Glare collaborative test method and device of self-adaptive high beam and electronic equipment

Abstract

The embodiment of the invention discloses a glare collaborative test method and device for a self-adaptive high beam and electronic equipment. The method comprises the steps of firstly obtaining test data of a target vehicle in a site test, performing a darkroom light test on the target vehicle based on bus data in the test data to obtain light shape data corresponding to each target moment, and then determining a target illumination range corresponding to each light shape data according to inertial navigation data in the test data, and finally, determining a glare test result of the self-adaptive high beam according to a comparison result of the target illumination range and the theoretical glare affected range which are paired in pairs. Test data obtained in a field test are recharged into a darkroom light test scene through data, and a glare collaborative test of the adaptive high beam is performed, so that a real road driving condition environment can be simulated, a target illumination range of each target moment can be accurately and efficiently determined in the darkroom test environment, and the test efficiency is improved. And the accuracy and the efficiency of the adaptive high beam glare test are improved.

Description

Technical Field

[0001] One or more embodiments of the present specification relate to the field of automobile lighting testing technology, and in particular, to a glare coordination testing method, device, and electronic equipment for an adaptive high beam. Background Art

[0002] With the rapid development of unmanned intelligent driving technology, the performance requirements for adaptive driving beam (ADB) installed on cars are becoming higher and higher, requiring cars to automatically adjust the high beam in various driving scenarios to ensure that other vehicles are not glared. Therefore, an adaptive high beam test method is needed to comprehensively, accurately and efficiently detect and evaluate the performance of vehicle headlights ADB. However, traditional ADB test methods are mostly limited to laboratory or darkroom environments, lack complex scene simulations under real road conditions, and often only focus on the performance of the light itself, while ignoring the impact of vehicle dynamic changes, road conditions and the position of surrounding targets on ADB performance, resulting in a large deviation between the test results and actual usage, and it is difficult to accurately reflect the anti-dizziness effect of adaptive high beams. Summary of the invention

[0003] The embodiments of this specification provide a glare coordination test method, device and electronic equipment for an adaptive high beam headlight, and the technical solution is as follows: In a first aspect, an embodiment of the present specification provides a glare coordination test method for an adaptive high beam headlight, the method comprising: Acquire test data of the target vehicle in the field test, the test data including inertial navigation data and bus data, the inertial navigation data is used to characterize the position information of the target vehicle and the exciting vehicle at each test time, and the bus data is used to characterize the working information corresponding to the adaptive high beam of the target vehicle at each test time; Perform a darkroom lighting test on the target vehicle based on the bus data to obtain light shape data corresponding to at least two target moments, wherein the working information corresponding to the target moments is an on state; constructing a high beam illumination three-dimensional model corresponding to each target moment based on the inertial navigation data, and determining a target illumination range corresponding to each light shape data based on each high beam illumination three-dimensional model; The theoretical glare affected range of the exciting vehicle at each target moment is determined, and the target illumination ranges and the theoretical glare affected ranges that are paired in pairs are compared with each other, and the glare test results of the adaptive high beam are determined based on each comparison result.

[0004] In a second aspect, a glare coordination test device for an adaptive high beam is provided, the device comprising: An acquisition module, used to acquire test data of a target vehicle in a field test, wherein the test data includes inertial navigation data and bus data, wherein the inertial navigation data is used to characterize the position information of the target vehicle and the exciting vehicle at each test moment, and the bus data is used to characterize the working information corresponding to the adaptive high beam of the target vehicle at each test moment; A testing module, used for performing a darkroom lighting test on the target vehicle based on the bus data, and obtaining light shape data corresponding to at least two target moments, wherein the working information corresponding to the target moments is an on state; A construction module, used to construct a high beam illumination three-dimensional model corresponding to each target moment based on the inertial navigation data, and determine a target illumination range corresponding to each light shape data based on each high beam illumination three-dimensional model; The determination module is used to determine the theoretical glare affected range of the exciting vehicle at each target moment, and compare the target illumination ranges and the theoretical glare affected ranges that are paired in pairs, and determine the glare test results of the adaptive high beam based on each comparison result.

[0005] In a third aspect, an electronic device is provided, including a device processor and a memory; The device processor is connected to the memory; The memory is used to store executable program code; The device processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the method provided in the first aspect or any possible implementation manner of the first aspect.

