Vehicle lamp calibration method, device and system and medium

Abstract

The embodiment of the invention discloses a vehicle lamp calibration method, device and system and a medium, and the method comprises the steps: controlling a to-be-calibrated light source in a vehicle lamp to be lightened according to the target illumination intensity after a vehicle lamp calibration instruction is received, and enabling the number of the to-be-calibrated light source lightened each time to be one; determining boundary position information of a light spot area presented by light rays emitted by the light source to be calibrated on the light bearing screen; the irradiation angle of the to-be-calibrated light source is determined according to the boundary position information, the irradiation angle with the effectiveness meeting the requirement serves as the calibration result of the to-be-calibrated light source, and the effectiveness meeting the requirement means that the irradiation angle is within the standard irradiation angle range of the vehicle lamp light source; and returning to execute the operation of controlling the to-be-calibrated light source in the vehicle lamp to be lightened according to the target illumination intensity until calibration of all light sources is completed. By adopting the technical scheme, the automatic calibration of the plurality of light sources in the vehicle lamp is realized.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of autonomous driving technology, and more specifically, to a vehicle light calibration method, device, system and medium. Background Art

[0002] Headlight calibration is an essential part of the vehicle production process. By calibrating the headlights, the lighting angle and intensity of the headlights can meet the regulatory requirements, providing the driver with sufficient road lighting and a wide field of view during driving.

[0003] At present, the calibration of headlights relies on collecting the illumination of a specific illuminated area when the vehicle leaves the factory, and then adjusting the headlights as a whole to meet regulatory requirements. The specific calibration process mainly involves manually adjusting the mechanical structure of the lamp to correct the illumination angle. When the headlights contain multiple light sources, the above calibration scheme cannot take into account the illumination angle deviation of each single light source, which will lead to a decrease in the performance of complex lighting functions that rely on high-precision illumination, or even the inability to realize the lighting functions. Summary of the invention

[0004] Embodiments of the present invention provide a vehicle lamp calibration method, device, system and medium to improve the calibration accuracy of multiple light sources in a vehicle lamp.

[0005] The specific technical solutions are as follows:

[0006] In a first aspect, an embodiment of the present invention provides a method for calibrating a vehicle lamp, wherein the vehicle lamp includes a plurality of light sources, and the method includes:

[0007] After receiving the vehicle lamp calibration instruction, the light source to be calibrated in the vehicle lamp is controlled to light up according to the target light intensity, wherein the number of the light source to be calibrated that is lit up each time is one;

[0008] Determine the boundary position information of the light spot area presented by the light source to be calibrated on the light receiving screen, wherein the light receiving screen is arranged perpendicular to the forward direction of the vehicle and opposite to the vehicle;

[0009] Determine the illumination angle of the light source to be calibrated according to the boundary position information, and take the illumination angle that meets the validity requirement as the calibration result of the light source to be calibrated, wherein the validity meeting the requirement means that the illumination angle is within the standard illumination angle range of the vehicle light source;

[0010] Return to execute the operation of controlling the light sources to be calibrated in the vehicle lights to light up according to the target light intensity until the calibration of all light sources is completed.

[0011] Optionally, determining the boundary position information of the light spot area presented by the light source to be calibrated on the light receiving screen includes:

[0012] Obtaining a light spot image of the light emitted by the light source to be calibrated and collected by the vehicle-mounted camera and presented on the light receiving screen;

[0013] According to the relative position relationship between the vehicle-mounted camera and the light-bearing screen, the position with the largest ordinate value, the position with the smallest ordinate data, the position with the largest abscissa value and the position with the smallest abscissa value in the light spot area under the vehicle-mounted camera coordinate system are all taken as the boundary points of the light spot;

[0014] Based on the position information of each boundary point, the boundary position information of the spot area is determined.

[0015] Optionally, the boundaries of the light spot area include an upper boundary, a lower boundary, a left boundary and a right boundary, and correspondingly, the boundary illumination angles of the light source to be calibrated include a first illumination angle corresponding to the left boundary, a second illumination angle corresponding to the right boundary, a third illumination angle corresponding to the upper boundary and a fourth illumination angle corresponding to the lower boundary;

[0016] Accordingly, the illumination angle of the light source to be calibrated is determined according to the boundary position information, including:

[0017] The angle between the left boundary, the first line connecting the vehicle-mounted camera and the vehicle XOZ plane is used as the first illumination angle corresponding to the left boundary, and the angle between the right boundary, the second line connecting the vehicle-mounted camera and the vehicle XOZ plane is used as the second illumination angle corresponding to the right boundary, and the angle between the upper boundary, the third line connecting the vehicle-mounted camera and the vehicle XOY plane is used as the third illumination angle corresponding to the upper boundary, and the angle between the lower boundary, the fourth line connecting the vehicle-mounted camera and the vehicle XOY plane is used as the fourth illumination angle corresponding to the lower boundary, wherein the X-axis direction of the vehicle is the forward direction of the vehicle, the upward direction perpendicular to the X-axis of the vehicle is the Z-axis direction, and the direction perpendicular to the Z-axis and parallel to the line connecting the two front wheels of the vehicle is the Y-axis direction.

