A vehicle light control method, a vehicle light system and a vehicle

Abstract

The embodiment of the present application discloses a method for controlling a headlight, a headlight system and a vehicle, which are used to accurately track a target object when the posture data of the vehicle changes. The method includes: first, obtaining a first relative position of the target object relative to the vehicle. Secondly, obtaining a change in the first posture data. Thirdly, obtaining a second relative position based on the change in the first posture data. Finally, based on the second relative position, controlling the first headlight state to be different from the second headlight state. The second headlight area in the second headlight state is used to form a shadow area in the light beam emitted from the first headlight area in the first headlight state. Tracking the target object means that the shadow area formed by the headlight system covers the circumscribed contour of the target object. For example, tracking the target object means that the light beam emitted from the second headlight area in the second headlight state can always cover the circumscribed contour of the target object.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving, and in particular to a method for controlling vehicle lights, a vehicle light system, and a vehicle. Background Art

[0002] Improper use of high beams can easily cause dazzle or blindness to other drivers, posing certain safety risks. The adaptive driving beam (ADB) system senses the position of the vehicle in front and turns off part of the high beams according to the position of the vehicle in front to form a shadow area covering the vehicle in front, preventing the high beam from causing dazzle or blindness to the driver of the vehicle in front.

[0003] However, there is a certain delay in the process from the ADB system detecting the vehicle in front to the formation of the shadow area. This delay may cause a deviation between the position of the shadow area and the vehicle in front, making it impossible for the shadow area to accurately cover the vehicle in front. In this case, the high beam emitted by the turned-on lamp beads in the high beam will shine on the vehicle in front, causing the driver of the vehicle in front to be dazzled or blinded. Summary of the invention

[0004] The embodiments of the present application provide a vehicle light control method, a vehicle light system, and a vehicle, which can accurately track a target object when the posture data of the vehicle changes.

[0005] In a first aspect, an embodiment of the present application provides a method for controlling a headlight, the method comprising: first, obtaining a first relative position of a target object relative to a vehicle. The first relative position is the position of the target object in a first headlight coordinate system of the vehicle. Secondly, obtaining a first posture data change amount, the first posture data change amount is used to indicate the change of the posture data of the vehicle during driving. Thirdly, obtaining a second relative position, the second relative position is the relative position to which the position of the target object relative to the vehicle changes from the first relative position after the first posture data change amount. The second relative position is the position of the target object in a second headlight coordinate system. The second headlight coordinate system is the headlight coordinate system after the first headlight coordinate system has changed by the first posture data change amount. Finally, according to the second relative position, controlling the first headlight state to be different from the second headlight state, the headlight system of the vehicle includes a first headlight area and a second headlight area, the first headlight state is the state of the first headlight area, the second headlight state is the state of the second headlight area, and the second headlight area corresponds to the second relative position.

[0006] The second headlight area in the second headlight state is used to form a shadow area in the light beam emitted by the first headlight area in the first headlight state. Tracking the target object means that the shadow area formed by the headlight system covers the circumscribed contour of the target object. For another example, tracking the target object means that the light beam emitted by the second headlight area in the second headlight state can always cover the circumscribed contour of the target object.

[0007] By using the method shown in this aspect, the headlight system in the first headlight state and the second headlight state is used to emit a light beam. There is a certain time delay in the process from the vehicle detecting the target object to emitting the light beam. During the time delay, the posture data of the vehicle changes during driving. The vehicle can, within the time delay, based on the detected changes in the posture data of the vehicle during driving, distinguish the first headlight state from the second headlight state, thereby achieving accurate tracking of the target object by the light beam emitted by the headlight system.

[0008] Based on the first aspect, in an optional implementation method, controlling the first headlight state to be different from the second headlight state according to the second relative position includes: controlling the first headlight area to be in the first headlight state, the first headlight state is an on state, the first headlight area in the first headlight state emits a first light beam, the first light beam is projected to a first target area, the first target area is different from the area where the target object is located; controlling the second headlight area to be in the second headlight state, the second headlight state is an off state.

[0009] With this implementation, the second headlight area in the off state can form a shadow area in the first light beam emitted by the first headlight area in the on state, and the shadow area can accurately cover the circumscribed contour of the target object, effectively preventing the first light beam from irradiating the target object. If the target object is a vehicle, the driver driving the target object is avoided from being dazzled or blinded.

[0010] Based on the first aspect, in an optional implementation method, controlling the first headlight state to be different from the second headlight state according to the second relative position includes: controlling the first headlight area to be in the first headlight state, the first headlight area in the first headlight state emits a first light beam, and the first light beam is projected to a first target area to display a first light spot; controlling the second headlight area to be in the second headlight state, the second headlight area in the second headlight state emits a second light beam, and the second light beam is projected to a second target area to display a second light spot, the second target area is the area where the target object is located, the first target area is different from the second target area, and the first light spot is different from the second light spot.

[0011] By adopting this implementation, the second light spot can illuminate the target object, and the second light spot can accurately track the target object through the first light spot and the second light spot which are different from each other.

[0012] Based on the first aspect, in an optional implementation manner, the first light spot is different from the second light spot by at least one of the following:

[0013] The brightness of the first light spot is different from that of the second light spot, the color of the first light spot is different from that of the second light spot, and the flashing frequency of the first light spot is different from that of the second light spot.

[0014] By adopting this implementation, based on the mutually different first light spot and second light spot, the efficiency of tracking the target object through the second light spot can be improved, and when the second light spot is irradiated on the target object, the accuracy and efficiency of identifying the target object are improved.

[0015] Based on the first aspect, in an optional implementation, controlling the first headlight state to be different from the second headlight state according to the second relative position includes: at a first emission moment, controlling the first headlight state to be different from the second headlight state; after controlling the first headlight state to be different from the second headlight state according to the second relative position, the method further includes: obtaining a third relative position of the target object relative to the vehicle; obtaining a second posture data change amount, the second posture data change amount is used to indicate a change in posture data of the vehicle during driving; obtaining a fourth relative position, the fourth relative position being the target object after the second posture data change amount. The position of the target object relative to the vehicle changes from the third relative position to the relative position; at the second emission moment, according to the third relative position, the third headlight state is controlled to be different from the fourth headlight state, the headlight system includes a third headlight area and a fourth headlight area, the third headlight state is the state of the third headlight area, the fourth headlight state is the state of the fourth headlight area, the fourth headlight area corresponds to the fourth relative position, the first emission moment is earlier than the second emission moment, and the orthographic projection of the second headlight area in the spatial coordinate system at least partially overlaps with the orthographic projection of the fourth headlight area in the spatial coordinate system.

[0016] With this implementation, the orthographic projection of the second headlight area in the spatial coordinate system at least partially overlaps with the orthographic projection of the fourth headlight area in the spatial coordinate system, effectively suppressing the jitter in the process of tracking the target object. For example, the fourth headlight area in the fourth headlight state is used to form a second shadow area in the light beam emitted by the third headlight area in the third headlight state. Tracking the target object means that the first shadow area and the second shadow area both cover the circumscribed contour of the target object. Because the orthographic projection of the second headlight area in the spatial coordinate system at least partially overlaps with the orthographic projection of the fourth headlight area in the spatial coordinate system, then the first shadow area and the second shadow area at least partially overlap, effectively suppressing the jitter between the first shadow area and the second shadow area. For another example, tracking the target object means that the light beam emitted by the second headlight area in the second headlight state and the light beam emitted by the fourth headlight area in the fourth headlight state can always cover the circumscribed contour of the target object. Since the orthographic projection of the second headlight area in the spatial coordinate system at least partially overlaps with the orthographic projection of the fourth headlight area in the spatial coordinate system, the jitter between the light beam emitted by the second headlight area in the second headlight state and the light beam emitted by the fourth headlight area in the fourth headlight state is effectively suppressed.

[0017] Based on the first aspect, in an optional implementation, the absolute value of the difference between the number of lamp beads included in the second headlight area and the number of lamp beads included in the fourth headlight area is less than a preset value. It can be understood that the number of lamp beads included in the second headlight area is equal to or approximately equal to the number of lamp beads included in the fourth headlight area.

[0018] By adopting this implementation method to control the headlight system, at different emission times, the absolute value of the difference between the number of lamp beads included in the second headlight area and the number of lamp beads included in the fourth headlight area is less than a preset value. This ensures that the headlight system emits light beams with the same or nearly the same brightness at different emission times, thereby improving driving safety.

[0019] Based on the first aspect, in an optional implementation, the headlight system includes a headlight posture data detection module, and the headlight posture data detection module is used to detect the posture data of the headlight. The obtaining of the first posture data change includes: obtaining the first posture data change through the headlight posture data detection module, and the first posture data change is used to indicate the change in posture data of the headlight system during driving of the vehicle.

[0020] By adopting this implementation, the headlight posture data detection module detects the change in the posture data of the headlight system during the driving of the vehicle, thereby improving the accuracy of tracking the target object.

[0021] Based on the first aspect, in an optional implementation, the vehicle includes a body posture data detection module, and the body posture data detection module is used to detect the posture data of the vehicle body. The obtaining of the first posture data change includes: obtaining the first posture data change through the body posture data detection module, and the first posture data change is used to indicate the change in the posture data of the headlight system of the vehicle during driving.

[0022] By adopting this implementation method, the change in the posture data of the vehicle body during driving is detected through the vehicle body posture data detection module. The vehicle converts the change in the posture data of the vehicle body during driving into the change in the posture data of the vehicle lighting system during driving, thereby effectively improving the accuracy of tracking the target object.

[0023] Based on the first aspect, in an optional implementation manner, obtaining a first relative position of the target object relative to the vehicle includes:

[0024] Obtaining the first relative position of the target object relative to the vehicle lighting system; obtaining a change in the first posture data, wherein the position of the target object relative to the vehicle changes from the first relative position to the second relative position, includes: obtaining a change in the first posture data, wherein the position of the target object relative to the vehicle lighting system changes from the first relative position to the second relative position.

[0025] With this implementation, the first relative position is the coordinate of the target object in the first headlight coordinate system, and the second relative position is the coordinate of the target object in the second headlight coordinate system. The position of the second headlight coordinate system is changed by the first posture data change amount relative to the position of the first headlight coordinate system. The position of the second headlight coordinate system is obtained through the first posture data change amount and the first headlight coordinate system, and then the coordinate of the target object is obtained in the second headlight coordinate system, thereby improving the accuracy of tracking the target object.

[0026] Based on the first aspect, in an optional implementation, the target object is a target vehicle around the host vehicle, and before obtaining the second relative position, the method also includes: receiving a change in target posture data from the target vehicle, and the change in target posture data is used to indicate a change in posture of the target vehicle during driving; obtaining the second relative position includes: obtaining the second relative position, and the second relative position is the relative position to which the target vehicle changes from the first relative position to the host vehicle after the change in the first posture data and the change in the target posture data.

[0027] As shown in the present implementation, the second relative position can be obtained based on the first posture data change of the vehicle and the target posture data change of the target vehicle. Then, a change in at least one of the first posture data change or the target posture data change of the target vehicle will cause a change in the second relative position. Therefore, even if at least one of the first posture data change or the target posture data change of the target vehicle changes, the light beam emitted by the headlight system can accurately track the target object.

[0028] Based on the first aspect, in an optional implementation method, obtaining the change in first posture data includes: obtaining the first posture data of the vehicle at a first moment; obtaining the second posture data of the vehicle at a second moment, the first moment being earlier than the second moment; obtaining the change in the first posture data, the change in the first posture data being the change in the second posture data relative to the first posture data.

[0029] By adopting this implementation method, the vehicle obtains the corresponding first posture data change according to the first posture data and the second posture data obtained at different times. The vehicle can control the first headlight state and the second headlight state of the headlight system according to the change of the posture data, thereby realizing accurate tracking of the target object by the light beam emitted by the headlight system.

[0030] Based on the first aspect, in an optional implementation manner, before obtaining the first relative position of the target object relative to the vehicle, the method further includes: detecting the target object at the first moment.

[0031] With this implementation, when the vehicle detects the target object, it obtains the first posture data of the vehicle, thereby ensuring that the vehicle tracks the target object accordingly based on the change of the vehicle posture data, thereby achieving accurate tracking of the target object.

[0032] Based on the first aspect, in an optional implementation, the posture data includes at least one of the following:

[0033] The vehicle position, three-axis speed, three-axis acceleration, three-axis posture angle or three-axis angular velocity. Specifically, the posture data includes at least one of the following: the position of the lighting system, the three-axis speed of the lighting system, the three-axis acceleration of the lighting system, the three-axis posture angle of the lighting system or the three-axis angular velocity of the lighting system. Among them, the position of the lighting system specifically includes the latitude, longitude and altitude of the lighting system. The three-axis speed of the lighting system includes the speed of the lighting system along the X-axis direction, the speed along the Y-axis direction and the speed along the Z-axis direction. The three-axis acceleration of the lighting system includes the acceleration of the lighting system along the X-axis direction, the acceleration along the Y-axis direction and the acceleration along the Z-axis direction. The three-axis posture angle of the lighting system includes a first posture angle, a second posture angle and a third posture angle, the first posture angle is the angle of rotation of the lighting system around the X direction, also called the pitch angle. The second posture angle is the angle of rotation of the lighting system around the Y direction, also called the yaw angle. The third posture angle is the angle of rotation of the lighting system around the Z direction, also called the roll angle. The three-axis angular velocity of the vehicle light system includes an angular velocity of a first posture angle, an angular velocity of a second posture angle, and an angular velocity of a third posture angle.

[0034] By adopting this implementation method, the change of the posture data of the headlight system of the vehicle can be accurately obtained, so that the headlight state of the headlight system can be controlled according to the change of the posture data, and the accurate tracking of the target object can be achieved.

[0035] Based on the first aspect, in an optional implementation method, the coordinates of the first shadow area of ​​the target object in the first headlight coordinate system and the coordinates of the second shadow area in the second headlight coordinate system are the same in the spatial coordinate system, so that the position of the shadow area formed by the light beam emitted by the headlight system does not change in the spatial coordinate system, and can always cover the circumscribed contour of the target object, ensuring that the shadow area formed by the light beam emitted by the headlight system always accurately tracks the target object and effectively suppresses the jitter of the shadow area.

