Vehicle lamp position determination method and device, readable storage medium and vehicle

Abstract

The invention discloses a vehicle lamp position determination method and device, a readable storage medium and a vehicle, and relates to the technical field of vehicles. The position determination method of the vehicle lamp comprises the steps that under the condition that the vehicle lamp faces a first wall, a first position of the vehicle lamp in a lamp shell and a first inclination angle of the vehicle lamp on the first position are obtained; based on the first position, a laser sensor is controlled to carry out multiple times of distance measurement on the first wall surface so as to obtain multiple first distances between the vehicle lamp and the first wall body; adjusting and controlling the vehicle lamp from the first position to a second position according to the plurality of first distances; based on the second position, the laser sensor is controlled to carry out multiple times of distance measurement on the first wall surface so as to obtain multiple second distances between the vehicle lamp and the first wall body; and according to the inclination angle and the multiple second distances, the vehicle lamp is adjusted and controlled to the target position from the second position. The calibration efficiency of the vehicle lamp position is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a method and device for determining the position of a vehicle lamp, a readable storage medium, and a vehicle. Background Art

[0002] During the process of assembling car lights, the horizontal and vertical positions of the lights need to be initially calibrated on a light inspection station. After the entire vehicle is assembled, the position of the lights needs to be calibrated again based on the actual body posture. However, at this stage, the method for determining the position of the lights has technical problems such as low calibration efficiency. Summary of the invention

[0003] The embodiments of the present application provide a method, device, readable storage medium and vehicle for determining the position of a vehicle lamp, which are used to solve technical problems such as low calibration efficiency in the prior art.

[0004] In a first aspect of an embodiment of the present application, a method for determining the position of a headlight is provided, which is applied to a vehicle. The vehicle includes a headlight, a headlight housing, and a laser sensor. The laser sensor is disposed on the headlight and is used to follow the movement of the headlight. The method includes: When the vehicle lamp faces the first wall, obtaining a first position of the vehicle lamp inside the lamp housing and a first tilt angle of the vehicle lamp at the first position; Based on the first position, control the laser sensor to measure the distance of the first wall for multiple times to obtain multiple first distances between the headlight and the first wall; According to the plurality of first distances, adjusting the vehicle light from a first position to a second position; Based on the second position, control the laser sensor to measure the distance of the first wall for multiple times, so as to obtain multiple second distances between the headlight and the first wall; According to the tilt angle and the plurality of second distances, the vehicle light is adjusted from the second position to the target position.

[0005] The method for determining the position of the headlights in this embodiment determines the target position of the headlights through a laser sensor and a first wall, thereby simplifying the calibration process of the headlight positions, improving the efficiency of the headlight position calibration, and saving the cost of the headlight position calibration.

[0006] In some embodiments, based on the first position, controlling the laser sensor to perform multiple distance measurements on the first wall to obtain multiple first distances between the headlight and the first wall includes: Acquire a first angle range and a first angle control interval corresponding to the first position; Determine a plurality of different first angles according to the first angle range and the first angle control interval, wherein the plurality of first angles correspond one-to-one to the plurality of first distances; The laser sensor is used to measure the distance of the first wall surface multiple times at multiple different first angles to obtain multiple first distances.

[0007] In some embodiments, according to a plurality of first distances, adjusting the vehicle light from a first position to a second position includes: Determine the minimum value among the multiple first distances as the first target distance among the multiple first distances; Determining a first target angle among a plurality of first angles according to the first target distance; The vehicle light is controlled to rotate to a first target angle so that the vehicle light is adjusted from a first position to a second position.

[0008] In some embodiments, based on the second position, controlling the laser sensor to perform multiple distance measurements on the first wall to obtain multiple second distances between the headlight and the first wall includes: Acquire a second angle range and a second angle control interval corresponding to the second position; Determine a plurality of different second angles according to the second angle range and the second angle control interval, wherein the plurality of second angles correspond one-to-one to the plurality of second distances; The laser sensor is used to measure the distance of the first wall surface multiple times at multiple different second angles to obtain multiple second distances.

[0009] In some embodiments, adjusting the vehicle light from the second position to the target position according to the tilt angle and the plurality of second distances includes: Determine the minimum value among the plurality of second distances as the second target distance among the plurality of second distances; Determining a second target angle from among a plurality of second angles according to the second target distance; Determining a third target angle according to a difference between the second target angle and the tilt angle; The vehicle light is controlled to rotate to a third target angle so that the vehicle light is adjusted from the second position to the target position.