[0006] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and the computer-readable storage medium stores instructions, which, when the instructions are executed on a computer or a device processor, cause the computer or the device processor to execute the method provided in the first aspect or any possible implementation of the first aspect.

[0007] The beneficial effects brought by the technical solutions provided by some embodiments of this specification include at least: In one or more embodiments of the present specification, the test data of the target vehicle in the field test can be obtained first, and the target vehicle can be tested in a darkroom based on the bus data in the test data to obtain the light shape data corresponding to each target moment, and then the target illumination range corresponding to each light shape data can be determined according to the inertial navigation data in the test data, and finally the glare test result of the adaptive high beam can be determined by comparing the target illumination ranges and the theoretical glare affected ranges of each pair. By injecting the test data obtained in the field test back into the darkroom lighting test scene through data, the glare collaborative test of the adaptive high beam can be performed, which ensures that the real road driving conditions can be simulated, and the target illumination range of each target moment can be accurately and efficiently determined in the darkroom test environment, thereby improving the accuracy and efficiency of the adaptive high beam glare test. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0009] Figure 1 A flowchart of a glare collaborative testing method for an adaptive high beam provided in an embodiment of this specification; Figure 2 A schematic diagram of the structure of a glare coordination test device for an adaptive high beam provided in an embodiment of this specification; Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of this specification. DETAILED DESCRIPTION

[0010] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0011] The terms "first", "second", "third", etc. in the description and claims of this specification and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0012] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present specification. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described with respect to some examples may be combined in other examples.

[0013] See also Figure 1 , Figure 1 An overall flow chart of a glare coordination testing method for an adaptive high beam headlight provided in an embodiment of this specification is shown.

[0014] like Figure 1 As shown, the glare coordination test method of the adaptive high beam lamp may at least include the following steps: Step 101: Acquire test data of a target vehicle in a field test.

[0015] Among them, the test data includes inertial navigation data and bus data, the inertial navigation data is used to characterize the position information of the target vehicle and the exciting vehicle at each test moment, and the bus data is used to characterize the working information corresponding to the adaptive high beam of the target vehicle at each test moment.

[0016] In the embodiment of this specification, in order to conduct a glare coordination test on the adaptive high beam of the target vehicle, it is necessary to simulate it under real road conditions, but the light shape data of the high beam under real road conditions is difficult to obtain, so it is necessary to simulate the real driving environment in the test site first, and import the obtained test data into a darkroom test environment where the subsequent light shape data is easy to capture. Among them, field test preparation is required during the field test, first install the inertial navigation system, ADB robot and other equipment, and preheat and calibrate the test vehicle to ensure the normal operation of the test equipment. Then, the field test is carried out again, and the automatic driving robot is used to drive the target vehicle in the field with the exciting vehicle in the specified scene, including following the vehicle, driving in the opposite direction, overtaking, front vehicle cutting in, front vehicle cutting out and other scenes, and at the same time, the driving information is recorded with the help of the inertial navigation system on the target vehicle and the exciting vehicle, and the test data of the target vehicle in the field test is obtained. Among them, the test data includes inertial navigation data and bus data, and the inertial navigation data includes the target vehicle speed V1, the target vehicle pitch angle φ, the target vehicle position coordinates L1 (x1, y1), the exciting vehicle coordinates L2 (x2, y2), etc. The bus data includes the working information corresponding to the adaptive high beam of the target vehicle at each test time, and synchronizes the inertial navigation data with the bus data box through the IO port, and synchronizes the inertial navigation of the target vehicle and the stimulating vehicle through GPS, and monitors and records the response of the ADB system in real time. Therefore, the obtained inertial navigation data and bus data are paired with each other at each test time.

[0017] Optionally, after the field test, the acquired test data can be professionally collated and aligned. First, finely classify the scenes according to the driving characteristics, such as straight lines, curves, and oncoming vehicles. Second, summarize and classify them according to the inertial navigation data and bus data. For example, identify each scene data as TEST-Name and the data corresponding to each scene, the bus data as Test-CAN-ID, and the inertial navigation data as Test-RT-ID.

[0018] Step 102: Perform a darkroom lighting test on the target vehicle based on the bus data to obtain light shape data corresponding to at least two target moments.

