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

Abstract

The application 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 following steps: detecting whether a preset object exists in an environment in which a vehicle is located; if the preset object exists, acquiring first positioning information of the preset object at a current time and a historical time; according to the first positioning information, predicting second positioning information of the preset object at a future time; according to the second positioning information, determining a first pixel area; 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, the pixel units in the first pixel area are controlled. The application can improve the accuracy of vehicle lamp control, thereby improving the guarantee degree of vehicle lamp for driving safety and the driving experience.

Description

TECHNICAL FIELD

[0001] The present application 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. BACKGROUND

[0002] With the development of vehicle lamp lighting technology, digital lighting is gradually popularized. Unlike non-digital vehicle lamps, which are fully on or off and cannot achieve pixel control, the control granularity of digital lighting is more precise. The lighting control of a vehicle has an important influence on driving safety and driving experience. The lighting control of a vehicle is mainly based on the control of vehicle lamps. In related technologies, vehicle lamps can be controlled based on collected external signals, such as road visibility and obstacle conditions on the road.

[0003] However, the vehicle lamp control in related technologies has the problems of large time delay and insufficient response, which affects the driving safety guarantee and user driving experience of vehicle lamps.

[0004] Therefore, there is a need for a vehicle lamp control scheme with more timely response. SUMMARY

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

[0006] In a first aspect, the embodiments of the present application provide a vehicle lamp control method, which includes: detecting whether a preset object exists in an environment in which a vehicle is located;

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

[0008] According to the first positioning information, predicting second positioning information of the preset object at a future time;

[0009] According to the second positioning information, determining a first pixel region; the first pixel region includes at least one of a plurality of pixel units of a vehicle lamp of the vehicle;

[0010] At the future time, the pixel units in the first pixel region are controlled.

[0011] Unlike related technologies where there is a time delay between signal acquisition and actual control action, leading to poor real-time performance and accuracy, this solution addresses the issue of oncoming vehicles not being accurately covered by headlights. For example, if an oncoming vehicle has moved to a new location while the headlight control is based on its historical position, the headlight illumination area may be misaligned or even completely out of sync, impacting driving safety and the overall driving experience. This new solution predicts the future location of a target based on its current and historical location information. This allows for direct headlight control in the future, avoiding inaccurate or malfunctioning headlights due to system delays in location information. This significantly improves driving safety and enhances the driving experience. Furthermore, considering that headlights typically consist of multiple pixel units, this solution selects a first pixel area from these units based on the second location information to ensure accurate coverage of the target. This avoids insufficient illumination and improves the efficiency of lighting resource utilization.

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

[0013] The first location information is sampled to obtain the location information of the preset object at multiple time points in the current time and historical time.

[0014] By fitting the location information at the multiple time points, a mapping relationship between the location information of the preset object and time is obtained;

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

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

[0017] Based on the second positioning information, the projection area of ​​the preset object relative to the vehicle headlight, the distance between the preset object and the vehicle headlight, and the relative size information between the preset object and the vehicle are determined; the projection area is located in the area composed of the plurality of pixel units;

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

[0019] The size of the control range corresponding to the preset object is determined based on the distance, the relative size information, and the field of view of the individual pixel unit.

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

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

[0022] Based on the distance and the relative height, determine the first angle in the vertical direction between the preset object and the vehicle headlight;

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

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

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

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

[0027] Obtain control reference information for the vehicle lights; 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 for the first pixel area based on the control reference information; and control the pixel units within the first pixel area based on the control signal at the future time.

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

[0029] If the preset object does not exist, the driver's control requirements for the headlights are predicted based on the vehicle's driving status and external environmental information; a second pixel region is determined based on the control requirements; the second pixel region includes at least one of the multiple pixel units of the vehicle's headlights; and the pixel units within the second pixel region of the headlights are controlled.

[0030] Secondly, embodiments of this application also provide a vehicle lighting control device, which includes:

[0031] The detection module is used to detect whether a preset object exists in the environment in which the vehicle is located;

[0032] The acquisition module is used to acquire the first location information of the preset object at the current time and at historical time when the preset object exists;

[0033] The prediction module is used to predict the second location information of the preset object at a future time based on the first location information;

[0034] The determining module is configured to determine a first pixel region based on the second positioning information; the first pixel region includes at least one of a plurality of pixel units of the vehicle's headlights;

[0035] A control module is configured to control the pixel units within the first pixel region at the future time.

[0036] Thirdly, embodiments of this application also provide a vehicle, including 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 to cause the vehicle to execute the vehicle light control method as described in the first aspect.

[0037] Fourthly, embodiments of this application also provide a computer-readable storage medium that stores computer instructions that, when executed on a processor, cause the processor to perform the vehicle light control method as described in the first aspect. Attached Figure Description

[0038] Figure 1 This is a flowchart of the steps of a vehicle headlight control method according to an embodiment of this application.

[0039] Figure 2 This is a schematic diagram illustrating an application scenario of a vehicle lighting control method provided according to an embodiment of this application.

[0040] Figure 3 This is a flowchart of the steps of a vehicle lighting control method according to another embodiment of this application.

[0041] Figure 4 This is a flowchart of the steps of a vehicle lighting control method according to another embodiment of this application.

[0042] Figure 5 This is a flowchart of the steps of a vehicle lighting control method according to another embodiment of this application.

[0043] Figure 6 This is a schematic diagram of the second positioning information in a vehicle lighting control method according to another embodiment of this application.

[0044] Figure 7 This is a schematic diagram of the first pixel region in a vehicle headlight control method according to another embodiment of this application.

