A vehicle lamp calibration method, apparatus, system, and medium

Abstract

Embodiments of the present application disclose a vehicle lamp calibration method, device, system and medium, the method comprising: after receiving a vehicle lamp calibration instruction, controlling a to-be-calibrated light source in the vehicle lamp to be lit according to a target light intensity, wherein the number of to-be-calibrated light sources lit each time is one; determining boundary position information of a light spot area presented by light emitted by the to-be-calibrated light source on a light receiving screen; determining an irradiation angle of the to-be-calibrated light source according to the boundary position information, and taking an irradiation angle meeting requirements in effectiveness as a calibration result of the to-be-calibrated light source, wherein the irradiation angle meeting requirements in effectiveness refers to the irradiation angle being within a standard irradiation angle range of the vehicle lamp light source; returning to perform the operation of controlling the to-be-calibrated light source in the vehicle lamp to be lit according to the target light intensity until the calibration of all light sources is completed. Through the above technical solution, automatic calibration of multiple light sources in the vehicle lamp is realized.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of automatic driving, in particular, relate to a vehicle lamp calibration method, device, system and medium. BACKGROUND

[0002] Vehicle lamp calibration is an essential link in the production process of vehicles. By calibrating the vehicle lamp, the illumination of the vehicle lamp light can meet the illumination angle and illumination intensity required by regulations, and can provide sufficient road lighting and a wide field of view for the driver during driving.

[0003] Currently, vehicle lamp calibration relies on collecting illumination in a specific illumination area when the vehicle is shipped, and then adjusting the entire vehicle lamp to meet the regulatory requirements. The specific calibration process mainly corrects the illumination angle by manually adjusting the mechanical structure of the lamp. In the case where the vehicle lamp includes multiple light sources, the above calibration scheme cannot consider the illumination angle deviation of each individual light source, which will result in reduced performance of complex lighting functions that rely on high-precision illumination, or even the inability to implement the lighting function. SUMMARY

[0004] Embodiments of the present application 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, embodiments of the present application provide a vehicle lamp calibration method, the vehicle lamp comprising a plurality of light sources, the method comprising:

[0007] After receiving a vehicle lamp calibration instruction, control the to-be-calibrated light source in the vehicle lamp to be lit according to a target illumination intensity, wherein the number of to-be-calibrated light sources lit each time is one;

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

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

[0010] Return to execute the operation of controlling the to-be-calibrated light source in the vehicle lamp to be lit according to the target illumination 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 emitted by the to-be-calibrated light source on the light receiving screen comprises:

[0012] acquire a light spot image of light emitted by the light source to be calibrated on a light receiving screen, the light being collected by a vehicle camera;

[0013] According to the relative position relationship between the vehicle camera and the light receiving screen, the position with the maximum longitudinal coordinate value, the position with the minimum longitudinal coordinate value, the position with the maximum transverse coordinate value and the position with the minimum transverse coordinate value in the light spot region in the vehicle camera coordinate system are all taken as the boundary points of the light spot;

[0014] Based on the position information of the boundary points, the boundary position information of the light spot region is determined.

[0015] Optionally, the boundary of the light spot region comprises an upper boundary, a lower boundary, a left boundary and a right boundary, and correspondingly, the boundary irradiation angle of the light source to be calibrated comprises a first irradiation angle corresponding to the left boundary, a second irradiation angle corresponding to the right boundary, a third irradiation angle corresponding to the upper boundary and a fourth irradiation angle corresponding to the lower boundary.

[0016] Correspondingly, determining the irradiation angle of the light source to be calibrated according to the boundary position information comprises:

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

[0018] Optionally, the method provided by the embodiment of the present application further comprises:

[0019] writing the calibration result of each light source into the storage module and returning a message of successful calibration.

[0020] Optionally, the method provided by the embodiment of the present application further comprises:

[0021] if the effectiveness of the irradiation angle of the light source to be calibrated does not meet the requirements, returning a message of failed calibration and recalibrating the light source to be calibrated.