[0036] In the second aspect, the embodiment of the present application provides a headlight system, including a matrix headlight and a control unit, the control unit is connected to the matrix headlight; the control unit is used to: obtain a first relative position of a target object relative to the vehicle; obtain a first posture data change amount, the first posture data change amount is used to indicate the change of posture data of the vehicle during driving; obtain a second relative position, the second relative position is the relative position from which the position of the target object relative to the vehicle changes from the first relative position to after the first posture data change amount; according to the second relative position, the first headlight state of the matrix headlight is controlled to be different from the second headlight state, the matrix headlight includes a first headlight area and a second headlight area, the first headlight state is the state of the first headlight area, the second headlight state is the state of the second headlight area, and the second headlight area corresponds to the second relative position. According to this aspect, the headlight system executes the headlight control method as described in any one of the first aspects, and the specific execution process and beneficial effects are described in the first aspect, and no further details are given.

[0037] Based on the second aspect, in an optional implementation, the vehicle lighting system includes a sensing system, the sensing system is used to detect the position of the target object, and the control unit is used to obtain the first relative position through the position of the target object detected by the sensing system.

[0038] As shown in this implementation, the vehicle lighting system can detect the target object and detect the coordinates of the target object in the perception coordinate system to achieve accurate tracking of the target object.

[0039] Based on the second aspect, in an optional implementation, the control unit is used to connect to a sensing system included in the vehicle; the sensing system is used to detect the position of the target object, and the control unit is used to obtain the first relative position through the position of the target object detected by the sensing system.

[0040] In a third aspect, an embodiment of the present application provides a vehicle, comprising a vehicle lighting system as shown in the second aspect.

[0041] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising a headlight system and a vehicle domain controller, wherein the vehicle domain controller is connected to the headlight system; the vehicle domain controller is used to: obtain a first relative position of a target object relative to the vehicle; obtain a first posture data change amount, wherein the first posture data change amount is used to indicate the change of posture data of the vehicle during driving; obtain a second relative position, wherein the second relative position is the relative position to which the position of the target object relative to the vehicle changes from the first relative position after the first posture data change amount; according to the second relative position, the first headlight state of the headlight system is controlled to be different from the second headlight state, wherein the headlight system comprises a first headlight area and a second headlight area, wherein the first headlight state is the state of the first headlight area, and the second headlight state is the state of the second headlight area, and the second headlight area corresponds to the second relative position. As shown in this aspect, the headlight control method shown in the first aspect is implemented by the vehicle domain controller of the vehicle, and the specific execution process and beneficial effects are described in the first aspect, and the specific details are not repeated.

[0042] In a fifth aspect, the present application provides a headlight system, comprising a matrix headlight and a control unit, wherein the control unit is connected to the matrix headlight, and the control unit is used to: control the matrix headlight to emit a first light beam at a first emission time, wherein the first light beam is used to form a first shadow area; after the posture data of the vehicle changes, control the matrix headlight to emit a second light beam at a second emission time, wherein the second light beam is used to form a second shadow area, wherein the area covered by the first shadow area and the area covered by the second shadow area at least partially overlap, and the first emission time is earlier than the second emission time.

[0043] According to the present aspect, there is a certain time delay in the process from the vehicle detecting the target object to the outgoing light beam. During the time delay, the posture data of the vehicle changes during driving. The vehicle can control the first shadow area and the second shadow area formed at different emission times to cover the circumscribed contour of the target object within the time delay according to the detected changes in the posture data of the vehicle during driving, and the area covered by the first shadow area and the area covered by the second shadow area at least partially overlap, thereby effectively suppressing the jitter in the process of tracking the target object through the first shadow area and the second shadow area.

[0044] Based on the fifth aspect, in an optional implementation method, the control unit is also used to: receive a change in target posture data from a target vehicle, the change in target posture data is used to indicate a change in posture of the target vehicle during driving; after the posture data of the vehicle changes, the matrix headlights are controlled to emit a second light beam at a second emission moment, specifically, after the first posture data change and the target posture data change, the matrix headlights are controlled to emit the second light beam at the second emission moment, at the first emission moment, the target vehicle is located in an area covered by the first shadow area, and at the second emission moment, the target vehicle is located in an area covered by the second shadow area.

[0045] By adopting the present implementation, the headlight system can be controlled to emit a second light beam according to the change in the posture data of the vehicle and the change in the target posture data of the target vehicle. Then, a change in at least one of the change in the posture data of the vehicle or the change in the target posture data of the target vehicle will cause the emission position of the second light beam to change. Therefore, even if at least one of the change in the posture data of the vehicle or the change in the target posture data of the target vehicle changes, the light beam emitted by the headlight system can accurately track the target object.

[0046] In the sixth aspect, the present application provides a method for controlling a vehicle lamp, controlling a matrix vehicle lamp to emit a first light beam at a first emission time, the first light beam being used to form a first shadow area; after the posture data of the vehicle changes, controlling the matrix vehicle lamp to emit a second light beam at a second emission time, the second light beam being used to form a second shadow area, the area covered by the first shadow area and the area covered by the second shadow area at least partially overlap, and the first emission time is earlier than the second emission time. For a description of the beneficial effects of this aspect, please refer to the fifth aspect, and no further details will be given.

[0047] Based on the sixth aspect, in an optional implementation method, a change in target posture data from a target vehicle is received, and the change in target posture data is used to indicate a change in posture of the target vehicle during driving; after the posture data of the vehicle changes, controlling the matrix headlights to emit a second light beam at a second emission moment includes, after the first posture data change and the target posture data change, controlling the matrix headlights to emit the second light beam at the second emission moment, at the first emission moment, the circumscribed contour of the target vehicle is located in an area covered by the first shadow area, and at the second emission moment, the circumscribed contour of the target vehicle is located in an area covered by the second shadow area.

[0048] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, comprising instructions, which, when executed on a computer, enables the computer to execute a method in any one of the embodiments of the first aspect or the sixth aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A functional block diagram of an embodiment of a vehicle provided by the present application;

[0050] Figure 2 This is a structural example diagram of the first embodiment of the vehicle lighting system provided in this application;

[0051] Figure 3 A flowchart of the first embodiment of the vehicle light control method provided in this application;

[0052] Figure 4 An example diagram of the coordinate transformation process provided for this application;

[0053] Figure 5 for Figure 3 An example diagram of the first application scenario of the provided vehicle light control method;

[0054] Figure 6 for Figure 3 A second example diagram of an application scenario of the provided vehicle light control method;

[0055] Figure 7 for Figure 3 A third example diagram of the application scenario of the vehicle light control method provided;

[0056] Figure 8 for Figure 3 A fourth example diagram of application scenario of the vehicle light control method provided;

[0057] Fig. 9 An example diagram of the second coordinate transformation in the space coordinate system provided by this application;

[0058] Fig.10 A flowchart of the steps of the second embodiment of the vehicle light control method provided in this application;

[0059] Fig.11 for Fig.10 An example diagram of the first application scenario of the provided vehicle light control method;

[0060] Fig.12 for Fig.10 A second example diagram of an application scenario of the provided vehicle light control method;

[0061] Fig.13 A flowchart of the steps of the third embodiment of the vehicle light control method provided in this application;

[0062] Fig.14 for Fig.13 An example diagram of an application scenario of the provided vehicle light control method;

[0063] Fig.15 A flowchart of the fourth embodiment of the vehicle light control method provided in this application;

[0064] Fig.16 A flowchart of the fifth embodiment of the vehicle light control method provided in the present application;

[0065] Fig.17 Another example diagram of the second coordinate transformation in the space coordinate system provided by the present application;

[0066] Fig.18 for Fig.17 An example diagram of an application scenario of the provided vehicle light control method. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0068] The following first describes the vehicle to which this application is applied, see Figure 1 As shown, Figure 1This is a functional block diagram of an embodiment of a vehicle provided by the present application. In one embodiment, the vehicle 100 is configured to be in a fully or partially autonomous driving mode. The vehicle shown in this embodiment includes a sensing system 120, and the sensing system 120 may include a plurality of sensors for sensing the surrounding environment of the vehicle 100. For example, the sensing system 120 may include a positioning system 121, which may be a global positioning system (GPS) system, or a Beidou system or other positioning systems. The sensing system 120 may also include an inertial measurement unit (IMU) 122, a radar 123, a laser rangefinder 124, and a camera 125, etc. The sensing system 120 may also include sensors for monitoring the internal systems of the vehicle 100 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.). The positioning system 121 may be used to estimate the geographic location of the vehicle 100. The IMU 122 is used to sense the position and orientation changes of the vehicle 100 based on inertial acceleration. In one embodiment, IMU122 may be a combination of an accelerometer and a gyroscope. Radar 123 may use radio signals to sense objects in the surrounding environment of vehicle 100. In some embodiments, in addition to sensing objects, radar 123 may also be used to sense the speed and / or direction of travel of surrounding objects. This embodiment does not limit the specific type of radar 123. For example, radar 123 may be a millimeter wave radar or a laser radar. Laser rangefinder 124 may use laser to sense objects in the environment in which vehicle 100 is located. In some embodiments, laser rangefinder 124 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components. Camera 125 may be used to capture multiple images of the surrounding environment of vehicle 100. Camera 125 may be a static camera, a video camera, a single / binocular camera, or an infrared imager.

[0069] The vehicle 100 also includes an advanced driving assistance system (ADAS) 110. ADAS 110 senses the surrounding environment at any time during the driving process of the vehicle, collects data, identifies, detects and tracks static and dynamic objects, and combines navigation map data to perform systematic calculations and analysis, so as to allow the driver to be aware of possible dangers in advance, effectively increasing the comfort and safety of vehicle driving. For example, ADAS 110 can control the vehicle through data obtained by the sensor system 120. For another example, ADAS 110 can control the vehicle through vehicle computer data, where the vehicle computer data can be the main data on the vehicle dashboard (fuel consumption, engine speed, temperature, etc.), vehicle speed information, steering wheel angle information, or vehicle body posture data, etc.

[0070] The vehicle 100 interacts with external sensors, other vehicles, other computer systems, or users through the peripheral devices 130. The peripheral devices 130 may include a wireless communication system 131, an onboard computer 132, a microphone 133, and / or a speaker 134.

[0071] In some embodiments, the peripheral device 130 provides a means for the user of the vehicle 100 to interact with the user interface. For example, the onboard computer 132 can provide information to the user of the vehicle 100. The user interface can also operate the onboard computer 132 to receive input from the user. The onboard computer 132 can be operated through a touch screen. In other cases, the peripheral device 130 can provide a means for the vehicle 100 to communicate with other devices located in the vehicle. For example, the microphone 133 can receive audio (e.g., voice commands or other audio input) from the user of the vehicle 100. Similarly, the speaker 134 can output audio to the user of the vehicle 100.

[0072] The wireless communication system 131 can communicate wirelessly with one or more devices directly or via a communication network. For example, the wireless communication system 131 can use the third generation mobile communication technology (3rd-generation, 3G) cellular communication, such as code division multiple access (code division multiple access, CDMA), global system for mobile communications (global system for mobile communications, GSM), general packet radio service technology (general packet radio service, GPRS). The wireless communication system 131 can use the fourth generation mobile communication technology (the 4th generation mobile communication technology, 4G) cellular communication, such as long term evolution (long term evolution, LTE). The wireless communication system 131 can also use the fifth generation mobile communication technology (5th generation mobile communication technology, 5G) cellular communication. The wireless communication system 131 can communicate using a wireless local area network (WLAN). In some embodiments, the wireless communication system 131 can communicate directly with the device using an infrared link, Bluetooth or ZigBee protocol. The wireless communication system 131 may also utilize various vehicle communication systems. For example, the wireless communication system 131 may include one or more dedicated short range communications (DSRC) devices that may include public and / or private data communications between vehicles and / or roadside stations.

[0073] Some or all functions of the vehicle 100 are controlled by a computer system 140. The computer system 140 may control functions of the vehicle 100 based on input received from various systems (e.g., sensing system 120, ADAS 110, peripheral devices 130) and from a user interface. The computer system 140 may include at least one vehicle domain controller 141 that executes instructions stored in a non-transitory computer-readable medium such as a memory 142. The computer system 140 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner. This embodiment does not limit the type of the vehicle domain controller 141. For example, the vehicle domain controller 141 may be one or more field-programmable gate arrays (FPGA), application specific integrated circuits (ASIC), system on chip (SoC), central processor unit (CPU), network processor (NP), digital signal processor (DSP), micro controller unit (MCU), programmable logic device (PLD) or other integrated chips, or any combination of the above chips or processors. The vehicle domain controller 141 may be located inside the vehicle, or the vehicle domain controller 141 may be located away from the vehicle and communicate wirelessly with the vehicle.

[0074] In some embodiments, the memory 142 may include instructions (e.g., program logic) that can be executed by the vehicle domain controller 141 to perform various functions of the vehicle 100. In addition to instructions, the memory 142 may also store data, such as map data, route information, the vehicle's location, direction, speed, and other vehicle data. The information stored in the memory 142 can be used by the vehicle 100 and the computer system 140 during the operation of the vehicle 100 in autonomous, semi-autonomous and / or manual modes. The vehicle 100 shown in this embodiment also includes a light system 150, the light beam emitted by the light system 150 can display a specific light type around the vehicle 100. The light system shown in this embodiment can be applied not only to vehicles, but also to driving tools such as ships, airplanes, and helicopters, without specific limitation.

[0075] Figure 2This is a diagram showing the structure of the first embodiment of the vehicle light system provided in this application. The vehicle light system 200 shown in this embodiment can be a vehicle headlight, front fog light, turn signal or rear taillight, etc., without specific limitation. The vehicle light system 200 specifically includes a control unit 201, a vehicle light posture data detection module 202, a sensor system 205 and a matrix vehicle light 204. The control unit 201 is connected to the vehicle light posture data detection module 202, the sensor system 205 and the matrix vehicle light 204 respectively. For a description of the type of the control unit 201, please refer to Figure 1 The vehicle domain controller type shown in the figure is not specifically limited. In this embodiment, the control unit 201 is taken as a headlamp control module (HCM) as an example. The vehicle lamp system 200 includes the sensor system 205 as an example. In other examples, the vehicle lamp system 200 may not include the sensor system 205, but instead Figure 1The sensor system 120 of the vehicle shown obtains sensor data. The matrix headlight 204 shown in this embodiment specifically includes a light source and an imaging engine. The light source is used to send a projection beam to the imaging engine. The type of the light source is not limited in this embodiment. For example, the light source may be a single laser or a laser array. The laser array is a plurality of lasers arranged in an array. The laser may be a laser diode (LD), a light emitting diode (LED), a vertical cavity surface emitting laser (VCSEL) or a Fabry-Perot laser, etc. The imaging engine is used to modulate the projection beam from the light source to emit a beam. The type of the imaging engine is not limited in this embodiment. For example, the imaging engine 204 may be a liquid crystal display (LCD), a digital micromirror device (DMD), a liquid crystal on silicon (LCOS) or a micro electro mechanical system (MEMS), etc. Taking the imaging engine 204 as DMD as an example, the DMD includes a plurality of lamp beads arranged in a matrix, each lamp bead is a lens, and each lens can be controlled by the control unit 201 to deflect at an angle. The control unit 201 controls the state of each lamp bead by controlling the deflection angle of each lens. The state of the lamp bead includes opening, closing or brightness, etc., which is not specifically limited. This embodiment does not limit the structure of the matrix headlight. For example, the matrix headlight includes a plurality of lamp beads arranged in a matrix, each lamp bead can be an LED, etc., each lamp bead is connected to the control unit 201, and the control unit 201 can control the state of each lamp bead. The headlight posture data detection module 202 is used to detect the posture data of the headlight system 200. The posture data of the headlight system 200 can be the position of the headlight system 200, the three-axis speed of the headlight system 200, the three-axis acceleration of the headlight system 200, the three-axis posture angle of the headlight system 200, or the three-axis angular velocity of the headlight system 200, etc., which is not specifically limited. This embodiment does not limit the type of the headlight posture data detection module 202. For example, the headlight posture data detection module 202 may be an inertial measurement unit (IMU). In this embodiment, the headlight system may include an outer shell, and the headlight posture data detection module 202 is fixed at any position in the outer shell, so that the headlight posture data detection module 202 can accurately detect changes in the posture data of the headlight system.