[0045] Figure 8 This is a flowchart of the steps of a vehicle lighting control method according to another embodiment of this application.

[0046] Figure 9 This is a flowchart of the steps of a vehicle lighting control method according to another embodiment of this application.

[0047] Figure 10 This is a flowchart of the steps of a vehicle lighting control method according to another embodiment of this application.

[0048] Figure 11 This is a schematic diagram of the structure of a vehicle lighting control device according to an embodiment of this application.

[0049] Figure 12 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0050] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0051] The following description sets forth many specific details to provide a full understanding of this application. The described embodiments are only some, not all, of the embodiments of this application.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0053] It should be further noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0054] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0055] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0056] Explanation of related terms:

[0057] Pixel: abbreviated as px. Each pixel is connected to a CMOS (Complementary Metal Oxide Semiconductor) transistor, making it the smallest individually controllable LED light-emitting unit. Adaptive Driving Beam: abbreviated as ADB. ADB is a system solution based on conventional matrix headlights (LED Matrix). ADB uses up to 100 pixels, meaning it uses up to 100 LEDs to form the lighting system. By arbitrarily controlling the on / off state of individual LEDs, it achieves distributed lighting.

[0058] Digital Light Processing (DLP) is a technique that uses a matrix of micromirrors (precision, miniature reflectors) arranged on a Digital Micromirror Device (DMD) semiconductor chip to synchronously control the chip's flipping and achieve megapixel illumination.

[0059] Micro LED (Micro Light-Emitting Diode): A micro-light-emitting diode. It refers to a light source with individual light-emitting pixels ranging from 1 to 10 micrometers in size, composed of more than ten thousand individually controllable light-emitting pixels arranged in a precise array. It is a new type of active light source. Through multi-layered transparent lens groups combined for imaging, it achieves digital pixel illumination. The pixel count is lower than that of a million-level DLP, but higher than the hundreds of pixels in a conventional matrix ADB, achieving a balance between illumination accuracy and processing resources.

[0060] Vehicle headlight control relies on collecting information about the vehicle's environment to determine control strategies, such as the presence of pedestrians and / or vehicles on the road ahead, to determine the activation or deactivation of specific headlight areas. However, considering the potential time delays in the collection and transmission of environmental information, a delay exists between the signal acquisition time and the actual execution of the headlight control action. For example, an oncoming vehicle may have moved to a new location, while the headlight control is based on the vehicle's historical position. Consequently, the headlight illumination area may not accurately cover the oncoming vehicle, resulting in misalignment or even complete failure to cover the target vehicle. This leads to poor real-time performance and accuracy in headlight control, reducing the headlight's contribution to driving safety and the driving experience. Related technologies suffer from significant headlight delays and untimely responses.

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

[0062] Please see Figure 1 This is a flowchart illustrating the steps of a vehicle headlight control method according to an embodiment of this application. The order of the steps in the flowchart can be changed, and some steps can be omitted, depending on different requirements. This method embodiment is executed based on a preset electronic device, which has certain data processing, data storage, and communication capabilities. The electronic device may include a microprocessor, mobile phone, computer, etc., and this embodiment of the invention does not impose any limitations on it.

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

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

[0065] The preset object can be any object that affects the driving strategy. Specifically, the driving strategy can be the driver's driving strategy and / or the autonomous driving strategy. The preset object can include objects of preset types that affect driving safety, such as vehicles, pedestrians, and road obstacles. Road obstacles can include animals, road protrusions, or potholes. The preset object can be detected by preset sensors in the vehicle and / or the vehicle's environment. These sensors can include cameras, radar, infrared sensors, etc., and this embodiment of the invention does not impose any limitations on this.

[0066] Step 102: If the preset object exists, obtain the first location information of the preset object in the vehicle's environment at the current time and historical time.

[0067] Understandably, a vehicle can be in a preset default lighting state (e.g., headlights are off). However, when a preset object appears in the vehicle's environment, because this object can affect driving safety or passenger comfort, adaptive control of the vehicle's lighting is necessary to ensure both. This means the vehicle's lighting control event is triggered by the preset object; specifically, upon detecting the presence of the preset object in the vehicle's environment, the initial location information of that object is obtained. Considering that vehicle lighting is generally achieved through headlights, vehicle lighting control can be achieved by controlling the headlights.

[0068] The vehicle's environment can be the road environment in front of the vehicle. The current time is the current point in time, and the historical time includes time prior to the current point in time; specifically, the historical time can be a point in time a first preset length prior to the current time. It should be noted that, considering the potentially high speed and / or acceleration of the preset object, to ensure the accuracy of the first positioning information, the first preset length can be set relatively short, such as to ten to several hundred milliseconds. The first positioning information is used to locate the preset object. Optionally, considering that when controlling vehicle lighting, the vehicle is generally used as a reference point, such as the location of the headlights, 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 can be information such as the distance and angle between the preset object and the headlights.

[0069] Specifically, the initial positioning information can be collected by sensors pre-installed on the vehicle, such as cameras, radar, and infrared sensors. For example, cameras primarily monitor a field of view ranging from 10m to over 100 meters. By acquiring real-time images of the external environment through the camera, these images can include road information, passing vehicles, and information about objects within the field of view. The information about objects within the field of view can include their relative coordinates to the sensor, object type, and size. Correspondingly, the radar module can accurately acquire information about objects within 0 to 10m of the sensor. This information can include the object's relative coordinates to the radar and sensor, its size, and distance. Correspondingly, the infrared sensing module, based on the transmission and reception of infrared light, utilizes the principle that the reflection intensity of infrared signals varies with distance from obstacles and that infrared wavelengths are long and have strong penetrating power. It can acquire information about the external environment at night and in rainy or foggy weather, serving as a supplementary enhancement to the capabilities of the camera.