[0019] Among them, the work information corresponding to the target time is in the on state.

[0020] In the embodiments of this specification, after obtaining the test data through field testing, a data re-injection architecture can be built first. Specifically, the headlight bus is disconnected from the body bus, and the two-end bus is bridged to CANoe (headlight H / L to CH1 and CH2, body H / L to CH3 and CH4). A re-injection script is written, including pause, injection, reset, time selection and other instructions, so that the data can be paused at any time during re-injection, and all signals are kept in the state at that moment during the pause period to ensure test flexibility and continuity. Next, start data re-injection, use the constructed data re-injection architecture to input the bus data into the headlight controller, and perform a darkroom lighting test, use the bus data to control the operation of the adaptive high beam, and randomly select multiple target moments within the time period when the working information of the adaptive high beam is in the on state, and obtain the light shape data corresponding to each target moment through the light shape sensor.

[0021] In one possible implementation, performing a darkroom lighting test on the target vehicle based on the bus data to obtain light shape data corresponding to at least two target moments includes: Determining high beam operation instructions corresponding to at least two target moments based on the bus data; A darkroom lighting test is performed on the target vehicle according to each of the high beam working instructions to obtain light shape data corresponding to each of the target moments.

[0022] In the embodiment of the present specification, the acquired bus data includes the working information of the adaptive high beam of the target vehicle at each test time, that is, the control instructions of the light sensor at each test time. Therefore, the darkroom lighting test of the target vehicle can first determine the time period when the working information of the adaptive high beam is in the on state through the bus data, and divide the time period into three equal parts, and determine a target time in each time period by random method. Then, by querying the three different target times T1, T2 and T3 in the bus data, the high beam working instructions corresponding to each target time are obtained. Furthermore, the lighting test of the target vehicle is carried out in a darkroom environment through each high beam working instruction, and the illumination probe is used to scan the range that may be affected by the main glare, and the remaining area range is photographed and measured with an imaging luminance meter, and finally the data of the two are synthesized to obtain the light shape data corresponding to each target time.

[0023] Step 103: constructing a high beam illumination three-dimensional model corresponding to each target moment based on the inertial navigation data, and determining a target illumination range corresponding to each light shape data based on each high beam illumination three-dimensional model.

[0024] In the embodiments of the present specification, after obtaining the inertial navigation data in the field test and the light shape data at each target moment in the implied lighting test, the illumination range at the exciting vehicle position at each target moment can be determined by first determining the corresponding position information at each target moment through the acquired inertial navigation data. This may include information such as the target vehicle coordinates, the exciting vehicle coordinates, and the surrounding geographical environment. Then, a three-dimensional model of the high beam illumination corresponding to each different target moment is constructed according to each position information through three-dimensional modeling software, and each light shape data is input into the corresponding three-dimensional model of the high beam illumination, simulating the target illumination range generated at the corresponding exciting vehicle coordinate position after the light shape data is emitted at the target vehicle coordinate position.

[0025] In one possible implementation, constructing the high beam illumination three-dimensional model corresponding to each target moment based on the inertial navigation data includes: Constructing an initial irradiation three-dimensional model, and determining the position information corresponding to each target at a given moment based on the inertial navigation data; The position information is input into the initial illumination three-dimensional model to obtain the high beam illumination three-dimensional model corresponding to each target moment.

[0026] In the embodiment of the present specification, the illumination area can be firstly divided into grids by the fixed physical position information such as the position of the headlights and the driving direction of the target vehicle, and the brightness, color and other information of each grid can be rendered according to the result of ray tracing. A geometric 3D model can be constructed using 3D modeling software such as Blender or 3ds Max, and a high beam light source can be added to it, its initial position can be set, and the initial parameters such as the initial intensity, color, irradiation angle and range of the light source can be defined to construct the initial irradiation 3D model. Then, the acquired inertial navigation data can be screened with each target moment as the timestamp to obtain the position information corresponding to each target moment, that is, including the coordinates of the target vehicle, the coordinates of the exciting vehicle and the surrounding geographical environment. Further, each position information is respectively input into the initial irradiation 3D model, the position and direction information of the high beam in the initial irradiation 3D model is updated, the propagation path of the light emitted from the high beam light source in the scene is calculated using the ray tracing algorithm, and the intersection of the light and the objects in the scene is rendered to show the irradiation effect, and the high beam irradiation 3D model corresponding to each target moment is obtained.