[0076] Figure 3This is a flowchart of the first embodiment of the vehicle light control method provided in this application. Figure 3 The vehicle light control method shown is taken as an example, and the vehicle light system is taken as an ADB system as an example.

[0077] Step 301: A control unit obtains a first sensing coordinate from a sensing system.

[0078] This embodiment takes the target object as the vehicle around the vehicle as an example. This embodiment takes the target object as the vehicle in front of the vehicle as an example, without limitation, for example, the target object may also be a vehicle at any position such as the rear, left side or right side of the vehicle. This embodiment takes the target object as a vehicle as an example, in other examples, the target object may also be pedestrians, traffic signs, traffic lights, etc. or any object around the vehicle. The target object shown in this embodiment may also be a specific road condition in the path to be driven by the vehicle, for example, an intersection, lane line or sidewalk around the vehicle.

[0079] Figure 4 This is an example diagram of the coordinate transformation process provided in this application. First, the sensor system detects the target object at the first detection time Ta1. For the description of the sensor system, please refer to Figure 1 or Figure 2As shown, the specific details are not repeated. In this embodiment, the camera included in the sensing system is used to detect the target object as an example, and the camera shoots the target object to obtain a target image. The camera sends the target image to the control unit, and the control unit obtains the first perception coordinates (Xa1, Ya1, Za1) of the target object in the perception coordinate system according to the target image. The first perception coordinates shown in this embodiment may be the coordinates of the frame of the target object in the perception coordinate system. This embodiment does not limit the number of first perception coordinates, as long as the first perception coordinates can mark the target object in the target image. Among them, the control unit can identify the frame of the target object in the target image by edge detection algorithm or deep learning, and obtain the first perception coordinates (Xa1, Ya1, Za1) of the frame of the target object in the perception coordinate system. In this embodiment, the first perception coordinates (Xa1, Ya1, Za1) are the coordinates of the frame of the target object detected by the control unit in the perception coordinate system, and are not limited. For example, the first perception coordinates (Xa1, Ya1, Za1) obtained by the control unit may be the predicted target object, and the perception coordinates of the perception coordinate system at a future moment are taken as an example. For example, the sensing system detects the target object at an initial time T0, which is earlier than the first detection time Ta1. The sensing system shoots the target object at the initial time T0 to obtain a target image. The control unit obtains the initial perception coordinates (Xa0, Ya0, Za0) of the target object in the perception coordinate system according to the target image. The sensing system is also used to send driving data such as the three-axis speed, three-axis acceleration, three-axis posture angle, three-axis angular velocity or driving direction of the target object to the control unit. The control unit predicts the perception coordinates of the target object in the perception coordinate system at a future moment (i.e., the first detection moment Ta1) based on the vehicle trajectory prediction technology, so as to predict the first perception coordinates (Xa1, Ya1, Za1) of the target object in the perception coordinate system at the first detection moment Ta1. In this embodiment, the sensing system sends a target image to the control unit so that the control unit obtains the first perception coordinates of the target object in the perception coordinate system according to the target image. In other examples, the sensing system may also directly send the first perception coordinates to the control unit.

[0080] This embodiment takes the detection of the target object by the camera included in the sensing system as an example. The perception coordinate system is the camera coordinate system of the camera. The camera coordinate system uses the optical center of the camera as the coordinate origin. The X-axis and the Y-axis are respectively parallel to the horizontal axis and the vertical axis of the image captured by the camera in the shooting plane, and the Z-axis is the direction pointed by the focal length of the camera. This embodiment can also detect the perception coordinates of the target object in the perception coordinate system by the radar included in the sensing system. Then, the perception coordinate system is the radar coordinate system of the radar. For another example, this embodiment can also detect the perception coordinates of the target object in the perception coordinate system by the laser rangefinder included in the sensing system. Then, the perception coordinate system is the laser rangefinder coordinate system of the laser rangefinder.

[0081] Step 302: The control unit obtains a first relative position of the target object relative to the vehicle.

[0082] The first relative position of the target object relative to the vehicle shown in this embodiment refers to the first shadow area coordinates (Xb1, Yb1, Zb1) of the target object in the first vehicle light coordinate system. Figure 4 As shown, in this vehicle, the position of the camera is different from the position of the headlight system, so the coordinate origin of the perception coordinate system is different from the coordinate origin of the headlight coordinate system. At the second detection moment Ta2, the control unit converts the first perception coordinates (Xa1, Ya1, Za1) of the target object in the perception coordinate system into the first shadow area coordinates (Xb1, Yb1, Zb1) of the target object in the first headlight coordinate system through the first coordinate conversion. The specific process of the first coordinate conversion is that the control unit maps the first perception coordinates (Xa1, Ya1, Za1) of the target object in the perception coordinate system to the first shadow area coordinates (Xb1, Yb1, Zb1) in the first headlight coordinate system based on a pre-calibrated transformation matrix. The transformation matrix can also be called a homography matrix, and the homography matrix can include camera intrinsic parameters and extrinsic parameters.

[0083] Step 303: The control unit obtains a change in the first posture data.

[0084] The control unit obtains the first posture data change through the vehicle headlight posture data detection module. For the description of the vehicle headlight posture data detection module, see Figure 2 The corresponding instructions are not elaborated in detail. The headlight posture data detection module detects the first posture data at the first moment T1, and the first posture data is the posture data of the headlight system at the first moment T1 during the driving process of the vehicle. The first moment T1 and the first detection moment Ta1 shown in this embodiment can be the same moment. It can be understood that the sensor system of the vehicle detects the target object while detecting the first posture data of the headlight system. It should be clear that this embodiment does not limit the relationship between the first moment T1 and the first detection moment Ta1. For example, the first moment T1 is later than the first detection moment Ta1, then, after the sensor system successfully detects the target object, the headlight posture data detection module detects the first posture data again. For another example, the first moment T1 is earlier than the first detection moment Ta1, then, before the sensor system successfully detects the target object, the headlight posture data detection module detects the first posture data. This embodiment takes the first moment T1 and the first detection moment Ta1 as the same moment as an example.

[0085] The headlight posture data detection module of the vehicle sends the first posture data to the control unit. The headlight posture data detection module detects the second posture data at the second moment T2, and the second posture data is the posture data of the headlight system of the vehicle at the second moment T2 during driving. The first moment T1 shown in this embodiment is earlier than the second moment T2, and the second moment T2 shown in this embodiment can also be a future moment, that is, the control unit predicts the second posture data of the vehicle at the future moment (i.e., the second moment T2) based on the vehicle trajectory prediction technology according to the first headlight posture data obtained. This embodiment does not limit the relationship between the second moment T2 and the second detection moment Ta2. For example, the second moment T2 can be the same moment as the second detection moment Ta2, then the moment when the headlight posture data detection module detects the second posture data is the same moment as the moment when the control unit performs the first coordinate conversion to obtain the coordinates of the first shadow area. For another example, the second moment T2 can be earlier than the second detection moment Ta2, then the moment when the headlight posture data detection module detects the second posture data is earlier than the moment when the control unit performs the first coordinate conversion to obtain the coordinates of the first shadow area. For another example, the second moment T2 may be later than the second detection moment Ta2, then the moment when the headlight posture data detection module detects the second posture data is later than the moment when the control unit performs the first coordinate transformation to obtain the coordinates of the first shadow area. The headlight posture data detection module sends the second posture data to the control unit. When the control unit receives the first posture data and the second posture data, the change amount of the first posture data can be obtained, wherein the change amount of the first posture data is the change amount of the second posture data relative to the first posture data. The posture data shown in this embodiment is at least one of the following:

[0086] The position of the headlight system, the three-axis speed of the headlight system, the three-axis acceleration of the headlight system, the three-axis posture angle of the headlight system or the three-axis angular velocity of the headlight system. Among them, the position of the headlight system specifically includes the latitude, longitude and altitude of the headlight system. The three-axis speed of the headlight system includes the speed of the headlight system along the X-axis direction, the speed along the Y-axis direction and the speed along the Z-axis direction. The three-axis acceleration of the headlight system includes the acceleration of the headlight system along the X-axis direction, the acceleration along the Y-axis direction and the acceleration along the Z-axis direction. The three-axis posture angle of the headlight system includes a first posture angle, a second posture angle and a third posture angle, and the first posture angle is the angle of rotation of the headlight system around the X direction, also called the pitch angle. The second posture angle is the angle of rotation of the headlight system around the Y direction, also called the yaw angle. The third posture angle is the angle of rotation of the headlight system around the Z direction, also called the roll angle. The three-axis angular velocity of the headlight system includes the angular velocity of the first posture angle, the angular velocity of the second posture angle and the angular velocity of the third posture angle.

[0087] The scene of the vehicle's posture data change can be seen as follows:

[0088] The first application scenario: Figure 5 for Figure 3 The first application scenario example diagram of the vehicle light control method is provided. This scenario takes the vehicle encountering up and down bumps during driving as an example. The vehicle light posture data detection module shown in this example detects the first posture data of the vehicle light system 501 at the first moment T1, and detects the second posture data of the vehicle light system 501 at the second moment T2. Figure 5 As shown, the vehicle 501 encounters an up and down bumping scene as an example, that is, at the first moment T1, the vehicle 501 is in a straight-moving state on the road, and at the first moment T1, the vehicle 501 has a first headlight coordinate system. It can be understood that the vehicle 501 is moving straight along the X-axis direction of the first headlight coordinate system. The vehicle 501 is specifically driving in the driving plane of the first headlight coordinate system, and the driving plane is the XY plane. The XY plane includes the X-axis and the Y-axis of the first headlight coordinate system, and the Z-axis of the first headlight coordinate system is perpendicular to the XY plane. At the second moment T2, the vehicle 501 is in an upward bumping state on the road. Then, at the second moment T2, the vehicle 501 has a second headlight coordinate system. Because the vehicle 501 is in an upward bumping state, the position of the first headlight coordinate system is different from the position of the second headlight coordinate system. Specifically, the coordinate origin of the second headlight coordinate system is lifted in the space coordinate system relative to the coordinate origin of the first headlight coordinate system. The spatial coordinate system shown in this example is created based on the position of the vehicle at the first moment T1. Specifically, the spatial coordinate system uses the position of the driver of the vehicle as the origin O of the spatial coordinate system, the front of the driver's line of sight as the X-axis direction of the spatial coordinate system, and the driver's left (or right) direction as the Y-axis direction of the spatial coordinate system, and the X-axis direction is perpendicular to the Y-axis direction. The Z-axis direction of the spatial coordinate system is perpendicular to the X-axis direction and the Y-axis direction, respectively. It should be clear that the description of the X-axis direction, Y-axis direction and Z-axis direction of the spatial coordinate system in this example is an optional example, and the description of the position of the coordinate origin is also an optional example, without limitation. The description of the creation of the spatial coordinate system in this embodiment is an optional example, without limitation. For example, the spatial coordinate system can also be created based on the target object, and for another example, the spatial coordinate system can also be created based on any position in space, as long as the spatial coordinate system can measure the spatial position of the vehicle and the target object.

[0089] The coordinate origin of the second headlight coordinate system shown in this example is lifted in the space coordinate system relative to the coordinate origin of the first headlight coordinate system, which means that the Y axis of the first headlight coordinate system is parallel to the Y axis of the second headlight coordinate system, and there is an angle between the Z axis of the first headlight coordinate system and the Z axis of the second headlight coordinate system, and there is an angle between the X axis of the first headlight coordinate system and the X axis of the second headlight coordinate system. It can be understood that from the perspective of the side view of the vehicle, the X axis of the first headlight coordinate system deflects counterclockwise to change to the X axis of the second headlight coordinate system, and the Z axis of the first headlight coordinate system deflects counterclockwise to change to the Z axis of the second headlight coordinate system.

[0090] It can be understood that the first posture data of the headlight system of the vehicle at the first moment T1 has changed relative to the second posture data of the headlight system at the second moment T2, so that the headlight coordinate system of the vehicle changes from the first headlight coordinate system to the second headlight coordinate system. In the upward bumpy scene, the changed posture data may be at least one of the position of the headlight system, the three-axis speed of the headlight system, the three-axis acceleration of the headlight system, the three-axis posture angle of the headlight system, or the three-axis angular velocity of the headlight system. For example, the changed posture data shown in this example may be the altitude of the headlight system, the posture angle of the headlight system deflected along the X-axis direction, the posture angle of the headlight system deflected along the Z direction, etc., without specific limitation.