[0070] Step 103: Based on the first location information, predict the second location information of the preset object at a future time.

[0071] Considering that the preset object may affect driving safety and / or the driving experience, it is necessary to control the headlights to ensure that they accurately illuminate or avoid the preset object. Specifically, the accuracy of the headlights' illumination means that the illumination or extinguishing range of the headlights can be aligned with and cover the preset object, without misalignment or complete deviation from it. Therefore, to improve the effectiveness of headlight control, i.e., to enhance driving safety and / or the driving experience through headlight control, it is necessary to more accurately determine the location information of the preset object. However, considering that there may be a certain time delay in the collection and transmission of the preset object's location information, there may be a time interval between the location information collection time and the actual headlight control action execution time. Furthermore, in driving scenarios, the location information of the preset object generally changes rapidly and frequently. Figure 2 As shown, each grid cell represents the illumination angle of a pixel, with the sensor as the center of the angle coordinates, the horizontal direction as the HH axis, and the vertical direction as the VV axis. Taking an oncoming vehicle as an example, the oncoming vehicle may be 20 meters away from the current vehicle at the current moment. However, after 2 seconds, the distance between the two vehicles may decrease to 15 meters as the oncoming vehicle moves forward at high speed. If the headlight illumination area remains 20 meters ahead on the road, the oncoming vehicle will not be illuminated, affecting the driver's judgment and avoidance. Therefore, in this embodiment of the invention, to avoid the impact of signal delay on the accuracy of headlight control, the second location information of the preset object in the future is predicted based on the first location information. This allows for advance prediction of the location where the preset object is likely to be located in the future, and the headlights can be directly controlled according to this likely location in the future, without waiting for the transmission of the signal in the future, which can effectively improve the accuracy of headlight control.

[0072] The future time can be a time after the current time, such as a time point after the current time with a second preset length of time. A mapping relationship between the location information of a preset object and time is abstracted based on the first location information. This mapping relationship is then used to map a specific future time to obtain the location information of the preset object at that future time. Specifically, the future time can be an interval consisting of time points within a second preset duration from the current time. For example, based on the motion characteristics of the preset object in a driving scenario, the future time can be an interval consisting of time points within 200 milliseconds of the current time, meaning the second preset duration can be 200 milliseconds. Specifically, predicting the second location information based on the first location information can include training a prediction model using the first location information as training samples, and then predicting the second location information based on this prediction model. Optionally, it can also involve fitting the first location information to obtain a curve representing the mapping relationship; this invention does not limit this approach.

[0073] Step 104: Determine a first pixel region based on the second positioning information; the first pixel region includes at least one of the multiple pixel units of the vehicle's headlights.

[0074] The vehicle lights can include ADB, DLP, and Micro LED, among others. Preferably, considering that ADB has a low pixel count, affecting the precision of light control, and while DLP has a higher pixel count, it places high demands on signal processing resources, potentially leading to significant data processing latency in vehicle scenarios and even affecting driving safety. The emerging MicroLED light source technology can achieve lighting control at the tens of thousands of pixels level, with a single pixel partitioning accuracy of 0.08° and a positional accuracy of 0.13m at 100m. 2 The combination of high-brightness markings on the left and right sides and masking in the dark areas is an excellent design that combines cost-effectiveness and practicality, and its cost can be reduced by half compared to DLP headlights. Therefore, in this embodiment of the invention, Micro LED headlights are preferred. The performance characteristics and comparisons of ADB, DLP, and Micro LED are further explained below:

[0075] Matrix ADB headlight systems have limited pixel illumination precision. Matrix ADB systems with fewer than 100 pixels are simple to control, but the intelligent scenarios they can achieve are limited. They can only achieve adaptive high beam illumination. At the commonly used 100m position for high-speed driving, the width of a single pixel is between 2m and 4.5m. At a distance, it will simultaneously block multiple vehicles, creating a large area of ​​darkness. The dark area blocking effect is poor, and the control precision is low.

[0076] Correspondingly, while DLP technology boasts high pixel precision, its pixel-zone digital lighting control is insufficient, limiting its safety performance improvement. DLP headlight systems can achieve adaptive lighting with over a million pixels, achieving a positional accuracy of approximately 0.02 meters at 100 meters, roughly equivalent to the width of an average person's eye, effectively mitigating the impact of large dark areas. DLP headlights, with their million-level pixel zones, are widely used in home projectors for video playback. However, applying DLP as a lighting device to vehicles requires significant demands on signal transmission and computation for digital headlight control. This necessitates a high-performance processor throughout the vehicle, resulting in long processing times, significant delays in signal input and system response, potential safety hazards, and high computational costs. Furthermore, existing DLP technology has limited brightness and functionality. Its core relies on DMD (Digital Micromirror Devices) flipping to control brightness, a binary approach that cannot achieve finer-grained brightness adjustments, such as dimming or brightening. This limits the functionality of DLP headlights, and the high power and heat dissipation requirements of DLP lighting systems impose significant constraints on the internal space and design of headlights.

