Vehicle lamp control method, device and equipment

Abstract

The invention provides a vehicle lamp control method, device and equipment, and is applied to the technical field of vehicles. The method comprises the steps that target position information of a target area where a target object in front of a vehicle is located is obtained, a scanning path which does not cover the target area is planned for light emitted by a laser light source according to the target position information, and then the light is controlled to scan along the scanning path. According to the vehicle lamp control method, an accurate illumination blind area can be formed in the target area where the target object is located while the front of the vehicle is illuminated, and accurate local shielding is achieved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more particularly, to a vehicle light control method, device, and apparatus in the field of vehicle technology. Background Art

[0002] The light source of vehicle lights is typically a light-emitting diode (LED) array. During vehicle light control, the LED array can be divided into multiple zones. When an obstructed object (such as a pedestrian or vehicle) is detected in front of the vehicle, the LEDs in the corresponding zones are turned off, shielding the object and preventing light from reaching it and potentially interfering with it, thereby improving safety.

[0003] The problem with the above-mentioned vehicle light control method is that the illumination range of each LED partition may not match the size of the target area where the target object is located. When the LED of the corresponding partition is turned off for shielding, some light may shine on the target object and interfere with it. It may also form unnecessary lighting blind spots in other places outside the area where the target object is located, making it difficult to achieve refined local shielding. Summary of the Invention

[0004] The present application provides a vehicle light control method, device and equipment, which can improve the accuracy of vehicle light shielding during the process.

[0005] In a first aspect, a method for controlling a headlight is provided, wherein the headlight includes a laser light source, and the method includes: obtaining target position information of a target area where a target object is located, wherein the target object is located in front of a vehicle; planning a scanning path for light emitted by the laser light source according to the target position information, wherein the scanning path does not cover the target area; and controlling the light to scan along the scanning path to illuminate the front of the vehicle and form a lighting blind spot in the target area.

[0006] In an embodiment of the present application, during the vehicle light control process, the target position information of the target area where the target object in front of the vehicle is located is obtained, and a scanning path that does not cover the target area is planned for the light emitted by the laser light source based on the target position information. The light is then controlled to scan along the scanning path. While illuminating the area in front of the vehicle, an accurate lighting blind spot can be formed in the target area where the target object is located, thereby achieving accurate shielding of the target object. When planning the scanning path based on the position information of the target area where the target object is located, the scanning path can be more accurately controlled so that the scanning path covers the area that needs to be illuminated and bypasses the target object that needs to be shielded. Then, when controlling the light to scan along the scanning path, a lighting blind spot that matches the area where the target object is located can be formed in the area where the target object is located, thereby achieving accurate partial shielding. While reducing the interference of the light on the target object, unnecessary lighting blind spots can be reduced, thereby improving safety during driving.

[0007] Optionally, planning a scanning path for the light emitted by the laser light source based on the target position information includes: determining an actual lighting area of the vehicle based on the preset position information and the target position information, the actual lighting area not covering the target area, and the preset position information being the position information of the preset lighting area pre-planned for the vehicle; and planning the scanning path covering the actual lighting area.

[0008] In an embodiment of the present application, the actual lighting area of the vehicle is determined based on the preset position information and target position information of the preset lighting area pre-planned for the vehicle, and a scanning path covering the actual lighting area is planned. While keeping the light consistent with the area that needs to be illuminated, a lighting blind spot can be formed in the target area where the target object is located, thereby achieving shielding of the target object.

[0009] Optionally, before planning the scanning path covering the actual lighting area, the method further includes: when there are multiple targets, determining the distance between two adjacent targets; when the distance between two adjacent targets is less than a preset distance, merging the two target areas where the two adjacent targets are located into one.

[0010] In an embodiment of the present application, when the distance between two targets is small, the two target areas where the two targets are located are merged into one target area, which can reduce the number of target areas and reduce the difficulty of planning the scanning path.

[0011] Optionally, before determining the actual lighting area of the vehicle based on the preset position information and the target position information, the method further includes: obtaining reference data, the reference data including at least one of the road condition information of the current road of the vehicle, the current driving speed of the vehicle and the current steering wheel angle of the vehicle; and determining the preset lighting area based on the reference data.

[0012] In an embodiment of the present application, before determining the actual lighting area of the vehicle, a preset lighting area is determined based on at least one reference data such as the road condition information, driving speed and steering wheel angle of the vehicle's current road. This can match the preset lighting area with the actual condition of the vehicle, and then the actual lighting area can be matched with the actual condition of the vehicle, thereby improving the lighting quality.

