Vehicle lamp control method and device, vehicle and computer readable storage medium

Abstract

The invention relates to the technical field of vehicle lamps, in particular to a vehicle lamp control method and device, a vehicle and a computer readable storage medium. The method comprises the steps of detecting whether a preset object exists in an environment where a vehicle is located; if the preset object exists, acquiring first positioning information of the preset object at current time and historical time; predicting second positioning information of the preset object in future time according to the first positioning information; determining a first pixel area according to the second positioning information; the first pixel area comprises at least one of a plurality of pixel units of a vehicle lamp of the vehicle; and at the future time, controlling the pixel units in the first pixel region. According to the invention, the vehicle lamp control precision can be improved, so that the guarantee degree of the vehicle lamp for driving safety and the driving experience are improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle lights, and in particular to a vehicle light control method, device, vehicle and computer-readable storage medium. Background Art

[0002] With the development of vehicle lighting technology, digital lighting has gradually become popular. Unlike non-digital vehicle lights that are fully on or fully off and cannot be pixelated, digital lighting has a finer control granularity. Vehicle lighting control has an important impact on driving safety and driving experience. Vehicle lighting control is mainly based on the control of vehicle lights. In related technologies, vehicle lights can be controlled based on collected external signals, such as road visibility, obstacles on the road, etc.

[0003] However, the headlight control in related technologies has problems such as large time delay and untimely response, which affects the degree of protection of driving safety by the headlights and the driving experience of users.

[0004] Therefore, a more responsive vehicle light control solution is needed. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a vehicle light control method, device, vehicle and computer-readable storage medium, which can solve the problems of insufficient protection of driving safety and poor driving experience of users in existing vehicle light control.

[0006] In a first aspect, an embodiment of the present application provides a vehicle light control method, the vehicle light control method comprising: detecting whether there is a preset object in an environment where a vehicle is located;

[0007] If the preset object exists, obtaining the first positioning information of the preset object at the current time and the historical time;

[0008] Predicting second positioning information of the preset object at a future time according to the first positioning information;

[0009] Determine a first pixel area according to the second positioning information; the first pixel area includes at least one of a plurality of pixel units of the headlight of the vehicle;

[0010] At the future time, pixel units within the first pixel area are controlled.

[0011] Different from the related art, there is a time delay between the acquisition time of the signal based on which the headlight control is based and the actual execution of the headlight control action, which leads to the low real-time and accuracy of the headlight control. For example, the oncoming vehicle may have moved to a new position, and the headlight control is based on the historical position of the oncoming vehicle. Therefore, the headlight illumination area cannot accurately cover the oncoming vehicle, and there is a displacement or even complete misalignment, which affects the degree of protection of the headlight for driving safety and the driving experience of the vehicle. The above technical solution is adopted, by predicting the second positioning information of the preset object at the current time and the historical time, so that the headlight can be directly controlled according to the second positioning information in the future time, avoiding the problem of inaccurate or even invalid headlight control caused by the system delay of the positioning information, which can effectively improve the degree of protection of the headlight for driving safety and enhance the driving experience. At the same time, considering that the headlight generally includes multiple pixel units, in order to achieve accurate coverage of the preset object, the first pixel area is selected from the multiple pixel units of the headlight according to the second positioning information in this solution, which can avoid the problem of insufficient lighting and improve the utilization efficiency of lighting resources.

[0012] In some embodiments, the method further comprises:

[0013] Sampling the first positioning information to obtain positioning information of the preset object at multiple time points in the current time and historical time;

[0014] Fitting the positioning information of the multiple time points to obtain a mapping relationship between the positioning information of the preset object and time;

[0015] The future time is mapped according to the mapping relationship to obtain the second positioning information.

[0016] In some embodiments, the second positioning information is positioning information of the preset object relative to the vehicle light; the method further includes:

[0017] Determine, according to the second positioning information, a projection area of ​​the preset object on the headlight, a distance between the preset object and the headlight, and relative size information between the preset object and the vehicle; the projection area is located in an area formed by the plurality of pixel units;

[0018] Determining the field of view angle of a single pixel unit of the vehicle light;

[0019] Determining the size of the control range corresponding to the preset object according to the distance, the relative size information and the field of view angle of the single pixel unit;

[0020] The projection area is taken as the center and expanded according to the size of the control range to obtain the first pixel area.

[0021] In some embodiments, the relative size information includes a relative height and a relative width between the vehicle and the preset object; the method further includes:

[0022] Determining a first angle between the preset object and the vehicle light in a vertical direction according to the distance and the relative height;

[0023] According to the distance and the relative width, a second angle between the preset object and the headlight in the horizontal direction is determined; according to the first angle and the field of view angle, a first number of pixel units to be controlled in the vertical direction is determined; according to the second angle and the field of view angle, a second number of pixel units to be controlled in the horizontal direction is determined.

[0024] In some embodiments, the method further comprises:

[0025] The first positioning information is denoised to obtain denoised positioning information; and prediction is performed based on the denoised positioning information to obtain the second positioning information.

[0026] In some embodiments, the method further comprises:

[0027] Acquire control reference information of the vehicle light; the control reference information includes at least one of the object type of the preset object, the driving state of the vehicle, and the environmental information outside the vehicle; determine a control signal of the first pixel area according to the control reference information; and control the pixel units in the first pixel area according to the control signal at the future time.

[0028] In some embodiments, the method further comprises:

[0029] If the preset object does not exist, predict the control demand of the driver of the vehicle for the headlights according to the driving state of the vehicle and the environmental information outside the vehicle; determine a second pixel area according to the control demand; the second pixel area includes at least one of the multiple pixel units of the headlights of the vehicle; and control the pixel units within the second pixel area of ​​the headlights.

[0030] In a second aspect, an embodiment of the present application further provides a vehicle light control device, the vehicle light control device comprising:

[0031] A detection module, used to detect whether there is a preset object in the environment where the vehicle is located;

[0032] An acquisition module, used for acquiring first positioning information of the preset object at current time and historical time when the preset object exists;

[0033] A prediction module, configured to predict second positioning information of the preset object at a future time according to the first positioning information;

[0034] A determination module, configured to determine a first pixel area according to the second positioning information; the first pixel area includes at least one of a plurality of pixel units of the headlight of the vehicle;

[0035] A control module is used to control the pixel units in the first pixel area at the future time.

