Method, apparatus, readable storage medium and vehicle for determining the position of a vehicle lamp

Abstract

The present application discloses a method and apparatus for determining the position of a vehicle lamp, a readable storage medium, and a vehicle, relating to the technical field of automobiles. The method for determining the position of the vehicle lamp includes: when the vehicle lamp faces a first wall surface, 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, controlling a laser sensor to perform multiple distance measurements on the first wall surface to obtain multiple first distances between the vehicle lamp and the first wall surface; according to the multiple first distances, adjusting the vehicle lamp 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 surface to obtain multiple second distances between the vehicle lamp and the first wall surface; according to the tilt angle and the multiple second distances, adjusting the vehicle lamp from the second position to a target position. The present application improves the calibration efficiency of the position of the vehicle lamp.

Description

Technical Field

[0001] This application relates to the technical field of automobiles, and particularly 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 vehicle lamps on an automobile, the horizontal and vertical positions of the vehicle lamps need to be initially calibrated on an optical inspection table. After the vehicle is fully assembled, the positions of the vehicle lamps need to be calibrated again according to the actual body posture. However, at present, there are technical problems such as low calibration efficiency in the method for determining the positions of vehicle lamps. Summary of the Invention

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

[0004] In the first aspect of the embodiments of this application, a method for determining the position of a vehicle lamp is provided. The method is applied to a vehicle, which includes a vehicle lamp, a lamp housing, and a laser sensor. The laser sensor is disposed on the vehicle lamp and is used to move along with the vehicle lamp. The method includes:

[0005] When the vehicle lamp faces a first wall surface, obtain a first position of the vehicle lamp inside the lamp housing and a first inclination angle of the vehicle lamp at the first position;

[0006] Based on the first position, control the laser sensor to perform multiple distance measurements on the first wall surface to obtain multiple first distances between the vehicle lamp and the first wall surface;

[0007] According to the multiple first distances, adjust the vehicle lamp from the first position to a second position;

[0008] Based on the second position, control the laser sensor to perform multiple distance measurements on the first wall surface to obtain multiple second distances between the vehicle lamp and the first wall surface;

[0009] According to the inclination angle and the multiple second distances, adjust the vehicle lamp from the second position to a target position.

[0010] In the method for determining the position of the vehicle lamp in this embodiment, the target position of the vehicle lamp is determined through the laser sensor and the first wall surface, which simplifies the calibration process of the vehicle lamp position, improves the calibration efficiency of the vehicle lamp position, and at the same time, saves the calibration cost of the vehicle lamp position.

[0011] In some embodiments, based on the first position, controlling the laser sensor to perform multiple distance measurements on the first wall surface to obtain multiple first distances between the vehicle lamp and the first wall surface includes:

[0012] Obtain a first angle range and a first angle adjustment interval corresponding to the first position;

[0013] 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 a plurality of first distances;

[0014] Use a laser sensor to measure the distance to the first wall surface multiple times at a plurality of different first angles to obtain a plurality of first distances.

[0015] In some embodiments, adjusting the vehicle lamp from the first position to the second position according to the plurality of first distances includes:

[0016] Determine the minimum value among the plurality of first distances as the first target distance among the plurality of first distances;

[0017] Determine the first target angle among the plurality of first angles according to the first target distance;

[0018] Control the vehicle lamp to rotate by the first target angle so that the vehicle lamp is adjusted from the first position to the second position.

[0019] In some embodiments, based on the second position, controlling the laser sensor to measure the distance to the first wall surface multiple times to obtain a plurality of second distances between the vehicle lamp and the first wall surface includes:

[0020] Obtain the second angle range and the second angle adjustment interval corresponding to the second position;

[0021] 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 one-to-one to a plurality of second distances;

[0022] Use a laser sensor to measure the distance to the first wall surface multiple times at a plurality of different second angles to obtain a plurality of second distances.

[0023] In some embodiments, adjusting the vehicle lamp from the second position to the target position according to the tilt angle and the plurality of second distances includes:

[0024] Determine the minimum value among the plurality of second distances as the second target distance among the plurality of second distances;

[0025] Determine the second target angle among the plurality of second angles according to the second target distance;

[0026] Determine the third target angle according to the difference between the second target angle and the tilt angle;

[0027] Control the vehicle lamp to rotate by the third target angle so that the vehicle lamp is adjusted from the second position to the target position.