[0013] Optionally, the method further includes: determining the proportion of the actual illumination area within the preset illumination area; and turning off the laser light source when the proportion is less than or equal to a preset lower limit of the proportion.

[0014] In an embodiment of the present application, when the proportion of the actual lighting area in the preset lighting area is less than or equal to the preset lower limit of the proportion, the laser light source is turned off. The laser light source can be turned off in time when lighting is not needed, thereby reducing the power consumption of the car lights.

[0015] Optionally, the acquiring target position information of a target area where the target object is located includes: acquiring the target position information of the target area where a part to be shielded is located, where the part to be shielded is located on the target object.

[0016] In an embodiment of the present application, when obtaining the position information of the target area where the target object is located, the target position information of the target area where the part to be shielded on the target object is located is obtained. When planning the scanning path based on the position information, only the part to be shielded on the target object can be shielded, while other parts of the target object can be illuminated. While helping the driver of the vehicle to see the target object clearly, interference with the target object caused by light can be avoided.

[0017] Optionally, obtaining the target position information of the target area where the target object is located includes: obtaining the current position information of the area where the target object is located in the current scanning cycle; and predicting the target position information of the target area where the target object is located in the next adjacent scanning cycle based on the current position information.

[0018] In an embodiment of the present application, based on the current position information of the target object in the current scanning cycle, the target position information of the target area in the next adjacent scanning cycle is predicted, the scanning path of the light is planned according to the target position information, and the light scanning is controlled according to the scanning path. This can reduce the deviation between the formed lighting blind spot and the target area where the target object is located, thereby achieving precise shielding of the target object.

[0019] Optionally, predicting the target position information of the target area where the target object is located in the next adjacent scanning cycle based on the current position information includes: predicting the motion trajectory of the target object; and predicting the target position information based on the current position information and the motion trajectory.

[0020] In an embodiment of the present application, the target position information of the target area where the target object is located in the next scanning cycle is predicted based on the current position information and motion trajectory of the target object, so that the position information of the target area where the target object is located in the adjacent next scanning cycle can be determined more accurately.

[0021] In a second aspect, a vehicle light control device is provided, wherein the vehicle light includes a laser light source, and the device includes:

[0022] an acquisition module, configured to acquire target position information of a target area where a target object is located, the target object being located in front of the vehicle;

[0023] a planning module, configured to plan a scanning path for the light emitted by the laser light source according to the target position information, wherein the scanning path does not cover the target area;

[0024] A control unit is used to control the light to scan along the scanning path to illuminate the front of the vehicle and form an illumination blind spot in the target area.

[0025] According to a third aspect, an electronic device is provided, the device comprising:

[0026] a memory for storing executable program code;

[0027] A processor is used to call and run the executable program code from the memory, so that the electronic device executes the method in any possible implementation manner of the first aspect above.

[0028] In a fourth aspect, a program product is provided, comprising: a program code, which, when executed on an electronic device, causes the electronic device to execute the method in any possible implementation of the first aspect.

[0029] In a fifth aspect, a readable storage medium is provided, which stores a program code. When the program code is run on an electronic device, the electronic device executes the method in any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the composition of a vehicle lighting system provided by an embodiment of the present application;

[0031] Figure 2 This is a schematic diagram of the steps of a vehicle light control method provided by an embodiment of the present application;

[0032] Figure 3 This is a path planning diagram provided in an embodiment of the present application;

[0033] Figure 4 This is another path planning schematic diagram provided in an embodiment of the present application;

[0034] Figure 5 This is another path planning schematic diagram provided in an embodiment of the present application;

[0035] Figure 6 This is another path planning schematic diagram provided in an embodiment of the present application;

[0036] Figure 7 This is another path planning schematic diagram provided in an embodiment of the present application;

[0037] Figure 8 This is a schematic diagram of a vehicle light control process provided by an embodiment of the present application;

[0038] Figure 9 This is a structural diagram of a vehicle light control device provided by an embodiment of the present application;

[0039] Figure 10 It is a structural diagram of a device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0041] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0042] See also Figure 1 , Figure 1 1 is a schematic diagram of the components of a vehicle lighting system provided in an embodiment of the present application. The vehicle lighting system may be an adaptive driving beam (ADB) vehicle lighting system, including, but not limited to, a sensing component 11, a control unit 12, a laser light source 13, a driving component 14, and a lens component 15.