[0027] In one possible implementation, determining the target illumination range corresponding to each of the light shape data based on each of the high beam illumination three-dimensional models includes: Determining the coordinates of the exciting vehicle in each of the position information; Based on each of the high beam illumination three-dimensional models, a target illumination range corresponding to each of the light shape data at each of the exciting vehicle coordinates is determined.

[0028] In the embodiments of the present specification, the coordinates of the exciting vehicle included in the position information corresponding to each target moment can be determined first, and then each light shape data is input into the corresponding three-dimensional model of the high beam illumination, and the inclination angle and light intensity of the high beam are adaptively adjusted, and the high beam illumination is simulated. A simulated illumination point is set at the coordinate position of the exciting vehicle to receive the high beam illumination of the target vehicle, so as to obtain the target illumination range corresponding to each light shape data.

[0029] Step 104: determine the theoretical glare affected range of the exciting vehicle at each target moment, compare the target illumination ranges and the theoretical glare affected ranges that are paired in pairs, and determine the glare test results of the adaptive high beam based on the comparison results.

[0030] In the embodiments of the present specification, during the actual driving process, the exciting vehicle will have different theoretical glare affected ranges at each target moment due to the different distances between the exciting vehicle and the target vehicle and the driving scenes of the two vehicles. That is, when the target illumination range received at the exciting vehicle position at the target moment exceeds the theoretical glare affected range, it indicates that the exciting vehicle will be affected by the glare generated by the high beam of the target vehicle at this time. Therefore, the theoretical glare affected range corresponding to the exciting vehicle at each target moment is first determined through the historical test database. Then, the obtained target illumination ranges and the theoretical glare affected ranges that are paired with each other are compared, and the glare test results of the adaptive high beam are determined according to the comparison results. In general, it is necessary to judge the comparison results corresponding to all target moments. As long as they all meet the preset values, the glare test results of the adaptive high beam can be determined as meeting the requirements.

[0031] In one possible implementation, determining the theoretical glare affected range of the exciting vehicle at each target moment includes: Determining the type of driving scene at each of the target moments based on the test data; The theoretical glare affected range of the exciting vehicle at each target moment is determined according to the driving scene type.

[0032] In the embodiments of the present specification, the test data includes various driving scenarios, because the theoretical glare affected ranges corresponding to different driving scenarios are different. For example, when the driving scenario is that the target vehicle and the exciting vehicle are traveling in the same direction, the theoretical glare affected range corresponding to the exciting vehicle is the position of the left and right rearview mirrors and the cab rearview mirror. When the driving scenario is that the target vehicle and the exciting vehicle are traveling in opposite directions, the theoretical glare affected range corresponding to the exciting vehicle is the position of the front windshield. Therefore, it is necessary to first determine the type of driving scene corresponding to each target moment in the acquired test data. Then, a historical test database is constructed through historical test data, and the type of driving scene corresponding to each target moment and the relative position of the corresponding target vehicle and the exciting vehicle at the target moment are input into the database, and the corresponding theoretical glare affected range can be output.

[0033] In one possible implementation, comparing the target illumination ranges and the theoretical glare affected ranges that are paired in pairs, comprises: Calculating the similarity between the target illumination range and the theoretical glare influence range for each pairing based on a similarity algorithm; Each of the similarities is compared with a preset similarity value to obtain each comparison result.

[0034] In the embodiment of the present specification, the target illumination range and the theoretical glare impact range can be first converted into a set form, and each range is defined as a set containing numerical values. Then, the Jaccard similarity algorithm is used to calculate the ratio of the size of the intersection of the two sets to the size of the union, and the similarity J between each pair of target illumination ranges and theoretical glare impact ranges is obtained. Further, a preset similarity J0 is determined, and the obtained similarities J of each pair are respectively compared with J0 for difference, and each comparison result is obtained.

[0035] In one possible implementation, determining the glare test result of the adaptive high beam lamp based on each comparison result includes: When all the comparison results are characterized as the similarity being less than the preset similarity value, the glare test result of the adaptive high beam is determined to meet the preset requirement; When there is at least one of the comparison results characterized by the similarity being not less than the preset similarity value, the glare test result of the adaptive high beam is determined to fail to meet the preset requirement.