[0018] Optionally, the method provided by the embodiment of the present invention further includes:

[0019] The calibration results of each light source are written into the storage module, and a message indicating successful calibration is returned.

[0020] Optionally, the method provided by the embodiment of the present invention further includes:

[0021] If the validity of the illumination angle of the light source to be calibrated does not meet the requirements, a calibration failure message is returned, and the light source to be calibrated is recalibrated.

[0022] In a second aspect, an embodiment of the present invention further provides a vehicle lamp calibration device, comprising:

[0023] The vehicle light control module is configured to control the light source to be calibrated in the vehicle light to light up according to the target light intensity after receiving the vehicle light calibration instruction, wherein the number of the light source to be calibrated that is lit up each time is one;

[0024] The boundary information acquisition module is configured to determine the boundary position information of the light spot area presented by the light source to be calibrated on the light receiving screen, wherein the light receiving screen is arranged perpendicular to the forward direction of the vehicle and opposite to the vehicle;

[0025] The calibration module is configured to determine the illumination angle of the light source to be calibrated according to the boundary position information, and take the illumination angle that meets the validity requirements as the calibration result of the light source to be calibrated, and return to execute the operation of controlling the light source to be calibrated in the car lamp to light up according to the target light intensity until the calibration of all light sources is completed, wherein the validity meets the requirements means that the illumination angle is within the standard illumination angle range of the car lamp light source.

[0026] Optionally, the boundary information collection module is specifically configured as follows:

[0027] Obtaining a light spot image of the light emitted by the light source to be calibrated and collected by the vehicle-mounted camera and presented on the light receiving screen;

[0028] According to the relative position relationship between the vehicle-mounted camera and the light-bearing screen, the position with the largest ordinate value, the position with the smallest ordinate data, the position with the largest abscissa value and the position with the smallest abscissa value in the light spot area under the vehicle-mounted camera coordinate system are all taken as the boundary points of the light spot;

[0029] Based on the position information of each boundary point, the boundary position information of the spot area is determined.

[0030] Optionally, the boundaries of the light spot area include an upper boundary, a lower boundary, a left boundary and a right boundary, and correspondingly, the illumination angle of the light source to be calibrated includes a first illumination angle corresponding to the left boundary, a second illumination angle corresponding to the right boundary, a third illumination angle corresponding to the upper boundary and a fourth illumination angle corresponding to the lower boundary;

[0031] Correspondingly, the calibration module includes:

[0032] The illumination angle determination unit is configured to: use the angle between the left boundary and the first line connecting the on-board camera and the vehicle XOZ plane as the first illumination angle corresponding to the left boundary, and use the angle between the right boundary and the second line connecting the on-board camera and the vehicle XOZ plane as the second illumination angle corresponding to the right boundary, and use the angle between the upper boundary and the third line connecting the on-board camera and the vehicle XOY plane as the third illumination angle corresponding to the upper boundary, and use the angle between the lower boundary and the fourth line connecting the on-board camera and the vehicle XOY plane as the fourth illumination angle corresponding to the lower boundary, wherein the X-axis direction of the vehicle is the forward direction of the vehicle, the direction perpendicular to the X-axis of the vehicle is the Z-axis direction, and the direction perpendicular to the Z-axis and parallel to the line connecting the two front wheels of the vehicle is the Y-axis direction;

[0033] The calibration unit is configured to take the illumination angle that meets the validity requirements as the calibration result of the light source to be calibrated, and return to execute the operation of controlling the light source to be calibrated in the vehicle lamp to light up according to the target light intensity until the calibration of all light sources is completed, wherein the validity meets the requirements means that the illumination angle is within the standard illumination angle range of the vehicle lamp light source.

[0034] Optionally, the device provided by the embodiment of the present invention further includes:

[0035] The calibration result storage module is configured to write the calibration results of each light source into the storage module and return a message indicating a successful calibration.

[0036] Optionally, the device provided by the embodiment of the present invention further includes:

[0037] The recalibration module is configured to return calibration failure information if the validity of the illumination angle of the light source to be calibrated does not meet the requirements, and recalibrate the light source to be calibrated.