[0036] In a third aspect, an embodiment of the present application further provides a vehicle, comprising a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the vehicle executes the vehicle light control method as described in the first aspect.

[0037] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on a processor, the processor executes the vehicle light control method as described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The present invention is a flowchart of a method for controlling a vehicle light according to an embodiment of the present application.

[0039] Figure 2 A schematic diagram of an application scenario of a vehicle light control method provided according to an embodiment of the present application.

[0040] Figure 3 The present invention is a flowchart of a vehicle light control method according to another embodiment of the present application.

[0041] Figure 4 The present invention is a flowchart of a vehicle light control method according to another embodiment of the present application.

[0042] Figure 5 The present invention is a flowchart of a vehicle light control method according to another embodiment of the present application.

[0043] Figure 6 A schematic diagram of second positioning information in a vehicle light control method provided according to another embodiment of the present application.

[0044] Figure 7 A schematic diagram of a first pixel area in a vehicle light control method provided according to another embodiment of the present application.

[0045] Figure 8 The present invention is a flowchart of a vehicle light control method according to another embodiment of the present application.

[0046] Fig. 9 The present invention is a flowchart of a vehicle light control method according to another embodiment of the present application.

[0047] Fig.10 The present invention is a flowchart of a vehicle light control method according to another embodiment of the present application.

[0048] Fig.11 The figure is a schematic diagram of the structure of a vehicle light control device provided according to an embodiment of the present application.

[0049] Fig.12 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0051] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0053] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0054] In this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0055] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0056] Related terms:

[0057] Pixel: Pixel, abbreviated as px. Each pixel is connected to a CMOS (Complementary Metal Oxide Semiconductor) tube, which is the smallest LED light-emitting unit that can be controlled individually. Adaptive Driving Beam: Adaptable Driving Beam, referred to as ADB. ADB is a system solution based on conventional matrix headlights (LED Matrix). ADB's pixel partition is within 100 pixels, that is, the ADB lighting system is composed of less than 100 LED lamp beads, and distributed lighting is achieved by arbitrarily controlling the corresponding LED on and off.

[0058] Digital Light Processing: Digital Light Processing, referred to as DLP. The core of DLP is to arrange a matrix composed of micro-mirrors (precision, miniature mirrors) on a digital micromirror device (DMD) semiconductor chip, and synchronously control the flipping of the chip to achieve million-pixel lighting.

[0059] Micro LED (Micro Light-Emitting Diode): micro light-emitting diode. Refers to a light source with a single luminous pixel size of 1 to 10 microns, and is composed of more than 10,000 individually controllable luminous pixels precisely arranged. It is an emerging, actively luminous light source. Through the combination of multiple layers of transparent lens groups to form an image, digital pixel lighting is achieved. The number of pixels is lower than that of DLP with millions, but higher than that of conventional matrix ADB with hundreds of pixels, which can achieve a balance between lighting accuracy performance and processing resources.

[0060] The control of the headlights needs to be based on the collection of information about the vehicle's environment to determine the control strategy, such as the collection of information about pedestrians and / or vehicles on the road ahead to determine whether to turn on or off a specific area of ​​the headlights. However, considering that there may be time delays in the collection and transmission of environmental information, there is a time delay between the acquisition time of the signal based on which the headlight control is based and the actual execution of the headlight control action. For example, the oncoming vehicle may have moved to a new position, and the headlight control is based on the historical position of the oncoming vehicle. Therefore, the headlight illumination area cannot accurately cover the oncoming vehicle, and the illumination area may be displaced or even completely misplaced and unable to cover the target vehicle. As a result, the real-time and accuracy of the headlight control are not strong, which reduces the degree of protection of the headlights for driving safety and the driving experience of the vehicle. However, the related technology has the problem of large headlight delays and untimely responses.

[0061] In view of this, the embodiments of the present application provide a vehicle light control method, device, vehicle and computer-readable storage medium, which can avoid the problem of inaccurate or even failed vehicle light control caused by delays in information transmission on which vehicle light control is based, and can effectively improve the degree of protection of vehicle lights for driving safety and enhance the driving experience.

[0062] See also Figure 1 , is a flowchart of the steps of the vehicle light control method provided by an embodiment of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. This method embodiment is executed based on a preset electronic device, which has certain data processing capabilities, data storage capabilities, and communication capabilities. The electronic device may include a microprocessor, a mobile phone, a computer, etc., and the embodiment of the present invention does not limit this.

[0063] See also Figure 1 As shown, the vehicle light control method may include the following steps:

[0064] Step 101: Detect whether there is a preset object in the environment where the vehicle is located.

[0065] Among them, the preset object may be an object that has an impact on the driving strategy. Specifically, the driving strategy may be the driver's driving strategy and / or the automatic driving strategy. The preset object may include objects of preset types such as vehicles, pedestrians, and road obstacles that have an impact on driving safety. Road obstacles may include animals, road protrusions or potholes, etc. The preset object may be detected by a preset sensor in the vehicle and / or the environment in which the vehicle is located. The sensor may include a camera, a radar, an infrared sensor, etc., which is not limited in the embodiment of the present invention.

[0066] Step 102: If the preset object exists, obtain the first positioning information of the preset object in the environment where the vehicle is located at the current time and the historical time.

[0067] It is understandable that the vehicle can be in a preset default lighting state (such as the vehicle's lights are off), and when a preset object appears in the vehicle's environment, since the preset object has an impact on driving safety or driving comfort, in order to ensure the vehicle's driving safety and driving experience, it is necessary to adaptively control the vehicle's lighting based on the relevant information of the preset object, that is, the vehicle's lighting control event is triggered by the preset object, that is, when the preset object is detected in the vehicle's environment, the first positioning information of the preset object is obtained. Considering that the vehicle's lighting is generally achieved through the vehicle's lights, the vehicle's lighting control can be achieved by controlling the vehicle's lights.

[0068] The environment in which the vehicle is located may be the environment in which the road ahead of the vehicle is located. The current time is the current time point, and the historical time includes the time before the current time point. Specifically, the historical time may be a time point of a first preset length before the current time. It should be noted that, considering that the moving speed and / or acceleration of the preset object may be very large, in order to ensure the accuracy of the first positioning information, the first preset length may be set to be relatively short, such as ten to hundreds of milliseconds. The first positioning information is used to locate the preset object. Optionally, considering that when the lighting of the vehicle is controlled, the vehicle is generally used as a reference point, such as specifically the position of the headlights as a reference point, therefore, the first positioning information can be used to locate the relative position between the preset object and the vehicle and / or the headlights. The first positioning information may be information such as the distance and angle between the preset object and the headlights.