[0028] In some embodiments, the method for determining the position of the vehicle lamp further includes:

[0029] Detect the angle of the vehicle lamp through a gyroscope to obtain the second inclination angle of the vehicle lamp;

[0030] Update the data of the target position according to the second inclination angle to obtain the updated target position;

[0031] Adjust the vehicle lamp to the updated target position.

[0032] In the second aspect of the embodiments of the present application, another vehicle lamp position determination device is provided, including a processor and a memory. A computer program is stored in the memory. When the computer program is executed by the processor, the steps of the vehicle lamp position determination method in any of the above embodiments are implemented. Therefore, the vehicle lamp position determination device has all the beneficial effects of the vehicle lamp position determination method in any of the above embodiments, which will not be elaborated here.

[0033] In the third aspect of the embodiments of the present application, a readable storage medium is proposed, on which a program or instruction is stored. When the program or instruction is executed by the processor, the steps of the vehicle lamp position determination method in any of the above embodiments are implemented. Therefore, the readable storage medium has all the beneficial effects of the vehicle lamp position determination method in any of the above embodiments, which will not be elaborated here.

[0034] According to the fourth aspect of the present invention, a vehicle is proposed, including: the vehicle lamp position determination device defined in the second aspect above, and / or the readable storage medium defined in the third aspect above. Therefore, it has all the beneficial technical effects of the vehicle lamp position determination device defined in the second aspect above, and / or the readable storage medium defined in the third aspect above, which will not be elaborated here too much. Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0036] Figure 1 One of the flowcharts of the vehicle lamp position determination method provided by the embodiments of the present application;

[0037] Figure 2 Another flowchart of the vehicle lamp position determination method provided by the embodiments of the present application;

[0038] Figure 3 The functional module block diagram of the vehicle lamp position determination device provided by the embodiments of the present application;

[0039] Figure 4Structural block diagram of the headlight position determination device provided by the embodiment of the present application;

[0040] Figure 5 Structural block diagram of the headlight of the vehicle provided by the embodiment of the present application;

[0041] Among them, among them, Figure 5 The corresponding relationship between the reference numerals and the component names in the figure is as follows:

[0042] 900 vehicle, 902 headlight, 904 lamp housing, 906 laser sensor, 908 controller, 910 first motor, 912 second motor. Detailed implementation manners

[0043] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below through the accompanying drawings and specific embodiments. It should be understood that the specific features in the embodiments of this specification and 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. Without conflict, the technical features in the embodiments of this specification and the embodiments can be combined with each other.

[0044] In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the presence of additional identical elements in the process, method, article or device including the element. The term "more than two" includes two or more than two.

[0045] In some embodiments, as Figure 1 shown, an embodiment of the present application provides a method for determining the position of a headlight, including:

[0046] Step S101, when the headlight faces the first wall surface, obtain the first position of the headlight inside the lamp housing and the first tilt angle of the headlight at the first position.

[0047] In this embodiment, a method for determining the position of a vehicle lamp is proposed, which is applied to a vehicle. The vehicle includes a vehicle lamp, a lamp housing, and a laser sensor. The vehicle lamp is installed inside the lamp housing, and the lamp housing is the outer shell of the vehicle lamp. The laser sensor is disposed on the vehicle lamp and is a sensor for measuring distance and can move with the vehicle lamp.

[0048] Exemplarily, the laser sensor is mounted on the vehicle lamp and can translate or rotate with the vehicle lamp.

[0049] Exemplarily, the vehicle can be a new energy vehicle.

[0050] Exemplarily, the vehicle can be a new energy unmanned vehicle.

[0051] After the vehicle lamp is installed on the vehicle, control the vehicle to face the first wall surface, where the first wall surface is a reference object for calibrating the position of the vehicle lamp.

[0052] Exemplarily, the first wall surface is a wall that can reflect laser, and the first wall surface is perpendicular to the horizontal plane.