[0043] The sensing component 11 may include a lidar and / or a camera for detecting the vehicle's forward direction. The control unit 12 may include an electronic control unit (ECU). The control unit 12 is connected to a laser light source 13 and can control the on / off state of the laser light source 13. When on, the laser light source 13 emits a laser beam (hereinafter referred to as a beam) 16. The control unit 12 is also connected to the sensing component 11 and can obtain relevant information detected by the sensing component 11.

[0044] The driving component 14 can be a micro electro mechanical system (MEMS), including a control element (not shown in the figure), a galvanometer 141, a reflector 142 and a phosphor 142, as well as other components not shown. The control element is connected to the control unit 12, and the galvanometer 141, the reflector 142 and the phosphor 142 are located on the propagation path of the light 16. When the galvanometer 141 is in operation, the direction of the light 16 can be changed. The reflector 142 can reflect the light 16 to the phosphor 143, and the phosphor 143 can change the color of the light 16 to make the color of the light 16 white. After passing through the lens assembly 15, the white light is irradiated to the front of the vehicle, illuminating the front of the vehicle.

[0045] The control unit 12 and the control element can be integrated together or as shown in FIG. Figure 1 As shown, set individually. Figure 1 For illustrative purposes only, the specific components of the vehicle lighting system may include but are not limited to the following.

[0046] See also Figure 2 , Figure 2Schematic diagram of the steps of a vehicle light control method provided by an embodiment of the present application. The method can be executed by the control element in the drive assembly 14 alone, or by the control element and the control unit 12 in coordination. The method may include the following steps:

[0047] Step 201: Acquire target location information of a target area where a target object is located.

[0048] The target object is located in front of the vehicle.

[0049] For example, when the vehicle's lights are in high beam mode, the target object may include pedestrians, animals, vehicles, and other objects in front of the vehicle that require shielding from the high beam. The target area may be a rectangular region where the target object is located. The target location information may include the vertex coordinates of the upper left corner (i.e., the first vertex) and the lower right corner (i.e., the second vertex) of the rectangular region, respectively, in the vehicle's first coordinate system. The first vertex is the vertex with the smallest X-axis coordinate and the largest Z-axis coordinate among all vertices on the target object's boundary. The second vertex is the vertex with the largest X-axis coordinate and the smallest Z-axis coordinate among all vertices on the target object's boundary. The rectangular region between the first and second vertices is the target area where the target object is located. Alternatively, the target area may be a polygonal region where the target object is located. The target location information may include the vertex coordinates of multiple vertices on the target object's boundary, respectively, in the first coordinate system. The multiple vertices may constitute the boundary outline of the target object. In the first coordinate system, the coordinate origin may be the vehicle's center of mass, the positive direction of the Y axis points toward the vehicle's forward direction, the positive direction of the X axis points toward the right side of the vehicle, and the positive direction of the Z axis points toward the top of the vehicle.

[0050] Optionally, the perception component may include a laser radar (LIDAR). When the vehicle is in motion, the LIDAR may periodically scan the area in front of the vehicle to acquire point cloud data. When the target area is a rectangular area containing a target object, target detection may be performed based on the point cloud data after each acquisition to determine whether a target object is present in front of the vehicle. When a target object is present, the first vertex with the smallest X-axis coordinate and the largest Z-axis coordinate in the radar's second coordinate system is first determined from all vertices on the target object's boundary, as well as the second vertex with the largest X-axis coordinate and the smallest Z-axis coordinate in the radar's second coordinate system. Coordinate conversion is then performed to convert the vertex coordinates of the first vertex in the second coordinate system to the vertex coordinates of the first vertex in the first coordinate system, and vice versa. This allows target position information to be obtained, including the vertex coordinates of the first and second vertices in the first coordinate system. Furthermore, the LIDAR may transmit the target position information to the control unit, which forwards the received target position information to the control element.

[0051] Alternatively, when the target area is a polygonal area where the target object is located, after each acquisition of point cloud data, target detection can be performed based on the point cloud data to determine whether a target object exists in front of the vehicle. When a target object exists, all vertices on the boundary of the target object are determined. After that, coordinate conversion is performed to convert the vertex coordinates of each vertex in the second coordinate system into the vertex coordinates in the first coordinate system, thereby obtaining target position information. The target position information includes the vertex coordinates of each vertex on the boundary of the target object in the first coordinate system. Furthermore, the lidar can send the target position information to the control unit, and the control unit forwards the received target position information to the control element.