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

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

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

[0025] The calibration module is configured to determine the irradiation angle of the to-be-calibrated light source according to the boundary position information, and take the irradiation angle meeting the requirement of effectiveness as the calibration result of the to-be-calibrated light source, and return to perform the operation of controlling the to-be-calibrated light source in the vehicle lamp to be lit according to the target light intensity until the calibration of all light sources is completed, wherein the requirement of effectiveness means that the irradiation angle is within the standard irradiation angle range of the vehicle lamp light source.

[0026] Optionally, the boundary information acquisition module is specifically configured to:

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

[0028] According to the relative position relationship between the vehicle-mounted camera and the light receiving screen, the position with the maximum longitudinal coordinate value, the position with the minimum longitudinal coordinate value, the position with the maximum transverse coordinate value and the position with the minimum transverse coordinate value in the light spot area in the vehicle-mounted camera coordinate system are all taken as the boundary points of the light spot;

[0029] The boundary position information of the light spot area is determined based on the position information of the boundary points.

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

[0031] Correspondingly, the calibration module includes:

[0032] The irradiation angle determination unit is configured to: take an angle between the left boundary and a first line connected with the vehicle-mounted camera and a XOZ plane of the vehicle as a first irradiation angle corresponding to the left boundary, take an angle between the right boundary and a second line connected with the vehicle-mounted camera and the XOZ plane of the vehicle as a second irradiation angle corresponding to the right boundary, take an angle between the upper boundary and a third line connected with the vehicle-mounted camera and a XOY plane of the vehicle as a third irradiation angle corresponding to the upper boundary, and take an angle between the lower boundary and a fourth line connected with the vehicle-mounted camera and the XOY plane of the vehicle as a fourth irradiation angle corresponding to the lower boundary, wherein the X axis direction of the vehicle is a forward direction of the vehicle, the Z axis direction is a direction upward perpendicular to the X axis of the vehicle, and the Y axis direction is a direction perpendicular to the Z axis and parallel to a line connected with two front wheels of the vehicle.

[0033] The calibration unit is configured to take the irradiation angle meeting the requirement of effectiveness as a calibration result of the to-be-calibrated light source, and return an operation of controlling the to-be-calibrated light source in the vehicle lamp to be lit according to the target light intensity until the calibration of all light sources is completed, wherein the requirement of effectiveness means that the irradiation angle is within a standard irradiation angle range of the light source of the vehicle lamp.

[0034] Optionally, the apparatus provided by the embodiment of the present application further comprises:

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

[0036] Optionally, the apparatus provided by the embodiment of the present application further comprises:

[0037] The re-calibration module is configured to return a message of failed calibration if the effectiveness of the irradiation angle of the to-be-calibrated light source does not meet the requirement, and re-perform calibration on the to-be-calibrated light source.

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

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

[0040] The to-be-calibrated vehicle comprises a to-be-calibrated vehicle lamp, a vehicle-mounted camera and a vehicle lamp control system, wherein the to-be-calibrated vehicle lamp comprises a plurality of to-be-calibrated light sources, and the vehicle lamp control system comprises a vehicle lamp control module, a boundary information acquisition module and a calibration module, wherein the vehicle lamp control module is used to control the to-be-calibrated light source in the vehicle lamp to be lit according to the target light intensity according to the received vehicle lamp calibration instruction.

[0041] The light-receiving screen is arranged opposite to the vehicle to be calibrated in a direction perpendicular to the vehicle's advancing direction, 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] The boundary information collection module determines the boundary position information of the light spot area presented on the light-receiving screen by the light emitted by the light source to be calibrated, and sends the boundary position information to the 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 meeting the effectiveness requirement as the calibration result of the light source to be calibrated.

[0045] In a fourth aspect, an electronic device is provided, and the electronic device includes:

[0046] The at least one processor is coupled with the memory, and the memory stores programs or instructions running on the processor. When the programs or instructions are executed by the processor, the vehicle light calibration method provided by any of the embodiments of the present application is implemented.