[0038] In a third aspect, an embodiment of the present invention provides a vehicle lamp calibration system, the calibration system further comprising: a vehicle diagnostic instrument, a light receiving screen and a vehicle to be calibrated, wherein:

[0039] The vehicle diagnostic instrument is in communication connection with the vehicle to be calibrated, and is used to send a calibration instruction to the vehicle to be calibrated, wherein the calibration instruction is used to instruct the light source to be calibrated in the vehicle to be calibrated to light up according to the target light intensity;

[0040] The vehicle to be calibrated includes a headlight to be calibrated, a vehicle-mounted camera and a headlight control system, wherein the headlight to be calibrated includes a plurality of light sources to be calibrated, and the headlight control system includes a headlight control module, a boundary information acquisition module and a calibration module, wherein the headlight control module is used to control the light sources to be calibrated in the headlight to light up according to the target light intensity according to the received headlight calibration instruction;

[0041] A light receiving screen is arranged perpendicular to the vehicle's forward direction and opposite to the vehicle to be calibrated, and is used to display the light emitted by the light source to be calibrated;

[0042] The vehicle-mounted camera is used to collect the light spot image presented on the light receiving screen and send the light spot image to the boundary information collection module in the vehicle light control system;

[0043] A boundary information acquisition module determines boundary position information of a light spot area on the light receiving screen presented by the light source to be calibrated, and sends the boundary position information to a calibration module;

[0044] The calibration module is used to determine the irradiation angle of the light source to be calibrated according to the boundary position information, and take the irradiation angle that meets the validity requirements as the calibration result of the light source to be calibrated.

[0045] In a fourth aspect, an embodiment of the present invention provides an electronic device, the electronic device comprising:

[0046] At least one processor is coupled to a memory, and the memory stores a program or instruction running on the processor. When the program or instruction is executed by the processor, the vehicle light calibration method provided by any embodiment of the present invention is implemented.

[0047] In a fifth aspect, an embodiment of the present invention provides a readable storage medium having a program or instruction stored thereon, and when the program or instruction is executed by a processor, a vehicle light calibration method as provided in any embodiment of the present invention is implemented.

[0048] The technical solution provided by the embodiment of the present invention can determine the boundary position information of the light spot area of ​​the light emitted by the light source to be calibrated on the light receiving screen after the light source to be calibrated is lit, and can obtain the irradiation angle of the light source to be calibrated based on the boundary position information. If the irradiation angle meets the validity requirements, the irradiation angle is used as the calibration result of the light source to be calibrated. By adopting the above technical solution, the automatic calibration of multi-light source headlights is realized, the control accuracy of the local irradiation range of the light source is improved, and the irradiation of the headlight light source can meet the requirements of complex lighting functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1a A flow chart of a vehicle light calibration method provided in Embodiment 1 of the present invention;

[0051] Figure 1b A schematic diagram of a vehicle light calibration scenario provided in the first embodiment of the present invention;

[0052] Figure 1c A schematic diagram of the positional relationship between the vehicle light coordinate system and the camera coordinate system provided in the first embodiment of the present invention;

[0053] Figure 2 A structural block diagram of a vehicle light calibration device provided in Embodiment 2 of the present invention;

[0054] Figure 3 A structural block diagram of a vehicle light calibration system provided in Embodiment 3 of the present invention;

[0055] Figure 4 This is a structural block diagram of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0058] The embodiments of the present invention disclose a vehicle lamp calibration method, device, system, equipment and medium, which are described in detail below.

[0059] Embodiment 1

[0060] Figure 1aThis is a flow chart of a headlight calibration method provided in the first embodiment of the present invention. The method can be applied to the calibration scenario of multi-light source headlights, such as the calibration of the headlight light source in an adaptive high beam system (controlling the illumination distribution of multiple light sources in the high beam with high resolution to turn on the high beam and reduce glare to the human eye), or the calibration scenario of the headlight light source in a light language projection interactive system (controlling the illumination distribution of multiple light sources in the low beam or its auxiliary light with high resolution to achieve the lighting function of projecting text or images). The method provided in this embodiment can be executed by a headlight calibration device, which can be implemented by software and / or hardware. For example, the headlight calibration device can be integrated into a headlight control system. The calibration process can be triggered by a vehicle diagnostic instrument or a vehicle function inspection device that has a communication connection with the vehicle, and the calibration process can be terminated according to an end instruction sent by the vehicle diagnostic instrument or the vehicle function inspection device. Figure 1a As shown, the method provided in this embodiment specifically includes:

[0061] S110. After receiving the vehicle lamp calibration instruction, control the light source to be calibrated in the vehicle lamp to light up according to the target light intensity, wherein the number of the light source to be calibrated that is lit up each time is one.

[0062] The calibration instruction may be issued by a vehicle maintenance device that is in communication connection with the vehicle. The vehicle maintenance device may be implemented by software and / or hardware. For example, the vehicle maintenance device may be a vehicle diagnostic instrument that may be connected to the vehicle's diagnostic interface (OBD) when in use. The operator may send the calibration instruction through a routine pre-set in the device. Alternatively, the vehicle maintenance device may also be an application in a maintenance device that is connected to the vehicle. The calibration process of the headlight light source may be triggered through this application. This embodiment does not specifically limit the form of the vehicle maintenance device.