[0036] In the embodiment of the present specification, when determining the glare test result of the adaptive high beam lamp through each comparison result, it is generally necessary to satisfy that at all target moments, the adaptive high beam lamp of the target vehicle will not cause glare to the exciting vehicle, that is, there is as little intersection as possible between each target illumination range and the theoretical glare influence range, and the similarity is as small as possible from the preset similarity value. Therefore, when it is judged that all the difference comparison results are negative numbers, that is, it is characterized that the corresponding similarities are all smaller than the preset similarity value, the glare test result of the adaptive high beam lamp can be determined to meet the preset requirements, and when it is judged that there is only one difference comparison result that is not negative, that is, it is characterized that the similarity is not less than the preset similarity value, the glare test result of the adaptive high beam lamp can be determined to not meet the preset requirements.

[0037] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0038] See next Figure 2 , Figure 2 The structure diagram of a glare cooperative testing device for an adaptive high beam lamp provided in an embodiment of the present specification is shown. It should be noted that: Figure 2 The glare coordination test device of the adaptive high beam lamp shown is used to perform the present application Figure 1 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 1 The embodiment shown.

[0039] like Figure 2 As shown, the glare coordination test device of the adaptive high beam lamp may at least include: An acquisition module 201 is used to acquire test data of a target vehicle in a field test, wherein the test data includes inertial navigation data and bus data, wherein the inertial navigation data is used to characterize the position information of the target vehicle and the exciting vehicle at each test time, and the bus data is used to characterize the working information corresponding to the adaptive high beam of the target vehicle at each test time; A test module 202 is used to perform a darkroom lighting test on the target vehicle based on the bus data to obtain light shape data corresponding to at least two target moments, wherein the working information corresponding to the target moment is an on state; A construction module 203 is used to construct a high beam illumination three-dimensional model corresponding to each target moment based on the inertial navigation data, and determine a target illumination range corresponding to each light shape data based on each high beam illumination three-dimensional model; The determination module 204 is used to determine the theoretical glare affected range of the exciting vehicle at each target moment, and compare the target illumination ranges and the theoretical glare affected ranges that are paired in pairs, and determine the glare test results of the adaptive high beam based on each comparison result.

[0040] In one embodiment, the testing module 202 is specifically used for: Determining high beam operation instructions corresponding to at least two target moments based on the bus data; A darkroom lighting test is performed on the target vehicle according to each of the high beam working instructions to obtain light shape data corresponding to each of the target moments.

[0041] In one possible implementation, the construction module 203 is specifically used to: Constructing an initial irradiation three-dimensional model, and determining the position information corresponding to each target at a given moment based on the inertial navigation data; The position information is input into the initial illumination three-dimensional model to obtain the high beam illumination three-dimensional model corresponding to each target moment.

[0042] In one possible implementation, the construction module 203 is further specifically used for: Determining the coordinates of the exciting vehicle in each of the position information; Based on each of the high beam illumination three-dimensional models, a target illumination range corresponding to each of the light shape data at each of the exciting vehicle coordinates is determined.

[0043] In one possible implementation, the determination module 204 is specifically configured to: Determining the type of driving scene at each of the target moments based on the test data; The theoretical glare affected range of the exciting vehicle at each target moment is determined according to the driving scene type.

[0044] In one possible implementation, the determination module 204 is further configured to: Calculating the similarity between the target illumination range and the theoretical glare influence range for each pairing based on a similarity algorithm; Each of the similarities is compared with a preset similarity value to obtain each comparison result.

[0045] In one possible implementation, the determination module 204 is further configured to: When all the comparison results are characterized as the similarity being less than the preset similarity value, the glare test result of the adaptive high beam is determined to meet the preset requirement; When there is at least one of the comparison results characterized by the similarity being not less than the preset similarity value, the glare test result of the adaptive high beam is determined to fail to meet the preset requirement.

[0046] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. The "unit" and "module" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (FPGA), an integrated circuit (IC), etc.

[0047] Each processing unit and / or module of the embodiments of the present application may be implemented by an analog circuit that implements the functions described in the embodiments of the present application, or may be implemented by software that executes the functions described in the embodiments of the present application.