[0047] In a fifth aspect, a readable storage medium is provided, and the readable storage medium stores programs or instructions. When the programs or instructions are executed by the processor, the vehicle light calibration method provided by any of the embodiments of the present application is implemented.

[0048] The technical solution provided by the embodiments of the present application can determine the boundary position information of the light spot area presented on the light-receiving screen by the light emitted by the light source to be calibrated after the light source to be calibrated is turned on, and can obtain the irradiation angle of the light source to be calibrated according to the boundary position information. If the irradiation angle meets the effectiveness requirement, the irradiation angle is taken as the calibration result of the light source to be calibrated. By using the above technical solution, the automatic calibration of the multi-light-source vehicle light is realized, the control precision of the local irradiation range of the light source is improved, and the irradiation of the light source of the vehicle light can meet the requirements of complex light functions. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0050] Figure 1a A flowchart of a vehicle light calibration method provided by the first embodiment of the present application;

[0051] Figure 1b A vehicle lamp calibration scene schematic diagram provided for the first embodiment of the present application;

[0052] Figure 1c A position relationship schematic diagram between a vehicle lamp coordinate system and a camera coordinate system provided for the first embodiment of the present application;

[0053] Figure 2 A structure block diagram of a vehicle lamp calibration device provided for the second embodiment of the present application;

[0054] Figure 3 A structure block diagram of a vehicle lamp calibration system provided for the third embodiment of the present application;

[0055] Figure 4 A structure block diagram of an electronic device provided for the fourth embodiment of the present application. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative effort belong to the scope of protection of the present application.

[0057] It should be noted that the terms “include” and “have” and any variations thereof in the embodiments of the present application and the drawings are intended to cover the inclusions without limitation. 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 can optionally include other steps or units not listed or can optionally include other steps or units inherent to the process, method, product or device.

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

[0059] Embodiment one

[0060] Figure 1aA flowchart of a vehicle lamp calibration method provided by Embodiment One of the present application. The method can be applied to the calibration of multiple light source vehicle lamps, such as the calibration of light sources in an adaptive high beam system (controlling the illumination distribution of multiple light sources in a high beam to turn on the high beam and reduce the risk of dazzling the human eye) or the calibration of light sources in a light language projection interaction system (controlling the illumination distribution of multiple light sources in a low beam or its auxiliary light to achieve the function of projecting text or images by light). The method provided by the present embodiment can be executed by a vehicle lamp calibration device, which can be implemented by software and / or hardware. For example, the vehicle lamp calibration device can be integrated into a vehicle lamp control system. The calibration process can be triggered by a vehicle diagnostic instrument or a functional inspection device of the vehicle that is in communication with the vehicle, and can be ended according to an end instruction sent by the vehicle diagnostic instrument or the functional inspection device of the vehicle. As shown in Figure 1a the method provided by the present embodiment specifically includes:

[0061] S110, after receiving the vehicle lamp calibration instruction, controlling the to-be-calibrated light source in the vehicle lamp to be lit according to the target light intensity, wherein the number of to-be-calibrated light sources lit at a time is one.

[0062] The calibration instruction can be sent by a vehicle maintenance device that is in communication with the vehicle. The vehicle maintenance device can be implemented by software and / or hardware. For example, the vehicle maintenance device can be a vehicle diagnostic instrument that is connected to the diagnostic interface (OBD) of the vehicle when in use. The operator can send the calibration instruction through a routine pre-installed in the device. Alternatively, the vehicle maintenance device can be an application program in a maintenance device that is in connection with the vehicle. Through the application program, the calibration process of the light source can be triggered. The present embodiment does not make specific limitations on the form of the vehicle maintenance device.

[0063] In the present embodiment, the vehicle lamp includes multiple light source illumination assemblies. The vehicle lamp is generally directly connected to its vehicle lamp control system, or the vehicle lamp control system can be directly integrated into the vehicle lamp system. After receiving the vehicle lamp calibration instruction, the light control system will control the to-be-calibrated light source in the vehicle lamp to be lit according to the target light intensity. The target light intensity is an attribute parameter of the vehicle model to which the current vehicle belongs. The specific value can be obtained by querying the vehicle lamp instruction manual of the vehicle model, or it can be set according to actual needs.