[0052] Among them, in the second coordinate system, the coordinate origin can be the installation position of the laser radar, the positive direction of the Y axis points to the forward direction of the vehicle, the positive direction of the X axis points to the right direction of the vehicle, and the positive direction of the Z axis points to the top direction of the vehicle.

[0053] In actual applications, when the vehicle is driving, the control unit controls the laser light source to turn on and emit light after receiving the light-on command input by the user. At the same time, a notification message is sent to the lidar. After receiving the notification message, the lidar periodically scans the front of the vehicle, acquiring point cloud data once during each scanning cycle. Based on the point cloud data, it determines whether there is a target in front of the vehicle. If a target is present, the target position information of the target is sent to the control unit. If it is determined based on the point cloud data that there is no target in front of the vehicle, the control unit sends a notification message to the control unit, which then sends the notification message to the control unit to inform the control unit that there is no target in front of the vehicle.

[0054] Alternatively, after acquiring point cloud data, the LiDAR can directly send the point cloud data to the control unit, which can then determine the target position information of the target object based on the point cloud data and send the target position information to the control element. Alternatively, the control unit can directly send the point cloud data to the control element, which can then determine the target position information based on the point cloud data. Alternatively, the sensing component can be a camera, and the control unit or control element can determine whether a target object is in front of the vehicle based on the image captured by the camera, and determine the target position information of the target area.

[0055] It should be understood that the above are merely illustrative examples, and the specific method for obtaining the target location information and the specific composition of the target location information may include but are not limited to the above examples.

[0056] Step 202: Plan a scanning path for the light emitted by the laser light source according to the target position information.

[0057] Among them, the scanning path does not cover the target area.

[0058] In one embodiment, a vehicle lighting area may be pre-set, hereinafter referred to as a preset lighting area. During scanning path planning, the vehicle's actual lighting area may be determined based on the preset position information of the preset lighting area and the target position information of the target area. A scanning path may then be planned that covers only the actual lighting area.

[0059] Exemplarily, the preset lighting area can be a rectangular lighting area, and the preset position information can include the vertex coordinates of the third vertex in the first coordinate system and the vertex coordinates of the fourth vertex in the first coordinate system. The third vertex is the vertex with the smallest X-axis coordinate and the largest Z-axis coordinate among the four vertices of the rectangular lighting area. The fourth vertex is the vertex with the largest X-axis coordinate and the smallest Z-axis coordinate among the four vertices of the rectangular lighting area. The rectangular area between the third vertex and the fourth vertex is the preset lighting area.

[0060] See also Figure 3 , Figure 3 This is a path planning diagram provided in an embodiment of the present application. Figure 3 The X-axis is the X-axis in the first coordinate system, the Z-axis is the Z-axis in the first coordinate system, the preset position information includes the vertex coordinates of the third vertex A in the first coordinate system, and also includes the vertex coordinates of the fourth vertex B in the first coordinate system. The preset lighting area 31 is the rectangular area between the third vertex A and the fourth vertex B.

[0061] like Figure 3 As shown, when there is no target in front of the vehicle, or when there is a target in front of the vehicle but the target area of the target does not overlap with the preset illumination area (i.e., the actual illumination area is equal to the preset illumination area), a scanning path 32 can be planned using a raster scanning method based on the boundary of the preset illumination area 31. The scanning path 32 includes multiple rows of path nodes located within the preset illumination area 31. The multiple rows of path nodes are arranged at intervals along the Z-axis, and each row of path nodes includes multiple path nodes spaced apart along the X-direction. The scanning path 32 covers the entire preset illumination area 31. When light is scanned along the scanning path 32, the light moves rapidly along the multiple path nodes on the scanning path 34 in sequence. At this time, the light moves rapidly back and forth in the X-direction and simultaneously moves rapidly from top to bottom in the Z-direction, thereby illuminating the preset illumination area 31. It should be understood that the speed of light scanning along the scanning path is extremely fast, imperceptible to the human eye, and therefore can illuminate the preset illumination area.

[0062] The above are only illustrative examples. When there is no target object in front of the vehicle, or when there is a target object in front of the vehicle but the target area where the target object is located does not overlap with the preset lighting area, the scanning path can also be planned using spiral scanning method, random scanning method, adaptive scanning method, etc. This embodiment does not limit the specific planning method of the scanning path.