[0010] In some embodiments, the method for determining the position of a vehicle light further includes: Detecting the angle of the headlight by using a gyroscope to obtain a second tilt angle of the headlight; updating the target position data according to the second tilt angle to obtain an updated target position; Adjust the vehicle lights to the updated target position.

[0011] In a second aspect of the embodiments of the present application, another device for determining the position of a vehicle lamp is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method for determining the position of a vehicle lamp in any of the above embodiments are implemented. Therefore, the device for determining the position of a vehicle lamp has all the beneficial effects of the method for determining the position of a vehicle lamp in any of the above embodiments, which will not be described in detail here.

[0012] In a third aspect of the embodiments of the present application, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method for determining the position of a vehicle lamp in any of the above embodiments are implemented. Therefore, the readable storage medium has all the beneficial effects of the method for determining the position of a vehicle lamp in any of the above embodiments, which will not be described in detail here.

[0013] According to a fourth aspect of the present invention, a vehicle is proposed, comprising: a device for determining a position of a vehicle light as defined in the second aspect above, and / or a readable storage medium as defined in the third aspect above, and thus having all the beneficial technical effects of the device for determining a position of a vehicle light as defined in the second aspect above, and / or the readable storage medium as defined in the third aspect above, and no further details will be given herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0015] Figure 1 One of the flow charts of the method for determining the position of a vehicle light provided in an embodiment of the present application; Figure 2 The second flowchart of the method for determining the position of a vehicle light provided in an embodiment of the present application; Figure 3 A functional module block diagram of a device for determining the position of a vehicle light provided in an embodiment of the present application; Figure 4 A structural block diagram of a device for determining the position of a vehicle light provided in an embodiment of the present application; Figure 5 A structural block diagram of a vehicle light provided in an embodiment of the present application; Among them, among them, Figure 5 The corresponding relationship between the reference numerals and the component names is as follows: 900 vehicle, 902 vehicle light, 904 lamp housing, 906 laser sensor, 908 controller, 910 first motor, 912 second motor. DETAILED DESCRIPTION

[0016] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0017] In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment 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 equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0018] In some embodiments, Figure 1 As shown, in an embodiment of the present application, a method for determining the position of a vehicle lamp is provided, comprising: Step S101, when the vehicle lamp is facing a first wall, obtaining a first position of the vehicle lamp inside a lamp housing and a first tilt angle of the vehicle lamp at the first position.

[0019] In this embodiment, a method for determining the position of a headlight is proposed and applied to a vehicle. The vehicle includes a headlight, a headlight housing and a laser sensor, wherein the headlight is installed inside the headlight housing, the headlight housing is the outer shell of the headlight, and the laser sensor is arranged on the headlight. The laser sensor is a sensor for ranging and can follow the movement of the headlight.

[0020] For example, the laser sensor is placed on the vehicle headlight and can move or rotate along with the vehicle headlight.

[0021] Exemplarily, the vehicle may be a new energy vehicle.

[0022] Exemplarily, the vehicle may be a new energy driverless vehicle.

[0023] After the vehicle lamp is installed, the vehicle is controlled to face the first wall, wherein the first wall is a reference object for calibrating the position of the vehicle lamp.

[0024] Exemplarily, the first wall is a wall capable of reflecting laser light, and the first wall is perpendicular to a horizontal plane.

[0025] When the headlight is facing the first wall, the first position of the headlight inside the lamp housing is obtained, and the first tilt angle of the headlight at the first position is obtained, wherein the first position is the initial position of the headlight inside the lamp housing, and the first tilt angle is the initial tilt angle of the headlight at the first position.

[0026] Exemplarily, the first inclination angle may be an inclination angle of the vehicle light in a vertical direction.

[0027] Exemplarily, the first inclination angle may be an inclination angle of the vehicle light in the horizontal direction.

[0028] Exemplarily, the first tilt angle may include tilt angles of the vehicle light in the horizontal direction and the vertical direction.

[0029] Exemplarily, the first position may be an initial position of the headlight after the headlight is replaced.

[0030] Step S102: Based on the first position, control the laser sensor to perform multiple distance measurements on the first wall to obtain multiple first distances between the headlight and the first wall.

[0031] The first position is used as a distance measurement reference position of the laser sensor, and the laser sensor is controlled to perform multiple distance measurements on the first wall to obtain multiple first distances between the headlight and the first wall, wherein the first distance is the distance between the headlight at the first position and the first wall.