[0064] In order to avoid the mutual influence between the light of each light source and ensure the calibration accuracy of the light source, the number of light sources lit at a time is only one after receiving the vehicle lamp calibration instruction, i.e., one smallest controllable light source is lit at a time. After the calibration of one smallest controllable light source is completed, the next smallest controllable light source is lit for calibration.

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

[0066] The light-receiving screen is a medium for presenting a light spot or a light shadow. In this embodiment, the light-receiving screen is arranged opposite to the to-be-calibrated vehicle in a direction perpendicular to the vehicle's forward direction. The relative position and angle of the light-receiving screen to the vehicle can be adjusted and quantified as required.

[0067] When a to-be-calibrated light source of the vehicle lamp is turned on, the light emitted by the light source will hit the light-receiving screen, and the light spot distribution state is presented on the light-receiving screen. The sensor in the front-view camera of the vehicle can collect the light spot picture presented on the light-receiving screen.

[0068] For example, Figure 1b A vehicle lamp calibration scene diagram is provided for the first embodiment of the present application. The vehicle lamp includes a plurality of light sources, each of which is labeled according to its position, for example, 1-a ~ 1-e, 2-a ~ 2-e. In the calibration process of each light source, only one to-be-calibrated light source is turned on. After a to-be-calibrated light source is turned on, the light spot area corresponding to the light source will appear on the light-receiving screen, for example, one of the light spot areas corresponding to the light sources 1-a ~ 1-e and 2-a ~ 2-e as shown in Figure 1b

[0069] In this embodiment, in order to calibrate the irradiation angle of the light source, the boundary position information of the light spot area presented on the light-receiving screen needs to be determined.

[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 vehicle lamp control system through the vehicle network. After the vehicle receives the vehicle lamp calibration instruction, the vehicle-mounted camera will start and collect the light spot image presented by the light emitted by the to-be-calibrated light source on the light-receiving screen. 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 maximum vertical coordinate value, the position with the minimum vertical coordinate value, the position with the maximum horizontal coordinate value, and the position with the minimum horizontal coordinate value in the light spot area in the vehicle-mounted camera coordinate system can be taken as the boundary points of the light spot, for example, the boundary points of the light source 1-b as shown in Figure 1b

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

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

[0073] S130, according to the boundary position information, the illumination angle of the light source to be calibrated is determined, and the effective illumination angle meeting the requirements is taken as the calibration result of the light source to be calibrated, and then returning to step S110 to perform the lighting operation of the next light source to be calibrated until all the light sources to be calibrated are calibrated.

[0074] In this embodiment, the illumination angle of the light source to be calibrated is determined according to the boundary position information, which can be obtained by the following way:

[0075] The angle between the first connecting line of the vehicle-mounted camera and the XOZ plane of the vehicle is taken as the first illumination angle corresponding to the left boundary, the angle between the second connecting line of the vehicle-mounted camera and the XOZ plane of the vehicle is taken as the second illumination angle corresponding to the right boundary, the angle between the third connecting line of the vehicle-mounted camera and the XOY plane of the vehicle is taken as the third illumination angle corresponding to the upper boundary, and the angle between the fourth connecting line of the vehicle-mounted camera and the XOY plane of the vehicle is taken 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 Z-axis direction is perpendicular to the X-axis direction upward, the Y-axis direction is perpendicular to the Z-axis and parallel to the connecting line of the two front wheels of the vehicle, the X-axis, the Y-axis and the 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 light sensing element of the camera.

[0076] In this embodiment, according to the boundary position information of the light source to be calibrated, after obtaining the illumination angles corresponding to each boundary, each illumination angle is compared with the standard illumination angle range of the vehicle light source. If each illumination angle is within the standard illumination angle range, it means that the calibrated illumination angle is effective, if it is not within the standard illumination angle range, it means that the illumination angle is not effective, at this time, 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 the embodiment, for each to-be-calibrated light source, if the irradiation angles corresponding to the to-be-calibrated light source are all valid, it indicates that the light source is calibrated successfully, at this time, the light source needs to be turned off and the next to-be-calibrated light source is turned on and calibrated, until the calibration results of all light sources are obtained, the calibration process of the vehicle lamp is ended.