[0077] Based on the problems of the two aforementioned lighting technologies, Micro LED can be selected as the vehicle headlight in this embodiment of the invention. Specifically, Micro LED has tens of thousands of pixels, with a light-emitting size of approximately 9mm in length and 3mm in width, which can form a rectangular light-emitting area of ​​300 pixels × 100 pixels. Each pixel unit (which can be regarded as a grid) of the Micro LED package can be individually controlled to turn on and off. Considering that as the pixel level increases, the lateral field of view becomes smaller, and the accuracy gradually increases at different distances of 50m, 100m, and 200m, the accuracy of a million-pixel Micro LED at a distance of 200m can reach 0.04m (centimeter level), while the accuracy of a hundred-pixel ADB at a distance of 50m is 2.22m. This would cause the problem of insufficient illumination due to an excessively large shaded area when controlling the vehicle headlight to shade dark areas. Correspondingly, the more pixels there are, the more precise the occlusion, the less the illumination is affected by occlusion, and the higher the driving safety. However, if the pixel count of DLP reaches 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 complex. Therefore, the embodiment of the present invention uses MicroLED with tens of thousands of pixels to achieve a balance between vehicle lamp performance and cost.

[0078] Based on a reasonable determination of the pixel level of the headlights, in order to effectively utilize the headlights' illumination resources and achieve accurate coverage of the preset object by the headlight control results—for example, when illuminating the preset object, ensuring that no part of the preset object is missed, nor that the illumination area is too large, covering irrelevant areas around the preset object, thus causing light pollution and wasting illumination resources—the following measures are taken. Considering that the edge of the field of view required to cover the preset object should align with the edge of the preset object, thus avoiding either missed or over-coverage, the angle of the preset object's edge relative to the headlights can be calculated based on the second positioning information of the preset object. The pixel unit where the projection area falls when projecting from the preset object onto the headlights is also determined. The required field of view for covering the preset object is determined based on the angle of the preset object's edge relative to the headlights, thereby determining the size of the first pixel region. The center point position of the first pixel region is determined based on the pixel unit where the projection area falls, and the first pixel region is located based on this center point position and size.

[0079] Step 105: At the future time, control the pixel units within the first pixel region.

[0080] In this invention, the first pixel area of ​​the vehicle headlights can be directly controlled at various points in time within the future timeframe, without waiting for the acquisition, transmission, and processing of the positioning information of a preset object at those points. This allows for the determination of the controllable area of ​​the vehicle headlights in advance based on the motion characteristics of the preset object, effectively improving the timeliness of headlight control. It is understood that, based on the determination of the first pixel area to be controlled, the control method for the first pixel area can be determined according to a preset control strategy. For example, the brightness adjustment method for each pixel within the first pixel area can be determined based on the type of the preset object, the current road conditions, and driver instructions. This invention does not impose any limitations on this.

[0081] In one embodiment, to improve the accuracy of predicting the second location information of a preset object at a future time, such as... Figure 3 As shown, the vehicle headlight control methods include:

[0082] Step 201: Obtain the first location information of the preset object in the vehicle's environment at the current time.

[0083] Step 201 is largely the same as step 102 mentioned above, and will not be repeated here.

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

[0085] Since the first location information is generally a continuous signal, in order to facilitate the abstraction of the mapping relationship between the location information of the preset object and time from the first location information, the first location information can be sampled first, converting it into discrete location information at the current time and multiple time points in historical time. Sampling can be performed according to a preset time interval or unequal time intervals; this embodiment of the invention does not impose any restrictions on this.

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

[0087] This invention involves curve fitting of the location information of a preset object at multiple time points to obtain a curve representing the mapping relationship between the object's location information and time. Specifically, the location information of the preset object at multiple time points can be expanded according to a preset formula to obtain the mapping curve between the object's location information and time. The preset formula is used to approximate a function f(x) with an nth-order derivative at x = x0 using an nth-degree polynomial in (x - x0). The preset formula can be, for example, Taylor's formula, and this embodiment of the invention is not limited to this. It should be particularly noted that the smaller the time interval for sampling the first location information and / or the higher the order of the displayed information, the more accurate the mapping relationship.

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

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

[0090] Step 205: Determine a first pixel region based on the second positioning information; the first pixel region includes at least one of the multiple pixel units of the vehicle's headlights.

[0091] Step 205 is largely the same as step 104 mentioned above, and will not be repeated here.

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

[0093] Step 206 is largely the same as step 105 mentioned above, and will not be repeated here.

[0094] In one embodiment, considering that the headlight includes multiple controllable pixel units, in order to more accurately control the pixel units of the headlight, and to ensure that the headlight control results accurately cover the preset objects without omissions or excessive coverage, such as... Figure 4 As shown, the vehicle headlight control methods include:

[0095] Step 301: Obtain the first location information of the preset object in the vehicle's environment at the current time.

[0096] Step 301 is largely the same as step 102 mentioned above, and will not be repeated here.

[0097] Step 302: Based on the first location information, predict the second location information of the preset object at a future time.

[0098] Step 302 is largely the same as step 103 mentioned above, and will not be repeated here.

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

[0100] In order to achieve accurate coverage of the preset object by the headlight control results, 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 to avoid omissions or over-coverage. When controlling the headlight based on the preset object information, the headlight can be regarded as a stationary reference point. Therefore, to determine the edge position of the preset object, it is necessary to determine the relative positioning information between the preset object and the vehicle and / or the headlight. 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 needs to be located. A perpendicular 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 onto the headlight of the vehicle. Correspondingly, considering that even if the preset object is located at the same relative offset position with the vehicle, the control range will differ for preset objects of different distances and sizes. 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. The relative size information can include the height and width of the preset object as observed from the vehicle's location, i.e., the height difference and width difference between the preset object and the vehicle.

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

[0102] Since the total field of view of a vehicle 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, i.e., the single-pixel precision of the headlight. The total field of view of the headlight can be obtained directly. For example, for a Micro LED with tens of thousands of pixels, the corresponding single-pixel precision can be 0.08° / pixel.