[0032] Exemplarily, the laser sensor measures the distance of the first wall surface multiple times at different angles to obtain multiple different first distances.

[0033] Step S103: adjusting the vehicle light from the first position to the second position according to the plurality of first distances.

[0034] According to the multiple first distances, the second position of the vehicle light is determined, and the vehicle light is adjusted from the first position to the second position, wherein the second position is a temporary position during the process of adjusting the vehicle light.

[0035] Exemplarily, the vehicle light may be rotated to move the vehicle light from a first position to a second position.

[0036] Exemplarily, the vehicle light may be moved so as to move from a first position to a second position.

[0037] Step S104: Based on the second position, control the laser sensor to measure the distance of the first wall for multiple times to obtain multiple second distances between the headlight and the first wall.

[0038] The second position is used as the distance measurement reference position of the laser sensor, and the laser sensor is controlled to perform multiple distance measurements on the first wall to obtain multiple second distances between the headlight and the first wall, wherein the second distance is the distance between the headlight at the second position and the first wall.

[0039] Exemplarily, the laser sensor measures the distance of the first wall surface multiple times at different angles to obtain multiple different second distances.

[0040] Step S105, adjusting the vehicle light from the second position to the target position according to the tilt angle and the plurality of second distances.

[0041] According to the tilt angle and multiple second distances, the target position of the headlight is determined, and the headlight is adjusted from the second position to the target position, wherein the target position is the final position of the headlight, and the final position may be a standard position, a preset position or a qualified position of the headlight, etc. Moving the headlight to the target position can make the light emitted by the headlight perpendicular to the first wall.

[0042] Exemplarily, the vehicle lamp is adjusted from the second position to the target position, and the light emitted by the vehicle lamp at the target position can be perpendicular to the first wall.

[0043] Exemplarily, the target position is the exact position of the vehicle light.

[0044] It should be noted that in this embodiment, a laser sensor is set on the headlight, and only the laser sensor and a reflective wall are needed to accurately calibrate the position of the headlight, avoiding complex equipment such as a light inspection table and redundant calibration steps, simplifying the calibration process of the headlight position, improving the calibration efficiency of the headlight position, and at the same time, saving the calibration cost of the headlight position.

[0045] The method for determining the position of the headlights in this embodiment determines the target position of the headlights through a laser sensor and a first wall, thereby simplifying the calibration process of the headlight positions, improving the efficiency of the headlight position calibration, and saving the cost of the headlight position calibration.

[0046] In some embodiments, an embodiment of the present application provides a method for determining the position of a headlight, which controls a laser sensor to perform multiple distance measurements on a first wall based on a first position to obtain multiple first distances between the headlight and the first wall, including: Step S201, obtaining a first angle range and a first angle control interval corresponding to a first position.

[0047] In this embodiment, a first angle range and a first angle control interval corresponding to the first position are obtained, wherein the first angle range is the ranging angle range of the laser sensor at the first position, and the first angle control interval is the angle interval in the first angle range.

[0048] Exemplarily, the first angle range may be within a range of plus or minus 3 degrees, and the first angle adjustment interval may be 0.5 degrees.

[0049] Step S202: determining a plurality of different first angles according to the first angle range and the first angle adjustment interval, wherein the plurality of first angles correspond one-to-one to the plurality of first distances.

[0050] Based on the first angle control interval, the first angle range is divided to obtain a plurality of different first angles, wherein the plurality of first angles correspond one-to-one to the plurality of first distances.

[0051] Exemplarily, under the condition that the first inclination angle is the inclination angle of the headlight in the vertical direction, the first angle range is the angle range in the vertical direction, and based on the first angle control interval, the angle range in the vertical direction is evenly divided to obtain a plurality of different first distances.

[0052] Exemplarily, under the condition that the first inclination angle is the inclination angle of the headlight in the horizontal direction, the first angle range is the angle range in the horizontal direction, and based on the first angle control interval, the angle range in the horizontal direction is evenly divided to obtain a plurality of different first distances.

[0053] Exemplarily, under the condition that the first inclination angle can include the inclination angles of the headlight in the horizontal direction and the vertical direction, the first angle range includes the angle range in the vertical direction and the angle range in the horizontal direction. First, based on the first angle control interval, the angle range in the vertical direction is evenly divided, and then based on the first angle control interval, the angle range in the horizontal direction is evenly divided, thereby obtaining a plurality of different first distances.