[0063] When there is a target object in front of the vehicle and the target area of the target object overlaps with the preset illumination area, the first vertex and / or the second vertex are located within the preset illumination area. In this case, the actual illumination area can be determined based on the coordinates of the first vertex, the second vertex, the third vertex, and the fourth vertex in the first coordinate system.

[0064] See also Figure 4 , Figure 4 This is another path planning schematic diagram provided by an embodiment of the present application. The preset position information includes the vertex coordinates of the third vertex A in the first coordinate system, and also includes the vertex coordinates of the fourth vertex B in the first coordinate system. The target position information includes the vertex coordinates of the first vertex C in the first coordinate system and the vertex coordinates of the second vertex D in the first coordinate system. The control element can use a polygon clipping algorithm to subtract the rectangular area 31 between the third vertex A and the fourth vertex B (i.e., the preset lighting area) from the rectangular area 33 between the first vertex C and the second vertex D (i.e., the target area) to obtain the actual lighting area. The actual lighting area is the area in the rectangular area 31 excluding the rectangular area 33.

[0065] After determining the actual illumination area, a spiral scanning method can be used to plan a scanning path 34. Scanning path 34 includes multiple path nodes located within the actual illumination area. These path nodes are arranged in a spiral pattern, covering the entire actual illumination area. As light moves along scanning path 34, it rapidly moves sequentially along the multiple path nodes on scanning path 34, illuminating the actual illumination area.

[0066] See also Figure 5 , Figure 5 This is another path planning schematic diagram provided by an embodiment of the present application. The preset position information includes the vertex coordinates of the third vertex A in the first coordinate system, and also includes the vertex coordinates of the fourth vertex B in the first coordinate system. The target position information includes the vertex coordinates of multiple vertices on the boundary of the target object in the first coordinate system, and the multiple vertices constitute a polygonal area. The control element can use a polygonal clipping algorithm to subtract the rectangular area 31 between the third vertex A and the fourth vertex B (i.e., the preset lighting area) from the polygonal area 33 (i.e., the target area) to obtain the actual lighting area. The actual lighting area is the area in the rectangular area 31 excluding the polygonal area 33.

[0067] After determining the actual illumination area, a spiral scanning method can be used to plan a scanning path 34. Scanning path 34 includes multiple path nodes located within the actual illumination area. These path nodes are arranged in a spiral pattern, covering the entire actual illumination area. As light moves along scanning path 34, it rapidly moves sequentially along the multiple path nodes on scanning path 34, illuminating the actual illumination area.

[0068] It should be understood that the above is only an illustrative example, and when planning the scanning path, a random scanning method, an adaptive scanning method, or the like may also be used to plan the scanning path.

[0069] In an embodiment of the present application, the actual lighting area of the vehicle is determined based on the preset position information and target position information of the preset lighting area pre-planned for the vehicle, and a scanning path covering the actual lighting area is planned. While keeping the light consistent with the area that needs to be illuminated, a lighting blind spot can be formed in the target area where the target object is located, thereby achieving shielding of the target object.

[0070] Step 203: Control the light to scan along the scanning path to illuminate the front of the vehicle and form an illumination blind spot in the target area.

[0071] For example, after obtaining the scanning path, the control element can convert the node coordinates of each path node in the scanning path into a galvanometer deflection angle, thereby obtaining a plurality of continuous deflection angles. The galvanometer deflection is then controlled sequentially according to the deflection angle corresponding to each path node in the scanning path. When the galvanometer deflects, the light can be rapidly moved within the actual illumination area along the scanning path. The light scans the entire illumination area, thereby illuminating the actual illumination area.

[0072] like Figure 4-5 As shown, the light moves rapidly along the scanning path, illuminating the actual lighting area while creating a blind spot in the target area. When the vehicle's high beam is in operation, the light's scanning path covers the actual lighting area, effectively illuminating the actual lighting area. Simultaneously, the blind spot formed in the target area prevents the high beam from shining on the target object, thus preventing interference with the target object (such as pedestrians).