[0069] Specifically, the first positioning information can be collected by preset sensors on the vehicle, such as cameras, radars, and infrared sensors. For example, the camera mainly monitors the field of view of 10m to more than 100 meters. The camera collects the image of the external environment in real time, and the image of the external environment can contain road information, traffic entities, and information about objects within the field of view, wherein the information of objects within the field of view may include relative position coordinates with the sensor, object type, object size, etc. Correspondingly, the radar module can accurately obtain object information within a range of 0 to 10m from the sensor, and the object information may include relative position coordinates, size, and distance between the radar and the sensor. Correspondingly, the infrared sensor module is based on the emission and reception of infrared rays, and utilizes the different reflection intensities of infrared signals at different distances from obstacles, and the infrared wavelength is longer and has strong penetration ability. It can obtain information about the external environment at night and in rainy and foggy weather, and can be used as a supplement to enhance some of the capabilities of the camera.

[0070] Step 103: predicting second positioning information of the preset object at a future time according to the first positioning information.

[0071] Among them, considering that the preset objects may have an impact on driving safety and / or driving experience, it is necessary to control the headlights so that the headlights can accurately illuminate the preset objects or avoid illuminating the preset objects. Specifically, the accuracy of the headlights can be manifested in that the lighting or extinguishing range of the headlights can be aligned with and cover the preset objects, and there will be no misalignment or even complete deviation from the preset objects. Therefore, in order to improve the effectiveness of the headlight control results, that is, to improve the degree of guarantee of driving safety and / or driving experience through headlight control, it is necessary to more accurately determine the positioning information of the preset objects. However, considering that there may be a certain delay in the collection and transmission of the positioning information of the preset objects, this may result in a certain time interval between the collection time of the positioning information and the actual execution time of the headlight control action. Based on the driving scenario, the change speed and frequency of the positioning information of the preset objects are generally large, such as Figure 2 As shown, each unit grid represents the illumination angle of a pixel unit, with the sensor as the angle coordinate center, the horizontal direction as the HH axis, and the vertical direction as the VV axis. Taking the preset object as an oncoming vehicle as an example, the oncoming vehicle may be 20 meters away from the current vehicle at the current moment, but after 2 seconds, the distance from the current vehicle is shortened to 15 meters as the oncoming vehicle moves forward at high speed. If the illumination area of ​​the headlights is still 20 meters away from the road ahead, the oncoming vehicle will not be illuminated, affecting the driver's judgment and avoidance. Therefore, in an embodiment of the present invention, in order to avoid the influence of signal delay on the accuracy of headlight control, the second positioning information of the preset object at a future time is predicted based on the first positioning information, so as to predict in advance the position where the preset object may be located with a higher probability in the future, so as to directly control the headlights accordingly at a future time based on the possible position, without waiting for the transmission of the signal at a future time, which can effectively improve the accuracy of headlight control.

[0072] Among them, the future time can be the time after the current time, such as the time point of the second preset length after the current time. The mapping relationship between the positioning information of the preset object and the time is abstracted according to the first positioning information, so as to map the specific future time according to the mapping relationship to obtain the positioning information of the preset object at the future time. Specifically, the future time can be an interval consisting of time points within the second preset time length from the current time. For example, based on the movement characteristics of the aforementioned preset object in the driving scene, the future time can be an interval consisting of time points within 200 milliseconds from the current time point, that is, the second preset time length can be 200 milliseconds. Specifically, the method of predicting the second positioning information according to the first positioning information can include training a prediction model with the first positioning information as a training sample, and predicting the second positioning information according to the prediction model. Optionally, it can also be fitted according to the first positioning information to obtain a curve representing the mapping relationship, and the present invention is not limited to this.

[0073] Step 104: Determine a first pixel area according to the second positioning information; the first pixel area includes at least one of a plurality of pixel units of the headlight of the vehicle.

[0074] Among them, car lights can include ADB, DLP and Micro LED. Preferably, considering that the pixel level of ADB is relatively low, which affects the precision of car light control, and although the pixel level of DLP is relatively high, it has high performance requirements for signal processing resources. In vehicle scenarios, there may be a large data processing delay, which may even affect driving safety. The emerging MicroLED light source technology can achieve lighting control of 10,000 pixels, with a single pixel partition accuracy of 0.08° and a position accuracy of 100m at 0.13m. 2 The highlight markings on the left and right areas and the dark area shielding treatment are an excellent design that is both cost-effective and practical, and the cost can be reduced by half compared to DLP headlights. Therefore, in the embodiment of the present invention, Micro LED can be preferably used for headlights. The performance characteristics and comparison of ADB, DLP and Micro LED are further explained as follows:

[0075] The pixel lighting accuracy of the matrix ADB headlight lighting system is limited. The matrix ADB within 100 pixels is simple to control, but the intelligent scenes that can be realized are limited. It can only realize the adaptive high beam lighting function. At the 100m position commonly used for high-speed driving, the width of a single pixel is between 2m-4.5m. In the distance, it will shield multiple vehicles at the same time, causing a large range of dark areas. The dark area shielding effect is not good and the control accuracy is poor.

[0076] Correspondingly, DLP technology has high pixel accuracy, but the degree of digital lighting control of pixel partitioning is insufficient, and the improved safety performance is limited. The DLP headlight system can achieve adaptive lighting with more than one million pixels, and the accuracy can be about 0.02m at a position of 100m, which is roughly equivalent to the width of an ordinary person's eye, and can effectively avoid the influence of large-scale dark areas. The pixel partitioning of DLP technology headlights reaches the million level, and is generally widely used in home projectors to play videos. When DLP is applied to the whole vehicle as a lighting device, if the headlights are to be digitally controlled, the signal transmission and calculation amount of the whole vehicle are very high. The whole vehicle needs to be equipped with a processor with high core computing power at the same time. The operation time is long, and there will be a long delay in signal input and system response, which poses a safety hazard and brings a high-load computing cost to the whole vehicle. In addition, the existing DLP technology has limited luminous brightness and functions. Its core is to realize the on-off control through the flipping of DMD (Digtial Micromirror Devices). Its control method is binary, and it is impossible to achieve finer-grained adjustment of brightness, such as dimming or brightening. As a result, the achievable functions of DLP headlights are limited, and the DLP lighting system requires high power and high heat dissipation, which greatly restricts the internal space and shape of the headlights.