[0054] Exemplarily, within the range of plus or minus 3 degrees, the angles are divided into 0.5 degrees to obtain multiple first angles such as positive 0.5 degrees, positive 1.0 degrees, positive 1.5 degrees, positive 2.0 degrees, positive 2.5 degrees, positive 3.0 degrees, negative 0.5 degrees, negative 1.0 degrees, negative 1.5 degrees, negative 2.0 degrees, negative 2.5 degrees, and negative 3.0 degrees.

[0055] Step S203: Using a laser sensor, measure the distance of the first wall surface multiple times at multiple different first angles to obtain multiple first distances.

[0056] The laser sensor is used to measure the distance of the first wall surface multiple times at multiple different first angles to obtain multiple first distances.

[0057] The method for determining the position of the vehicle headlight in this embodiment uses a laser sensor to measure the distance of the first wall multiple times at multiple different first angles to obtain multiple first distances, thereby ensuring the accuracy of the first distance data.

[0058] In some embodiments, an embodiment of the present application provides a method for determining the position of a vehicle lamp, and according to a plurality of first distances, adjusting the vehicle lamp from a first position to a second position, comprising: Step S301: determine the minimum value among multiple first distances as the first target distance among the multiple first distances.

[0059] In this embodiment, a minimum value among a plurality of first distances is determined, and the minimum value among the plurality of first distances is determined as the first target distance, wherein the first target distance is the minimum value among the plurality of first distances.

[0060] Exemplarily, the sizes of the multiple first distances are compared, and the minimum value among the multiple first distances is determined as the first target distance.

[0061] Step S302: determining a first target angle among a plurality of first angles according to a first target distance.

[0062] According to the first target distance, a first target angle among the plurality of first angles is determined, wherein the first target angle is a first angle corresponding to the first target distance.

[0063] Exemplarily, based on the correspondence between the plurality of first angles and the plurality of first distances, a first target angle corresponding to the first target distance among the plurality of first angles is determined.

[0064] Step S303, controlling the vehicle headlight to rotate to a first target angle, so that the vehicle headlight is adjusted from the first position to the second position.

[0065] The vehicle light is controlled to rotate to a first target angle so that the vehicle light is adjusted from a first position to a second position.

[0066] Exemplarily, the vehicle includes a control motor of the motor, and the control motor rotates the headlights so that the headlights are adjusted from a first position to a second position.

[0067] The method for determining the position of the vehicle lights in this embodiment determines a first target angle among multiple first angles based on the minimum value of multiple first distances, and then controls the vehicle lights to rotate to the first target angle so that the vehicle lights are adjusted from the first position to the second position, thereby ensuring the position accuracy of the vehicle lights.

[0068] In some embodiments, an embodiment of the present application provides a method for determining the position of a headlight, which controls a laser sensor to perform multiple distance measurements on a first wall based on a second position to obtain multiple second distances between the headlight and the first wall, including: Step S401, obtaining a second angle range and a second angle control interval corresponding to a second position.

[0069] In this embodiment, a second angle range and a second angle control interval corresponding to the second position are obtained, wherein the second angle range is the ranging angle range of the laser sensor at the second position, and the second angle control interval is the angle interval in the second angle range.

[0070] Exemplarily, the first angle range may be within a range of plus or minus 1 degree, and the first angle adjustment interval may be 0.05 degrees.

[0071] Step S402: determining a plurality of different second angles according to the second angle range and the second angle adjustment interval, wherein the plurality of second angles correspond one-to-one to the plurality of second distances.

[0072] Based on the second angle control interval, the second angle range is divided to obtain a plurality of different second angles, wherein the plurality of second angles correspond one-to-one to the plurality of second distances.

[0073] Exemplarily, under the condition that the second inclination angle is the inclination angle of the headlight in the vertical direction, the second angle range is the angle range in the vertical direction, and based on the second angle control interval, the angle range in the vertical direction is evenly divided to obtain multiple different second angles.

[0074] Exemplarily, under the condition that the second inclination angle is the inclination angle of the headlight in the horizontal direction, the second angle range is the angle range in the horizontal direction, and based on the second angle control interval, the angle range in the horizontal direction is evenly divided to obtain multiple different second angles.

[0075] Exemplarily, under the condition that the second inclination angle can include the inclination angles of the headlight in the horizontal direction and the vertical direction, the second angle range includes the angle range in the vertical direction and the angle range in the horizontal direction. First, based on the second angle control interval, the angle range in the vertical direction is evenly divided, and then based on the second angle control interval, the angle range in the horizontal direction is evenly divided, thereby obtaining a plurality of different second angles.