[0091] The second application scenario: Figure 6 for Figure 3 The second application scenario example diagram of the vehicle light control method is provided. This application scenario takes the vehicle encountering a turning scenario during driving as an example. The vehicle light posture data detection module shown in this example detects the first posture data of the vehicle light system 601 at the first moment T1, and detects the second posture data of the vehicle light system 601 at the second moment T2. Figure 6The example shown is that the vehicle 601 encounters a turn at an intersection. Specifically, at the first moment T1, the vehicle 601 is in a straight-moving state on the first road 611, and at the second moment T2, the vehicle 601 turns in the direction of the second road 612. It can be understood that the vehicle 601 turns to the intersection of the first road 611 and the second road 612 at the second moment T2. Because the vehicle 601 turns at the intersection, the posture data of the vehicle 601 headlight system changes. It can be understood that at the first moment T1, the vehicle 601 goes straight along the X-axis direction of the first headlight coordinate system. The vehicle 601 specifically travels in the driving plane (i.e., the XY plane) of the first headlight coordinate system. For the description of the three axes of the first headlight coordinate system, refer to the description of the first headlight coordinate system shown in the first application scenario, and no further details will be given. At the second moment T2, the vehicle 601 appears in a state of turning at the intersection (for example, this example takes the vehicle turning right as an example), so the position of the first headlight coordinate system in the spatial coordinate system is different from the position of the second headlight coordinate system. Specifically, from the perspective of looking down at the vehicle 601, the X-axis of the first headlight coordinate system deflects in a clockwise direction to change to the X-axis of the second headlight coordinate system, and the Y-axis of the first headlight coordinate system deflects in a clockwise direction to change to the Y-axis of the second headlight coordinate system, and the Z-axis of the second headlight coordinate system is parallel to the Z-axis of the first headlight coordinate system. For the description of the spatial coordinate system, please refer to the first application scenario, and the details will not be repeated here.

[0092] It can be understood that the first posture data of the headlight system of the vehicle at the first moment T1 has changed relative to the second posture data of the headlight system at the second moment T2, so that the headlight coordinate system of the vehicle changes from the first headlight coordinate system to the second headlight coordinate system. In the scenario of turning at an intersection, the changed posture data may be at least one of the position of the headlight system, the three-axis speed of the headlight system, the three-axis acceleration of the headlight system, the three-axis posture angle of the headlight system, or the three-axis angular velocity of the headlight system. For example, the changed posture data shown in this example may be the longitude, latitude, posture angle of the headlight system deflected along the X-axis direction, posture angle deflected along the Y-direction, angular velocity of the posture angle of the headlight system deflected along the X-axis direction, angular velocity of the posture angle of the headlight system deflected along the Y-direction, acceleration along the X-axis direction, acceleration along the Y-axis direction, etc., without specific limitation.

[0093] The third application scenario: Figure 7 for Figure 3 The third application scenario example diagram of the vehicle light control method is provided. This application scenario takes the case where the vehicle encounters a lane change during driving as an example. The vehicle light posture data detection module shown in this example detects the first posture data of the vehicle light system 701 at the first moment T1, and detects the second posture data of the vehicle light system 701 at the second moment T2. Figure 7As shown, the example of the vehicle 701 changing lanes from the first road 711 to the second road 712 is taken, and the first road 711 is parallel to the second road 712. In the scene of changing lanes, that is, at the first moment T1, the vehicle 701 is in a straight-moving state on the first road 711, and at the second moment T2, the vehicle 701 turns in the direction of the second road 712. It can be understood that because the vehicle 701 is in a state of changing lanes, the posture data of the vehicle 701 changes. At the first moment T1, the vehicle 701 goes straight along the X-axis direction of the first headlight coordinate system. The vehicle 701 specifically travels in the driving plane (i.e., the XY plane) of the first headlight coordinate system. For the description of the three axes of the first headlight coordinate system, refer to the description of the first headlight coordinate system shown in the first application scenario, and no further details will be given. At the second moment T2, the vehicle 701 changes lanes (for example, in this example, the vehicle turns left). As a result, in the spatial coordinate system, the position of the first headlight coordinate system is different from the position of the second headlight coordinate system. Specifically, from a bird's-eye view of the vehicle 701, the X-axis of the first headlight coordinate system deflects counterclockwise to change to the X-axis of the second headlight coordinate system, and the Y-axis of the first headlight coordinate system deflects counterclockwise to change to the Y-axis of the second headlight coordinate system, and the Z-axis of the second headlight coordinate system is parallel to the Z-axis of the first headlight coordinate system. For a description of the spatial coordinate system, please refer to the first application scenario, which will not be described in detail.

[0094] It can be understood that the first posture data of the headlight system of the vehicle at the first moment T1 has changed relative to the second posture data of the headlight system at the second moment T2, so that the headlight coordinate system of the vehicle changes from the first headlight coordinate system to the second headlight coordinate system. In the scenario of changing lanes, the changed posture data may be at least one of the position of the headlight system, the three-axis speed of the headlight system, the three-axis acceleration of the headlight system, the three-axis posture angle of the headlight system, or the three-axis angular velocity of the headlight system. For example, the changed posture data shown in this example may be the longitude, latitude, posture angle of the headlight system deflected along the X-axis direction, posture angle deflected along the Y-direction, angular velocity of the posture angle of the headlight system deflected along the X-axis direction, angular velocity of the posture angle of the headlight system deflected along the Y-direction, acceleration along the X-axis direction, acceleration along the Y-axis direction, etc., without specific limitation.

[0095] The fourth application scenario: Figure 8 for Figure 3An example diagram of the fourth application scenario of the vehicle light control method is provided. This application scenario takes the overtaking scenario encountered by the vehicle during driving as an example. In the overtaking scenario, that is, at the first moment T1, the vehicle 801 is located behind the target object 802, and at the second moment T2, the vehicle 801 is traveling in the front direction of the target object 802. It can be understood that because the vehicle 801 is in an overtaking state, the posture data of the vehicle 801 changes. Specifically, at the first moment T1, the vehicle 801 is in a straight-ahead state on the first road 811, and at the second moment T2, the vehicle 801 turns in the front direction of the target object 802 located on the second road 812. Because the vehicle 801 overtakes, the posture data of the vehicle light system of the vehicle 801 changes. It can be understood that at the first moment T1, the vehicle 801 is moving straight along the X-axis direction of the first headlight coordinate system. The vehicle 801 is specifically moving in the driving plane (i.e., XY plane) of the first headlight coordinate system. For the description of the three axes of the first headlight coordinate system, please refer to the description of the first headlight coordinate system shown in the first application scenario, and no further details will be given. At the second moment T2, the vehicle 801 is in an overtaking state (for example, this example takes the vehicle turning right as an example), so that the position of the first headlight coordinate system is different from the position of the second headlight coordinate system in the spatial coordinate system. Specifically, from the perspective of looking down at the vehicle 801, the X-axis of the first headlight coordinate system is deflected in the clockwise direction to change to the X-axis of the second headlight coordinate system, and the Y-axis of the first headlight coordinate system is deflected in the clockwise direction to change to the Y-axis of the second headlight coordinate system, and the Z-axis of the second headlight coordinate system is parallel to the Z-axis of the first headlight coordinate system. For the description of the spatial coordinate system, please refer to the first application scenario, and no further details will be given.

[0096] It can be understood that the first posture data of the headlight system of the vehicle at the first moment T1 has changed relative to the second posture data of the headlight system at the second moment T2, so that the headlight coordinate system of the vehicle changes from the first headlight coordinate system to the second headlight coordinate system. In the overtaking scenario, the changed posture data may be at least one of the position of the headlight system, the three-axis speed of the headlight system, the three-axis acceleration of the headlight system, the three-axis posture angle of the headlight system, or the three-axis angular velocity of the headlight system. For example, the changed posture data shown in this example may be the longitude, latitude, posture angle of the headlight system deflected along the X-axis direction, posture angle deflected along the Y-direction, angular velocity of the posture angle of the headlight system deflected along the X-axis direction, angular velocity of the posture angle of the headlight system deflected along the Y-direction, acceleration along the X-axis direction, acceleration along the Y-axis direction, etc., without specific limitation.

[0097] The fifth application scenario: This application scenario means that the driving direction of the vehicle has not changed, but the driving speed of the vehicle has changed. The headlight posture data detection module shown in this example detects the first posture data of the headlight system of the vehicle at the first moment T1, and detects the second posture data of the headlight system of the vehicle at the second moment T2. The posture data shown in this embodiment may be the position of the vehicle and the three-axis speed. In this application scenario, the control unit determines based on the first posture data and the second posture data that the driving direction of the vehicle has not changed, but the vehicle has accelerated or decelerated.

[0098] When the fifth application scenario occurs in the headlight system of this vehicle, the position of the first headlight coordinate system is different from that of the second headlight coordinate system in the spatial coordinate system. Specifically, the X-axis of the second headlight coordinate system is parallel to the X-axis of the first headlight coordinate system, the Y-axis of the second headlight coordinate system is parallel to the Y-axis of the first headlight coordinate system, and the Z-axis of the second headlight coordinate system is parallel to the Z-axis of the first headlight coordinate system. This application scenario changes the positions of the coordinate origin of the first headlight coordinate system at the first moment and the coordinate origin of the second headlight coordinate system at the second moment in the spatial coordinate system.

[0099] In this embodiment, taking the example that the headlight system includes a headlight posture data detection module 202 for detecting the headlight system, the control unit detects the posture data of the headlight system through the headlight posture data detection module 202. In other examples, the headlight system may not include the headlight posture data detection module 202. The control unit of the headlight system is connected to the sensor system of the vehicle, and the sensor system includes a body posture data detection module. The body posture data detection module is used to detect the posture data of the vehicle. Specifically, the body posture data detection module detects the posture data of the body at the first moment T1 and sends it to the control unit. The body posture data detection module detects the posture data of the body at the second moment T2 and sends it to the control unit. The control unit converts the posture data of the body detected at the first moment T1 into the first posture data of the headlight system, and converts the posture data of the body detected at the second moment T2 into the second posture data of the headlight system. The control unit obtains the first posture data change amount according to the first posture data and the second posture data. This embodiment does not limit the device type of the body posture data detection module. For example, the body posture data detection module may be an inertial sensor assembly (ISA).

[0100] Step 304: The control unit obtains a second relative position.

[0101] Step 305: The control unit sends a first driving signal to the matrix headlight according to the second relative position.

[0102] Step 306 : The matrix vehicle light is in a first on state according to the first driving signal.

[0103] The second relative position shown in this embodiment is the coordinate of the target object in the second headlight coordinate system. It can be understood that for the same target object, because the position of the first headlight coordinate system is different from the position of the second headlight coordinate system, the first shadow area coordinate of the target object in the first headlight coordinate system is different from the second shadow area coordinate of the target object in the second headlight coordinate system. The control unit controls the on state of the matrix headlight according to the second shadow area coordinate of the target object in the second headlight coordinate system, so that even if the posture data of the vehicle changes from the first posture data to the second posture data, the shadow area formed by the first light beam emitted by the matrix headlight will accurately cover the circumscribed contour of the target object, effectively avoiding the situation where the first light beam irradiates the target object. Specifically, the control unit can also obtain the first headlight coordinates (Xc2, Yc2, Zc2) when obtaining the second shadow area coordinates in the second headlight coordinate system. The control unit determines the first headlight area and the second headlight area in the matrix headlight according to the second shadow area coordinates and the first headlight coordinates. In the second headlight coordinate system, the first headlight coordinate (Xc2, Yc2, Zc2) is different from the second shadow area coordinate (Xc1, Yc1, Zc1). The control unit of this embodiment can determine the headlight area corresponding to each coordinate in the second headlight coordinate system in the matrix headlight. Then, the control unit determines that in the matrix headlight, the headlight area corresponding to the first headlight coordinate (Xc2, Yc2, Zc2) is the first headlight area, and the headlight area corresponding to the second shadow area coordinate (Xc1, Yc1, Zc1) is the second headlight area. Both the first headlight area and the second headlight area include multiple lamp beads. For a description of the matrix headlight structure, please refer to Figure 2 The corresponding instructions are not elaborated in detail.

[0104] Among them, the first on state means that the control unit sends a first driving signal to the matrix headlight, and the first driving signal is used to drive the first matrix headlight at the first emission time Tout1, the first headlight area is in the first headlight state, and the second headlight area is in the second headlight state. This embodiment takes the first headlight state as the on state and the second headlight state as the off state as an example. When the first headlight state is the on state, each lamp bead included in the first headlight area in the first headlight state is turned on, so that the first headlight area emits a first light beam, and the first light beam is projected to the first target area, and the first target area is different from the area where the target object is located, so as to ensure that the first light beam emitted by the matrix headlight will not irradiate the target object, so that the first light beam will accurately avoid the target object. When the second headlight state is the off state, then each lamp bead included in the second headlight area in the second headlight state is turned off, so that the second headlight area will not emit a light beam. Because the second headlight area will not emit a light beam, the first light beam emitted from the second headlight area will form a shadow area, and the shadow area can accurately cover the circumscribed contour of the target object.

[0105] The following describes the process of the control unit obtaining the coordinates of the second shadow area: Figure 4 As shown, the control unit determines the change of the position of the second headlight coordinate system relative to the position of the first headlight coordinate system according to the change of the first posture data when obtaining the first shadow area coordinates (Xb1, Yb1, Zb1) of the target object in the first headlight coordinate system. The control unit can perform a second coordinate conversion at the third detection moment Ta3 according to the change of the position of the second headlight coordinate system relative to the position of the first headlight coordinate system, thereby obtaining the second shadow area coordinates (Xc1, Yc1, Zc1) of the target object in the second headlight coordinate system. It can be understood that the third detection moment Ta3 shown in this embodiment is later than the second detection moment Ta2. Fig. 9 This is an example diagram of the second coordinate transformation in the spatial coordinate system provided by this application. Figure 5 Corresponding to the first application scenario, when the headlight system of the vehicle has the first posture data at the first moment T1, the first headlight coordinate system has the first spatial position coordinate in the spatial coordinate system. The spatial coordinate system shown in this example is created based on the position of the vehicle at the first moment T1. For the specific creation process, please refer to Figure 5 The corresponding description is not repeated in detail. The posture data of the vehicle's headlight system changes, so that when the vehicle has the second posture data at the second moment T2, the second headlight coordinate system has the second spatial position coordinate in the spatial coordinate system. Figure 5The corresponding description shows that, because the vehicle is bumping upward, the second headlight coordinate system is lifted relative to the first headlight coordinate system in the space coordinate system. For a detailed description of the lift, see Figure 5 The corresponding instructions are not elaborated in detail.

[0106] The space coordinate system where the second headlight coordinate system shown in this example is located is the same space coordinate system as the space coordinate system where the first headlight coordinate system is located. That is, the space coordinate system where the first headlight coordinate system and the second headlight coordinate system are located are both created based on the position where the vehicle is located at the first moment T1. Then, the first headlight coordinate system and the second headlight coordinate system have different positions in the same space coordinate system. The purpose of the control unit performing the second coordinate conversion is to convert the first shadow area coordinates of the target object 900 in the first headlight coordinate system into the second shadow area coordinates of the target object 900 in the second headlight coordinate system according to the first posture data change amount. The first shadow area coordinates have a first orthographic projection in the YZ plane of the space coordinate system, and the second shadow area coordinates have a second orthographic projection in the YZ plane of the space coordinate system. The first orthographic projection and the second orthographic projection at least partially overlap in the YZ plane of the space coordinate system. The first orthographic projection refers to the orthographic projection formed in the YZ plane of the space coordinate system by illuminating the first shadow area coordinates with multiple mutually parallel projection lines, and each projection line is perpendicular to the YZ plane of the space coordinate system. For the description of the second orthographic projection, please refer to the description of the first orthographic projection, and the details will not be repeated here.