[0053] When the vehicle lamp faces the first wall surface, obtain the first position of the vehicle lamp inside the lamp housing, and at the same time obtain the first tilt angle of the vehicle lamp at the first position, where the first position is the initial position of the vehicle lamp inside the lamp housing, and the first tilt angle is the initial tilt angle of the vehicle lamp at the first position.

[0054] Exemplarily, the first tilt angle can be the tilt angle of the vehicle lamp in the vertical direction.

[0055] Exemplarily, the first tilt angle can be the tilt angle of the vehicle lamp in the horizontal direction.

[0056] Exemplarily, the first tilt angle can include the tilt angles of the vehicle lamp in the horizontal and vertical directions.

[0057] Exemplarily, the first position can be the initial position of the vehicle lamp after the vehicle replaces the vehicle lamp.

[0058] Step S102, based on the first position, control the laser sensor to perform multiple distance measurements on the first wall surface to obtain multiple first distances between the vehicle lamp and the first wall surface.

[0059] Take the first position as the ranging reference position of the laser sensor, control the laser sensor to perform multiple distance measurements on the first wall surface, and obtain multiple first distances between the vehicle lamp and the first wall surface, where the first distance is the distance between the vehicle lamp at the first position and the first wall surface.

[0060] Exemplarily, the laser sensor performs multiple distance measurements on the first wall surface at different angles, and multiple different first distances can be obtained.

[0061] Step S103: Adjust the vehicle headlight from the first position to the second position according to multiple first distances.

[0062] Determine the second position of the vehicle headlight according to multiple first distances, and adjust the vehicle headlight from the first position to the second position, where the second position is a temporary position during the adjustment of the vehicle headlight.

[0063] Exemplarily, the vehicle headlight can be rotated to move the vehicle headlight from the first position to the second position.

[0064] Exemplarily, the vehicle headlight can be moved to move the vehicle headlight from the first position to the second position.

[0065] Step S104: Based on the second position, control the laser sensor to perform multiple distance measurements on the first wall surface to obtain multiple second distances between the vehicle headlight and the first wall surface.

[0066] Use the second position as the ranging reference position of the laser sensor, control the laser sensor to perform multiple distance measurements on the first wall surface, and obtain multiple second distances between the vehicle headlight and the first wall surface, where the second distance is the distance between the vehicle headlight at the second position and the first wall surface.

[0067] Exemplarily, the laser sensor performs multiple distance measurements on the first wall surface at different angles, and multiple different second distances can be obtained.

[0068] Step S105: Adjust the vehicle headlight from the second position to the target position according to the tilt angle and multiple second distances.

[0069] Determine the target position of the vehicle headlight according to the tilt angle and multiple second distances, and adjust the vehicle headlight from the second position to the target position, where the target position is the final position of the vehicle headlight. The final position can be the standard position, preset position, qualified position, etc. of the vehicle headlight. Moving the vehicle headlight to the target position can make the light emitted by the vehicle headlight perpendicular to the first wall surface.

[0070] Exemplarily, adjust the vehicle headlight from the second position to the target position, and the light emitted by the vehicle headlight at the target position can be perpendicular to the first wall surface.

[0071] Exemplarily, the target position is the accurate position of the vehicle headlight.

[0072] It should be noted that in this embodiment, a laser sensor is provided on the vehicle headlight. Only the laser sensor and a wall surface that can reflect light are needed to accurately calibrate the position of the vehicle headlight, avoiding complex equipment such as light inspection tables and cumbersome calibration steps, simplifying the calibration process of the vehicle headlight position, improving the calibration efficiency of the vehicle headlight position, and at the same time, saving the calibration cost of the vehicle headlight position.

[0073] The method for determining the position of the vehicle lamp in this embodiment determines the target position of the vehicle lamp through a laser sensor and a first wall surface, simplifies the calibration process of the vehicle lamp position, improves the calibration efficiency of the vehicle lamp position, and at the same time saves the calibration cost of the vehicle lamp position.