[0078] Further, for each successfully calibrated light source, the calibration result can be written into the storage module of the vehicle lamp control system. When the calibration results of all light sources are written into the storage module, a calibration success message can be returned to the vehicle maintenance device, and the vehicle maintenance device sends a calibration end instruction to the vehicle lamp control system after receiving the message. The vehicle lamp control system turns off all light sources to end the calibration operation after receiving the calibration end instruction. The calibrated light source can adapt to the control requirements of complex light functions such as adaptive high beam system and light language projection interaction system, and the control accuracy of the local irradiation range can be improved by using the calibrated light source for irradiation.

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

[0080] Specifically, Figure 1c The position relationship between the vehicle lamp coordinate system and the camera coordinate system provided by the first embodiment of the present application is shown in the following figure: Figure 1c (x L ,y L ) represents the horizontal coordinate and the vertical coordinate in the vehicle lamp coordinate system, L represents the wheelbase between the front wheel and the rear wheel, F L represents the vertical distance between the front axle and the headlamp, F W represents the distance between the left and right headlamps. Specifically, the conversion between the camera coordinate system and the vehicle lamp coordinate system can be realized by the following formula to obtain the irradiation angle of the light source based on the vehicle lamp coordinate system:

[0081] x L =x C -L-F L

[0082]

[0083] The technical scheme provided by the embodiment can determine the boundary position information of the light spot area presented by the light emitted by the to-be-calibrated light source on the light-receiving screen after the to-be-calibrated light source is lit, and can obtain the irradiation angle of the to-be-calibrated light source according to the boundary position information. If the irradiation angle meets the validity requirement, the irradiation angle is taken as the calibration result of the to-be-calibrated light source. By using the technical scheme, automatic calibration of the multi-light-source vehicle lamp is realized, the control precision of the local irradiation range of the light source is improved, and the irradiation of the vehicle lamp light source can meet the requirement of complex light functions.

[0084] Embodiment two

[0085] Figure 2 A structural block diagram of a vehicle lamp calibration device provided by the second embodiment of the application is shown in Figure 2 The device comprises a vehicle lamp 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 to-be-calibrated light source in the vehicle lamp to be lit according to the target light intensity after receiving a vehicle lamp calibration instruction, wherein the number of to-be-calibrated light sources lit at a 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 emitted by the to-be-calibrated light source on the light-receiving screen, wherein the light-receiving screen is arranged vertically and opposite to the vehicle in the direction of vehicle advancement.

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

[0089] Optionally, the boundary information acquisition module 220 is specifically configured to:

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

[0091] According to the relative position relationship between the vehicle-mounted camera and the light-receiving screen, the position with the maximum longitudinal coordinate value, the position with the minimum longitudinal coordinate value, the position with the maximum transverse coordinate value and the position with the minimum transverse coordinate value in the light spot area in the vehicle-mounted camera coordinate system are all taken as the boundary points of the light spot;

[0092] The boundary position information of the light spot area is determined based on the position information of the boundary points.

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

[0094] Correspondingly, the boundary of the light spot region includes an upper boundary, a lower boundary, a left boundary and a right boundary, and correspondingly, the irradiation angles of the to-be-calibrated light source include a first irradiation angle corresponding to the left boundary, a second irradiation angle corresponding to the right boundary, a third irradiation angle corresponding to the upper boundary and a fourth irradiation angle corresponding to the lower boundary.