[0107] It is understood that the control unit Fig. 9The second coordinate transformation shown converts the first shadow area coordinates of the target object 502 in the first light coordinate system to the second shadow area coordinates in the second light coordinate system. After the second coordinate transformation, the control unit can obtain the second shadow area coordinates and the first light coordinates, and determine the first light area and the second light area in the matrix light according to the second shadow area coordinates and the first light coordinates. The control unit determines that the light area corresponding to the first light coordinates (Xc2, Yc2, Zc2) in the matrix light is the first light area, and the first light area in the on state is used to emit the first light beam 512, and the transmission light path of the first light beam 512 will avoid the target object 502. The light area corresponding to the second shadow area coordinates (Xc1, Yc1, Zc1) is the second light area. The second light area in the off state will form a shadow area 511, and the shadow area 511 covers the circumscribed contour of the target object 502. In this application scenario, although the vehicle appears in an upward bumpy state on the road, causing the headlight coordinate system to change from the first headlight coordinate system to the second headlight coordinate system, the control unit can convert the first shadow area coordinates into the second shadow area coordinates based on the second coordinate conversion, thereby ensuring that the shadow area formed by the matrix headlights can accurately cover the circumscribed contour of the target object 502.

[0108] In order to minimize the jitter of the shadow area, the first orthographic projection and the second orthographic projection completely overlap in the YZ plane of the spatial coordinate system in this embodiment. It can be understood that although the posture data of the vehicle lamp system shown in this embodiment has changed between the first moment T1 and the second moment T2, the first orthographic projection and the second orthographic projection at least partially overlap in the YZ plane of the spatial coordinate system, so that the position of the shadow area formed by the first light beam emitted by the matrix lamp does not change in the spatial coordinate system, and can always cover the circumscribed contour of the target object, ensuring that the shadow area formed by the first light beam emitted by the matrix lamp always accurately tracks the target object, and effectively suppressing the degree of jitter in the shadow area.

[0109] Combined with the second application scenario shown above, Figure 6 In the application scenario shown, the vehicle detects the target object 602 at the first moment T1. During the duration between the first moment T1 and the second moment T2, the vehicle appears on the road and is in a state of turning at an intersection (for example, this example takes the vehicle turning right as an example). For a description of the specific change of the position of the first vehicle light coordinate system to the position of the second vehicle light coordinate system, see Figure 6In this embodiment, in order to ensure that the shadow area 621 formed by the first light beam emitted by the matrix headlight of the vehicle accurately covers the circumscribed contour of the target object 602, the control unit converts the first shadow area coordinates of the target object 602 in the first headlight coordinate system to the second shadow area coordinates in the second headlight coordinate system through a second coordinate conversion. For the description of the second coordinate conversion, please refer to Fig. 9 The corresponding instructions are not elaborated in detail. After the second coordinate conversion, the control unit can obtain the coordinates of the second shadow area and the first headlight coordinates, and determine the first headlight area and the second headlight area in the matrix headlight. The control unit determines that in the matrix headlight, the headlight area corresponding to the first headlight coordinates (Xc2, Yc2, Zc2) is the first headlight area, and the first headlight area in the turned-on state is used to emit the first light beam 622, and the transmission light path of the first light beam 622 will avoid the target object 602. The headlight area corresponding to the second shadow area coordinates (Xc1, Yc1, Zc1) is the second headlight area. The second headlight area in the turned-off state will form a shadow area 621, and the shadow area 621 covers the circumscribed contour of the target object 602. It can be understood that in this application scenario, although the vehicle appears to be turning on the road, causing the headlight coordinate system to change from the first headlight coordinate system to the second headlight coordinate system, the control unit can convert the first shadow area coordinates into the second shadow area coordinates based on the second coordinate conversion, thereby ensuring that the shadow area formed by the matrix headlight can accurately cover the circumscribed contour of the target object 602. In combination with the third to fourth application scenarios above, in the scenario where the vehicle's posture data changes due to lane change or overtaking, the matrix headlight ensures that the emitted first light beam can accurately avoid the target object to ensure that the shadow area accurately covers the circumscribed contour of the target object. Please refer to the description of the second application scenario, and no further details will be given.

[0110] As shown in the fifth application scenario above, the vehicle detects the target object at the first moment T1. During the duration from the first moment T1 to the second moment T2, the vehicle appears in an accelerating state. Then, the position of the second headlight coordinate system is translated as a whole relative to the position of the first headlight coordinate system. For the description of the specific change of the position of the first headlight coordinate system to the position of the second headlight coordinate system, please refer to the description of the fifth application scenario above, and the details are not repeated here. In this embodiment, in order to ensure that the shadow area formed by the first light beam emitted by the matrix headlight of the vehicle accurately covers the circumscribed contour of the target object, the control unit converts the first shadow area coordinates of the target object in the first headlight coordinate system to the second shadow area coordinates in the second headlight coordinate system through a second coordinate conversion. For the description of the second coordinate conversion, please refer to Fig. 9The corresponding description is not repeated in detail. After the second coordinate conversion, the control unit can obtain the coordinates of the second shadow area and the first headlight coordinates, and determine the first headlight area and the second headlight area in the matrix headlight. The control unit determines that the headlight area corresponding to the first headlight coordinate (Xc2, Yc2, Zc2) in the matrix headlight is the first headlight area, and the first headlight area in the on state is used to emit the first light beam, and the transmission light path of the first light beam will avoid the target object. The headlight area corresponding to the second shadow area coordinate (Xc1, Yc1, Zc1) is the second headlight area. The second headlight area in the off state will form a shadow area, which covers the circumscribed contour of the target object. It can be understood that in this application scenario, although the vehicle appears on the road in an accelerated state, so that the headlight coordinate system changes from the first headlight coordinate system to the second headlight coordinate system, the control unit can convert the first shadow area coordinates into the second shadow area coordinates based on the second coordinate conversion, thereby ensuring that the shadow area formed by the first light beam emitted by the matrix headlight can accurately cover the circumscribed contour of the target object.

[0111] This embodiment takes the example that the control unit directly obtains the second relative position and controls the matrix headlights to be in the first on state when detecting the change in the first posture data. In other examples, the control unit may determine whether the change in the first posture data is greater than a preset parameter. If so, the control unit obtains the second relative position and controls the matrix headlights to be in the first on state. If not, the control unit does not need to obtain the second relative position, but directly controls the matrix headlights to emit a light beam according to the first relative position. Because the change in the first posture data is less than or equal to the preset parameter, it means that the degree of change of the first headlight coordinate system relative to the second headlight coordinate system is relatively small. Even if the second coordinate conversion is not performed, the shadow area formed by the light beam emitted by the matrix headlight can accurately cover the circumscribed contour of the target object. The first posture data change shown in this embodiment may be at least one of the following:

[0112] The position of the headlight system detected at the second moment T2 is changed relative to the position of the headlight system detected at the first moment T1, the three-axis speed of the headlight system detected at the second moment T2 is changed relative to the three-axis speed of the headlight system detected at the first moment T1, the three-axis acceleration of the headlight system detected at the second moment T2 is changed relative to the three-axis acceleration of the headlight system detected at the second moment T2, or the three-axis posture angle of the headlight system detected at the second moment T2 is changed relative to the three-axis posture angle of the headlight system detected at the first moment T1, or the three-axis angular velocity of the headlight system detected at the second moment T2 is changed relative to the three-axis angular velocity of the headlight system detected at the first moment T1. This embodiment does not limit the size of the preset parameter. As long as the change in the first posture data is greater than the preset parameter, it means that the position of the first headlight coordinate system and the position of the second headlight coordinate system have changed greatly in the spatial coordinate system. If the second coordinate conversion is not performed, the first light beam emitted by the matrix headlight will irradiate the target object, and the shadow area formed by the first light beam cannot accurately cover the circumscribed contour of the target object.

[0113] This embodiment takes one target object as an example, and the number of target objects shown in this embodiment may also be multiple. When the posture data of the vehicle's lighting system changes, the shadow area formed by the high beam emitted by the vehicle can accurately cover the circumscribed contour of each target object. For example, the target objects around the vehicle include oncoming vehicles and pedestrians. The high beam emitted by the vehicle can form a first shadow area and a second shadow area. The first shadow area covers the circumscribed contour of the oncoming vehicle, and the second shadow area covers the pedestrians. For a description of the circumscribed contour of each target object covered by the vehicle, please refer to Figure 3 The corresponding embodiments are shown and the details are not repeated here.

[0114] With the method shown in this embodiment, there is a certain time delay in the process from the vehicle detecting the target object to emitting the first light beam. During this time delay, the posture data of the vehicle's headlight system will change. The vehicle can detect the change in the first posture data of the headlight system within this time delay, and based on the change in the first posture data and the first shadow area coordinates of the target object in the first headlight coordinate system, obtain the second shadow area coordinates of the target object in the second headlight coordinate system. The control unit controls the matrix headlight to be in the first on state according to the second shadow area coordinates of the target object in the second headlight coordinate system, so that even if the posture data of the headlight system changes from the first posture data to the second posture data, the shadow area formed by the first light beam emitted by the matrix headlight will accurately cover the circumscribed contour of the target object, effectively avoiding the situation where the first light beam irradiates the target object.

[0115] This embodiment takes the target object as a vehicle as an example. In other examples, the target object may also be the path to be driven by the vehicle. Then, the first light beam emitted by the vehicle may display a light blanket on the path to be driven. Specifically, when the first light area and the second light area have different light states, the first light beam emitted by the matrix light will be displayed as a first light spot on the path to be driven by the vehicle. The position of the first light spot, the display mode of the first light spot, and the shadow area formed by the emitted first light beam on the path to be formed can make the light blanket indicate different information. Among them, the display mode of the first light spot may be at least one of the following:

[0116] The brightness of the first light spot, the color of the first light spot, or the flashing frequency of the first light spot.

[0117] For example, a first light beam is irradiated on the path to be driven by the vehicle to display a first light spot, and a shadow area is within the coverage of the first light spot. The shadow area is displayed on the path to be driven in the form of characters or symbols. When the posture data of the vehicle's headlight coordinate system changes, the position of the headlight area in the on state in the spatial coordinate system can be guaranteed to remain unchanged, so as to ensure that the light beam emitted by the matrix headlight can always be stably displayed on the path to be driven by the vehicle, and effectively suppress the jitter between the light spots displayed at different times. This embodiment does not limit the information indicated by the light blanket. For example, the light blanket displays information used for navigation of the vehicle, sensor information of the vehicle, ADAS information of the vehicle, or displays projected video.

[0118] The first light beam emitted by the matrix headlight shown in this example will display a first light spot in the first target area, and the target object is located outside the first target area. The control unit can adjust the brightness of the first light spot according to the brightness of the environment in which the vehicle is located. If the brightness of the environment in which the vehicle is located is relatively low (such as cloudy days, rainy days, and night), the control unit can increase the brightness of the first light beam emitted from the first headlight area, thereby increasing the brightness of the first light spot. The increase in the brightness of the first light spot effectively increases the contrast between the brightness of the first light spot and the shadow area, ensuring the clarity of the shadow area display, and effectively ensuring the clarity of the characters or symbols displayed through the shadow area.

[0119] The light carpet shown in this example can be used to indicate the distance between the vehicle and the vehicle in front. For example, if the distance between the vehicle and the vehicle in front is greater, the light carpet displayed in front of the vehicle is longer. In this example, when the distance between the vehicle and the vehicle in front does not change, even if the posture data of the vehicle changes, it can ensure that the position of the headlight area in the turned-on state in the spatial coordinate system remains unchanged or almost unchanged, so as to ensure that the light beam emitted by the matrix headlight can be displayed on the vehicle's waiting driving path with a fixed length. It can be understood that when the distance between the vehicle and the vehicle in front does not change, even if the posture data of the vehicle changes, the length of the light carpet will not change or deform, ensuring that the light carpet can accurately indicate the distance between the vehicle and the vehicle in front when the posture data of the vehicle changes. It can be seen that based on the length of the light carpet, the driver or the vehicle in front can quickly determine the distance between the vehicle and the vehicle in front, and then accurately predict whether there is a possibility of collision between the vehicle and the vehicle in front, thereby improving driving safety.

[0120] Fig.10 In the illustrated embodiment, the vehicle can always emit high beams during driving, and even if the posture data of the vehicle's lighting system changes during driving, the shadow area formed by the high beams can always accurately cover the circumscribed contour of the target object and effectively suppress the jitter of the shadow area. Fig.10 This is a flow chart of the steps of the second embodiment of the vehicle light control method provided in this application.

[0121] Step 1001: The control unit obtains a first sensing coordinate from a sensing system.

[0122] Step 1002: The control unit obtains a first relative position of the target object relative to the vehicle.

[0123] Step 1003: The control unit obtains a change in the first posture data.

[0124] Step 1004: The control unit obtains a second relative position.

[0125] Step 1005: The control unit sends a first driving signal to the matrix headlight according to the second relative position.

[0126] Step 1006: The matrix vehicle light is in a first on state according to the first driving signal.

[0127] For a description of the execution process of steps 1001 to 1006 shown in this embodiment, please refer to Figure 3 The corresponding steps 301 to 306 are shown and will not be described in detail.

[0128] Step 1007: The control unit obtains a second sensing coordinate from the sensor system.

[0129] In this embodiment, after the control unit controls the matrix headlight to be in the first on state so that the matrix headlight emits the first light beam at the first emission time Tout1, the control unit controls the sensing system to re-detect the target object. The control unit shown in this embodiment can be configured with multiple high beam cycles, for example, the first high beam cycle, the second high beam cycle, etc. In step 1001, the control unit detects the target object at the first detection time Ta1 of the first high beam cycle, and in step 1005, controls the matrix headlight to be in the first on state at the first emission time Tout1 of the first high beam cycle. In step 1007, the control unit detects the target object at the fourth detection time Ta4 of the second high beam cycle. The fourth detection time Ta4 shown in this embodiment is later than the third detection time Ta3, and there is no limitation on the front and back between the fourth detection time Ta4 and the first emission time Tout1, for example, the fourth detection time Ta4 is earlier than the first emission time Tout1, and for example, the fourth detection time Ta4 is later than the first emission time Tout1, and for example, the fourth detection time Ta4 is the same time as the first emission time Tout1. The control unit obtains the second perception coordinates (Xa2, Ya2, Za2) corresponding to the target object in the perception coordinate system. For the description of the second perception coordinates, see Figure 3 The description of the corresponding first perception coordinates will not be elaborated in detail.