[0077] Based on the problems existing in the above two lighting technologies, Micro LED can be selected as the car light in the embodiment of the present invention. Specifically, Micro LED has ten thousand pixels, and the light-emitting size is about 9mm long and 3mm wide, which can form a rectangular light-emitting area of ​​300pixels×100pixels, and each pixel unit of the Micro LED package (which can be regarded as a grid) can be individually controlled to light up and down. Considering that as the pixel level increases, the lateral field of view angle becomes smaller, the accuracy gradually increases at different distances of 50m, 100m, and 200m. The accuracy of the Micro LED with millions of pixels at a distance of 200m can reach 0.04m (centimeter level), while the accuracy of the ADB with hundreds of pixels at a distance of 50m is 2.22m. This will cause the problem of too large a shielding area and insufficient lighting when controlling the car lights to shield the dark area. Correspondingly, the more pixels there are, the more precise the shielding is, the less the lighting is affected by the shielding, and the safer the driving is. However, if the pixels of DLP reach the million level, the cost of LED particles and driver chips will be higher, the amount of signal data collected will be larger, and the algorithm processing will be more complicated. Therefore, the embodiment of the present invention uses MicroLED with ten thousand pixels to achieve a balance between vehicle light performance and cost.

[0078] On the basis of reasonably determining the pixel level of the headlights, in order to effectively utilize the lighting resources of the headlights and achieve accurate coverage of the preset objects by the headlight control results, such as when the preset objects need to be illuminated, part of the preset objects will not be omitted, and the lighting area will not be too large, covering irrelevant areas around the preset objects, thereby causing light pollution and waste of lighting resources. Considering that the edge of the field of view angle range required to cover the preset objects should fit the edge of the preset objects, there will be no missed coverage or over-coverage. Therefore, the angle of the edge of the preset object relative to the headlights and the pixel unit where the projection area falls when the headlights are projected from the preset object can be calculated based on the second positioning information of the preset object, and the field of view angle required to cover the preset object is determined based on the angle of the edge of the preset object relative to the headlights, thereby determining the size of the first pixel area, and determining the center point position of the first pixel area based on the pixel unit where the projection area falls, thereby locating the first pixel area based on the center point position and size.

[0079] Step 105: at the future time, controlling the pixel units in the first pixel area.

[0080] At each time point included in the future time, the first pixel area of ​​the headlight is directly controlled, without waiting for the collection, transmission and processing of the positioning information of the preset object at each time point included in the future time to obtain the pixel area to be controlled. The embodiment of the present invention determines the area to be controlled of the headlight in advance according to the motion characteristics of the preset object, which can effectively improve the timeliness of the headlight control. It can be understood that, on the basis of determining the first pixel area to be controlled, the control method for the first pixel area can be determined according to the preset control strategy, such as the brightness adjustment method for each pixel point in the first pixel area can be determined according to the type of the preset object, the current road condition of the vehicle and the driver's instructions, etc., and the embodiment of the present invention does not limit this.

[0081] In one embodiment, in order to improve the accuracy of predicting the second positioning information of the preset object at a future time, as Figure 3 As shown, the vehicle light control method includes:

[0082] Step 201: Obtain first positioning information of a preset object in the environment where the vehicle is located at the current time.

[0083] Among them, step 201 is substantially the same as the aforementioned step 102 and will not be described again here.

[0084] Step 202: sampling the first positioning information to obtain the positioning information of the preset object at multiple time points in the current time and historical time.

[0085] Among them, considering that the first positioning information is generally a continuous signal, in order to abstract the mapping relationship between the positioning information of the preset object and time from the first positioning information, the first positioning information can be sampled first, and the first positioning information can be converted into the positioning information of multiple time points in the discrete current time and historical time. Among them, the sampling can be performed according to the preset time interval or unequal time intervals, and the embodiment of the present invention is not limited to this.

[0086] Step 203: Fitting the positioning information of the multiple time points to obtain a mapping relationship between the positioning information of the preset object and time.

[0087] Among them, the positioning information of the preset object at multiple time points can be curve fitted to obtain a curve that can characterize the mapping relationship between the positioning information of the preset object and time. Specifically, the positioning information of the preset object at multiple time points can be expanded according to a preset formula to obtain a mapping curve between the positioning information of the preset object and time. Among them, the preset formula is used to approximate a function f(x) with an nth-order derivative at x=x0 using an nth-order polynomial about (x-x0). The preset formula can be, for example, Taylor's formula, and the embodiments of the present invention are not limited to this. It should be particularly noted that the smaller the time interval for sampling the first positioning information and / or the higher the order of display, the more accurate the mapping relationship.

[0088] Step 204: Map the future time according to the mapping relationship to obtain second positioning information of the preset object at the future time.

[0089] Specifically, at least one future time point in the future time may be substituted into the mapping relationship to obtain the positioning information of the preset object at the future time point, and the positioning information corresponding to all future time points in the future time may be used as the second positioning information.

[0090] Step 205: Determine a first pixel area according to the second positioning information; the first pixel area includes at least one of the plurality of pixel units of the headlight of the vehicle.

[0091] Among them, step 205 is substantially the same as the aforementioned step 104 and will not be described again here.

[0092] Step 206: At the future time, control the pixel units in the first pixel area.

[0093] Among them, step 206 is substantially the same as the aforementioned step 105 and will not be described again here.

[0094] In one embodiment, considering that the headlight includes a plurality of controllable pixel units, in order to more accurately control the pixel units of the headlight, the headlight control result can accurately cover the preset object without omission or excessive coverage, such as Figure 4 As shown, the vehicle light control method includes:

[0095] Step 301: Obtain first positioning information of a preset object in the environment where the vehicle is located at the current time.

[0096] Among them, step 301 is substantially the same as the aforementioned step 102 and will not be described again here.

[0097] Step 302: predicting second positioning information of the preset object at a future time according to the first positioning information.

[0098] Among them, step 302 is substantially the same as the aforementioned step 103 and will not be described again here.