[0095] Correspondingly, the calibration module 230 includes:

[0096] The irradiation angle determination unit is configured to take an angle between the left boundary and a first connecting line of the vehicle-mounted camera and an XOZ plane of the vehicle as the first irradiation angle corresponding to the left boundary, take an angle between the right boundary and a second connecting line of the vehicle-mounted camera and the XOZ plane of the vehicle as the second irradiation angle corresponding to the right boundary, take an angle between the upper boundary and a third connecting line of the vehicle-mounted camera and an XOY plane of the vehicle as the third irradiation angle corresponding to the upper boundary, and take an angle between the lower boundary and a fourth connecting line of the vehicle-mounted camera and the XOY plane of the vehicle as the fourth irradiation angle corresponding to the lower boundary, wherein the X axis direction of the vehicle is a forward direction of the vehicle, the Z axis direction is a direction perpendicular to the X axis of the vehicle and upward, and the Y axis direction is a direction perpendicular to the Z axis and parallel to a connecting line of two front wheels of the vehicle.

[0097] The calibration unit is configured to take the irradiation angle meeting the requirement of effectiveness as a calibration result of the to-be-calibrated light source, and return to perform an operation of controlling the to-be-calibrated light source in the vehicle lamp to be lit according to the target light intensity until the calibration of all light sources is completed, wherein the requirement of effectiveness means that the irradiation angle is within a standard irradiation angle range of the light source of the vehicle lamp.

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

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

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

[0101] The re-calibration module is configured to return a message of failed calibration if the effectiveness of the irradiation angle of the to-be-calibrated light source does not meet the requirement, and re-perform calibration on the to-be-calibrated light source.

[0102] The vehicle lamp calibration device provided by the embodiment of the present application can execute the vehicle lamp calibration method provided by any embodiment of the present application, has the corresponding function modules and beneficial effects of the execution method. Technical details not described in detail in the above embodiments can be referred to the vehicle lamp calibration method provided by any embodiment of the present application.

[0103] Example 3

[0104] Figure 3 This is a structural block diagram of a vehicle headlight calibration system provided in Embodiment 3 of the present invention, as shown below. Figure 3 As shown, the vehicle headlight calibration system provided in this embodiment of the invention includes: a vehicle diagnostic instrument 310, a light-receiving screen 320, and a vehicle 330, wherein...

[0105] The vehicle diagnostic tool 310 has a communication connection with the vehicle 330 and is used to send calibration commands to the vehicle 330. The calibration commands are used to control the light source to be calibrated in the vehicle 330 to be lit according to the target light intensity.

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

[0107] Vehicle 330 includes a headlight to be calibrated, an on-board camera, and a headlight control system. The headlight to be calibrated includes multiple light sources to be calibrated. The headlight control system includes a headlight control module, a boundary information acquisition module, and a calibration module. The headlight control module is used to control the light sources to be calibrated in the headlight to be lit according to the target light intensity based on the received headlight calibration command.

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

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

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

[0111] The specific implementation process of the vehicle lighting control module, boundary information acquisition module and calibration module in the vehicle lighting control system can be referred to the description of the above embodiments, and will not be repeated here.

[0112] Example 4

[0113] Figure 4 This is a structural block diagram of an electronic device provided in Embodiment 4 of the present invention. This electronic device can be integrated into a vehicle for calibrating vehicle lights, such as... Figure 4 As shown, the electronic device includes:

[0114] At least one processor Figure 4 The image shows a processor 520.

[0115] The processor 520 is coupled with the memory 510, and the memory 510 stores programs or instructions running on the processor 520, which are executed by the processor 520 to implement the vehicle lamp calibration method provided by any embodiment of the present application.

[0116] Based on the above method embodiments, another embodiment of the present application provides a readable storage medium, which stores programs or instructions, and the programs or instructions are executed by a processor to enable the processor to implement the vehicle lamp calibration method according to any of the above embodiments.

[0117] Those skilled in the art can understand that the modules or flows in the drawings are not necessarily required to implement the present application.