[0074] In some embodiments, the embodiments of the present application provide a method for determining the position of a vehicle lamp. Based on a first position, a laser sensor is controlled to perform multiple distance measurements on a first wall surface to obtain multiple first distances between the vehicle lamp and the first wall surface, including:

[0075] Step S201, obtain a first angle range and a first angle adjustment interval corresponding to the first position.

[0076] In this embodiment, a first angle range and a first angle adjustment interval corresponding to the first position are obtained, where the first angle range is the ranging angle range of the laser sensor at the first position, and the first angle adjustment interval is the angle interval in the first angle range.

[0077] Exemplarily, the first angle range can be a range of plus or minus 3 degrees, and the first angle adjustment interval is 0.5 degrees.

[0078] Step S202, determine a plurality of different first angles according to the first angle range and the first angle adjustment interval, where the plurality of first angles correspond one-to-one to the plurality of first distances.

[0079] Based on the first angle adjustment interval, the first angle range is divided to obtain a plurality of different first angles, where the plurality of first angles correspond one-to-one to the plurality of first distances.

[0080] Exemplarily, under the condition that the first inclination angle is the inclination angle of the vehicle lamp in the vertical direction, the first angle range is the angle range in the vertical direction. Based on the first angle adjustment interval, the angle range in the vertical direction is evenly divided to obtain a plurality of different first distances.

[0081] Exemplarily, under the condition that the first inclination angle is the inclination angle of the vehicle lamp in the horizontal direction, the first angle range is the angle range in the horizontal direction. Based on the first angle adjustment interval, the angle range in the horizontal direction is evenly divided to obtain a plurality of different first distances.

[0082] Exemplarily, under the condition that the first inclination angle can include the inclination angles of the vehicle lamp 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 adjustment interval, the angle range in the vertical direction is evenly divided, and then based on the first angle adjustment interval, the angle range in the horizontal direction is evenly divided, thereby obtaining a plurality of different first distances.

[0083] Exemplarily, within the range of plus or minus 3 degrees, divided by 0.5 degrees, a plurality of first angles such as plus 0.5 degrees, plus 1.0 degrees, plus 1.5 degrees, plus 2.0 degrees, plus 2.5 degrees, plus 3.0 degrees, minus 0.5 degrees, minus 1.0 degrees, minus 1.5 degrees, minus 2.0 degrees, minus 2.5 degrees, and minus 3.0 degrees are obtained.

[0084] Step S203: Use a laser sensor to measure the distance to the first wall surface multiple times at a plurality of different first angles to obtain a plurality of first distances.

[0085] Use a laser sensor to measure the distance to the first wall surface multiple times at a plurality of different first angles to obtain a plurality of first distances.

[0086] In the method for determining the position of the vehicle lamp in this embodiment, by using a laser sensor to measure the distance to the first wall surface multiple times at a plurality of different first angles to obtain a plurality of first distances, the data accuracy of the first distances is ensured.

[0087] In some embodiments, an embodiment of the present application provides a method for determining the position of a vehicle lamp. According to a plurality of first distances, the vehicle lamp is adjusted from a first position to a second position, including:

[0088] Step S301: Determine the minimum value among the plurality of first distances as the first target distance among the plurality of first distances.

[0089] In this embodiment, determine the minimum value among the plurality of first distances, and determine the minimum value among the plurality of first distances as the first target distance, where the first target distance is the minimum value among the plurality of first distances.

[0090] Exemplarily, compare the magnitudes of the plurality of first distances, and determine the minimum value among the plurality of first distances as the first target distance.

[0091] Step S302: Determine the first target angle among the plurality of first angles according to the first target distance.

[0092] Determine the first target angle among the plurality of first angles according to the first target distance, where the first target angle is the first angle corresponding to the first target distance.

[0093] Exemplarily, based on the correspondence between the plurality of first angles and the plurality of first distances, determine the first target angle among the plurality of first angles corresponding to the first target distance.

[0094] Step S303: Control the vehicle lamp to rotate by the first target angle so that the vehicle lamp is adjusted from the first position to the second position.

[0095] Control the vehicle lamp to rotate by the first target angle so that the vehicle lamp is adjusted from the first position to the second position.