[0099] Step 303: Based on the second positioning information, determine the projection area of ​​the preset object on the headlight of the vehicle, the distance between the preset object and the headlight, and the relative size information between the preset object and the vehicle; the projection area is located in the area formed by multiple pixel units of the headlight.

[0100] In particular, in order to achieve accurate coverage of the preset object by the control result of the headlight, the edge of the field of view covered by the controlled pixel unit on the headlight should be aligned with the edge of the preset object, so that there will be no missing coverage or over-coverage. When the headlight is controlled based on the information of the preset object, the headlight can be regarded as a stationary reference point. Therefore, to determine the position of the edge of the preset object, it is necessary to determine the relative positioning information between the preset object and the vehicle and / or the headlight. In particular, considering that the preset object may be offset relative to the center point of the headlight, the relative position between the preset object and the headlight should be positioned. A vertical line can be drawn from the preset object to the luminous surface composed of multiple pixel units of the headlight to obtain the projection area of ​​the preset object on the headlight of the vehicle. Correspondingly, considering that even if it is located at the same relative offset position as the vehicle, the control range corresponding to the preset objects of different distances and different sizes is different. Therefore, the distance between the preset object and the headlight and the relative size information between the preset object and the vehicle can also be determined based on the second positioning information. In particular, the relative size information may include the height, width, etc. of the preset object observed from the position of the vehicle, that is, the height difference, width difference, etc. between the preset object and the vehicle.

[0101] Step 304: Determine the field of view angle of a single pixel unit of the vehicle light.

[0102] Among them, considering that the total field of view of the headlight is composed of the field of view covered by each pixel unit on the headlight, the quotient of the total field of view of the headlight and the total number of pixel units on the headlight can be determined as the field of view of a single pixel unit of the headlight, that is, the single pixel accuracy of the headlight. The total field of view of the headlight can be obtained directly. For example, for a Micro LED with 10,000 pixels, the corresponding single pixel accuracy can be 0.08° / pixel.

[0103] Step 305: Determine the size of the control range corresponding to the preset object according to the distance, the relative size information and the field of view of the single pixel unit.

[0104] Different from the related art that uses low-pixel-level lighting equipment such as ADB as headlights, the number of pixel units is small, such as hundreds. Correspondingly, the coverage area of ​​each pixel unit is large, so only the pixel unit where the projection area of ​​the preset object on the headlight is located can be controlled. The control granularity is coarse, and the problem of controlling irrelevant areas around the preset object may occur. The problem of coarse control granularity in the related art may cause light pollution and waste of lighting resources in the scene of lighting the pixel unit, and may cause the shielding area to be too large in the scene of extinguishing the pixel unit to shield the dark area, causing the driver's blind spot and affecting driving safety. Therefore, in an embodiment of the present invention, in order to improve the precision of vehicle control, the field of view angle range that needs to be controlled when the headlight is to achieve accurate coverage of the preset object is determined according to the distance and relative size information, so as to determine the number of pixel units that actually need to be controlled according to the field of view angle range that needs to be controlled and the field of view angle of a single pixel unit as the size of the control range.

[0105] Step 306: Taking the center point of the projection area as the center, expand according to the size of the control range to obtain the first pixel area.

[0106] Specifically, the center point of the projection area is taken as the center of the first pixel area, the size of the control range is taken as the extended range, and the pixel units around the pixel unit where the projection area is located are occupied to obtain the first pixel area.

[0107] Step 307: at the future time, controlling the pixel units in the first pixel area.

[0108] Among them, step 307 is substantially the same as the aforementioned step 105 and will not be described again here.

[0109] In one embodiment, in order to improve the accuracy of vehicle light control, Figure 5 As shown, the vehicle light control method includes:

[0110] Step 401: Obtain first positioning information of a preset object in the environment where the vehicle is located at the current time.

[0111] Among them, step 401 is substantially the same as the aforementioned step 102 and will not be described again here.

[0112] Step 402: predicting second positioning information of the preset object at a future time according to the first positioning information.

[0113] Among them, step 402 is substantially the same as the aforementioned step 103 and will not be described again here.

[0114] Step 403: Based on the second positioning information, determine the projection area of ​​the preset object on the headlights of the vehicle, the distance between the preset object and the headlights, and the relative height and relative width between the vehicle and the preset object; the projection area is located in the area formed by multiple pixel units of the headlights.

[0115] Among them, step 403 is substantially the same as the aforementioned step 303 and will not be described again here.

[0116] Step 404: Determine the field of view angle of a single pixel unit of the vehicle light.

[0117] Among them, step 404 is substantially the same as the aforementioned step 304 and will not be described again here.

[0118] Step 405: Determine a first angle between the preset object and the vehicle light in the vertical direction according to the distance and the relative height.

[0119] The second positioning information of the preset object relative to the vehicle can be as follows: Figure 6 As shown, Figure 6 As shown, the headlight height H1 and the headlight width W1 are known fixed constants. When the car moves relative to the preset object, at a certain time t, the distance L between the preset object and the car can be detected by sensors such as radar, and the object height H2 and width W2 can be obtained through images collected by sensors such as cameras. The first angle includes the horizontal angle θu of the top of the object relative to the headlight and the horizontal angle θ of the bottom of the object relative to the headlight. d . Specifically, θ u With θ d It can be calculated by tanθ=ΔH / L.

[0120] Step 406: Determine a second angle between the preset object and the vehicle light in the horizontal direction according to the distance and the relative width.

[0121] Continue to refer Figure 6, taking the left front light of the vehicle as an example, the second angle may be the relative angle θ of the left front light covering the object l , where θ is obtained by tanθ = ΔW / L l , correspondingly, θ r The relative angle of the object covered for the right headlight.

[0122] Step 407: Determine a first number of pixel units to be controlled in the vertical direction according to the first angle and the field of view.

[0123] The quotient of the first angle and the field of view angle is rounded up to obtain the length of the control range in the vertical direction, that is, the first number of pixel units to be controlled in the vertical direction. Figure 7 The corresponding imaging coordinate angle grid is shown. Each unit grid represents the illumination angle of an LED pixel through the projection module. The sensor is the center of the angle coordinate, the horizontal direction is the HH axis, and the vertical direction is the VV axis. The center focus of each grid Micro LED light source is the coordinate origin. At the corresponding time t, the pixel area that needs to be controlled is recorded as A[t]. Figure 6 As shown, the variable parameter of the size of the range of the pixel unit to be controlled is K[t], and the corresponding relationship between A[t] and K[t] is A[t]=P i×j [t]K[t], where K[t]=E m×n , the single pixel accuracy of the Micro LED light source with 10,000 pixels is 0.08° / pixel, where m represents the length of the control range in the horizontal direction (in the number of pixel units), and n represents the length of the control range in the vertical direction (in the number of pixel units), n=(θ u -θ d ) / 0.08 is the number of pixels in the vertical direction.