[0130] In this embodiment, before executing step 1008, the control unit may determine whether the first perception coordinate and the second perception coordinate meet the preset condition. If so, the control unit executes step 1008. If not, the control unit executes step 1005 to control the matrix headlight to be in the first on state. Specifically, the control unit obtains the position offset between the first perception coordinate and the second perception coordinate when obtaining the first perception coordinate and the second perception coordinate. If the first perception coordinate does not offset or the offset is low relative to the second perception coordinate, then the control unit determines that the preset condition is met. When the first perception coordinate and the second perception coordinate meet the preset condition, it means that the relative position of the target object Ta1 at the first detection moment relative to the vehicle sensor system and the relative position of the target object Ta4 at the fourth detection moment relative to the vehicle sensor system do not offset or the offset is low, then step 1008 is executed. This embodiment does not limit the size of the position offset. If the first perception coordinate is highly offset from the second perception coordinate, the control unit re-executes steps 1002 to 1006, i.e., the control unit drives the matrix headlights to emit light again according to the second perception coordinate system. For the specific driving process, please refer to the process in which the control unit drives the matrix headlights to emit light according to the first perception coordinate system, which will not be elaborated on herein.

[0131] In this embodiment, the sensor system detects the target object at the first detection moment, thereby triggering the execution of steps 1001 to 1006. The sensor system detects the target object again at the fourth detection moment. For the description of the first detection moment and the fourth detection moment, please refer to the above description, and the details are not repeated. This embodiment does not limit the length of the time interval between the first detection moment and the fourth detection moment. For example, the time interval between the first detection moment and the fourth detection moment is 50 milliseconds (ms). This embodiment does not limit the time interval. For example, under the condition that the headlight system successfully forms a shadow area for covering the target object according to the detected target object, the shorter the time interval, the more accurately the shadow area formed by the light beam emitted by the headlight system covers the target object.

[0132] Step 1008: The control unit obtains a third relative position of the target object relative to the vehicle.

[0133] At the fifth detection time Ta5, the control unit converts the second perception coordinates of the target object in the perception coordinate system into the third shadow area coordinates (Xb4, Yb4, Zb4) of the target object in the third vehicle light coordinate system through the first coordinate conversion. For a detailed description of the first coordinate conversion process, please refer to Figure 3 as well as Figure 4 The corresponding description of the first coordinate transformation process will not be repeated in detail.

[0134] Step 1009: The control unit obtains a change in the second posture data.

[0135] The headlight posture data detection module of this vehicle is used to detect the posture data of the headlight system and send the detected posture data to the control unit. For the description of the headlight posture data detection module, please refer to Figure 2 Specifically, the vehicle light posture data detection module detects the third posture data at the third time T3. For the description of the third posture data, please refer to Figure 3 The description of the corresponding first posture data is not repeated in detail. The third moment T1 and the third detection moment Ta3 shown in this embodiment can be the same moment. It can be understood that when the sensor system of the vehicle detects the target object, it detects the third posture data of the headlight system. It should be clear that this embodiment does not limit the relationship between the third moment T3 and the third detection moment Ta3. For a description of the specific relationship, please refer to Figure 3 The description of the relationship between the corresponding first moment T1 and the first detection moment Ta1 is not repeated in detail. The headlight posture data detection module of the vehicle sends the third posture data to the control unit. The headlight posture data detection module detects the fourth posture data at the fourth moment T4. The fourth posture data is the posture data of the headlight system of the vehicle at the fourth moment T4. For the description of the fourth posture data, please refer to Figure 3 The corresponding second posture data is not described in detail. When the control unit receives the third posture data and the fourth posture data, the second posture data change amount can be obtained, wherein the second posture data change amount is the change amount of the fourth posture data relative to the third posture data.

[0136] Step 1010: The control unit obtains a fourth relative position.

[0137] Step 1011: The control unit sends a second driving signal to the matrix headlight according to the fourth relative position.

[0138] Step 1012: The matrix vehicle light is in a second on state according to a second driving signal.

[0139] The fourth relative position shown in this embodiment is the coordinate of the target object in the fourth headlight coordinate system. It can be understood that for the same target object, because the position of the third headlight coordinate system is different from the position of the fourth headlight coordinate system, the third shadow area coordinate of the target object in the third headlight coordinate system is different from the fourth shadow area coordinate of the target object in the fourth headlight coordinate system. The control unit controls the on state of the matrix headlight according to the fourth shadow area coordinate of the target object in the fourth headlight coordinate system, so that even if the posture data of the headlight system of the vehicle changes from the third posture data to the fourth posture data, the shadow area formed by the second light beam emitted by the matrix headlight will accurately cover the circumscribed contour of the target object, effectively avoiding the situation where the second light beam irradiates the target object. Specifically, the control unit can also obtain the second headlight coordinates (Xc4, Yc4, Zc4) when obtaining the third shadow area coordinates. The control unit determines the third headlight area and the third headlight area in the matrix headlight according to the second shadow area coordinates and the second headlight coordinates. In the fourth headlight coordinate system, the second headlight coordinate (Xc4, Yc4, Zc4) is different from the second shadow area coordinate (Xc3, Yc3, Zc3). The control unit of this embodiment can determine the headlight area corresponding to each coordinate in the fourth headlight coordinate system in the matrix headlight. Then, the control unit determines that in the matrix headlight, the headlight area corresponding to the second headlight coordinate (Xc4, Yc4, Zc4) is the third headlight area, and the headlight area corresponding to the fourth shadow area coordinate (Xc3, Yc3, Zc3) is the fourth headlight area. The third headlight area and the fourth headlight area both include multiple lamp beads. For a description of the matrix headlight structure, please refer to Figure 2 The corresponding instructions are not elaborated in detail.

[0140] Among them, the second on state means that the control unit controls the third headlight area of ​​the matrix headlight to be in the third headlight state through the second driving signal at the second emission time Tout2, and controls the fourth headlight area of ​​the matrix headlight to be in the fourth headlight state. This embodiment takes the third headlight state as the on state and the fourth headlight state as the off state as an example. When the third headlight state is the on state, each lamp bead included in the third headlight area in the third headlight state is turned on, so that the third headlight area emits a second light beam, and the second light beam is projected to the second target area, and the second target area is different from the area where the target object is located, so as to ensure that the second light beam emitted by the matrix headlight will accurately avoid the target object to avoid the second light beam irradiating the target object. When the fourth headlight state is the off state, then each lamp bead included in the fourth headlight area in the fourth headlight state is turned off, so that the fourth headlight area will not emit a light beam. Because the fourth headlight area will not emit a light beam, the second light beam emitted from the fourth headlight area will form a shadow area, and the shadow area can accurately cover the circumscribed contour of the target object.

[0141] The following describes the first and second light beams emitted by the matrix headlight in combination with specific application scenarios:

[0142] The first application scenario: Fig.11 for Fig.10 An example diagram of the first application scenario of the vehicle light control method is provided. The vehicle 1101 controls the matrix lights to be in the first on state at the first emission time Tout1, and emits the first light beam. Please refer to the above steps 1001 to 1006 for the specific emission process, and the details are not repeated here. It can be understood that the vehicle 1101 is in an upward bumping state, so that the first light beam 1111 emitted by the vehicle 1101 at the first emission time Tout1 will avoid the target object 1102, and the area illuminated by the first light beam 1111 forms a shadow area 1112, and the shadow area 1112 accurately covers the circumscribed contour of the target object 1102. For an explanation of the upward bumping state of the vehicle 1101, please refer to Figure 5The corresponding instructions are not elaborated in detail. The vehicle is in a state of downward bumping in the second high beam cycle. The vehicle 1101 passes through steps 1007 to 1012 to emit a second light beam 1121 at the second emission time Tout2. The emission of the second light beam 1121 will form a shadow area 1122. Specifically, the X-axis, Y-axis and Z-axis of the second headlight coordinate system shown in this embodiment are respectively deflected in the clockwise direction to change to the X-axis, Y-axis and Z-axis of the fourth headlight coordinate system. In this application scenario, even if the vehicle 1101 changes from an upward bumping state to a downward bumping state, the shadow area formed by the high beam emitted by the matrix headlight can always accurately cover the circumscribed contour of the target object 1102, and can effectively suppress the jitter of the shadow area formed by the high beam emitted by the matrix headlight.

[0143] Specifically, an external camera can be set at any position of the vehicle 1101, and at the first emission time Tout1, the external camera takes a picture of the target object 1102 to obtain a first image. The first image includes the target object 1102 and a shadow area 1112 covering the circumscribed contour of the target object 1102. When the relative position between the external camera and the vehicle 1101 does not change, at the second emission time Tout2, the external camera takes a picture of the target object 1102 to obtain a second image, and the second image includes the target object 1102 and a shadow area 1122 covering the circumscribed contour of the target object 1102. By comparing the first image and the second image, it can be seen that in the process of the vehicle 1101 changing from an upward bumping state to a downward bumping state, the shadow area can always accurately cover the circumscribed contour of the target object 1102.

[0144] The second application scenario: Fig.12 for Fig.10 The second application scenario example diagram of the vehicle light control method provided. At the first emission time Tout1, the vehicle 1201 controls the matrix vehicle light to be in the first on state and emits the first light beam. For the specific emission process, please refer to the above steps 1001 to 1006, and the details will not be repeated. It can be understood that the vehicle 1101 appears in the state of turning right at the intersection. For specific instructions, please refer to Figure 6The corresponding description is not repeated in detail. In this example, the first light beam 1211 emitted by the vehicle 1201 at the first emission time Tout1 will avoid the target object 1202, and the first light beam 1211 forms a shadow area 1212, and the shadow area 1212 accurately covers the circumscribed contour of the target object 1202. The vehicle is in a right turn at the intersection in the second high beam cycle. The vehicle 1201 passes through steps 1007 to 1012 to emit a second light beam 1221 at the second emission time Tout2. The emission of the second light beam 1221 will form a shadow area 1222. The shadow area 1222 accurately covers the circumscribed contour of the target object 1202. In this application scenario, even if the vehicle 1201 is in a right turn at the intersection, the shadow area formed by the high beam emitted by the matrix headlights can always accurately cover the circumscribed contour of the target object 1202, and can effectively suppress the jitter of the shadow area formed by the high beam emitted by the matrix headlights.

[0145] Specifically, an external camera can be set at any position of the vehicle 1201, and at the first emission time Tout1, the external camera takes a picture of the target object 1202 to obtain a first image. The first image includes the target object 1202 and a shadow area 1212 covering the circumscribed contour of the target object 1202. When the relative position between the external camera and the vehicle 1201 does not change, at the second emission time Tout2, the external camera takes a picture of the target object 1202 to obtain a second image, and the second image includes the target object 1202 and a shadow area 1222 covering the circumscribed contour of the target object 1202. By comparing the first image and the second image, it can be seen that when the vehicle 1201 is in the process of turning right at the intersection, the shadow area can always accurately cover the circumscribed contour of the target object 1202.

[0146] If the vehicle is in scenarios such as changing lanes, overtaking or changing speed, it can ensure that the shadow area formed by the high beam emitted by the matrix headlights of the vehicle can always accurately cover the external contour of the target object, and can effectively suppress the jitter of the shadow area formed by the high beam emitted by the matrix headlights.

[0147] The first luminous flux of the matrix lamp shown in this embodiment at the first emission time Tout1 is equal to the first luminous flux at the second emission time Tout2, so that the brightness of the first light beam emitted by the matrix lamp at the first emission time Tout1 is equal to the brightness of the second light beam emitted by the matrix lamp at the second emission time Tout2. Among them, the first luminous flux is equal to the ratio of the number of lamp beads in the second lamp area to the total number of lamp beads included in the matrix lamp. The second luminous flux is equal to the ratio of the number of lamp beads in the fourth lamp area to the total number of lamp beads included in the matrix lamp. This embodiment takes the number of lamp beads included in the second lamp area as an example, and does not limit it. For example, the absolute value of the difference between the number of lamp beads included in the second lamp area and the number of lamp beads included in the fourth lamp area is less than the preset value. This embodiment does not limit the size of the preset value, as long as the absolute value of the difference between the number of lamp beads included in the second lamp area and the number of lamp beads included in the fourth lamp area is less than the preset value, so that the first luminous flux and the second luminous flux are almost unchanged. When the first luminous flux is equal to the second luminous flux, the brightness of the first light beam and the brightness of the second light beam of the matrix headlight are ensured to be almost unchanged, thereby improving driving safety.

[0148] It can be understood that the first light beam emitted by the vehicle at the first emission time Tout1 shown in this embodiment can form a first shadow area, and the second light beam emitted at the second emission time Tout2 can form a second shadow area. For the description of the first light beam and the second light beam emitted by the vehicle, please refer to the above, and the details will not be repeated. In order to suppress the jitter of the first shadow area and the second shadow area, the first shadow area and the second shadow area shown in this embodiment at least partially overlap in the spatial coordinate system. For example, in scenes such as bumps, lane changes, overtaking, and turns, the first shadow area and the second shadow area can be guaranteed to track the target object, so as to achieve the purpose of accurately covering the circumscribed contour of the target object by the first shadow area and the second shadow area. Specifically, an external camera can be set at any position of the vehicle, and at the first emission time Tout1, the external camera takes a picture of the target object to obtain a first image. The first image includes the target object and the first shadow area covering the circumscribed contour of the target object. When the relative position between the external camera and the vehicle does not change, at the second emission time Tout2, the external camera captures the target object to obtain a second image, which includes the target object and a second shadow area covering the circumscribed contour of the target object. By comparing the first image and the second image, it can be seen that when the posture data of the vehicle changes, the first shadow area and the second shadow area can always accurately cover the circumscribed contour of the target object.