[0048] See next Figure 3 , Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of this specification is shown.

[0049] like Figure 3 As shown, the electronic device 300 may include: at least one device processor 301 , at least one network interface 303 , a user interface 303 , a memory 305 and at least one communication bus 302 .

[0050] The communication bus 302 may be used to realize the connection and communication among the above-mentioned components.

[0051] The user interface 303 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0052] The network interface 304 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0053] Among them, the device processor 301 may include one or more processing cores. The device processor 301 uses various interfaces and lines to connect various parts within the entire electronic device 300, and executes various functions and processes data of the electronic device 300 by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the device processor 301 can be implemented in at least one hardware form of DSP, FPGA, and PLA. The device processor 301 can integrate one or a combination of CPU, GPU, modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the device processor 301, and it can be implemented separately through a chip.

[0054] The memory 305 may include a RAM or a ROM. Optionally, the memory 305 includes a non-transitory computer-readable medium. The memory 305 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may optionally be at least one storage device located away from the aforementioned device processor 301. As Figure 3 As shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0055] Specifically, the device processor 301 may be used to call the adaptive high beam glare coordination test application stored in the memory 305, and specifically perform the following operations: Acquire test data of the target vehicle in the field test, the test data including inertial navigation data and bus data, the inertial navigation data is used to characterize the position information of the target vehicle and the exciting vehicle at each test time, and the bus data is used to characterize the working information corresponding to the adaptive high beam of the target vehicle at each test time; Perform a darkroom lighting test on the target vehicle based on the bus data to obtain light shape data corresponding to at least two target moments, wherein the working information corresponding to the target moments is an on state; constructing a high beam illumination three-dimensional model corresponding to each target moment based on the inertial navigation data, and determining a target illumination range corresponding to each light shape data based on each high beam illumination three-dimensional model; The theoretical glare affected range of the exciting vehicle at each target moment is determined, and the target illumination ranges and the theoretical glare affected ranges that are paired in pairs are compared with each other, and the glare test results of the adaptive high beam are determined based on each comparison result.

[0056] As an optional embodiment of this specification, the darkroom lighting test is performed on the target vehicle based on the bus data to obtain light shape data corresponding to at least two target moments, including: Determining high beam operation instructions corresponding to at least two target moments based on the bus data; A darkroom lighting test is performed on the target vehicle according to each of the high beam working instructions to obtain light shape data corresponding to each of the target moments.

[0057] As an optional embodiment of this specification, the constructing of the high beam illumination three-dimensional model corresponding to each target moment based on the inertial navigation data includes: Constructing an initial irradiation three-dimensional model, and determining the position information corresponding to each target at a given moment based on the inertial navigation data; The position information is input into the initial illumination three-dimensional model to obtain the high beam illumination three-dimensional model corresponding to each target moment.

[0058] As an optional embodiment of the present specification, the determining the target illumination range corresponding to each of the light shape data based on each of the high beam illumination three-dimensional models includes: Determining the coordinates of the exciting vehicle in each of the position information; Based on each of the high beam illumination three-dimensional models, a target illumination range corresponding to each of the light shape data at each of the exciting vehicle coordinates is determined.

[0059] As an optional embodiment of this specification, the determining of the theoretical glare affected range of the exciting vehicle at each target time includes: Determining the type of driving scene at each of the target moments based on the test data; The theoretical glare affected range of the exciting vehicle at each target moment is determined according to the driving scene type.

[0060] As an option of the embodiment of this specification, the comparing the target illumination ranges and the theoretical glare affected ranges that are paired in pairs each includes: Calculating the similarity between the target illumination range and the theoretical glare influence range for each pairing based on a similarity algorithm; Each of the similarities is compared with a preset similarity value to obtain each comparison result.

[0061] As an option of the embodiment of this specification, the determining the glare test result of the adaptive high beam based on each comparison result includes: When all the comparison results are characterized as the similarity being less than the preset similarity value, the glare test result of the adaptive high beam is determined to meet the preset requirement; When there is at least one of the comparison results characterized by the similarity being not less than the preset similarity value, the glare test result of the adaptive high beam is determined to fail to meet the preset requirement.