[0124] Step 408: Determine a second number of pixel units to be controlled in the horizontal direction according to the second angle and the field of view.

[0125] The quotient of the second angle and the field of view angle is rounded up to obtain the length of the control range in the horizontal direction, that is, the first number of pixel units to be controlled in the vertical direction. Figure 7 , similar to the aforementioned step 407, the variable parameter of the size of the range of the pixel unit to be controlled is denoted by K[t], and the corresponding relationship between A[t] and K[t] is A[t]=P i×j [t]K[t], where K[t]=E m×n, where m represents the length of the control range in the vertical direction (in the number of pixel units), n represents the length of the control range in the horizontal direction (in the number of pixel units), m=θ l / 0.08 is the number of pixels in the horizontal direction.

[0126] Step 409: Taking the projection area as the center, expand the control range according to the lengths of the control range in the vertical direction and the horizontal direction to obtain the first pixel area.

[0127] Among them, Figure 7 As shown, when the control signal When the pixel P i×j As the center, all pixels in the area A[t] consisting of m horizontal pixels and n vertical pixels are turned off. When the pixel P i×j With m as the center, the number of pixels controlled in the horizontal direction and n in the vertical direction are controlled, thereby obtaining brightness processing for all pixels in the first pixel area A[t], thereby achieving micron-level high-precision control of the system.

[0128] Step 410: At the future time, control the pixel units in the first pixel area.

[0129] Among them, step 410 is substantially the same as the aforementioned step 105 and will not be described again here.

[0130] In one embodiment, considering that there may be some interference in the environment where the vehicle is located, such as rainy and snowy days, the first positioning information may include more noise or data missing, thereby affecting the accuracy of the first positioning information. Figure 8 As shown, the vehicle light control method includes:

[0131] Step 501: Obtain first positioning information of a preset object in the environment where the vehicle is located at the current time.

[0132] Among them, step 501 is substantially the same as the aforementioned step 102 and will not be described again here.

[0133] Step 502: De-noising the first positioning information to obtain de-noised positioning information.

[0134] Among them, the noise signal can be first identified for the first positioning information, and then the identified noise signal can be removed from the first positioning information. Optionally, considering that when there are many noise signals or they are densely distributed, the first positioning information after the noise signal is removed may have discontinuities such as missing signals or faults, thereby affecting the effect of prediction based on the first positioning information after the noise is removed, so fitting can also be performed on the first positioning information after the noise signal is removed to obtain more continuous positioning data.

[0135] Specifically, considering that the first positioning information is generally a continuous signal, the first positioning information can be sampled according to a preset frequency to obtain multiple discrete positioning signals. Then, the multiple discrete positioning information is converted from the time domain to the frequency domain. Considering that the frequency of the interference information is generally too high or too low, the result of the frequency domain conversion can be filtered according to a preset frequency threshold to filter out potential interference signals, and finally the filtered frequency domain result is converted to the time domain, thereby obtaining the denoised positioning information, ensuring that the denoised positioning information is consistent with the actual situation of the external environment and improving its accuracy.

[0136] Step 503: Predict according to the denoised positioning information to obtain the second positioning information.

[0137] The method for predicting the second positioning information based on the denoised positioning information can refer to the prediction method in the aforementioned step 102, which will not be described in detail here. Different from directly predicting based on the collected first positioning information, this embodiment predicts based on the denoised positioning information, which can improve the accuracy of the second positioning information, thereby correspondingly improving the accuracy of subsequent vehicle light control based on the second positioning information.

[0138] Step 504: predicting second positioning information of the preset object at a future time according to the first positioning information.

[0139] Among them, step 504 is substantially the same as the aforementioned step 103 and will not be described again here.

[0140] Step 505: Determine a first pixel area according to the second positioning information; the first pixel area includes at least one of the plurality of pixel units of the headlights of the vehicle.

[0141] Among them, step 505 is substantially the same as the aforementioned step 104 and will not be described again here.

[0142] Step 506: At the future time, control the pixel units in the first pixel area.

[0143] Among them, step 506 is substantially the same as the aforementioned step 105 and will not be described again here.

[0144] In some embodiments, considering that when controlling the vehicle lights, in addition to determining the area to be controlled, a control signal corresponding to the area is generally required to ensure that the vehicle light control result can effectively ensure driving safety and / or driving experience, therefore, if Fig. 9 As shown, the vehicle light control method includes:

[0145] Step 601: Obtain first positioning information of a preset object in the environment where the vehicle is located at the current time.

[0146] Among them, step 601 is substantially the same as the aforementioned step 102 and will not be described again here.

[0147] Step 602: predicting second positioning information of the preset object at a future time according to the first positioning information.

[0148] Among them, step 602 is substantially the same as the aforementioned step 103 and will not be described again here.

[0149] Step 603: Determine a first pixel area according to the second positioning information; the first pixel area includes at least one of a plurality of pixel units of the headlights of the vehicle.

[0150] Among them, step 603 is substantially the same as the aforementioned step 104 and will not be described again here.

[0151] Step 604: Acquire control reference information of the vehicle light; the control reference information includes at least one of the object type of the preset object, the driving state of the vehicle, and the environmental information outside the vehicle.

[0152] Among them, the object type is used to characterize the feature value information of the preset object on the feature dimension that affects driving safety. The feature dimension may include the motion attributes of the preset object, such as whether it can move, and may also include the biological attributes of the preset object, such as whether it is a human or a small animal. The driving state is used to characterize the driving state of the vehicle. Specifically, the driving state of the vehicle may be the result of the driving behavior of the driver of the vehicle and the external environment. Driving behavior may include starting the engine, steering, braking, speed control, shutting down the engine, etc. The external environment information of the vehicle may include road condition information and weather information of the road on which the vehicle is traveling.

[0153] Step 605: Determine a control signal for the first pixel region according to the control reference information.