[0096] Exemplarily, the vehicle includes a control motor for the electric motor, which rotates the vehicle lamp through the control motor so as to adjust the vehicle lamp from a first position to a second position.

[0097] In the method for determining the position of the vehicle lamp in this embodiment, according to the minimum value among multiple first distances, a first target angle among multiple first angles is determined, and then the vehicle lamp is controlled to rotate by the first target angle so as to adjust the vehicle lamp from the first position to the second position, ensuring the position accuracy of the vehicle lamp.

[0098] In some embodiments, in the embodiments of the present application, a method for determining the position of a vehicle lamp is provided. Based on the second position, a laser sensor is controlled to perform multiple distance measurements on a first wall surface to obtain multiple second distances between the vehicle lamp and the first wall surface, including:

[0099] Step S401, obtain a second angle range and a second angle adjustment interval corresponding to the second position.

[0100] In this embodiment, the second angle range and the second angle adjustment interval corresponding to the second position are obtained, where the second angle range is the ranging angle range of the laser sensor at the second position, and the second angle adjustment interval is the angle interval in the second angle range.

[0101] Exemplarily, the first angle range can be a range of plus or minus 1 degree, and the first angle adjustment interval is 0.05 degree.

[0102] Step S402, determine multiple different second angles according to the second angle range and the second angle adjustment interval, where the multiple second angles correspond one-to-one to the multiple second distances.

[0103] Based on the second angle adjustment interval, the second angle range is divided to obtain multiple different second angles, where the multiple second angles correspond one-to-one to the multiple second distances.

[0104] Exemplarily, under the condition that the second tilt angle is the tilt angle of the vehicle lamp in the vertical direction, the second angle range is the angle range in the vertical direction. Based on the second angle adjustment interval, the angle range in the vertical direction is evenly divided to obtain multiple different second angles.

[0105] Exemplarily, under the condition that the second tilt angle is the tilt angle of the vehicle lamp in the horizontal direction, the second angle range is the angle range in the horizontal direction. Based on the second angle adjustment interval, the angle range in the horizontal direction is evenly divided to obtain multiple different second angles.

[0106] Exemplarily, under the condition that the second tilt angle may include the tilt angles of the vehicle headlight in the horizontal and vertical directions, 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 adjustment interval, the angle range in the vertical direction is evenly divided, and then based on the second angle adjustment interval, the angle range in the horizontal direction is evenly divided, thereby obtaining a plurality of different second angles.

[0107] Exemplarily, within the range of plus or minus 1 degree, it is divided by 0.05 degrees to obtain a plurality of second angles such as +0.05 degrees, +0.10 degrees, +0.15 degrees, +0.20 degrees, +0.25 degrees, +0.30 degrees, +0.35 degrees, +0.40 degrees, +0.45 degrees, +0.50 degrees, +0.55 degrees, +0.60 degrees, +0.65 degrees, +0.70 degrees, +0.75 degrees, +0.80 degrees, +0.85 degrees, +0.90 degrees, +0.95 degrees, +1.00 degrees, -0.05 degrees, -0.10 degrees, -0.15 degrees, -0.20 degrees, -0.25 degrees, -0.30 degrees, -0.35 degrees, -0.40 degrees, -0.45 degrees, -0.50 degrees, -0.55 degrees, -0.60 degrees, -0.65 degrees, -0.70 degrees, -0.75 degrees, -0.80 degrees, -0.85 degrees, -0.90 degrees, -0.95 degrees, -1.00 degrees.

[0108] Step S403: Use a laser sensor to measure the distance to the first wall surface at a plurality of different second angles multiple times to obtain a plurality of second distances.

[0109] Use a laser sensor to measure the distance to the first wall surface at a plurality of different second angles multiple times to obtain a plurality of second distances.

[0110] In the method for determining the position of the vehicle headlight in this embodiment, by using a laser sensor to measure the distance to the first wall surface at a plurality of different second angles multiple times to obtain a plurality of second distances, the data accuracy of the second distances is ensured.

[0111] In some embodiments, an embodiment of the present application provides a method for determining the position of a vehicle headlight. According to the tilt angle and a plurality of second distances, the vehicle headlight is adjusted from a second position to a target position, including:

[0112] Step S501: Determine the minimum value among the plurality of second distances as the second target distance among the plurality of second distances.