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

[0104] Unlike related technologies that use low-pixel-level lighting devices such as ADB as vehicle lights, which have fewer pixel units (e.g., hundreds) and correspondingly larger coverage areas for each pixel unit, this invention provides a coarser control granularity. This coarse control can lead to the control of unrelated areas surrounding the target object. In scenarios where pixel units are lit for illumination, this can cause light pollution and waste of lighting resources. In scenarios where pixel units are turned off for dark area masking, the masked area can be too large, creating blind spots for the driver and affecting driving safety. Therefore, in this embodiment of the invention, to improve the precision of vehicle control, the required field of view range for the vehicle lights to accurately cover the target object is determined based on distance and relative size information. Then, based on this required field of view range and the size of the field of view of a single pixel unit, the actual number of pixel units to be controlled is determined, which serves as the size of the control range.

[0105] Step 306: Using 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, and the size of the control range is taken as the expansion range. 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, control the pixel units within the first pixel region.

[0108] Step 307 is largely the same as step 105 mentioned above, and will not be repeated here.

[0109] In one embodiment, to improve the precision of vehicle lighting control, such as Figure 5 As shown, the vehicle headlight control methods include:

[0110] Step 401: Obtain the first location information of the preset object in the vehicle's environment at the current time.

[0111] Step 401 is largely the same as step 102 mentioned above, and will not be repeated here.

[0112] Step 402: Based on the first location information, predict the second location information of the preset object at a future time.

[0113] Step 402 is largely the same as step 103 mentioned above, and will not be repeated here.

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

[0115] Step 403 is largely the same as step 303 mentioned above, and will not be repeated here.

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

[0117] Step 404 is largely the same as step 304 mentioned above, and will not be described again here.

[0118] Step 405: Determine the first angle between the preset object and the vehicle headlight in the vertical direction based on the distance and the relative height.

[0119] Among them, 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 headlight width W1 are known fixed constants. When the car is moving relative to a 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. The object height H2 and width W2 can be obtained from images captured by sensors such as cameras. The first included 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 using tanθ = ΔH / L.

[0120] Step 406: Determine the second angle between the preset object and the vehicle headlight in the horizontal direction based on the distance and the relative width.

[0121] Continue to refer to Figure 6Taking the left front headlight of a vehicle as an example, the second included angle can be the relative angle θ between the left front headlight and the object it covers. l θ is obtained by using tanθ = ΔW / L. l Correspondingly, θ r The relative angle of the object covered by the right front headlight.

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

[0123] Specifically, the quotient of the first included angle and the field of view is rounded up to obtain the length of the control range in the vertical direction, which is the first number of pixel units to be controlled in the vertical direction. Taking the control of the left front light of a vehicle as an example, as follows... Figure 7 The diagram shows the corresponding imaging coordinate angle grid. Each grid cell represents the illumination angle emitted by an LED pixel through the projection module. The sensor is the center of the angle coordinate system, with the horizontal direction as the HH axis and the vertical direction as the VV axis. At each grid cell, the Micro LED light source has its center focal point as the origin of the coordinate system. The pixel area to be controlled at time t is denoted as A[t]. Figure 6 As shown, the variable parameter for the size of the range of pixel units that need to be controlled is denoted as K[t]. The correspondence between A[t] and K[t] is A[t] = P. i×j [t]K[t], where K[t]=E m×n A Micro LED light source with tens of thousands of pixels corresponds to a single pixel accuracy of 0.08° / pixel, where m represents the length of the control range in the horizontal direction (in units of pixels), n represents the length of the control range in the vertical direction (in units of pixels), and n = (θ) u -θ d ) / 0.08 represents the number of pixels in the vertical direction.

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

[0125] Specifically, the quotient of the second included angle and the field of view is rounded up to obtain the length of the control range in the horizontal direction, which is the first number of pixel units to be controlled in the vertical direction. (Continue to refer to...) Figure 7 Similar to step 407 above, the variable parameter for the size of the range of pixel units that needs to be controlled is denoted as K[t]. The correspondence between A[t] and K[t] is A[t] = P. i×j [t]K[t], where K[t]=E m×nWhere, m represents the length of the control range in the vertical direction (in units of pixels), n represents the length of the control range in the horizontal direction (in units of pixels), and m = θ l / 0.08 represents the number of pixels in the horizontal direction.

[0126] Step 409: Using the projection area as the center, expand the control range in the vertical and horizontal directions to obtain the first pixel area.

[0127] Among them, such as Figure 7 As shown, when the control signal At that time, with pixel P i×j Centered on a point, all pixels within a region A[t] consisting of m horizontal pixels and n vertical pixels are turned off when the control signal... At that time, with pixel P i×j Centered on the first pixel region A[t], the system performs brightness processing on all pixels within the first pixel region A[t] by controlling the number of pixels m in the horizontal direction and the number of pixels n in the vertical direction, thereby achieving micron-level high-precision control of the system.

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

[0129] Step 410 is largely the same as step 105 mentioned above, and will not be repeated here.

[0130] In one embodiment, considering the potential interference in the vehicle's environment, such as rain or snow, the first positioning information may contain significant noise or have missing data, thus affecting its accuracy. Therefore, if... Figure 8 As shown, the vehicle headlight control methods include:

[0131] Step 501: Obtain the first location information of the preset object in the vehicle's environment at the current time.

[0132] Step 501 is largely the same as step 102 mentioned above, and will not be repeated here.

[0133] Step 502: Perform noise reduction processing on the first positioning information to obtain noise-reduced positioning information.

