the projection image plane according to the illumination uniformity requirement of the projection image plane, and the flowchart is as follows: Figure 7 As shown, the steps include:

[0103] Step S0411, calculating the average value of the illumination of each pixel on the image plane of the tilted projection system when it is not corrected and using it as the expected value of the illumination of each pixel on the projection image plane after correction;

[0104] Step S0412: construct an illumination distribution matrix of the corrected projection image plane according to the expected value of illumination of each pixel point on the corrected projection image plane.

[0105] In this embodiment, the average value of the illumination of each pixel on the image plane of the tilted projection system when not corrected is as shown in formula (4).

[0106] (4)

[0107] in, is the correction factor of the illumination of each pixel on the image plane, is the illumination of each pixel on the image plane when it is not tilted, It is the number of pixels on the image plane in the left and right and up and down dimensions.

[0108] The average value of the illumination of each pixel on the image plane of the tilted projection system when not corrected is taken as the expected value of the illumination of each pixel on the projection image plane after correction.

[0109] The illumination of each pixel on the corrected projection image plane is set to be the average illumination of each pixel on the image plane of the tilted projection system when it is not corrected. The illumination distribution matrix of the corrected projection image plane is , as shown in formula (5).

[0110] (5)

[0111] in, is the illumination distribution matrix of the projection image plane after correction.

[0112] In step S042, the illumination distribution matrix of the projection image plane after correction is used. Correction factor for the illumination of each pixel on the image plane , obtain the illumination distribution matrix of the image plane when it is not tilted ,in, , ;

[0113] In step S043, according to the illumination distribution matrix of the image plane when it is not tilted The grayscale matrix of the corrected input image when the projection image plane illumination is uniform is obtained, and the grayscale matrix of the corrected input image when the projection image plane illumination is uniform is calculated by equation (6).

[0114] (6)

[0115] in, is the illumination of each pixel on the projection image plane after correction, is the correction factor of the illumination of each pixel on the image plane, Illuminance calculation formula The inverse function of is the grayscale matrix of the input image after correction.

[0116] In an exemplary embodiment, the step S05 modulates the grayscale of each pixel of the original input image according to the corrected input image grayscale matrix and pulse width modulation, as shown in the flowchart. Figure 8 As shown, the steps include:

[0117] Step S051, listing the grayscale matrix of the original input image according to the grayscale value of each pixel of the original input image;

[0118] Step S052, determining the on-time of the current within a time period according to the grayscale value of the corresponding pixel point of the corrected input image;

[0119] Step S053: adjusting the on-time of the current of each pixel point of the original input image to the on-time of the current of the corresponding pixel point of the corrected input image.

[0120] In this embodiment, the grayscale matrix of the original input image is listed according to the grayscale value of each pixel of the original input image, wherein the grayscale matrix of the original input image and the grayscale matrix of the corrected input image have the same dimension; the same time period T is determined for the original input image and the corrected input image, and the on-time t of the current within a time period T is determined according to the grayscale value of the corresponding pixel of the corrected input image, so that the quotient of the on-time of the current and the time period (t / T) is the same as the grayscale value of the corresponding pixel of the corrected input image; the on-time of the current of each pixel of the original input image is adjusted to the on-time of the current of the corresponding pixel of the corrected input image.

[0121] According to another embodiment of the present invention, a duty cycle adjustment method based on pulse width modulation is provided, comprising the following steps:

[0122] Step A1: inputting the electrical signal to be adjusted into the timer and counter;

[0123] Step A2: the timer starts timing the duration of the electrical signal from the time the electrical signal is input, and the counter starts recording the high and low level changes of the electrical signal from the time the electrical signal is input;

[0124] Step A3: Measure the duration of high and low levels and calculate the duty cycle;

[0125] Step A4: compare the obtained duty cycle with the expected duty cycle. If the obtained duty cycle is different from the expected duty cycle, the single chip microcomputer is programmed to adjust the duty cycle, and the process returns to step A2.

[0126] Step A5: outputting the obtained electrical signal;

[0127] According to yet another embodiment of the present invention, a computer-readable storage medium is provided, which stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the vehicle light imaging correction method based on grayscale modulation described in the above embodiment.

[0128] According to another embodiment of the present invention, a vehicle light imaging correction system based on grayscale modulation is also provided, and the structural schematic diagram is shown in FIG. Fig. 9 As shown, including:

[0129] processor;

[0130] Memory;

[0131] And one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the processor, and the programs enable the computer to execute the grayscale modulation based vehicle light imaging correction method described in the above embodiment.

[0132] The method according to the present invention described above may be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor, or programmable or special-purpose hardware (such as an ASIC or FPGA). It is understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor, or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the processing shown herein, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the processing shown herein.

[0133] Of course, those skilled in the art should realize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the scope of the present invention, any changes or modifications to the above embodiments will fall within the protection scope of the present invention.