[0113] In this embodiment, determine the minimum value among the plurality of second distances, and determine the minimum value among the plurality of second distances as the second target distance, where the second target distance is the minimum value among the plurality of second distances.

[0114] Exemplarily, by comparing the magnitudes of multiple second distances, the minimum value among the multiple second distances is determined as the second target distance.

[0115] Step S502: Determine the second target angle among multiple second angles according to the second target distance.

[0116] Determine the second target angle among multiple second angles according to the second target distance, where the second target angle is the second angle corresponding to the second target distance.

[0117] Exemplarily, based on the corresponding relationship between multiple second angles and multiple second distances, determine the first target angle among multiple second angles that corresponds to the second target distance.

[0118] Step S503: Determine the third target angle according to the difference between the second target angle and the tilt angle.

[0119] Determine the third target angle according to the difference between the second target angle and the tilt angle, where the third target angle is the difference between the second target angle and the tilt angle.

[0120] Step S504: Control the vehicle lamp to rotate by the third target angle so that the vehicle lamp is adjusted from the second position to the target position.

[0121] Control the vehicle lamp to rotate by the third target angle so that the vehicle lamp is adjusted from the second position to the third position.

[0122] Exemplarily, the vehicle includes multiple control motors of the motor, and the vehicle lamp is rotated by controlling the motor so that the vehicle lamp is adjusted from the second position to the target position.

[0123] In the method for determining the position of the vehicle lamp in this embodiment, according to the minimum value among multiple second distances, the second target angle among multiple second angles is determined, and then the vehicle lamp is controlled to rotate by the third target angle so that the vehicle lamp is adjusted from the second position to the target position, ensuring the position accuracy of the vehicle lamp.

[0124] In some embodiments, in the embodiments of the present application, a method for determining the position of a vehicle lamp is provided. After adjusting the vehicle lamp from the second position to the target position, the method further includes:

[0125] Step S601: Detect the angle of the vehicle lamp through a gyroscope to obtain the second tilt angle of the vehicle lamp.

[0126] In this embodiment, the vehicle further includes a gyroscope. The gyroscope is disposed on the vehicle lamp. The gyroscope is a sensor for measuring the inclination angle and can move along with the vehicle lamp.

[0127] By detecting the angle of the vehicle lamp through the gyroscope, the second tilt angle of the vehicle lamp can be obtained, where the second tilt angle is the tilt angle of the vehicle lamp at the target position.

[0128] Exemplarily, the second tilt angle may be the real-time tilt angle of the vehicle lamp inside the lamp housing.

[0129] Step S602: Update the data of the target position according to the second tilt angle to obtain the updated target position.

[0130] Obtain the preset target tilt angle, compare the second tilt angle with the target tilt angle, and when the second tilt angle is different from the target tilt angle, update the data of the target position according to the second tilt angle to obtain the updated target position.

[0131] Exemplarily, the target tilt angle may be 90 degrees.

[0132] Step S603: Adjust the vehicle lamp to the updated target position.

[0133] Control the rotation of the vehicle lamp so that the vehicle lamp is adjusted to the updated target position.

[0134] In the method for determining the position of the vehicle lamp in this embodiment, the angle of the vehicle lamp is detected by a gyroscope to obtain the second tilt angle of the vehicle lamp, and then the data of the target position is updated according to the second tilt angle to obtain the updated target position, ensuring the position accuracy of the vehicle lamp.

[0135] In some embodiments, as Figure 2 shown, an embodiment of the present application provides a method for determining the position of a vehicle lamp, including:

[0136] S1: Determine whether the vehicle is in the P gear. If so, execute S2; if not, end.

[0137] S2: Read the set limited initial downward inclination angle a0.

[0138] S3: Record the current position A0 of the lighting module.

[0139] S4: Start the laser sensor.

[0140] S5: Taking A0 as the reference, perform scanning within the range of plus or minus 3 degrees with an accuracy of 0.5 degrees, and record the distance each time of scanning.