[0134] In this process, noise signals can be identified first from the first positioning information, and then the identified noise signals can be removed from the first positioning information. Optionally, considering that when there are many or densely distributed noise signals, the first positioning information after removing the noise signals may have signal gaps or discontinuities, which would affect the prediction effect based on the noise-removed first positioning information, the first positioning information after removing the noise signals can also be fitted to obtain more continuous positioning data.

[0135] Specifically, considering that the first positioning information is generally a continuous signal, it can be sampled at a preset frequency to obtain multiple discrete positioning signals. These discrete positioning signals are then converted from the time domain to the frequency domain. Given that the frequency of interference information is generally too high or too low, the frequency domain conversion result can be filtered according to a preset frequency threshold to remove potential interference signals. Finally, the filtered frequency domain result is converted back to the time domain to obtain the denoised positioning information. This ensures that the denoised positioning information matches the actual external environment, improving its accuracy.

[0136] Step 503: Make a prediction based on 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 step 102 above, and will not be repeated here. Unlike predicting directly 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 headlight control based on the second positioning information.

[0138] Step 504: Based on the first location information, predict the second location information of the preset object at a future time.

[0139] Step 504 is largely the same as step 103 mentioned above, and will not be described again here.

[0140] Step 505: Determine a first pixel region based on the second positioning information; the first pixel region includes at least one of the multiple pixel units of the vehicle's headlights.

[0141] Step 505 is largely the same as step 104 mentioned above, and will not be repeated here.

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

[0143] Step 506 is largely the same as step 105 mentioned above, and will not be repeated here.

[0144] In some embodiments, considering that when controlling vehicle lights, in addition to determining the area to be controlled, a corresponding control signal for that area is generally also needed to ensure that the vehicle light control results can effectively guarantee driving safety and / or driving experience, therefore, as Figure 9 As shown, the vehicle headlight control methods include:

[0145] Step 601: Obtain the first location information of the preset object in the vehicle's environment at the current time.

[0146] Step 601 is largely the same as step 102 mentioned above, and will not be repeated here.

[0147] Step 602: Based on the first location information, predict the second location information of the preset object at a future time.

[0148] Step 602 is largely the same as step 103 mentioned above, and will not be repeated here.

[0149] Step 603: Determine a first pixel region based on the second positioning information; the first pixel region includes at least one of the multiple pixel units of the vehicle's headlights.

[0150] Step 603 is largely the same as step 104 mentioned above, and will not be repeated here.

[0151] Step 604: Obtain the control reference information of the vehicle lights; 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] The object type is used to characterize the feature values ​​of a preset object in a dimension that affects driving safety. This feature dimension can include the motion attributes of the preset object, such as whether it can move, and can also include the biological attributes of the preset object, such as whether it is a human or a small animal. The driving state characterizes the vehicle's driving status; specifically, the vehicle's driving status can be the result of the interaction between the driver's driving behavior and the external environment. Driving behavior can include actions such as starting the engine, steering, braking, speed control, and turning off the engine. External environmental information can include road conditions and weather information of the road the vehicle is traveling on.

[0153] Step 605: Determine the control signal for the first pixel region based on the control reference information.

[0154] Specifically, the vehicle's lighting requirement scenario can be determined based on control reference information, and the control signal for the first pixel area can be determined based on this lighting requirement scenario. The lighting requirement scenario characterizes the specific lighting required by the vehicle's lights under certain driving environments, driving states, and encounters with specific preset objects, in order to ensure driving safety and a positive driving experience in that scenario.

[0155] For example, when the control reference information indicates that there are moving vehicles and pedestrians on the road ahead and the vehicle is in adaptive high beam / ADB mode, the headlights are turned off, creating a dark area in the pixel units of the driver's or pedestrian's angular coordinate region. Optionally, when the control reference information indicates that a pedestrian is crossing the road and the vehicle is braking or parked, the headlights can project a zebra crossing icon to indicate yielding to the pedestrian. This auxiliary indicator icon may include projections of pedestrian yielding, turn signals, distance indicators, and symbols. Optionally, when the control reference information indicates that there is an obstacle ahead (such as an animal, a road protrusion, or a pothole), the headlights can significantly increase the brightness of the pixel area corresponding to the obstacle based on its position and size, effectively highlighting the obstacle area and projecting a symbol to alert the driver.

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

[0157] Specifically, the illumination method of pixel units within the first pixel area is controlled according to the control signal, such as brightness control. By combining multi-dimensional information such as the object type of the preset object, the driving status of the vehicle, and the environmental information outside the vehicle as reference information for headlight control, the degree of protection for driving safety and driving experience through headlight control can be improved.

[0158] In some embodiments, considering that the vehicle's driving state itself may trigger the need for headlight control even when there are no pre-defined objects in the vehicle's environment, such as when the vehicle is turning around a curve and needs to illuminate the curve ahead for driving safety, headlight control is used to achieve more comprehensive driving safety and a better driving experience. Figure 10 As shown, the vehicle headlight control methods include:

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

[0160] Step 701 is largely the same as step 101 mentioned above, and will not be described again here.

[0161] Step 702: If the preset object does not exist, predict the driver's control needs for the vehicle lights based on the vehicle's driving status and the external environmental information.

[0162] The vehicle's driving status and external environmental information are largely the same as in step 604 above, and will not be repeated here. Control requirements are used to characterize the mode in which the driver expects the headlights to be controlled. The control mode of the headlights can be characterized by, for example, a specific area of ​​the headlights being controlled with a specific signal value.