Claims

1. A vehicle light imaging correction method based on grayscale modulation, characterized in that: include: According to the grayscale matrix of the input image, the illumination of each pixel on the image plane before and after tilting is obtained; Calculate the correction factor of the illumination of each pixel point according to the imaging surface roughness and / or the light intensity and / or the illumination uniformity; Calculate the illumination distribution matrix of the tilted projection system according to the illumination of each pixel on the image plane when not tilted and the correction factor; Calculating a corrected input image grayscale matrix according to a functional relationship between a grayscale matrix of the input image and an illumination distribution matrix of the oblique projection system; The grayscale of each pixel of the original input image is modulated according to the corrected input image grayscale matrix and pulse width modulation.

2. The vehicle light imaging correction method based on grayscale modulation according to claim 1, characterized in that: The method of obtaining the illumination of each pixel point on the image plane before and after tilting according to the grayscale matrix of the input image comprises the steps of: Calculate the proportion of the effective time of the current signal in one cycle of each pixel point and use the obtained duty cycle as the grayscale of each pixel point corresponding to the input image; List the grayscale matrix of the input image according to the grayscale value of each pixel corresponding to the input image; The illumination of each pixel on the image plane before and after tilt is calculated based on the grayscale and tilt angle of the input image.

3. The vehicle light imaging correction method based on grayscale modulation according to claim 1, characterized in that: The method of calculating the correction factor according to the imaging surface roughness and / or the light intensity and / or the illumination uniformity comprises the following steps: Normalize the imaging surface roughness, external light intensity, and external illumination uniformity according to the preset parameter threshold range; Calculate the influence coefficient according to the roughness of the imaging surface and / or the external light intensity and / or the uniformity of the external illumination; The correction factor of the illumination of each pixel on the image plane is calculated according to the illumination and influence coefficient of each pixel on the image plane before and after tilting.

4. The vehicle light imaging correction method based on grayscale modulation according to claim 3, characterized in that: The method of calculating the influence coefficient according to the roughness of the imaging surface and / or the external light intensity and / or the external illumination uniformity comprises the following steps: Calculate the roughness impact value according to the influence of the imaging surface roughness on the imaging; Calculate the external light impact value according to the impact of external light intensity on imaging; Calculate the illumination uniformity impact value according to the influence of external illumination uniformity on imaging; The influence coefficient is calculated according to the roughness influence value and / or the external light influence value and / or the illumination uniformity influence value.

5. The vehicle light imaging correction method based on grayscale modulation according to claim 1, characterized in that: The method of calculating the illumination distribution matrix of the tilted projection system according to the illumination of each pixel point on the image plane when not tilted and the correction factor comprises the following steps: Constructing an illumination matrix of each pixel point on the image plane when not tilted according to the illumination of each pixel point on the image plane when not tilted; The illumination distribution matrix of the tilted projection system is calculated based on the matrix composed of correction factors and the illumination matrix of each pixel on the image plane when not tilted.

6. The vehicle light imaging correction method based on grayscale modulation according to claim 1, characterized in that: The method of calculating the corrected input image grayscale matrix according to the functional relationship between the grayscale matrix of the input image and the illumination distribution matrix of the tilted projection system comprises the steps of: According to the projection image plane illumination uniformity requirement, the illumination distribution matrix of the corrected projection image plane is constructed; Calculate the corrected illumination distribution matrix of the image plane when it is not tilted according to the corrected illumination distribution matrix of the projection image plane and the correction factor of the illumination of each pixel point on the image plane; The grayscale matrix of the corrected input image when the illumination of the projection image plane is uniform is calculated according to the corrected illumination distribution matrix of the image plane when it is not tilted.

7. The vehicle light imaging correction method based on grayscale modulation according to claim 6, characterized in that: The method of constructing the illumination distribution matrix of the corrected projection image plane according to the illumination uniformity requirement of the projection image plane comprises the steps of: Calculate the average value of the illumination of each pixel on the image plane of the tilted projection system when it is not corrected and use it as the expected value of the illumination of each pixel on the projection image plane after correction; The illumination distribution matrix of the corrected projection image plane is constructed according to the expected value of the illumination of each pixel point on the corrected projection image plane.

8. The vehicle light imaging correction method based on grayscale modulation according to claim 1, characterized in that: The method of modulating the grayscale of each pixel of the original input image according to the corrected input image grayscale matrix and pulse width modulation comprises the steps of: List the grayscale matrix of the original input image according to the grayscale value of each pixel of the original input image; Determine the on-time of the current within a time period according to the grayscale value of the corresponding pixel point of the corrected input image; The on-time of the current of each pixel point of the original input image is adjusted to the on-time of the current of the corresponding pixel point of the corrected input image.

9. A computer-readable storage medium storing a computer program for electronic data exchange, wherein: The computer program enables a computer to execute the method according to any one of claims 1 to 8.

10. A vehicle light imaging correction system based on grayscale modulation, characterized in that: include: processor; Memory; as well as One or more programs, wherein the one or more programs are stored in a memory and configured to be executed by the processor, the programs causing the computer to execute the method according to any one of claims 1 to 8.

Images