[0149] Fig.10In the embodiment shown, a light board can be set on the optical path of the light beam emitted by the headlight system, and the light beam emitted by the headlight system will illuminate the light board. Based on the position of the light beam illuminating the light board, it is determined whether each lamp bead of the matrix headlight included in the headlight system is in an on or off state, and then the specific position of the first headlight area and the second headlight area included in the matrix headlight is determined. If the vehicle is in a driving state where the posture data has not changed (for example, driving straight at a constant speed), and the relative position of the vehicle and the target object has not changed, then the position of the first headlight area A1 and the second headlight area A2 included in the matrix headlight system is calibrated by the light board. However, the posture data of the vehicle has changed, and the third headlight area B1 and the fourth headlight area B2 of the matrix headlight are recalibrated by the light board. According to the calibration results, it can be determined whether the first headlight area A1 and the third headlight area B1 overlap or almost overlap in the matrix headlight, and whether the second headlight area A2 and the fourth headlight area B2 overlap or almost overlap. If the first headlight area A1 overlaps or almost overlaps with the third headlight area B1, and the second headlight area A2 overlaps or almost overlaps with the fourth headlight area B2, then it means that the shadow area formed by the light beam emitted by the matrix headlight has nothing to do with the change of the vehicle's posture data. If the positions of the first headlight area A1 and the third headlight area B1 change, and the positions of the second headlight area A2 and the fourth headlight area B2 change, and the shadow area formed by the light beam emitted by the matrix headlight always accurately covers the circumscribed contour of the target object. That is, the headlight system can adjust the positions of the headlight areas in the on and off states according to the changes in the vehicle's posture data. It should be clear that this example does not limit the method of calibrating the positions of the lamp beads in the on state and the lamp beads in the off state in the matrix headlight. For example, the matrix headlight includes an imaging engine, and the lamp beads included in the imaging engine are lenses. For example, the angle of deflection of each lens is obtained to determine the on or off state of each lamp bead.

[0150] The data of the headlight posture data detection module can also be obtained. If, in two adjacent high-beam cycles, the change in the first posture data is detected by the headlight posture data detection module in the first high-beam cycle, and the change in the second posture data is detected by the headlight posture data detection module in the second high-beam cycle, the description of the high-beam cycle can be found as shown above, and the details are not repeated here. That is, the headlight system performs the process of detecting the target object and emitting a light beam in different high-beam cycles. If the change in the first posture data of the first high-beam cycle changes relative to the change in the second posture data of the second high-beam cycle, and the position of the shadow area emitted in the first high-beam cycle is different from the position of the shadow area emitted in the second high-beam cycle, it means that the posture data detected by the headlight posture data detection module has a strong correlation with the shadow area formed by the light beam emitted by the headlight system. This example takes the example of obtaining posture data directly through the headlight posture data detection module of the headlight system. In other examples, a detection module is also connected to the headlight system, and the detection module is used to detect the posture data of the headlight system.

[0151] In the above embodiment, the vehicle emits high beam and avoids irradiating the high beam to the target object. Then, the target object is a vehicle or a pedestrian. Fig.13 In the embodiment shown, the light beam emitted by the vehicle can accurately illuminate the target object. Fig.13 This is a flowchart of the steps of the third embodiment of the vehicle light control method provided in this application.

[0152] Step 1301: The control unit obtains a first sensing coordinate from a sensing system.

[0153] The target object shown in this embodiment is an object around the vehicle that needs to be identified. For example, the target object can be a traffic sign, a traffic light, or any object. The target object shown in this embodiment can also be a specific road condition in the vehicle's driving path, such as an intersection, a lane line, or a sidewalk around the vehicle. For an explanation of the execution process of step 1301 shown in this embodiment, please refer to Figure 3 The corresponding step is shown in step 301 and will not be described in detail.

[0154] Step 1302: The control unit obtains a first relative position of the target object relative to the vehicle.

[0155] Step 1303: The control unit obtains a change in the first posture data.

[0156] Step 1304: The control unit obtains a second relative position.

[0157] For a description of the execution process of steps 1302 to 1304 shown in this embodiment, please refer to Figure 3 As shown in step 302 to step 304, the details are not repeated here.

[0158] Step 1305: The control unit sends a third driving signal to the matrix headlight.

[0159] Step 1306: The matrix headlight is in the first headlight state and the second headlight state according to the third driving signal.

[0160] The first headlight state shown in this embodiment means that each lamp bead in the first headlight area of ​​the matrix headlight is in the on state. The second headlight state means that each lamp bead in the second headlight area of ​​the matrix headlight is also in the on state. For a description of the first headlight area and the second headlight area, see Figure 3 The corresponding instructions are not elaborated in detail.

[0161] The first headlight area in the first headlight state emits a first light beam, which is projected onto a first target area to display a first light spot. The second headlight area in the second headlight state emits a second light beam, which is projected onto a second target area to display a second light spot, the second target area being an area where the target object is located, the first target area being different from the second target area, and the first light spot being different from the second light spot.

[0162] Combination Fig.14 The application scenario shown in the figure illustrates the method shown in this embodiment, wherein: Fig.14 for Fig.13 An example diagram of an application scenario of the provided vehicle light control method.

[0163] The vehicle 1401 is in a normal driving state on the road, and there is a traffic sign 1402 in front of the vehicle 1401. The traffic sign 1402 is a road facility used for guiding, restricting, warning or indicating information, also known as a road sign or a road traffic sign, etc., which is not specifically limited in this example. When the sensing system detects the target object 1402, the control unit determines the first headlight area and the second headlight area in the matrix headlight according to the position of the target object 1402. The control unit controls the second headlight area to be in the second headlight state, then the second headlight area in the second headlight state emits a second light beam 1403. The second light beam 1403 is projected to the second target area including the target object 1402, and a second light spot is displayed in the projected second target area. The second light spot shown in this example covers the circumscribed contour of the target object 1402, so that the second light spot can illuminate the target object 1402, then the driver of the vehicle 1401 or the sensing system of the vehicle 1401 can accurately identify the target object 1402. The control unit controls the first headlight area to emit a first light beam 1404, which is projected to a first target area (the first target area is the road surface in front of the vehicle 1401 in this example) to display a first light spot 1405. The first target area shown in this embodiment is different from the second target area.

[0164] The first light spot 1405 shown in this embodiment is different from the second light spot 1402. The first light spot 1405 is different from the second light spot 1402, which means that the position of the first light spot 1405 in the spatial coordinate system is different from the position of the second light spot 1402. The spatial coordinate system shown in this example can be created based on the vehicle. For instructions on creating a spatial coordinate system based on the vehicle, see Figure 5 The instructions for creating a spatial coordinate system based on the target object are shown and will not be described in detail.

[0165] The first light spot 1405 being different from the second light spot 1402 may also mean that the display mode of the first light spot 1405 is different from the display mode of the second light spot 1402. Specifically, the display mode of the first light spot 1405 being different from the display mode of the second light spot 1402 is at least one of the following:

[0166] The brightness of the first light spot 1405 is different from the brightness of the second light spot 1402 , the color of the first light spot 1405 is different from the color of the second light spot 1402 , and the flashing frequency of the first light spot 1405 is different from the flashing frequency of the second light spot 1402 .

[0167] Specifically, since the first light spot 1405 and the second light spot 1402 have different functions, the second light spot 1402 is used to illuminate the traffic sign, thereby improving the efficiency and accuracy of traffic sign recognition, and the first light spot 1405 is used to illuminate the environment around the vehicle 1401. Therefore, this example shows that the different display modes of the first light spot 1405 and the second light spot 1402 can improve the driver's timely attention to the traffic sign, thereby improving driving safety.

[0168] This embodiment takes the target object as a traffic sign as an example. In other examples, the target object may also be the path of the vehicle to be driven. Then, the first light beam and the second light beam emitted by the vehicle can display a light blanket on the path to be driven. Specifically, in this embodiment, when the first light area and the second light area have different light states, the first light beam emitted by the matrix light will be displayed as a first light spot on the path to be driven by the vehicle, and the second light beam emitted by the matrix light will be displayed as a second light spot on the path to be driven by the vehicle. Through the position and display mode of the first light spot and the second light spot, the light blanket can indicate different information. Among them, for the description of the position and display mode of the first light spot and the second light spot, please refer to the above description of the first light spot, and the details will not be repeated.

[0169] According to the method shown in this embodiment, there is a certain time delay in the process from the vehicle detecting the target object to emitting the first light beam and the second light beam. During this time delay, the posture data of the vehicle's headlight system will change. The vehicle can detect the change in the first posture data of the headlight system within this time delay, and based on the change in the first posture data and the first shadow area coordinates of the target object in the first headlight coordinate system, obtain the second shadow area coordinates of the target object in the second headlight coordinate system. The control unit controls the first headlight area of ​​the matrix headlight to be in the first headlight state and the second headlight area to be in the second headlight state according to the second shadow area coordinates of the target object in the second headlight coordinate system. The first headlight state is different from the second headlight state, so that even if the posture data of the headlight system changes from the first posture data to the second posture data, the first light spot of the first light beam and the second light spot of the second light beam emitted by the matrix headlight can be irradiated at different positions, and the second light spot can accurately cover the circumscribed contour of the target object.

[0170] Fig.13 In the shown embodiment, the vehicle can always emit high beams during driving, and during driving, even if the posture data of the vehicle's lighting system changes, the first light spot of the first light beam and the second light spot of the second light beam emitted by the matrix headlights can be displayed at different positions, and the second light spot can always accurately cover the circumscribed contour of the target object and effectively suppress the jitter of the second light spot. Fig.15This is a flowchart of the steps of the fourth embodiment of the vehicle light control method provided in this application.

[0171] Step 1501: The control unit obtains a first sensing coordinate from a sensing system.

[0172] Step 1502: The control unit obtains a first relative position of the target object relative to the vehicle.

[0173] Step 1503: The control unit obtains a change in the first posture data.

[0174] Step 1504: The control unit obtains a second relative position.

[0175] Step 1505: The control unit sends a third driving signal to the matrix headlight.

[0176] Step 1506: The matrix headlight is in the first headlight state and the second headlight state according to the third driving signal.

[0177] For a description of the execution process of steps 1501 to 1506 shown in this embodiment, please refer to Fig.13 The description of the execution process of the corresponding steps 1301 to 1306 is not repeated in detail.

[0178] Step 1507: The control unit obtains a second sensing coordinate from the sensor system.

[0179] In this embodiment, after the control unit controls the first headlight area to be in the first headlight state and the second headlight area to be in the second headlight state, so that the matrix headlight emits the first light beam and the second light beam at the first emission time Tout1, the control unit controls the sensing system to re-detect the target object. For an explanation of the control unit obtaining the second perception coordinates, see Fig.10 The corresponding step is shown in step 1007 and will not be described in detail.

[0180] Step 1508: The control unit obtains a third relative position of the target object relative to the vehicle.

[0181] Step 1509: The control unit obtains a change in the second posture data.

[0182] For a description of the execution process of steps 1508 to 1509 shown in this embodiment, please refer to Fig.10 The corresponding steps 1008 to 1009 are shown and will not be described in detail.

[0183] Step 1510: The control unit obtains a fourth relative position.

[0184] Step 1511: The control unit sends a fourth driving signal to the matrix headlight according to the fourth relative position.

[0185] Step 1512: The matrix headlight is in a third headlight state and a fourth headlight state according to the fourth driving signal.

[0186] The control unit shown in this embodiment obtains the third headlight area and the fourth headlight area in the matrix headlight according to the fourth relative position. Fig.10 The corresponding instructions for determining the third headlight area and the fourth headlight area are not described in detail.

[0187] The third headlight area in the third headlight state emits a third light beam, and the third light beam is projected onto a third target area to display a third light spot. The fourth headlight area in the fourth headlight state emits a fourth light beam, and the fourth light beam is projected onto a fourth target area to display a fourth light spot. The fourth target area is the area where the target object is located, and the third target area is different from the fourth target area, and the third light spot is different from the fourth light spot. It can be understood that the second light spot of the second light beam emitted at the first emission moment Tout1 and the fourth light spot of the fourth light beam emitted at the second emission moment Tout2 can always illuminate the target object, thereby achieving that the target object can always be illuminated during the driving of the vehicle, and the jitter of the change from the second light spot to the fourth light spot can be effectively suppressed. For an explanation of consistent jitter, please refer to Fig.10 The description of suppressing the jitter of the shadow area formed at different emission moments is not repeated in detail.

[0188] In the above embodiment, the vehicle controls the state of the matrix headlights according to the change of the posture data of the vehicle. Fig.16 In the embodiment shown, the vehicle can also control the state of the matrix headlights according to the changes in the posture data of the target object. Fig.16 This is a flowchart of the steps of the fifth embodiment of the vehicle light control method provided in the present application. In this embodiment, the target object is a target vehicle around the vehicle as an example.

[0189] Step 1601: The control unit obtains a first sensing coordinate from a sensing system.

[0190] Step 1602: The control unit obtains a first relative position of the target object relative to the vehicle.

[0191] Step 1603: The control unit obtains a change in the first posture data.

[0192] For a description of the execution process of steps 1601 to 1603 shown in this embodiment, please refer to Figure 3 The corresponding steps 301 to 303 are shown and will not be described in detail.

[0193] Step 1604: The control unit receives a change in target posture data from the target vehicle.

[0194] The structure of the target vehicle shown in this embodiment can be seen in Figure 1 The corresponding instructions are not elaborated in detail. The sensor system of the target vehicle is used to detect the target posture data of the target vehicle, and the target posture data is specifically the posture data of the target vehicle body. Specifically, the sensor system of the target vehicle can send the detected target posture data of the target vehicle to this vehicle. The control unit of this vehicle obtains the change in the target posture data according to the target posture data from the target vehicle, and the change in the target posture data is used to indicate the change in the body posture of the target vehicle during driving. For an explanation of the control unit shown in this embodiment, obtaining the change in the target posture data according to the target posture data of the target vehicle at different times, please refer to Figure 3 The control unit shown in step 303 obtains the first posture data change amount, and the specific description is omitted. Optionally, the target vehicle shown in this embodiment can also directly send the change amount of the target posture data of the target vehicle to the host vehicle.

[0195] This embodiment does not limit the execution sequence of step 1604 and steps 1601 to 1603.

[0196] Step 1605: The control unit obtains a second relative position according to the change amount of the first posture data and the change amount of the target posture data.

[0197] Step 1606: The control unit sends a first driving signal to the matrix headlight according to the second relative position.

[0198] Step 1607: The matrix vehicle light is in a first on state according to the first driving signal.

[0199] In this embodiment, the control unit of the host vehicle obtains the change amount of the first posture data and the change amount of the target posture data, and the position of the target vehicle relative to the host vehicle changes from the first relative position to the second relative position.