[0163] Considering that vehicle lighting needs may change with driving conditions, such as when a vehicle is turning around a curve, illumination of the curve ahead is needed for driving safety. However, in related technologies, the driver typically needs to manually assess road conditions and send headlight control commands, which is inefficient and may lead to delayed responses or even jeopardize driving safety when road conditions change rapidly. Furthermore, manually controlling the headlights increases the driver's workload and results in a poor driving experience. Therefore, in this embodiment of the invention, the headlight control needs are predicted based on the vehicle's driving state and external environmental information, thereby enabling more efficient headlight control. Specifically, the driving state, external environment, and headlight control mode can be mapped to obtain the headlight control needs. This mapping relationship is based on how headlights can ensure driving safety and a comfortable driving experience under specific environmental and driving conditions.

[0164] For example, when the driving status and external environment information indicate that the vehicle is driving straight or changing lanes at night, the driving status can be used to further determine the vehicle speed, the operation of the steering lever and the steering wheel angle. When it is determined that the driver intends to pass through narrow roads, change lanes and turn, the control requirements are determined to be to lay down a light blanket or widen the lighting width of the corresponding lane, thereby improving the safety of the corresponding driving scenario.

[0165] Optionally, when the driving status and external environment information indicate that the vehicle encounters oncoming traffic on a narrow road at night or that a vehicle ahead is cutting in front while waiting at a traffic light, the "instant hand-drawn" projection function can be automatically activated. The driver can then hand-draw text or symbols inside the cabin, which will be projected forward through the headlights, effectively conveying driving intentions to pedestrians or vehicles outside the vehicle and enhancing the driving experience. Optionally, when the driving status and external environment information indicate that there is a curve ahead, a turn signal lever, and the steering wheel angle is greater than 90°, the headlights will project a preset turn signal diagram to assist the vehicle in safely navigating curves.

[0166] Step 703: Determine a second pixel region according to the control requirements; the second pixel region includes at least one of the multiple pixel units of the vehicle's headlights.

[0167] In this context, considering that control requirements characterize the driver's desired mode of headlight control, the headlight control mode can represent, for example, a specific area of ​​the headlight being controlled with a specific signal value. Therefore, the pixel units that need to be controlled can be determined based on the control requirements. Specifically, similar to determining the first pixel area, the position and size of the second pixel area can be determined separately or together. For example, for some control requirements, the size of the corresponding desired controllable pixel area may be the range between the vehicle and a specific location, which can be determined based on driving status and / or driving environment, i.e., information other than the preset object. For example, for control requirements in a curve scenario, the distance between the second pixel area and the vehicle can be determined based on the steering wheel angle, and the position and range of the second pixel area can be determined based on this distance. The larger the steering angle, the larger the size of the second pixel area. Correspondingly, in some scenarios, the range of the pixel areas that need to be controlled may be consistent, such as when a specific graphic needs to be displayed. Therefore, the position where the specific graphic needs to be displayed can be determined solely based on the driver's headlight control intention, thereby determining the position of the second pixel area so that the second pixel area, after being controlled, can meet the corresponding control requirements.

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

[0169] The control method for the second pixel region is roughly the same as that for the first pixel region in the aforementioned steps, and will not be repeated here.

[0170] In some embodiments, considering that in related technologies, the ECUs (Electronic Control Units) related to the lighting system in vehicles are generally independent, there will be redundant signal transmission and processing processes, resulting in the reuse of some control elements and signal transmission delays, increasing system cost and latency. Therefore, in this embodiment of the invention, the control of the vehicle lights is integrated into the vehicle domain controller. Unlike related technologies, where the vehicle light control signals need to be processed and transmitted multiple times in various ECUs, this embodiment of the invention eliminates the intermediate ECU between signal acquisition and processing, and directly controls the entire process of vehicle lighting through the vehicle domain controller. For example, after the signals collected by the sensors are processed in the vehicle domain controller, they are directly output to the vehicle light module to generate a system response, reducing unnecessary system latency and keeping the system latency within 50ms, achieving or near real-time response. The vehicle domain controller may include an autonomous driving domain controller, a vehicle speed domain controller, a powertrain domain controller, a chassis domain controller, etc.

[0171] Please refer to Figure 11 This is a schematic diagram of the hardware structure of the vehicle lighting control device 80 provided in an embodiment of this application. Figure 11 As shown, the vehicle lighting control device 80 may include:

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

[0173] Prediction module 802 is used to predict the second location information of the preset object at a future time based on the first location information;

[0174] The determining module 803 is used to determine a first pixel region based on the second positioning information; the first pixel region includes at least one of a plurality of pixel units of the vehicle's headlights;

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

[0176] Please refer to Figure 12 This is a schematic diagram of the hardware structure of the vehicle 90 provided in an embodiment of this application. Figure 12 As shown, vehicle 90 may include processor 901 and memory 902. 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 processor 901. The one or more computer programs 903 include instructions that can be used to implement the above-described vehicle lighting control method in vehicle 90. It is understood that the structure illustrated in this embodiment does not constitute a specific limitation on vehicle 90. In other embodiments, vehicle 90 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements.

[0177] Processor 901 may include one or more processing units, such as: application processor (AP), modem, graphics processing unit (GPU), image signal processor (ISP), controller, video codec, digital signal processor (DSP), baseband processor, and / or neural network processing unit (NPU), etc. The different processing units may be independent devices or integrated into one or more processors.

[0178] The processor 901 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 901 is a cache memory. This memory can store instructions or data that the processor 901 has just used or that are used repeatedly. If the processor 901 needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, 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. Interfaces 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, processor 901 is used to execute acceleration schemes such as Single Instruction Multiple Data (SIMD) and Very Long Instruction Word (VLIW). In some embodiments, memory 902 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0181] This embodiment also provides a computer-readable storage medium storing computer instructions. When these instructions are executed on a processor, the processor performs the aforementioned method steps to implement the vehicle light control method in the above embodiment. The vehicle light control device and computer storage medium provided in this embodiment are both used to execute the corresponding methods described above. Therefore, the beneficial effects they achieve can be referred to in the beneficial effects of the corresponding methods described above, and will not be repeated here.