[0118] Those skilled in the art can understand that the modules in the device in the embodiments can be distributed in the device in the embodiments as described in the embodiments, or can be changed and located in one or more devices different from the embodiments. The modules in the above embodiments can be combined into one module, or can be further split 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 application, rather than limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of calibrating a vehicle light comprising a plurality of light sources, characterized in that, The method comprises: after receiving a vehicle light calibration instruction, controlling a to-be-calibrated light source in the vehicle light to be lit according to a target light intensity, wherein the number of to-be-calibrated light sources lit at a time is one; determining boundary position information of a light spot area presented by light emitted by the to-be-calibrated light source on a light receiving screen, wherein the light receiving screen is arranged opposite to the vehicle perpendicular to the vehicle forward direction; determining an irradiation angle of the to-be-calibrated light source according to the boundary position information, and taking an irradiation angle meeting a requirement of effectiveness as a calibration result of the to-be-calibrated light source, wherein the requirement of effectiveness means that the irradiation angle is within a standard irradiation angle range of the vehicle light source; returning to the operation of controlling the to-be-calibrated light source in the vehicle light to be lit according to the target light intensity until the calibration of all light sources is completed.

2. The method of claim 1, wherein, The determination of the boundary position information of the light spot area presented by the light emitted by the to-be-calibrated light source on the light receiving screen comprises: acquiring a light spot image of the light spot area presented by the light emitted by the to-be-calibrated light source on the light receiving screen collected by a vehicle-mounted camera; according to a relative position relationship between the vehicle-mounted camera and the light receiving screen, taking a position with a maximum longitudinal coordinate value, a position with a minimum longitudinal coordinate value, a position with a maximum transverse coordinate value and a position with a minimum transverse coordinate value in the light spot area in a vehicle-mounted camera coordinate system as boundary points of the light spot; determining the boundary position information of the light spot area based on position information of the boundary points.

3. The method of claim 2, wherein, The boundary of the light spot area comprises an upper boundary, a lower boundary, a left boundary and a right boundary, and correspondingly, the irradiation angle of the to-be-calibrated light source comprises a first irradiation angle corresponding to the left boundary, a second irradiation angle corresponding to the right boundary, a third irradiation angle corresponding to the upper boundary and a fourth irradiation angle corresponding to the lower boundary; correspondingly, the determination of the irradiation angle of the to-be-calibrated light source according to the boundary position information comprises: taking an included angle between a first connecting line of the left boundary and the vehicle-mounted camera and an XOZ plane of the vehicle as the first irradiation angle corresponding to the left boundary, taking an included angle between a second connecting line of the right boundary and the vehicle-mounted camera and the XOZ plane of the vehicle as the second irradiation angle corresponding to the right boundary, taking an included angle between a third connecting line of the upper boundary and the vehicle-mounted camera and an XOY plane of the vehicle as the third irradiation angle corresponding to the upper boundary, and taking an included angle between a fourth connecting line of the lower boundary and the vehicle-mounted camera and the XOY plane of the vehicle as the fourth irradiation angle corresponding to the lower boundary, wherein the X axis direction of the vehicle is the vehicle forward direction, the Z axis direction is perpendicular to the vehicle X axis direction, and the Y axis direction is perpendicular to the Z axis and parallel to a connecting line of two front wheels of the vehicle.

4. The method of claim 1, wherein, The method further comprises: writing the calibration result of each light source into a storage module, and returning a calibration success message.

5. The method of claim 1, wherein, The method further comprises: if the effectiveness of the irradiation angle of the to-be-calibrated light source does not meet the requirement, returning a calibration failure message, and recalibrating the to-be-calibrated light source.

6. A vehicle headlamp calibration apparatus, characterized by, The device comprises: a vehicle light control module configured to control a to-be-calibrated light source in the vehicle light to be lit according to a target light intensity after receiving a vehicle light calibration instruction, wherein the number of to-be-calibrated light sources lit at a time is one; The boundary information acquisition module is configured to determine boundary position information of a light spot area presented by light emitted by the light source to be calibrated on a light receiving screen, wherein the light receiving screen is arranged opposite to the vehicle perpendicularly to the vehicle forward direction; The calibration module is configured to determine an irradiation angle of the light source to be calibrated according to the boundary position information, and take the irradiation angle meeting the requirement of effectiveness as the calibration result of the light source to be calibrated, and return to perform 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 requirement of effectiveness means that the irradiation angle is within a standard irradiation angle range of the vehicle lamp light source.