[0200] The second relative position shown in this embodiment is the coordinate of the target object in the second headlight coordinate system. It can be understood that for the same target object, because the position of the first headlight coordinate system is different from the position of the second headlight coordinate system, and the target posture data of the target vehicle has changed, the first shadow area coordinate of the target object in the first headlight coordinate system is different from the second shadow area coordinate of the target object in the second headlight coordinate system. The control unit controls the on state of the matrix headlight according to the second shadow area coordinate of the target object in the second headlight coordinate system, so that even if the posture data of the vehicle and the posture data of the target vehicle are changed, the shadow area formed by the first light beam emitted by the matrix headlight will accurately cover the circumscribed contour of the target object, effectively avoiding the situation where the first light beam irradiates the target object.

[0201] The following combination Fig.17 as well as Fig.18 The figure shows the process of the control unit obtaining the coordinates of the second shadow area: Fig.17 Another example diagram of the second coordinate transformation in the spatial coordinate system provided by this application. Fig.18 for Fig.17 An example diagram of an application scenario of the provided vehicle light control method.

[0202] This scenario takes the scenario where the vehicle and the target vehicle encounter up and down bumps during driving as an example. The headlight posture data detection module shown in this example detects the first posture data of the headlight system of the vehicle 1801 at the first moment T1, and detects the second posture data of the headlight system of the vehicle 1801 at the second moment T2. Fig.18 As shown, the scenario in which the vehicle 1801 encounters an upward bump is taken as an example, that is, at the first moment T1, the vehicle 1801 is in a straight-moving state on the road. At the first moment T1, the vehicle 1801 has a first headlight coordinate system. At the second moment T2, the vehicle 1801 is in an upward bumping state on the road. Then, at the second moment T2, the vehicle 1801 has a second headlight coordinate system. Because the vehicle 1801 is in an upward bumping state, the position of the first headlight coordinate system is different from the position of the second headlight coordinate system. Specifically, the coordinate origin of the second headlight coordinate system is elevated in the spatial coordinate system relative to the coordinate origin of the first headlight coordinate system. For details, please refer to Figure 5 At the first moment T1, the target vehicle 1802 is in a straight-moving state on the road, and at the second moment T2, the target vehicle 1802 is in an upward bumping state, resulting in a change in the target posture data of the target vehicle 1802, that is, the body of the target vehicle 1802 is lifted in the spatial coordinate system.

[0203] When obtaining the first shadow area coordinates of the target object in the first headlight coordinate system, the control unit determines the change of the position of the second headlight coordinate system relative to the position of the first headlight coordinate system according to the change of the first posture data. The control unit can perform a second coordinate transformation according to the change of the position of the second headlight coordinate system relative to the position of the first headlight coordinate system, thereby obtaining the second shadow area coordinates of the target object in the second headlight coordinate system. When the headlight system of the vehicle has the first posture data at the first moment T1, the first headlight coordinate system has the first spatial position coordinates in the spatial coordinate system. The posture data of the headlight system of the vehicle changes, so that when the vehicle has the second posture data at the second moment T2, the second headlight coordinate system has the second spatial position coordinates in the spatial coordinate system. The first headlight coordinate system and the second headlight coordinate system have different positions in the same spatial coordinate system. Because the position of the first headlight coordinate system in the spatial coordinate system is different from the position of the second headlight coordinate system in the spatial coordinate system, the spatial position coordinates corresponding to the first headlight coordinate system are different from the spatial position coordinates corresponding to the second headlight coordinate system. The purpose of the control unit performing the second coordinate transformation is to transform the first shadow area coordinate of the target object in the first headlight coordinate system into the second shadow area coordinate of the target object in the second headlight coordinate system 1701 according to the change in the first posture data. For a description of the specific process, see Fig. 9 The corresponding instructions are not elaborated in detail.

[0204] The control unit of the vehicle performs a second coordinate transformation on the first relative position according to the change in the first posture data to obtain the coordinates of the second shadow area. If the control unit emits a light beam 1821 according to the coordinates of the second shadow area, the light beam 1821 will irradiate the target vehicle 1802 because the body of the target vehicle 1802 is lifted in the spatial coordinate system. However, a third coordinate transformation is required as shown in this embodiment. Specifically, the control unit transforms the second shadow area coordinates 1701 into the target shadow area coordinates 1702 according to the change in the target posture data of the target vehicle. The second shadow area coordinates 1701 shown in this embodiment change along the first direction to the target shadow area coordinates 1702, and the target posture data of the target object 1802 at the first moment T1 changes along the second direction to the target posture data at the second moment T2. The first direction shown in this example is opposite to the second direction. As shown in this example, the target posture data of the target object 1802 at the first moment T1 changes along the second direction (i.e., lifting upward) to the target posture data at the second moment T2, and the second shadow area coordinates 1701 change along the first direction (i.e., lowering downward) to the target shadow area coordinates 1702, so as to ensure that the first light beam 1822 emitted by the matrix headlights will avoid the target vehicle 1802 that is in an upward bumpy state, and the shadow area 1803 formed by the emitted first light beam 1822 will accurately cover the circumscribed contour of the target vehicle 1803.

[0205] In this embodiment, when the target vehicle overtakes, turns, changes lanes or changes speed, the vehicle can control the state of the matrix headlights according to the changes in the posture data of the target vehicle to ensure that even if the posture data of the target vehicle changes, the shadow area formed by the light beam emitted by the vehicle will accurately cover the external contour of the target vehicle.

[0206] The present application embodiment provides a vehicle lamp system. The structure of the vehicle lamp system can be seen in Figure 2 As shown, the details are not repeated here. Figure 2 The structure of the vehicle light system 200 shown is an optional example and is not limited. For example, the vehicle light system 200 does not include the vehicle light posture data detection module 202, and the control unit 201 obtains the posture data from the vehicle's sensor system. For another example, the vehicle light system 200 may also not include the sensor system 205, and the vehicle light system 200 detects the target object through the vehicle's sensor system. This embodiment does not limit the specific position of the vehicle light system inside the vehicle. For example, the vehicle light system 200 is used as an independent high beam of the vehicle to realize the ADB function. For another example, the vehicle light system 200 can be used as a left headlight, a right headlight, a left fog light, a right fog light, a rear light, a turn signal, etc., without specific limitation.

[0207] The present application embodiment provides a vehicle. The structure of the vehicle can be seen in Figure 1The above method embodiment takes the control function of the control unit of the vehicle light system as an example. In other embodiments, the control function of the above method embodiment may also be performed by the vehicle domain controller of the vehicle. For the process of the vehicle domain controller performing the above method embodiment, please refer to the process performed by the control unit in the above method embodiment, and the specific details are not repeated here.

[0208] As described above, 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.

Claims

1. A method for controlling a vehicle lamp, characterized in that: The method comprises: Obtaining a first relative position of the target object relative to the vehicle; Obtaining a first posture data change amount, where the first posture data change amount is used to indicate a change in posture data of the vehicle during driving; Obtaining a second relative position, where the second relative position is a relative position to which the position of the target object relative to the vehicle changes from the first relative position after the first posture data changes; According to the second relative position, controlling the first headlight state is different from controlling the second headlight state, the headlight system of the vehicle includes a first headlight area and a second headlight area, the first headlight state is the state of the first headlight area, the second headlight state is the state of the second headlight area, and the second headlight area corresponds to the second relative position.

2. The method according to claim 1, characterized in that According to the second relative position, controlling the first headlight state to be different from the second headlight state comprises: Controlling the first headlight area to be in the first headlight state, the first headlight state being an on state, the first headlight area in the first headlight state emitting a first light beam, the first light beam being projected to a first target area, the first target area being different from an area where the target object is located; The second headlight area is controlled to be in the second headlight state, and the second headlight state is an off state.

3. The method according to claim 1, characterized in that According to the second relative position, controlling the first headlight state to be different from the second headlight state comprises: Controlling the first headlight area to be in the first headlight state, the first headlight area in the first headlight state emits a first light beam, and the first light beam is projected onto a first target area to display a first light spot; The second headlight area is controlled to be in the second headlight state, the second headlight area in the second headlight state emits a second light beam, the second light beam is projected to a second target area to display a second light spot, the second target area is the area where the target object is located, the first target area is different from the second target area, and the first light spot is different from the second light spot.

4. The method according to claim 3, characterized in that The first light spot is different from the second light spot by at least one of the following: The brightness of the first light spot is different from that of the second light spot, the color of the first light spot is different from that of the second light spot, and the flashing frequency of the first light spot is different from that of the second light spot.

5. The method according to any one of claims 1 to 4, characterized in that: According to the second relative position, controlling the first light state to be different from the second light state comprises: At a first emission moment, controlling the first headlight state to be different from the second headlight state; After controlling the first headlight state to be different from the second headlight state according to the second relative position, the method further includes: Obtaining a third relative position of the target object relative to the vehicle; Obtaining a second posture data change amount, where the second posture data change amount is used to indicate a change in posture data of the vehicle during driving; Obtaining a fourth relative position, wherein the fourth relative position is a relative position to which the position of the target object relative to the vehicle changes from the third relative position after the second posture data changes; At the second emission moment, according to the third relative position, the third headlight state is controlled to be different from the fourth headlight state, the headlight system includes a third headlight area and a fourth headlight area, the third headlight state is the state of the third headlight area, the fourth headlight state is the state of the fourth headlight area, the fourth headlight area corresponds to the fourth relative position, the first emission moment is earlier than the second emission moment, and the orthographic projection of the second headlight area in the spatial coordinate system at least partially overlaps with the orthographic projection of the fourth headlight area in the spatial coordinate system.

6. The method according to claim 5, characterized in that An absolute value of a difference between the number of lamp beads included in the second headlight area and the number of lamp beads included in the fourth headlight area is smaller than a preset value.

7. The method according to any one of claims 1 to 6, characterized in that: The vehicle lamp system includes a vehicle lamp posture data detection module, the vehicle lamp posture data detection module is used to detect the posture data of the vehicle lamp, and obtaining the first posture data change includes: The first posture data change amount is obtained by the headlight posture data detection module, and the first posture data change amount is used to indicate the change amount of the posture data of the headlight system during the driving of the vehicle.

8. The method according to any one of claims 1 to 6, characterized in that: The vehicle includes a body posture data detection module, and the body posture data detection module is used to detect the posture data of the vehicle body. The obtaining of the first posture data change includes: The first posture data change amount is obtained by the vehicle body posture data detection module, and the first posture data change amount is used to indicate the change amount of the posture data of the headlight system during the driving of the vehicle.

9. The method according to claim 7 or 8, characterized in that: The obtaining of the first relative position of the target object relative to the vehicle comprises: Obtaining the first relative position of the target object relative to the vehicle light system; The obtaining of the second relative position comprises: The first posture data change amount is obtained, and the position of the target object relative to the vehicle light system changes from the first relative position to the second relative position.

10. The method according to any one of claims 1 to 9, characterized in that: The target object is a target vehicle around the host vehicle. Before obtaining the second relative position, the method further includes: Receiving a change in target posture data from the target vehicle, wherein the change in target posture data is used to indicate a change in posture of the target vehicle during driving; The obtaining of the second relative position comprises: The second relative position is obtained, where the second relative position is the relative position to which the position of the target vehicle relative to the host vehicle changes from the first relative position after the first posture data changes and the target posture data changes.

11. The method according to any one of claims 1 to 10, characterized in that: The obtaining of the first posture data change comprises: Obtaining first posture data of the vehicle at a first moment; Obtaining second posture data of the vehicle at a second moment, the first moment being earlier than the second moment; The first posture data change amount is obtained, where the first posture data change amount is the change amount of the second posture data relative to the first posture data.

12. The method according to any one of claims 1 to 11, characterized in that: The posture data includes at least one of the following: Vehicle position, three-axis velocity, three-axis acceleration, three-axis attitude angle or three-axis angular velocity.

13. A vehicle lighting system, characterized in that: It comprises a matrix type vehicle light and a control unit, wherein the control unit is connected to the matrix type vehicle light; The control unit is used for: Obtaining a first relative position of the target object relative to the vehicle; Obtaining a first posture data change amount, where the first posture data change amount is used to indicate a change in posture data of the vehicle during driving; Obtaining a second relative position, where the second relative position is a relative position to which the position of the target object relative to the vehicle changes from the first relative position after the first posture data changes; According to the second relative position, a first light state controlling the matrix light is different from a second light state, the matrix light includes a first light area and a second light area, the first light state is a state of the first light area, the second light state is a state of the second light area, and the second light area corresponds to the second relative position.

14. The vehicle light system according to claim 13, characterized in that: The vehicle light system includes a sensing system, and the sensing system is used to detect the position of the target object. The control unit is used to obtain the first relative position through the position of the target object detected by the sensing system.

15. The vehicle light system according to claim 13, characterized in that: The control unit is used to connect to a sensor system included in the vehicle; the sensor system is used to detect the position of the target object, and the control unit is used to obtain the first relative position through the position of the target object detected by the sensor system.

16. A vehicle, characterized in that: The vehicle comprises a vehicle light system as claimed in any one of claims 13 to 15.

17. A vehicle, characterized in that: It includes a vehicle light system and a vehicle domain controller, wherein the vehicle domain controller is connected to the vehicle light system; The vehicle domain controller is used for: Obtaining a first relative position of the target object relative to the vehicle; Obtaining a first posture data change amount, where the first posture data change amount is used to indicate a change in posture data of the vehicle during driving; Obtaining a second relative position, where the second relative position is a relative position to which the position of the target object relative to the vehicle changes from the first relative position after the first posture data changes; According to the second relative position, the first light state of controlling the light system is different from the second light state, the light system includes a first light area and a second light area, the first light state is the state of the first light area, the second light state is the state of the second light area, and the second light area corresponds to the second relative position.

18. A vehicle lighting system, characterized in that: It comprises a matrix type vehicle lamp and a control unit, wherein the control unit is connected to the matrix type vehicle lamp, and the control unit is used for: Controlling the matrix vehicle lamp to emit a first light beam at a first emission moment, wherein the first light beam is used to form a first shadow area; After the posture data of the vehicle changes, the matrix headlight is controlled to emit a second light beam at a second emission time, the second light beam is used to form a second shadow area, the area covered by the first shadow area and the area covered by the second shadow area at least partially overlap, and the first emission time is earlier than the second emission time.

19. The vehicle light system according to claim 18, characterized in that: The control unit is also used to: receive a change in target posture data from a target vehicle, where the change in target posture data is used to indicate a change in posture of the target vehicle during driving; The process of controlling the matrix headlights to emit the second light beam at the second emitting moment after the posture data of the vehicle changes is specifically used to control the matrix headlights to emit the second light beam at the second emitting moment after the first posture data change and the target posture data change, wherein at the first emitting moment, the circumscribed contour of the target vehicle is located in the area covered by the first shadow area, and at the second emitting moment, the circumscribed contour of the target vehicle is located in the area covered by the second shadow area.

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