[0063] In this embodiment, the headlight includes a plurality of light source lighting components. The headlight is generally directly connected to its headlight control system, or the headlight control system can be directly integrated into the headlight system. After receiving the headlight calibration instruction, the light control system controls the light source to be calibrated in the headlight to light up according to the target light intensity. Among them, the target light intensity is an attribute parameter of the model to which the current vehicle belongs. The specific value can be obtained by querying the headlight usage instructions of the model, or it can also be set according to actual needs.

[0064] In order to avoid mutual influence between the light sources and ensure the calibration accuracy of the light sources, after receiving the car light calibration command, only one light source is lit each time, that is, a minimum controllable light source is lit each time. After the calibration of one minimum controllable light source is completed, the next minimum controllable light source is lit for calibration.

[0065] S120, determining the boundary position information of the light spot area presented on the light receiving screen by the light source to be calibrated.

[0066] The light receiving screen is a medium that presents light spots or light shadows. In this embodiment, the light receiving screen is perpendicular to the vehicle's forward direction and is arranged opposite to the vehicle to be calibrated. The relative position and angle between the light receiving screen and the vehicle can be adjusted and quantified as required.

[0067] When a certain light source to be calibrated is turned on, the light emitted by the light source will hit the light receiving screen, truly presenting the light spot distribution state. The sensor in the vehicle's front-view camera can collect the light spot image presented on the light receiving screen.

[0068] For example, Figure 1b Schematic diagram of the headlight calibration scene provided in the first embodiment of the present invention. The headlight includes multiple light sources, and each light source is numbered in order of its location, such as 1-a to 1-e, 2-a to 2-e. During the calibration process of each light source, only one light source to be calibrated is lit. After a light source to be calibrated is lit, a light spot area corresponding to the light source will appear on the light receiving screen, such as Figure 1b One of the light spot areas corresponding to the light sources 1-a to 1-e and 2-a to 2-e shown.

[0069] In this embodiment, in order to calibrate the irradiation angle of the light source, it is necessary to determine the boundary position information of the light spot area presented on the light receiving screen.

[0070] In this embodiment, the light spot information on the light receiving screen can be collected by the vehicle-mounted camera. The vehicle-mounted camera can be connected to the headlight control system through the vehicle network. After the vehicle receives the headlight calibration instruction, the vehicle-mounted camera will start and collect the light spot image presented on the light receiving screen by the light emitted by the light source to be calibrated. The relative position relationship between the vehicle-mounted camera and the light receiving screen can be calibrated in advance, and the origin of the calibrated vehicle-mounted camera coordinate system can be located at the center of the light receiving screen. According to the relative position relationship between the vehicle-mounted camera and the light receiving screen, the position with the largest ordinate value, the position with the smallest ordinate data, the position with the largest abscissa value and the position with the smallest abscissa value in the light spot area under the vehicle-mounted camera coordinate system can be used as the boundary points of the light spot, for example Figure 1b The boundary points of the light source 1-b shown are P1, P2, P3, and P4. Based on the position information of each boundary point, the boundary position information of the light spot area can be obtained.

[0071] For example, for a spot area with a regular shape, four boundaries, top, bottom, left, and right, can be obtained based on the position information of each boundary point, for example Figure 1bThe upper edge L1, lower edge L2, left edge L3 and right edge L4 of the light spot area corresponding to the light source 1-b are shown. For an irregularly shaped light spot area, the circumscribed rectangular area of ​​the light spot area can be determined according to the position information of each boundary point, and the upper, lower, left and right four boundaries of the circumscribed rectangular area are used as the boundaries of the light spot area. The irradiation angles corresponding to the boundaries at different positions are different.

[0072] Specifically, for the upper, lower, left and right boundaries of the light spot area, the illumination angles of the light source to be calibrated include a first illumination angle corresponding to the left boundary, a second illumination angle corresponding to the right boundary, a third illumination angle corresponding to the upper boundary and a fourth illumination angle corresponding to the lower boundary.

[0073] S130, determining the illumination angle of the light source to be calibrated according to the boundary position information, and taking the illumination angle that meets the validity requirement as the calibration result of the light source to be calibrated, and then returning to step S110 to light up the next light source to be calibrated until all the light sources to be calibrated are calibrated.