[0062] The embodiments of this specification also provide a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0063] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0064] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0065] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0066] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0067] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0068] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0069] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct related hardware, and the program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0070] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A glare coordination test method for an adaptive high beam, characterized in that: The method comprises: Acquire test data of the target vehicle in the field test, the test data including inertial navigation data and bus data, the inertial navigation data is used to characterize the position information of the target vehicle and the exciting vehicle at each test time, and the bus data is used to characterize the working information corresponding to the adaptive high beam of the target vehicle at each test time; Perform a darkroom lighting test on the target vehicle based on the bus data to obtain light shape data corresponding to at least two target moments, wherein the working information corresponding to the target moments is an on state; constructing a high beam illumination three-dimensional model corresponding to each target moment based on the inertial navigation data, and determining a target illumination range corresponding to each light shape data based on each high beam illumination three-dimensional model; The theoretical glare affected range of the exciting vehicle at each target moment is determined, and the target illumination ranges and the theoretical glare affected ranges that are paired in pairs are compared with each other, and the glare test results of the adaptive high beam are determined based on each comparison result.

2. The method according to claim 1, characterized in that The darkroom lighting test is performed on the target vehicle based on the bus data to obtain light shape data corresponding to at least two target moments, including: Determining high beam operation instructions corresponding to at least two target moments based on the bus data; A darkroom lighting test is performed on the target vehicle according to each of the high beam working instructions to obtain light shape data corresponding to each of the target moments.

3. The method according to claim 1, characterized in that The constructing the high beam illumination three-dimensional model corresponding to each target moment based on the inertial navigation data includes: Constructing an initial irradiation three-dimensional model, and determining the position information corresponding to each target at a given moment based on the inertial navigation data; The position information is input into the initial illumination three-dimensional model to obtain the high beam illumination three-dimensional model corresponding to each target moment.

4. The method according to claim 3, characterized in that The determining the target illumination range corresponding to each of the light shape data based on each of the high beam illumination three-dimensional models includes: Determining the coordinates of the exciting vehicle in each of the position information; Based on each of the high beam illumination three-dimensional models, a target illumination range corresponding to each of the light shape data at each of the exciting vehicle coordinates is determined.

5. The method according to claim 1, characterized in that The determining of the theoretical glare affected range of the exciting vehicle at each target time includes: Determining the type of driving scene at each of the target moments based on the test data; The theoretical glare affected range of the exciting vehicle at each target moment is determined according to the driving scene type.

6. The method according to claim 1, characterized in that The step of comparing the target illumination ranges that are paired in pairs with the theoretical glare affected ranges comprises: Calculate the similarity between the target illumination range and the theoretical glare affected range in pairs based on a similarity algorithm; Each of the similarities is compared with a preset similarity value to obtain each comparison result.

7. The method according to claim 6, characterized in that The step of determining the glare test result of the adaptive high beam lamp based on the comparison results includes: When all the comparison results are characterized as the similarity being less than the preset similarity value, the glare test result of the adaptive high beam is determined to meet the preset requirement; When there is at least one of the comparison results characterized by the similarity being not less than the preset similarity value, the glare test result of the adaptive high beam is determined to fail to meet the preset requirement.

8. A glare coordination test device for an adaptive high beam, characterized in that: The device comprises: An acquisition module, used to acquire test data of a target vehicle in a field test, wherein the test data includes inertial navigation data and bus data, wherein the inertial navigation data is used to characterize the position information of the target vehicle and the exciting vehicle at each test moment, and the bus data is used to characterize the working information corresponding to the adaptive high beam of the target vehicle at each test moment; A testing module, used for performing a darkroom lighting test on the target vehicle based on the bus data, and obtaining light shape data corresponding to at least two target moments, wherein the working information corresponding to the target moments is an on state; A construction module, used to construct a high beam illumination three-dimensional model corresponding to each target moment based on the inertial navigation data, and determine a target illumination range corresponding to each light shape data based on each high beam illumination three-dimensional model; The determination module is used to determine the theoretical glare affected range of the exciting vehicle at each target moment, and compare the target illumination ranges and the theoretical glare affected ranges that are paired in pairs, and determine the glare test results of the adaptive high beam based on each comparison result.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, wherein the computer-readable storage medium has instructions stored therein, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1 to 7.

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