[0141] S6: The controller solves the minimum distance and records the corresponding scanning angle a1.

[0142] S7: The controller drives the adjustment motor to rotate the lighting module by a1 and records the current position A1.

[0143] S8: Determine whether the angle a1 is positive. If so, execute S9; if not, execute S10.

[0144] S9. With A1 as the reference, perform a scan within the range of +1 degree with an accuracy of 0.05 degrees, and record the distance for each scan.

[0145] S10. With A1 as the reference, perform a scan within the range of -1 degree with an accuracy of 0.05 degrees, and record the distance for each scan.

[0146] S11. The controller solves for the minimum distance and records the corresponding scan angle a2.

[0147] S12. The controller drives and adjusts the motor to rotate the lighting module by (a2 - a0).

[0148] In this embodiment, the vehicle lamp can be a lighting module. Determine whether the vehicle is in the P gear (parking gear). If not, directly end. If the vehicle is in the P gear, read the set limited initial downward tilt angle a0 and record the current position A0 of the lighting module.

[0149] Start the laser sensor. With A0 as the reference, perform scans within the range of +-3 degrees with an accuracy of 0.5 degrees, and record the distance for each scan.

[0150] The controller solves for the minimum distance and records the corresponding scan angle a1. Determine whether the angle a1 is positive. If it is positive, with A1 as the reference, perform a scan within the range of +1 degree with an accuracy of 0.05 degrees, and record the distance for each scan. If it is not positive, with A1 as the reference, perform a scan within the range of -1 degree with an accuracy of 0.05 degrees, and record the distance for each scan.

[0151] The controller solves for the minimum distance and records the corresponding scan angle a2. The controller drives and adjusts the motor to rotate the lighting module by (a2 - a0).

[0152] In some embodiments, as Figure 3 shown, in the embodiments of the present application, a device 700 for determining the position of a vehicle lamp is provided, including:

[0153] An acquisition unit 702, configured to acquire the first position of the vehicle lamp inside the lamp housing and the first tilt angle of the vehicle lamp at the first position when the vehicle lamp faces the first wall surface;

[0154] A control unit 704, configured to control the laser sensor to perform multiple distance measurements on the first wall surface based on the first position to obtain multiple first distances between the vehicle lamp and the first wall surface;

[0155] The control unit 704 is further configured to adjust the vehicle lamp from the first position to the second position according to the multiple first distances;

[0156] The control unit 704 is further configured to control the laser sensor to perform multiple distance measurements on the first wall surface based on the second position to obtain multiple second distances between the vehicle lamp and the first wall surface;

[0157] The control unit 704 is further configured to adjust the vehicle lamp from the second position to the target position according to the tilt angle and a plurality of second distances.

[0158] The vehicle lamp position determination device 700 in this embodiment determines the target position of the vehicle lamp through the laser sensor and the first wall surface, simplifies the calibration process of the vehicle lamp position, improves the calibration efficiency of the vehicle lamp position, and meanwhile, saves the calibration cost of the vehicle lamp position.

[0159] In some embodiments, the embodiment of the present application provides a vehicle lamp position determination device 700, further including:

[0160] The control unit 704 is further configured to obtain the first angle range and the first angle adjustment interval corresponding to the first position;

[0161] 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;

[0162] The control unit 704 is further configured to perform multiple distance measurements on the first wall surface at a plurality of different first angles through the laser sensor to obtain a plurality of first distances.

[0163] In some embodiments, the embodiment of the present application provides a vehicle lamp position determination device 700, further including:

[0164] The control unit 704 is further configured to determine the minimum value among the plurality of first distances as the first target distance among the plurality of first distances;

[0165] The control unit 704 is further configured to determine the first target angle among the plurality of first angles according to the first target distance;

[0166] The control unit 704 is further configured to control the vehicle lamp to rotate by the first target angle so as to adjust the vehicle lamp from the first position to the second position.

[0167] In some embodiments, the embodiment of the present application provides a vehicle lamp position determination device 700, further including:

[0168] The control unit 704 is further configured to obtain the second angle range and the second angle adjustment interval corresponding to the second position;

[0169] 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 one by one;

[0170] The control unit 704 is further configured to measure the distance to the first wall surface multiple times at multiple different second angles through a laser sensor to obtain multiple second distances.