[0074] In this embodiment, the irradiation angle of the light source to be calibrated is determined according to the boundary position information, which can be obtained specifically in the following manner:

[0075] The angle between the left boundary and the first line connecting the vehicle camera and the vehicle XOZ plane is used as the first illumination angle corresponding to the left boundary, and the angle between the right boundary and the second line connecting the vehicle camera and the vehicle XOZ plane is used as the second illumination angle corresponding to the right boundary, and the angle between the upper boundary and the third line connecting the vehicle camera and the vehicle XOY plane is used as the third illumination angle corresponding to the upper boundary, and the angle between the lower boundary and the fourth line connecting the vehicle camera and the vehicle XOY plane is used as the fourth illumination angle corresponding to the lower boundary, wherein the X-axis direction of the vehicle is consistent with the forward direction of the vehicle, the upward direction perpendicular to the X-axis of the vehicle is the Z-axis direction, the direction perpendicular to the Z-axis and parallel to the line connecting the two front wheels of the vehicle is the Y-axis direction, the X-axis, Y-axis and Z-axis are perpendicular to each other, and the origin of the coordinate system can be set according to actual needs, for example, it can be set at the center of the camera photosensitive element.

[0076] In this embodiment, according to the position information of each boundary of the light source to be calibrated, after obtaining the illumination angle corresponding to each boundary, each illumination angle can be compared with the standard illumination angle range of the headlight light source. If each illumination angle is within the standard illumination angle range, it means that the calibrated illumination angle is valid. If it is not within the standard illumination angle range, it means that the illumination angle is not valid, and the light source needs to be recalibrated. The standard illumination angle range is the maximum illumination angle range in the theoretical design of the light source, that is, the tolerance range.

[0077] In this embodiment, for each time the light source to be calibrated is lit, if the illumination angle corresponding to the calibrated light source is valid, it means that the calibration of the light source is successful. At this time, it is necessary to turn off the light source and light up the next light source to be calibrated and calibrate it. After the calibration results of all light sources are obtained, the calibration process of the car lights is completed.

[0078] Furthermore, for each light source that is successfully calibrated, its calibration result can be written into the storage module of the vehicle light control system. When the calibration results of all light sources are written into the storage module, a message of successful calibration can be returned to the vehicle maintenance device. After receiving the message, the vehicle maintenance device will send a calibration end instruction to the vehicle light control system. After receiving the calibration end instruction, the vehicle light control system will turn off all light sources to end the calibration operation. The calibrated light source can adapt to the control requirements of complex lighting functions such as adaptive high beam systems and light language projection interactive systems. Using the calibrated light source for illumination can improve the control accuracy of the local illumination range.

[0079] Those skilled in the art can understand that the light source calibration result written into the storage module of the headlight control system is based on the light source irradiation angle of the vehicle camera coordinate system. Since the relative position relationship between the vehicle camera and the headlight on the vehicle is fixed, in the actual application of the headlight light source, the irradiation angle of the light source can be converted from the vehicle camera coordinate system to the headlight coordinate system for control based on the relative position relationship between the vehicle camera and the headlight.

[0080] Specifically, Figure 1c The schematic diagram of the positional relationship between the vehicle light coordinate system and the camera coordinate system provided in the first embodiment of the present invention is as follows: Figure 1c As shown, (x L ,y L ) represents the horizontal and vertical coordinates in the light coordinate system, L represents the wheelbase between the front and rear wheels, F L Indicates the vertical distance from the front axle to the headlight, F W Indicates the distance between the left and right headlights. Specifically, the conversion from the camera coordinate system to the headlight coordinate system can be achieved through the following formula to obtain the irradiation angle of the light source based on the headlight coordinate system:

[0081] x L =x C -LF L

[0082]

[0083] The technical solution provided in this embodiment can determine the boundary position information of the light spot area of ​​the light emitted by the light source to be calibrated on the light receiving screen after the light source to be calibrated is lit, and can obtain the irradiation angle of the light source to be calibrated based on the boundary position information. If the irradiation angle meets the validity requirements, the irradiation angle is used as the calibration result of the light source to be calibrated. By adopting the above technical solution, the automatic calibration of multi-light source headlights is realized, the control accuracy of the local irradiation range of the light source is improved, and the irradiation of the headlight light source can meet the requirements of complex lighting functions.

[0084] Embodiment 2

[0085] Figure 2 A structural block diagram of a vehicle light calibration device provided in the second embodiment of the present invention is shown in FIG. Figure 2 As shown, the device includes: a vehicle light control module 210, a boundary information acquisition module 220 and a calibration module 230, wherein:

[0086] The vehicle lamp control module 210 is configured to control the light source to be calibrated in the vehicle lamp to light up according to the target light intensity after receiving the vehicle lamp calibration instruction, wherein the number of the light source to be calibrated that is lit up each time is one;

[0087] The boundary information acquisition module 220 is configured to determine the boundary position information of the light spot area presented by the light source to be calibrated on the light receiving screen, wherein the light receiving screen is arranged perpendicular to the moving direction of the vehicle and opposite to the vehicle;

[0088] The calibration module 230 is configured to determine the illumination angle of the light source to be calibrated according to the boundary position information, and take the illumination angle that meets the validity requirement as the calibration result of the light source to be calibrated, and return to execute the operation of controlling the light source to be calibrated in the vehicle lamp to light up according to the target light intensity until the calibration of all light sources is completed, wherein meeting the validity requirement means that the illumination angle is within the standard illumination angle range of the vehicle lamp light source.