[0154] The lighting requirement scene of the vehicle can be determined according to the control reference information, and the control signal of the first pixel area can be determined according to the lighting requirement scene. The lighting requirement scene is used to characterize what kind of lighting is required by the vehicle lights in a specific driving environment, a specific driving state, and when encountering a specific preset object, so as to ensure driving safety and driving experience in the scene.

[0155] For example, when the control reference information indicates that there are moving vehicles and pedestrians on the road ahead of the vehicle and the vehicle is in adaptive high beam / ADB mode, the headlights are controlled to turn off and the pixel units in the angle coordinate area where the driver or pedestrian is located form a dark area. Optionally, when the control reference information indicates that pedestrians are crossing the road and the vehicle is braking or parking, the headlights can be controlled to project zebra crossing icons on the road to give way to pedestrians, where auxiliary indicator icons may include projecting pedestrian courtesy, turning, vehicle distance and symbol icons, etc. Optionally, when the control reference information indicates that there is an obstacle in front of the road (such as an animal, a protrusion or a pothole on the road), the headlights can be controlled to greatly increase the brightness of the pixel area corresponding to the obstacle according to the position and size of the obstacle, that is, to highlight the obstacle area and project a symbol to remind the driver.

[0156] Step 606: At the future time, control the pixel units in the first pixel area according to the control signal.

[0157] The lighting mode of the pixel unit in the first pixel area is controlled according to the control signal, such as brightness control. By combining the object type of the preset object, the driving state of the vehicle, and the environmental information outside the vehicle and other multi-dimensional information as reference information for headlight control, the degree of protection of driving safety and driving experience through headlight control can be improved.

[0158] In some embodiments, when there is no preset object in the vehicle environment, the driving state of the vehicle itself may also trigger the need for headlight control. For example, when the vehicle turns around a curve, the curve ahead needs to be illuminated for driving safety. Therefore, in order to achieve more comprehensive driving safety and driving experience through headlight control, Fig.10 As shown, the vehicle light control method includes:

[0159] Step 701: Detect whether there is a preset object in the environment where the vehicle is located.

[0160] Among them, step 701 is substantially the same as the aforementioned step 101 and will not be described again here.

[0161] Step 702: If the preset object does not exist, predict the control demand of the driver of the vehicle for the headlights according to the driving state of the vehicle and the environmental information outside the vehicle.

[0162] The driving state of the vehicle and the environmental information outside the vehicle are substantially the same as those in the aforementioned step 604, and are not described in detail here. The control demand is used to represent the mode in which the driver expects the headlights to be controlled. The control mode of the headlights can represent, for example, that a specific area of ​​the headlights is controlled with a specific signal value.

[0163] Considering that the vehicle lighting requirements may also change with the change of the driving state of the vehicle, for example, when the vehicle encounters a curve and turns, the front curve needs to be illuminated for driving safety. In the related art, the driver is generally required to manually judge the road conditions and manually send the headlight control command, which is inefficient. When the road conditions change rapidly, there may be an event of untimely response or even endangering driving safety. At the same time, the driver's manual control of the headlights also increases the driver's control burden during driving, and the driving experience is not good. Therefore, in an embodiment of the present invention, the control requirements of the headlights are predicted according to the driving state of the vehicle and the external environment information of the vehicle, so as to control the headlights more efficiently. Specifically, the driving state and the external environment of the vehicle can be mapped according to the preset mapping relationship between the driving state, the external environment of the vehicle and the headlight control mode, and the control requirements for the headlights can be obtained. Among them, the mapping relationship is based on how to use the headlights to ensure driving safety and driving experience in the environment and driving state.

[0164] For example, when the driving status and external environment information indicate that the vehicle is in a scenario of going straight or changing lanes at night, the driving status can be used to further judge the vehicle speed, steering lever operation and steering wheel turning angle. When it is determined that the driver has the intention to pass through a narrow road, change lanes and turn, the control demand is determined to require laying a lighting carpet or widening the lighting width of the corresponding lane, thereby improving safety in the corresponding driving scenario.

[0165] Optionally, when the driving status and the external environment information indicate that the vehicle encounters a narrow road at night or the vehicle in front of the vehicle is cutting in at a traffic light, the "instant hand-drawing" projection function can be automatically activated, that is, the driver draws text symbols in the cockpit, and the hand-drawn content will be projected to the front through the headlights, thereby effectively conveying the driving intention to pedestrians or vehicles outside the vehicle and improving the driving experience. Optionally, when the driving status and the external environment information indicate that there is a curve in front of the vehicle, a steering lever, and a steering wheel angle greater than 90°, the headlights are controlled to project a preset turn indicator diagram to assist the vehicle to safely pass the curve.

[0166] Step 703: Determine a second pixel area according to the control requirement; the second pixel area includes at least one of the plurality of pixel units of the headlight of the vehicle.

[0167] Among them, considering that the control demand is used to characterize the mode in which the driver expects the headlights to be controlled, the control mode of the headlights can be characterized as a specific area of ​​the headlights being controlled with a specific signal value, etc., so the pixel unit to be controlled can be determined according to the control demand. Specifically, similar to the determination of the first pixel area, the position and range size of the second pixel area can be determined separately or together. For example, for certain control requirements, the size of the corresponding expected control pixel area may be the range from the vehicle to a specific position, and the specific position can be determined according to the driving state and / or driving environment, that is, information other than the preset object. For example, for the control demand in the curve scene, the distance between the second pixel area and the vehicle can be determined according to the size of the steering wheel angle, and the position and range of the second pixel area can be determined according to the distance. Among them, the larger the direction angle, the larger the size of the second pixel area. Correspondingly, in some scenarios, the range of the pixel area to be controlled may be consistent, such as when a specific graphic needs to be displayed, so the position of the specific graphic to be displayed can be determined only according to the driver's headlight control intention, thereby determining the position of the second pixel area, so that the second pixel area can meet the corresponding control demand after being controlled.

[0168] Step 704: Control the pixel units in the second pixel area of ​​the vehicle light.

[0169] The control method of the second pixel region is substantially the same as the control method of the first pixel region in the aforementioned step, and will not be described in detail here.