[0076] For example, within the range of plus or minus 1 degree, it is divided into 0.05 degrees to obtain positive 0.05 degrees, positive 0.10 degrees, positive 0.15 degrees, positive 0.20 degrees, positive 0.25 degrees, positive 0.30 degrees, positive 0.35 degrees, positive 0.40 degrees, positive 0.45 degrees, positive 0.50 degrees, positive 0.55 degrees, positive 0.60 degrees, positive 0.65 degrees, positive 0.70 degrees, positive 0.75 degrees, positive 0.80 degrees, positive 0.85 degrees, positive 0.90 degrees, positive 0.91 degrees, positive 0.92 degrees, positive 0.93 degrees, positive 0.94 degrees, positive 0.95 degrees, positive 0.96 degrees, positive 0.97 degrees, positive 0.98 degrees, positive 0.99 degrees, positive 0.100 degrees, positive 0.110 degrees, positive 0.120 degrees, positive 0.130 degrees, positive 0.140 degrees, positive 0.150 degrees, positive 0.160 degrees, positive 0.170 degrees, positive 0.180 degrees, positive 0.190 degrees, positive 0.200 degrees, positive 0.210 degrees, positive 0.220 degrees, positive 0.230 degrees, positive 0.240 degrees, positive 0.250 degrees, positive There are multiple second angles including 95 degrees, positive 1.00 degrees, negative 0.05 degrees, negative 0.10 degrees, negative 0.15 degrees, negative 0.20 degrees, negative 0.25 degrees, negative 0.30 degrees, negative 0.35 degrees, negative 0.40 degrees, negative 0.45 degrees, negative 0.50 degrees, negative 0.55 degrees, negative 0.60 degrees, negative 0.65 degrees, negative 0.70 degrees, negative 0.75 degrees, negative 0.80 degrees, negative 0.85 degrees, negative 0.90 degrees, negative 0.95 degrees, and negative 1.00 degree.

[0077] Step S403: Using a laser sensor, measure the distance of the first wall surface multiple times at multiple different second angles to obtain multiple second distances.

[0078] The laser sensor is used to measure the distance of the first wall surface multiple times at multiple different second angles to obtain multiple second distances.

[0079] The method for determining the position of the vehicle headlight in this embodiment uses a laser sensor to perform multiple distance measurements on the first wall at multiple different second angles to obtain multiple second distances, thereby ensuring the accuracy of the second distance data.

[0080] In some embodiments, an embodiment of the present application provides a method for determining the position of a vehicle lamp, which adjusts the vehicle lamp from a second position to a target position according to a tilt angle and a plurality of second distances, including: Step S501: determine the minimum value among the multiple second distances as the second target distance among the multiple second distances.

[0081] In this embodiment, a minimum value among the plurality of second distances is determined, and the minimum value among the plurality of second distances is determined as the second target distance, wherein the second target distance is the minimum value among the plurality of second distances.

[0082] Exemplarily, the sizes of the multiple second distances are compared, and the minimum value among the multiple second distances is determined as the second target distance.

[0083] Step S502: determining a second target angle among a plurality of second angles according to the second target distance.

[0084] According to the second target distance, a second target angle among the plurality of second angles is determined, wherein the second target angle is a second angle corresponding to the second target distance.

[0085] Exemplarily, based on the correspondence between the plurality of second angles and the plurality of second distances, a first target angle corresponding to the second target distance among the plurality of second angles is determined.

[0086] Step S503: determining a third target angle according to the difference between the second target angle and the tilt angle.

[0087] A third target angle is determined according to a difference between the second target angle and the tilt angle, wherein the third target angle is a difference between the second target angle and the tilt angle.

[0088] Step S504, controlling the vehicle light to rotate to a third target angle, so that the vehicle light is adjusted from the second position to the target position.

[0089] The vehicle light is controlled to rotate to a third target angle so that the vehicle light is adjusted from the second position to the third position.

[0090] Exemplarily, the vehicle includes a plurality of control motors of the motor, and the headlights are rotated by the control motors so that the headlights are adjusted from the second position to the target position.

[0091] The method for determining the position of the vehicle lights in this embodiment determines the second target angle among the multiple second angles based on the minimum value among the multiple second distances, and then controls the vehicle lights to rotate to the third target angle so that the vehicle lights are adjusted from the second position to the target position, thereby ensuring the position accuracy of the vehicle lights.