[0089] Optionally, the boundary information collection module 220 is specifically configured as follows:

[0090] Obtaining a light spot image of the light emitted by the light source to be calibrated and collected by the vehicle-mounted camera and presented on the light receiving screen;

[0091] According to the relative position relationship between the vehicle-mounted camera and the light-bearing screen, the position with the largest ordinate value, the position with the smallest ordinate data, the position with the largest abscissa value and the position with the smallest abscissa value in the light spot area under the vehicle-mounted camera coordinate system are all taken as the boundary points of the light spot;

[0092] Based on the position information of each boundary point, the boundary position information of the spot area is determined.

[0093] Optionally, the boundary illumination angles of the light source to be calibrated include a left boundary illumination angle, a right boundary illumination angle, an upper boundary illumination angle, and a lower boundary illumination angle;

[0094] Correspondingly, the boundaries of the light spot area include an upper boundary, a lower boundary, a left boundary and a right boundary, and correspondingly, the illumination angle of the light source to be calibrated includes a first illumination angle corresponding to the left boundary, a second illumination angle corresponding to the right boundary, a third illumination angle corresponding to the upper boundary and a fourth illumination angle corresponding to the lower boundary;

[0095] Accordingly, the calibration module 230 includes:

[0096] The illumination angle determination unit is configured to: use the angle between the left boundary and the first line connecting the on-board camera and the vehicle XOZ plane as the first illumination angle corresponding to the left boundary, and use the angle between the right boundary and the second line connecting the on-board camera and the vehicle XOZ plane as the second illumination angle corresponding to the right boundary, and use the angle between the upper boundary and the third line connecting the on-board camera and the vehicle XOY plane as the third illumination angle corresponding to the upper boundary, and use the angle between the lower boundary and the fourth line connecting the on-board camera and the vehicle XOY plane as the fourth illumination angle corresponding to the lower boundary, wherein the X-axis direction of the vehicle is the forward direction of the vehicle, the direction perpendicular to the X-axis of the vehicle is the Z-axis direction, and the direction perpendicular to the Z-axis and parallel to the line connecting the two front wheels of the vehicle is the Y-axis direction;

[0097] The calibration unit is configured to take the illumination angle that meets the validity requirements as the calibration result of the light source to be calibrated, and return to execute the operation of controlling the light source to be calibrated in the vehicle lamp to light up according to the target light intensity until the calibration of all light sources is completed, wherein the validity meets the requirements means that the illumination angle is within the standard illumination angle range of the vehicle lamp light source.

[0098] Optionally, the device provided by the embodiment of the present invention further includes:

[0099] The calibration result storage module is configured to write the calibration results of each light source into the storage module and return a message indicating a successful calibration.

[0100] Optionally, the device provided by the embodiment of the present invention further includes:

[0101] The recalibration module is configured to return calibration failure information if the validity of the illumination angle of the light source to be calibrated does not meet the requirements, and recalibrate the light source to be calibrated.

[0102] The vehicle light calibration device provided in the embodiment of the present invention can execute the vehicle light calibration method provided in any embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in the above embodiment, please refer to the vehicle light calibration method provided in any embodiment of the present invention.

[0103] Embodiment 3

[0104] Figure 3 A structural block diagram of a vehicle light calibration system provided in the third embodiment of the present invention is shown in FIG. Figure 3 As shown, the vehicle lamp calibration system provided by the embodiment of the present invention includes: a vehicle diagnostic instrument 310, a light receiving screen 320 and a vehicle 330, wherein:

[0105] The vehicle diagnostic instrument 310 is in communication connection with the vehicle 330 and is used to send calibration instructions to the vehicle 330 , wherein the calibration instructions are used to control the light source to be calibrated in the vehicle 330 to light up according to the target light intensity.

[0106] The light receiving screen 320 is arranged perpendicular to the vehicle's forward direction and opposite to the vehicle, and is used to display the light emitted by the light source to be calibrated;

[0107] The vehicle 330 includes a headlight to be calibrated, a vehicle-mounted camera and a headlight control system, wherein the headlight to be calibrated includes a plurality of light sources to be calibrated, and the headlight control system includes a headlight control module, a boundary information acquisition module and a calibration module, wherein the headlight control module is used to control the light sources to be calibrated in the headlight to light up according to a target light intensity according to a received headlight calibration instruction;

[0108] The vehicle-mounted camera is used to collect the light spot image presented on the light receiving screen 320 and send the light spot image to the boundary information collection module in the vehicle light control system;

[0109] The boundary information acquisition module determines the boundary position information of the light spot area emitted by the light source to be calibrated on the light receiving screen, and sends the boundary position information to the calibration module;

[0110] The calibration module is used to determine the irradiation angle of the light source to be calibrated according to the boundary position information, and take the irradiation angle that meets the validity requirements as the calibration result of the light source to be calibrated.