7. The apparatus of claim 6, wherein, The boundary information acquisition module is specifically configured to: acquire a light spot image presented by light emitted by the light source to be calibrated on the light receiving screen collected by the vehicle-mounted camera; determine, according to a relative position relationship between the vehicle-mounted camera and the light receiving screen, a position with a maximum longitudinal coordinate value, a position with a minimum longitudinal coordinate value, a position with a maximum transverse coordinate value and a position with a minimum transverse coordinate value in the light spot area in a vehicle-mounted camera coordinate system as boundary points of the light spot; determine boundary position information of the light spot area based on position information of the boundary points.

8. The apparatus of claim 7, wherein, The boundaries of the light spot area include an upper boundary, a lower boundary, a left boundary and a right boundary, and correspondingly, the irradiation angle of the light source to be calibrated includes a first irradiation angle corresponding to the left boundary, a second irradiation angle corresponding to the right boundary, a third irradiation angle corresponding to the upper boundary and a fourth irradiation angle corresponding to the lower boundary; Correspondingly, the calibration module includes: A boundary irradiation angle determination unit is configured to take an included angle between a first connecting line of the left boundary and the vehicle-mounted camera and an XOZ plane of the vehicle as the first irradiation angle corresponding to the left boundary, take an included angle between a second connecting line of the right boundary and the vehicle-mounted camera and the XOZ plane of the vehicle as the second irradiation angle corresponding to the right boundary, take an included angle between a third connecting line of the upper boundary and the vehicle-mounted camera and an XOY plane of the vehicle as the third irradiation angle corresponding to the upper boundary, and take an included angle between a fourth connecting line of the lower boundary and the vehicle-mounted camera and the XOY plane of the vehicle as the fourth irradiation angle corresponding to the lower boundary, wherein the X-axis direction of the vehicle is the vehicle forward direction, the Z-axis direction is perpendicular to the vehicle X-axis direction, and the Y-axis direction is perpendicular to the Z-axis and parallel to the connecting line of the two front wheels of the vehicle; A calibration unit is configured to take the irradiation angle meeting the requirement of effectiveness as the calibration result of the light source to be calibrated, and return to perform 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 requirement of effectiveness means that the irradiation angle is within a standard irradiation angle range of the vehicle lamp light source.

9. A vehicle light calibration system, characterized by, It includes: a vehicle diagnostic instrument, a light receiving screen and a vehicle to be calibrated, wherein The vehicle diagnostic instrument is in communication connection with the vehicle to be calibrated, and is configured 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 a target light intensity; The vehicle to be calibrated comprises vehicle lights to be calibrated, a vehicle camera and a vehicle light control system, wherein the vehicle lights to be calibrated comprise a plurality of light sources to be calibrated, the vehicle light control system comprises a vehicle light control module, a boundary information acquisition module and a calibration module, wherein the vehicle light control module is configured to control the light sources to be calibrated in the vehicle lights to emit light according to a target light intensity according to a received vehicle light calibration instruction; The light receiving screen is arranged opposite to the vehicle to be calibrated in a direction perpendicular to the forward direction of the vehicle, and is configured to display light emitted by the light sources to be calibrated; The vehicle camera is configured to acquire a light spot image presented on the light receiving screen and send the light spot image to the boundary information acquisition module in the vehicle light control system; The boundary information acquisition module is configured to determine boundary position information of a light spot area presented on the light receiving screen by light emitted by the light sources to be calibrated, and send the boundary position information to the calibration module; The calibration module is configured to determine an irradiation angle of the light sources to be calibrated according to the boundary position information, and take an irradiation angle meeting a requirement as a calibration result of the light sources to be calibrated.

10. A readable storage medium, on which a program or instructions are stored, characterized in that, The program or instructions are executed by the processor to implement the steps of the vehicle light calibration method according to any one of claims 1 to 5.

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