[0092] In some embodiments, an embodiment of the present application provides a method for determining the position of a vehicle lamp. After adjusting the vehicle lamp from the second position to the target position, the method further includes: Step S601: Detect the angle of the headlight by using a gyroscope to obtain a second tilt angle of the headlight.

[0093] In this embodiment, the vehicle further includes a gyroscope, which is arranged on the headlight. The gyroscope is a sensor for testing the inclination angle and can move with the headlight.

[0094] By detecting the angle of the headlight with a gyroscope, a second tilt angle of the headlight can be obtained, wherein the second tilt angle is the tilt angle of the headlight at the target position.

[0095] Exemplarily, the second tilt angle may be a real-time tilt angle of the vehicle lamp inside the lamp housing.

[0096] Step S602: updating the target position data according to the second tilt angle to obtain an updated target position.

[0097] A preset target tilt angle is obtained, and the second tilt angle is compared with the target tilt angle. When the second tilt angle and the target tilt angle are different, data of the target position is updated according to the second tilt angle to obtain an updated target position.

[0098] Exemplarily, the target tilt angle may be 90 degrees.

[0099] Step S603, adjusting the vehicle lights to the updated target position.

[0100] The headlights are controlled to rotate so as to be adjusted to the updated target position.

[0101] The method for determining the position of the headlight in this embodiment detects the angle of the headlight through a gyroscope to obtain a second tilt angle of the headlight, and then updates the target position data based on the second tilt angle to obtain an updated target position, thereby ensuring the accuracy of the position of the headlight.

[0102] In some embodiments, Figure 2 As shown, in an embodiment of the present application, a method for determining the position of a vehicle lamp is provided, comprising: S1, determine whether the vehicle is in P gear, if so, execute S2, if not, end; S2, read the set limited initial downtilt angle a0; S3, record the current position A0 of the light module; S4, start the laser sensor; S5, taking A0 as the reference, scan within a range of plus or minus 3 degrees, with an accuracy of 0.5 degrees, and record the distance for each scan; S6, the controller solves the minimum distance and records the corresponding scanning angle a1; S7, the controller drives the adjustment motor to rotate the light module by a1, and records the current position A1; S8, determine whether the angle a1 is a positive number, if yes, execute S9, if no, execute S10; S9, taking A1 as the reference, scan within a range of plus 1 degree with an accuracy of 0.05 degree, and record the distance for each scan; S10, taking A1 as the reference, scan within the range of minus 1 degree with an accuracy of 0.05 degree, and record the distance for each scan; S11, the controller solves the minimum distance and records the corresponding scanning angle a2; S12, the controller drives the adjustment motor to rotate the light module (a2-a0).

[0103] In this embodiment, the vehicle light may be a lighting module, which determines whether the vehicle is in P gear (parking gear). If not, the operation ends directly. If the vehicle is in P gear, the set limited initial downward tilt angle a0 is read and the current position A0 of the lighting module is recorded.

[0104] Start the laser sensor, take A0 as the reference, scan within a range of plus or minus 3 degrees, with an accuracy of 0.5 degrees, and record the distance for each scan.

[0105] The controller solves the minimum distance and records the corresponding scanning angle a1, and determines whether the angle a1 is a positive number. If it is a positive number, it uses A1 as a reference to scan within a range of positive 1 degree with an accuracy of 0.05 degrees, and records the distance each time it scans. If it is not a positive number, it uses A1 as a reference to scan within a range of negative 1 degree with an accuracy of 0.05 degrees, and records the distance each time it scans.

[0106] The controller solves the minimum distance and records the corresponding scanning angle a2. The controller drives the adjustment motor to rotate the light module (a2-a0).

[0107] In some embodiments, Figure 3 As shown, in an embodiment of the present application, a device 700 for determining the position of a vehicle lamp is provided, comprising: An acquisition unit 702 is used to acquire a first position of the headlight inside the lamp housing and a first tilt angle of the headlight at the first position when the headlight is facing the first wall; The control unit 704 is used to control the laser sensor to perform multiple distance measurements on the first wall based on the first position, so as to obtain multiple first distances between the headlight and the first wall; The control unit 704 is further used to adjust the vehicle light from the first position to the second position according to the plurality of first distances; The control unit 704 is further configured to control the laser sensor to perform multiple distance measurements on the first wall based on the second position, so as to obtain multiple second distances between the headlight and the first wall; The control unit 704 is further used to adjust the vehicle light from the second position to the target position according to the tilt angle and the plurality of second distances.