[0111] Among them, the specific implementation process of the headlight control module, the boundary information acquisition module and the calibration module in the headlight control system can refer to the description of the above embodiment, and will not be repeated here.

[0112] Embodiment 4

[0113] Figure 4 This is a structural block diagram of an electronic device provided in a fourth embodiment of the present invention. The electronic device can be integrated in a vehicle to implement the calibration of vehicle lights. Figure 4 As shown, the electronic device includes:

[0114] At least one processor ( Figure 4 A processor 520 is shown,

[0115] The processor 520 is coupled to the memory 510 , and the memory 510 stores a program or instruction running on the processor 520 . When the program or instruction is executed by the processor 520 , the vehicle light calibration method provided by any embodiment of the present invention is implemented.

[0116] Based on the above method embodiments, another embodiment of the present invention provides a readable storage medium having a program or instruction stored thereon, which, when executed by a processor, enables the processor to implement the vehicle light calibration method as described in any of the above embodiments.

[0117] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of an embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present invention.

[0118] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention 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 invention.

Claims

1. A method for calibrating a vehicle lamp, wherein the vehicle lamp comprises a plurality of light sources, characterized in that: The method comprises: After receiving the vehicle lamp calibration instruction, the light source to be calibrated in the vehicle lamp is controlled to light up according to the target light intensity, wherein the number of the light source to be calibrated that is lit up each time is one; Determine the boundary position information of the light spot area presented by the light source to be calibrated on the light receiving screen, wherein the light receiving screen is arranged perpendicular to the forward direction of the vehicle and opposite to the vehicle; Determine the illumination angle of the light source to be calibrated according to the boundary position information, and take the illumination angle that meets the validity requirement as the calibration result of the light source to be calibrated, wherein the validity meeting the requirement means that the illumination angle is within the standard illumination angle range of the vehicle light source; Return to execute the operation of controlling the light sources to be calibrated in the vehicle lights to light up according to the target light intensity until the calibration of all light sources is completed.

2. The method according to claim 1, characterized in that The step of determining the boundary position information of the light spot area on the light receiving screen presented by the light source to be calibrated includes: Obtaining a light spot image of the light emitted by the light source to be calibrated and collected by the vehicle-mounted camera and presented on the light receiving screen; According to the relative position relationship between the vehicle-mounted camera and the light-receiving screen, the position with the largest ordinate value, the position with the smallest ordinate value, the position with the largest abscissa value, and the position with the smallest abscissa value in the light spot area under the vehicle-mounted camera coordinate system are all taken as the boundary points of the light spot; Based on the position information of each boundary point, the boundary position information of the spot area is determined.

3. The method according to claim 2, characterized in that The boundaries of the light spot area include an upper boundary, a lower boundary, a left boundary and a right boundary. Correspondingly, the illumination angle of the light source to be calibrated includes a first illumination angle corresponding to the left boundary, a second illumination angle corresponding to the right boundary, a third illumination angle corresponding to the upper boundary and a fourth illumination angle corresponding to the lower boundary; Correspondingly, determining the illumination angle of the light source to be calibrated according to the boundary position information includes: The angle between the left boundary, the first line connecting the vehicle-mounted camera and the vehicle XOZ plane is used as the first illumination angle corresponding to the left boundary, and the angle between the right boundary, the second line connecting the vehicle-mounted camera and the vehicle XOZ plane is used as the second illumination angle corresponding to the right boundary, and the angle between the upper boundary, the third line connecting the vehicle-mounted camera and the vehicle XOY plane is used as the third illumination angle corresponding to the upper boundary, and the angle between the lower boundary, the fourth line connecting the vehicle-mounted camera and the vehicle XOY plane is used as the fourth illumination angle corresponding to the lower boundary, wherein the X-axis direction of the vehicle is the forward direction of the vehicle, the upward direction perpendicular to the X-axis of the vehicle is the Z-axis direction, and the direction perpendicular to the Z-axis and parallel to the line connecting the two front wheels of the vehicle is the Y-axis direction.

4. The method according to claim 1, characterized in that The method further comprises: The calibration results of each light source are written into the storage module, and a message indicating successful calibration is returned.

5. The method according to claim 1, characterized in that The method further comprises: If the validity of the illumination angle of the light source to be calibrated does not meet the requirement, a calibration failure message is returned, and the light source to be calibrated is recalibrated.