[0170] In some embodiments, considering that in the related art, the ECUs (Electronic Control Units) related to the lighting system in the vehicle are generally independent of each other, there will be redundant signal transmission and processing processes, which will lead to the reuse of some control elements and delays in signal transmission, increasing system costs and delay time. Therefore, in the embodiment of the present invention, the control of the lights is integrated into the vehicle domain controller. Different from the related art, the lights control related signals need to be processed and transmitted multiple times in each ECU. In the embodiment of the present invention, the intermediate ECU between signal acquisition and processing is omitted, and the whole process of vehicle lighting is directly controlled through the vehicle domain controller. For example, after the signal collected by the sensor is processed in the vehicle domain controller, the signal is directly output to the light module to generate a system response, reducing unnecessary system delays, and the system delay can be kept within 50ms, achieving or approaching real-time response. Among them, the vehicle domain controller can include an autonomous driving domain controller, a vehicle speed domain controller, a power domain controller, a chassis domain controller, etc.

[0171] Please refer to Fig.11 , is a schematic diagram of the hardware structure of the vehicle light control device 80 provided in the embodiment of the present application. Fig.11 As shown, the vehicle light control device 80 may include:

[0172] An acquisition module 801 is used to acquire first positioning information of a preset object in the environment where the vehicle is located at a current time;

[0173] A prediction module 802, configured to predict second positioning information of the preset object at a future time according to the first positioning information;

[0174] A determination module 803 is used to determine a first pixel area according to the second positioning information; the first pixel area includes at least one of a plurality of pixel units of the headlight of the vehicle;

[0175] The control module 804 is used to control the pixel units in the first pixel area at the future time.

[0176] Please refer to Fig.12 , is a schematic diagram of the hardware structure of the vehicle 90 provided in the embodiment of the present application. Fig.12 As shown, the vehicle 90 may include a processor 901 and a memory 902. The memory 902 is used to store one or more computer programs 903. The one or more computer programs 903 are configured to be executed by the processor 901. The one or more computer programs 903 include instructions, and the above instructions can be used to implement the above-mentioned vehicle light control method in the vehicle 90. It can be understood that the structure illustrated in this embodiment does not constitute a specific limitation on the vehicle 90. In other embodiments, the vehicle 90 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently.

[0177] The processor 901 may include one or more processing units, for example, the processor 901 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0178] The processor 901 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 901 is a cache memory. The memory may store instructions or data that the processor 901 has just used or circulated. If the processor 901 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 901, and thus improves the efficiency of the system.

[0179] In some embodiments, the processor 901 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0180] In some embodiments, the processor 901 is used to execute acceleration schemes such as single instruction multiple data (SIMD), very long instruction word (VLIW), etc. In some embodiments, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0181] This embodiment also provides a computer-readable storage medium, in which computer instructions are stored. When the instructions are executed on a processor, the processor executes the above-mentioned related method steps to implement the vehicle light control method in the above-mentioned embodiment. Among them, the vehicle light control device and computer storage medium provided in this embodiment are used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0182] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0183] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0184] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0185] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0186] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0187] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A vehicle light control method, characterized in that: The method comprises: Detect whether there are preset objects in the vehicle's environment; If the preset object exists, obtaining the first positioning information of the preset object at the current time and the historical time; Predicting second positioning information of the preset object at a future time according to the first positioning information; Determine a first pixel area according to the second positioning information; the first pixel area includes at least one of a plurality of pixel units of the headlight of the vehicle; At the future time, pixel units within the first pixel area are controlled.

2. The method according to claim 1, characterized in that The prediction process of the second positioning information includes: Sampling the first positioning information to obtain positioning information of the preset object at multiple time points in the current time and historical time; Fitting the positioning information of the multiple time points to obtain a mapping relationship between the positioning information of the preset object and time; The future time is mapped according to the mapping relationship to obtain the second positioning information.

3. The method according to claim 1, characterized in that The second positioning information is positioning information of the preset object relative to the vehicle light; The process of determining the first pixel area includes: Determine, according to the second positioning information, a projection area of ​​the preset object on the headlight, a distance between the preset object and the headlight, and relative size information between the preset object and the vehicle; the projection area is located in an area formed by the plurality of pixel units; Determining the field of view angle of a single pixel unit of the vehicle light; Determining the size of the control range corresponding to the preset object according to the distance, the relative size information and the field of view angle of the single pixel unit; Taking the center point of the projection area as the center, the control range is expanded according to the size to obtain the first pixel area.

4. The method according to claim 3, characterized in that The relative size information includes the relative height and relative width between the vehicle and the preset object; the process of determining the size of the control range includes: Determining a first angle between the preset object and the vehicle light in a vertical direction according to the distance and the relative height; Determining a second angle between the preset object and the vehicle light in the horizontal direction according to the distance and the relative width; Determining a first number of pixel units to be controlled in the vertical direction according to the first included angle and the field of view angle; A second number of pixel units to be controlled in the horizontal direction is determined according to the second angle and the field of view angle.

5. The method according to claim 1, characterized in that The prediction process of the second positioning information further includes: Performing denoising processing on the first positioning information to obtain denoised positioning information; Prediction is performed based on the denoised positioning information to obtain the second positioning information.

6. The method according to claim 1, characterized in that The control process of the first pixel area includes: Acquiring control reference information of the vehicle light; the control reference information comprising at least one of an object type of the preset object, a driving state of the vehicle, and environmental information outside the vehicle; determining a control signal for the first pixel region according to the control reference information; At the future time, the pixel units in the first pixel area are controlled according to the control signal.

7. The method according to claim 1, characterized in that The control process of the vehicle light also includes: If the preset object does not exist, predicting the control demand of the driver of the vehicle for the headlight according to the driving state of the vehicle and the environmental information outside the vehicle; Determine a second pixel area according to the control requirement; the second pixel area includes at least one of a plurality of pixel units of the headlight of the vehicle; The pixel units in the second pixel area of ​​the vehicle light are controlled.

8. A vehicle light control device, characterized in that: The vehicle light control device comprises: A detection module, used to detect whether there is a preset object in the environment where the vehicle is located; An acquisition module, used for acquiring first positioning information of the preset object at current time and historical time when the preset object exists; A prediction module, configured to predict second positioning information of the preset object at a future time according to the first positioning information; A determination module, configured to determine a first pixel area according to the second positioning information; the first pixel area includes at least one of a plurality of pixel units of the headlight of the vehicle; A control module is used to control the pixel units in the first pixel area at the future time.

9. A vehicle, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the vehicle executes the vehicle light control method according to any one of claims 1 to claim 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a processor, the processor is enabled to execute the vehicle light control method according to any one of claims 1 to 7.

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