[0108] The headlight position determination device 700 in this embodiment determines the target position of the headlight through a laser sensor and a first wall, thereby simplifying the headlight position calibration process, improving the headlight position calibration efficiency, and saving the headlight position calibration cost.

[0109] In some embodiments, an embodiment of the present application provides a device 700 for determining the position of a vehicle lamp, further comprising: The control unit 704 is further configured to obtain a first angle range and a first angle adjustment interval corresponding to the first position; The control unit 704 is further configured to determine a plurality of different first angles according to the first angle range and the first angle adjustment interval, wherein the plurality of first angles correspond to the plurality of first distances one by one; The control unit 704 is further configured to use a laser sensor to perform multiple distance measurements on the first wall at multiple different first angles to obtain multiple first distances.

[0110] In some embodiments, an embodiment of the present application provides a device 700 for determining the position of a vehicle lamp, further comprising: The control unit 704 is further configured to determine a minimum value among the plurality of first distances as a first target distance among the plurality of first distances; The control unit 704 is further configured to determine a first target angle among the plurality of first angles according to the first target distance; The control unit 704 is further used to control the vehicle light to rotate to a first target angle so that the vehicle light is adjusted from the first position to the second position.

[0111] In some embodiments, an embodiment of the present application provides a device 700 for determining the position of a vehicle lamp, further comprising: The control unit 704 is further configured to obtain a second angle range and a second angle adjustment interval corresponding to the second position; The control unit 704 is further configured to determine a plurality of different second angles according to the second angle range and the second angle adjustment interval, wherein the plurality of second angles correspond to the plurality of second distances in a one-to-one manner; The control unit 704 is further configured to use a laser sensor to perform multiple distance measurements on the first wall at multiple different second angles to obtain multiple second distances.

[0112] In some embodiments, an embodiment of the present application provides a device 700 for determining the position of a vehicle lamp, further comprising: The control unit 704 is further configured to determine a minimum value among the plurality of second distances as a second target distance among the plurality of second distances; The control unit 704 is further configured to determine a second target angle among a plurality of second angles according to the second target distance; The control unit 704 is further configured to determine a third target angle according to a difference between the second target angle and the tilt angle; The control unit 704 is further used to control the vehicle light to rotate to a third target angle, so that the vehicle light is adjusted from the second position to the target position.

[0113] In some embodiments, an embodiment of the present application provides a device 700 for determining the position of a vehicle lamp, further comprising: The control unit 704 is further configured to detect the angle of the headlight through a gyroscope to obtain a second tilt angle of the headlight; The control unit 704 is further used to update the target position data according to the second tilt angle to obtain an updated target position; The control unit 704 is also used to adjust the vehicle lights to the updated target position.

[0114] In some embodiments, Figure 4 As shown, a device 800 for determining the position of a vehicle lamp is proposed. The device 800 for determining the position of a vehicle lamp includes a processor 802 and a memory 804. The memory 804 stores a computer program. When the computer program is executed by the processor 802, the steps of the method for determining the position of a vehicle lamp in any of the above embodiments are implemented. Therefore, the device 800 for determining the position of a vehicle lamp has all the beneficial effects of the method for determining the position of a vehicle lamp in any of the above embodiments, which will not be described in detail.

[0115] In some embodiments, a readable storage medium is provided, on which a program is stored. When the program is executed by a processor, the steps of the method for determining the position of a vehicle light in any of the above embodiments are implemented, thereby having all the beneficial technical effects of the method for determining the position of a vehicle light in any of the above embodiments.

[0116] In some embodiments, a vehicle is proposed, comprising: a device for determining a position of a vehicle light as in any of the above embodiments, and / or a readable storage medium as in any of the above embodiments, and thus having all the beneficial technical effects of the device for determining a position of a vehicle light as in any of the above embodiments, and / or the readable storage medium as in any of the above embodiments, which will not be elaborated upon herein.

[0117] In some embodiments, the vehicle further comprises: A headlight, a headlight housing and a laser sensor, wherein the headlight is arranged in the headlight housing and the laser sensor is arranged in the headlight; The first motor and the second motor are arranged in the lamp housing and are respectively connected to the vehicle lamps for adjusting the position of the vehicle lamps.

[0118] For example, Figure 5 As shown, the vehicle 900 includes a lamp 902 , a lamp housing 904 , a laser sensor 906 , a controller 908 , a first motor 910 , and a second motor 912 , wherein the first motor 910 is a horizontal adjustment motor, and the second motor 912 is a vertical adjustment motor.

[0119] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0121] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0122] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0123] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0124] An embodiment of the present application further provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of the method for determining the position of a vehicle light.