6. A vehicle lamp calibration device, characterized in that: The device comprises: The vehicle light control module is configured to control the light source to be calibrated in the vehicle light to light up according to the target light intensity after receiving the vehicle light calibration instruction, wherein the number of the light source to be calibrated that is lit up each time is one; A boundary information acquisition module is configured to determine boundary position information of a light spot area presented by the light emitted by the light source to be calibrated on a light receiving screen, wherein the light receiving screen is arranged perpendicular to the forward direction of the vehicle and opposite to the vehicle; The calibration module is configured to determine the illumination angle of the light source to be calibrated according to the boundary position information, and take the illumination angle that meets the validity requirement as the calibration result of the light source to be calibrated, and return to execute the operation of controlling the light source to be calibrated in the car light to light up according to the target light intensity until the calibration of all light sources is completed, wherein the validity meeting the requirement means that the illumination angle is within the standard illumination angle range of the car light source.

7. The device according to claim 6, characterized in that The boundary information collection module is specifically configured as follows: Obtaining a light spot image of the light emitted by the light source to be calibrated and collected by the vehicle-mounted camera and presented on the light receiving screen; According to the relative position relationship between the vehicle-mounted camera and the light-receiving screen, the position with the largest ordinate value, the position with the smallest ordinate data, the position with the largest abscissa value and the position with the smallest abscissa value in the light spot area under the vehicle-mounted camera coordinate system are all taken as the boundary points of the light spot; Based on the position information of each boundary point, the boundary position information of the spot area is determined.

8. The device according to claim 7, characterized in that The boundaries of the light spot area include an upper boundary, a lower boundary, a left boundary and a right boundary. Correspondingly, the illumination angle of the light source to be calibrated includes a first illumination angle corresponding to the left boundary, a second illumination angle corresponding to the right boundary, a third illumination angle corresponding to the upper boundary and a fourth illumination angle corresponding to the lower boundary; Accordingly, the calibration module includes: The boundary illumination angle determination unit is configured to: use the angle between the left boundary and the first line connecting the on-board camera and the vehicle XOZ plane as the first illumination angle corresponding to the left boundary, and use the angle between the right boundary and the second line connecting the on-board camera and the vehicle XOZ plane as the second illumination angle corresponding to the right boundary, and use the angle between the upper boundary and the third line connecting the on-board camera and the vehicle XOY plane as the third illumination angle corresponding to the upper boundary, and use the angle between the lower boundary and the fourth line connecting the on-board camera and the vehicle XOY plane as the fourth illumination angle corresponding to the lower boundary, wherein the X-axis direction of the vehicle is the forward direction of the vehicle, the direction perpendicular to the X-axis of the vehicle is the Z-axis direction, and the direction perpendicular to the Z-axis and parallel to the line connecting the two front wheels of the vehicle is the Y-axis direction; The calibration unit is configured to take the illumination angle that meets the validity requirement as the calibration result of the light source to be calibrated, and return to execute the operation of controlling the light source to be calibrated in the car lamp to light up according to the target light intensity until the calibration of all light sources is completed, wherein the validity meeting the requirement means that the illumination angle is within the standard illumination angle range of the car lamp light source.

9. A vehicle lamp calibration system, characterized in that: include: Vehicle diagnostic instrument, light receiving screen and vehicle to be calibrated, wherein: The vehicle diagnostic instrument is in communication connection with the vehicle to be calibrated, and is used to send a calibration instruction to the vehicle to be calibrated, wherein the calibration instruction is used to instruct the light source to be calibrated in the vehicle to be calibrated to light up according to the target light intensity; The vehicle to be calibrated includes a headlight to be calibrated, a vehicle-mounted camera and a headlight control system, wherein the headlight to be calibrated includes a plurality of light sources to be calibrated, and the headlight control system includes a headlight control module, a boundary information acquisition module and a calibration module, wherein the headlight control module is used to control the light sources to be calibrated in the headlight to light up according to the target light intensity according to the received headlight calibration instruction; The light receiving screen is arranged perpendicular to the vehicle's forward direction and opposite to the vehicle to be calibrated, and is used to display the light emitted by the light source to be calibrated; The vehicle-mounted camera is used to collect the light spot image presented on the light receiving screen and send the light spot image to the boundary information collection module in the vehicle light control system; The boundary information acquisition module determines the boundary position information of the light spot area emitted by the light source to be calibrated on the light receiving screen, and sends the boundary position information to the calibration module; The calibration module is used to determine the irradiation angle of the light source to be calibrated according to the boundary position information, and take the irradiation angle that meets the validity requirements as the calibration result of the light source to be calibrated.

10. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the steps of the vehicle light calibration method according to any one of claims 1 to 5 are implemented.

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