[0182] In practical applications, the above functions can be assigned 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 the several embodiments provided in this application, the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are illustrative. For instance, the division of modules or units is a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

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

[0185] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0186] If the integrated unit is implemented as 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 solutions of the embodiments of this application, essentially or in other words, the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0187] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the scope of protection of this application.

Claims

1. A vehicle headlight control method, characterized in that, The method includes: Detect whether a preset object exists in the vehicle's environment; If the preset object exists, obtain the first location information of the preset object at the current time and at a historical time; Based on the first location information, predict the second location information of the preset object at a future time; Based on the second positioning information, a first pixel region is determined; the first pixel region includes at least one of the multiple pixel units of the vehicle's headlights; In the future time, the pixel units within the first pixel region are controlled; The second positioning information is the positioning information of the preset object relative to the vehicle headlight; the process of determining the first pixel region includes: Based on the second positioning information, the projection area of ​​the preset object relative to the vehicle headlight, the distance between the preset object and the vehicle headlight, and the relative size information between the preset object and the vehicle are determined; the projection area is located in the area composed of the plurality of pixel units; Determine the field of view of a single pixel unit of the vehicle headlight; wherein the field of view of the single pixel unit is the quotient of the total field of view of the vehicle headlight and the total number of pixel units on the vehicle headlight; The size of the control range corresponding to the preset object is determined based on the distance, the relative size information, and the field of view of the individual pixel unit. Draw a perpendicular line from the preset object to the light-emitting surface composed of the plurality of pixel units of the headlight to obtain the projection area of ​​the preset object relative to the headlight of the vehicle. Using 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. 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: Based on the distance and the relative height, determine the first angle in the vertical direction between the preset object and the vehicle headlight; Based on the distance and the relative width, determine the second angle between the preset object and the vehicle headlight in the horizontal direction; Based on the first included angle and the field of view, determine the first number of pixel units to be controlled in the vertical direction; Based on the second included angle and the field of view, determine the second number of pixel units to be controlled in the horizontal direction; If the preset object does not exist, the driver's control needs for the vehicle lights are predicted based on the vehicle's driving status and external environmental information.

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

3. The method according to claim 1, characterized in that, The prediction process for the second location information also includes: The first positioning information is denoised to obtain denoised positioning information; The second positioning information is obtained by making a prediction based on the denoised positioning information.

4. The method according to claim 1, characterized in that, The control process for the first pixel region includes: Obtain control reference information for the vehicle lights; 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. Based on the control reference information, the control signal for the first pixel region is determined; In the future time, the pixel units within the first pixel region are controlled according to the control signal.

5. The method according to claim 1, characterized in that, The control process for the vehicle lights also includes: Based on the control requirements, a second pixel region is determined; the second pixel region includes at least one of the multiple pixel units of the vehicle's headlights; The pixel units within the second pixel region of the vehicle headlight are controlled.

6. A vehicle lighting control device, characterized in that, The vehicle lighting control device includes: The detection module is used to detect whether a preset object exists in the environment in which the vehicle is located; The acquisition module is used to acquire, when the preset object exists, the first location information of the preset object at the current time and at a historical time; and to acquire the driving status of the vehicle and the environmental information outside the vehicle when the preset object does not exist. The prediction module is used to predict the second location information of the preset object at a future time based on the first location information when the preset object exists; and to predict the driver's control needs for the vehicle lights based on the vehicle's driving status and the external environment information when the preset object does not exist. A determining module is configured to, when the preset object exists, determine a first pixel region based on the second positioning information; the first pixel region includes at least one of a plurality of pixel units of the vehicle's headlights; determine, based on the second positioning information, the projection area of ​​the preset object onto the headlights, the distance between the preset object and the headlights, and the relative size information between the preset object and the vehicle; the projection area is located in the region formed by the plurality of pixel units; determine the field of view angle of a single pixel unit of the headlights; wherein the field of view angle of a single pixel unit is the quotient of the total field of view angle of the headlights and the total number of pixel units on the headlights; determine the size of the control range corresponding to the preset object based on the distance, the relative size information, and the field of view angle of the single pixel unit; and determine the control range from the preset object to the vehicle... A perpendicular line is drawn from the light-emitting surface composed of the plurality of pixel units of the lamp to obtain the projection area of ​​the preset object relative to the vehicle's lamp. Using the center point of the projection area as the center, the projection area is expanded according to the size of the control range to obtain the first pixel area. The relative size information includes the relative height and relative width between the vehicle and the preset object. Based on the distance and the relative height, a first angle in the vertical direction between the preset object and the lamp is determined. Based on the distance and the relative width, a second angle in the horizontal direction between the preset object and the lamp is determined. Based on the first angle and the field of view, a first number of pixel units to be controlled in the vertical direction is determined. Based on the second angle and the field of view, a second number of pixel units to be controlled in the horizontal direction is determined. When the preset object does not exist, the second pixel region is determined according to the control requirements; The control module is used to control the pixel units within the first pixel region at the future time when the preset object exists; When the preset object does not exist, the pixel units in the second pixel area of ​​the vehicle light are controlled.

7. 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 to cause the vehicle to execute the headlight control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on a processor, cause the processor to perform the vehicle lighting control method as described in any one of claims 1 to 5.

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