[0125] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0126] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0127] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, 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 an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0128] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0129] 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.

[0130] 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 computer-readable storage medium. Based on this understanding, the technical solution 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. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0131] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0132] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0133] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A method for determining the position of a vehicle lamp, characterized in that: Applied to a vehicle, the vehicle comprises a headlight, a headlight housing and a laser sensor, the laser sensor is arranged on the headlight, and the laser sensor is used to follow the movement of the headlight, the method comprises: When the headlight is facing the first wall, obtaining a first position of the headlight inside the lamp housing and a first tilt angle of the headlight at the first position; Based on the first position, controlling the laser sensor to perform multiple distance measurements on the first wall to obtain multiple first distances between the headlight and the first wall; According to the plurality of the first distances, adjusting the vehicle light from the first position to a second position; Based on the second position, controlling the laser sensor to perform multiple distance measurements on the first wall to obtain multiple second distances between the headlight and the first wall; According to the tilt angle and the plurality of the second distances, the vehicle light is adjusted from the second position to a target position.

2. The method for determining the position of a vehicle lamp according to claim 1, characterized in that: The step of controlling the laser sensor to perform multiple distance measurements on the first wall based on the first position to obtain multiple first distances between the headlight and the first wall includes: Acquire a first angle range and a first angle control interval corresponding to the first position; Determine a plurality of different first angles according to the first angle range and the first angle adjustment interval, wherein the plurality of first angles correspond one-to-one to the plurality of first distances; The laser sensor is used to measure the distance of the first wall surface multiple times at multiple different first angles to obtain multiple first distances.

3. The method for determining the position of a vehicle lamp according to claim 2, characterized in that: The step of adjusting the vehicle light from the first position to the second position according to the plurality of the first distances includes: Determine the minimum value among the plurality of first distances as the first target distance among the plurality of first distances; determining a first target angle among a plurality of first angles according to the first target distance; The vehicle light is controlled to rotate to the first target angle so that the vehicle light is adjusted from the first position to the second position.

4. The method for determining the position of a vehicle lamp according to claim 1, characterized in that: The step of controlling the laser sensor to perform multiple distance measurements on the first wall based on the second position to obtain multiple second distances between the headlight and the first wall includes: Acquire a second angle range and a second angle control interval corresponding to the second position; Determine a plurality of different second angles according to the second angle range and the second angle control interval, wherein the plurality of second angles correspond one-to-one to the plurality of second distances; The laser sensor is used to measure the distance of the first wall surface multiple times at multiple different second angles to obtain multiple second distances.

5. The method for determining the position of a vehicle lamp according to claim 4, characterized in that: The step of adjusting the vehicle light from the second position to the target position according to the tilt angle and the plurality of the second distances includes: Determine the minimum value among the plurality of second distances as the second target distance among the plurality of second distances; determining a second target angle among a plurality of second angles according to the second target distance; determining a third target angle according to a difference between the second target angle and the tilt angle; The vehicle light is controlled to rotate to the third target angle so that the vehicle light is adjusted from the second position to the target position.

6. The method for determining the position of a vehicle lamp according to any one of claims 1 to 5, characterized in that: The vehicle further includes a gyroscope, which is disposed on the headlight and is used to follow the movement of the headlight. After the headlight is adjusted from the second position to the target position, the method further includes: Detecting the angle of the headlight by the gyroscope to obtain a second tilt angle of the headlight; updating the target position according to the second tilt angle to obtain an updated target position; The vehicle light is adjusted to the updated target position.

7. A device for determining the position of a vehicle lamp, characterized in that: include: processor; A memory, wherein a program or instruction is stored in the memory, and when the processor executes the program or instruction in the memory, the steps of the method for determining the position of a vehicle lamp as claimed in any one of claims 1 to 6 are implemented.

8. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the steps of the method for determining the position of a vehicle light as claimed in any one of claims 1 to 6 are implemented.

9. A vehicle, characterized in that: include: The device for determining the position of a vehicle lamp as claimed in claim 7; and / or The readable storage medium as claimed in claim 8.

10. The vehicle according to claim 9, characterized in that The vehicle further comprises: A headlight, a headlight housing and a laser sensor, wherein the headlight is arranged on the headlight housing and the laser sensor is arranged on the headlight; A first motor and a second motor, wherein the first motor and the second motor are arranged in the lamp housing and are respectively connected to the vehicle lamp for adjusting the position of the vehicle lamp.

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