[0171] In some embodiments, an apparatus 700 for determining the position of a vehicle headlight provided in an embodiment of the present application further includes:

[0172] The control unit 704 is further configured to determine the minimum value among the multiple second distances as the second target distance among the multiple second distances;

[0173] The control unit 704 is further configured to determine a second target angle among the multiple second angles according to the second target distance;

[0174] The control unit 704 is further configured to determine a third target angle according to the difference between the second target angle and the tilt angle;

[0175] The control unit 704 is further configured to control the vehicle headlight to rotate by the third target angle so as to adjust the vehicle headlight from the second position to the target position.

[0176] In some embodiments, an apparatus 700 for determining the position of a vehicle headlight provided in an embodiment of the present application further includes:

[0177] The control unit 704 is further configured to detect the angle of the vehicle headlight through a gyroscope to obtain a second tilt angle of the vehicle headlight;

[0178] The control unit 704 is further configured to update the data of the target position according to the second tilt angle to obtain an updated target position;

[0179] The control unit 704 is further configured to adjust the vehicle headlight to the updated target position.

[0180] In some embodiments, as Figure 4 shown, an apparatus 800 for determining the position of a vehicle headlight is proposed. The apparatus 800 for determining the position of a vehicle headlight includes a processor 802 and a memory 804. A computer program is stored in the memory 804. When the computer program is executed by the processor 802, the steps of the method for determining the position of a vehicle headlight in any of the above embodiments are implemented. Therefore, the apparatus 800 for determining the position of a vehicle headlight has all the beneficial effects of the method for determining the position of a vehicle headlight in any of the above embodiments, which will not be elaborated herein.

[0181] 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 headlight in any of the above embodiments are implemented, and thus it has all the beneficial technical effects of the method for determining the position of a vehicle headlight in any of the above embodiments.

[0182] In some embodiments, a vehicle is provided, including: a headlight position determination device as in any of the above embodiments, and / or a readable storage medium as in any of the above embodiments. Therefore, it has all the beneficial technical effects of the headlight position determination device as in any of the above embodiments, and / or the readable storage medium as in any of the above embodiments, and will not be elaborated herein.

[0183] In some embodiments, the vehicle further includes:

[0184] a headlight, a lamp housing, and a laser sensor. The headlight is disposed in the lamp housing, and the laser sensor is disposed on the headlight;

[0185] a first motor and a second motor. The first motor and the second motor are disposed in the lamp housing and are respectively connected to the headlight for regulating the position of the headlight.

[0186] Exemplarily, as Figure 5 shown, the vehicle 900 includes a headlight 902, a lamp housing 904, a laser sensor 906, a controller 908, a first motor 910, and a second motor 912. Among them, the first motor 910 is a horizontal adjustment motor, and the second motor 912 is a vertical adjustment motor.

[0187] It should be noted that in the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0188] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-readable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-readable program codes.

[0189] The present application is described with reference to the flowcharts and / or block diagrams of 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 can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 this process or multiple processes and / or blocks Figure 1 this block or multiple blocks.

[0190] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more of the procedures Figure 1 one or more of the procedures and / or blocks Figure 1 one or more of the blocks.

[0191] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the procedures Figure 1 one or more of the procedures and / or blocks Figure 1 one or more of the blocks.

[0192] An embodiment of the present application also provides a computer program product, which includes computer software instructions that, when running on a processing device, cause the processing device to execute the procedures of the method for determining the position of a vehicle headlight.

[0193] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the procedures or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be stored by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0194] Those skilled in the art can clearly understand that, for the sake of convenience and brevity of description, the specific working processes of the systems, apparatuses, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0195] In several embodiments provided by the present application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed coupling, direct coupling, or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.

[0196] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0197] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0198] 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, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present application. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs, and other various media that can store program codes.

[0199] The above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of various embodiments of the present application.

[0200] Although the preferred embodiments of this specification have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of this specification.

[0201] 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 equivalent technologies, 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 first 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 a target position according to the first 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 first 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; 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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