[0073] In an embodiment of the present application, during the vehicle light control process, the target position information of the target area where the target object in front of the vehicle is located is obtained, and a scanning path that does not cover the target area is planned for the light emitted by the laser light source based on the target position information. The light is then controlled to scan along the scanning path. While illuminating the area in front of the vehicle, an accurate lighting blind spot can be formed in the target area where the target object is located, thereby achieving accurate shielding of the target object. When planning the scanning path based on the position information of the target area where the target object is located, the scanning path can be more accurately controlled so that the scanning path covers the area that needs to be illuminated and bypasses the target object that needs to be shielded. Then, when controlling the light to scan along the scanning path, a lighting blind spot that matches the area where the target object is located can be formed in the area where the target object is located, thereby achieving accurate partial shielding. While reducing the interference of the light on the target object, unnecessary lighting blind spots can be reduced, thereby improving safety during driving.

[0074] Optionally, before planning the scanning path covering the actual lighting area, the method may further include:

[0075] In the case of multiple targets, determining the distance between two adjacent targets;

[0076] When the distance between two adjacent targets is less than a preset distance, the two target areas where the two adjacent targets are located are merged into one.

[0077] For example, when the perception component detects multiple target objects in front of the vehicle, it can send multiple target position information to the control unit. The multiple target position information corresponds one-to-one to the multiple target areas where the multiple target objects are located. The control unit forwards the multiple target position information to the control element.

[0078] After receiving target position information of multiple target areas, for each target area, the control element traverses each other target area to determine the distance between the area boundary of the target area and the area boundary of other target areas. If the distance between the area boundary of other target areas is less than the preset distance, it is determined that the distance between the target object in the target area and the target object in the other target areas is small.

[0079] See also Figure 6 , Figure 6 This is another path planning diagram provided by an embodiment of the present application. There are two targets in front of the vehicle, one target is located in the target area 331, and the other target is located in the target area 332. After receiving the target position information of the target area 331 and the target position information of the target area 332 forwarded by the control unit, the control element can determine the distance between the area boundary of the target area 331 and the area boundary of the target area 332 based on the target position information of the two target areas. Figure 6 As shown, target area 332 is located to the right of target area 331. The coordinate deviation between the X-axis coordinate of second vertex D1 and the X-axis coordinate of first vertex C2 can be determined to obtain the lateral distance between the two target areas. Simultaneously, the coordinate deviation between the Z-axis coordinate of second vertex D1 and the Z-axis coordinate of first vertex C2 can be determined to obtain the longitudinal distance between the two target areas. If both the longitudinal and lateral distances are less than the preset distances, it is determined that the distance between the target objects in target area 331 and the target objects in target area 332 is relatively close, and there is no need to mask each target individually.

[0080] At this time, the target area 331 and the target area 332 can be merged into a target area 33. During the merging process, the vertex with the smallest X-axis coordinate and the largest Z-axis coordinate among all the vertices of the two targets can be used as the first vertex of the merged target area; the vertex with the largest X-axis coordinate and the smallest Z-axis coordinate among all the vertices of the two targets can be used as the second vertex of the merged target area. Figure 5 The first vertex C1 shown is used as the first vertex of the merged target area. Figure 5 The second vertex D2 shown is used as the second vertex of the merged target area, and then the target position information of the merged target area can be obtained. The target position information includes the vertex coordinates of the first vertex C1 and the second vertex D2.

[0081] After the two target areas are merged into a new target area, the vehicle's actual lighting area can be determined based on the preset location information and the target location information of the new target area. The actual lighting area includes the remaining area within the preset lighting area 31 excluding the target area 33. The above-described method can then be used to plan a scanning path covering the actual lighting area.

[0082] It should be understood that the above are merely illustrative examples, and specific methods for determining the distance between two target areas and merging the two target areas may include but are not limited to the above examples.

[0083] In an embodiment of the present application, when the distance between two targets is small, the two target areas where the two targets are located are merged into one target area, which can reduce the number of target areas and reduce the difficulty of planning the scanning path.

[0084] Optionally, before determining the actual lighting area of the vehicle based on the preset position information and the target position information, the method may further include:

[0085] Acquiring reference data, the reference data including at least one of road condition information of a current road on which the vehicle is located, a current driving speed of the vehicle, and a current steering wheel angle of the vehicle;

[0086] Determine preset lighting areas based on reference data.

[0087] In one embodiment, the preset lighting area can be determined based on one or more parameter data such as the road condition information of the vehicle, the current driving speed of the vehicle, and the steering wheel angle. For example, different lighting areas can be set for various road types such as rural roads, provincial roads, national roads, and expressways. The lighting ranges of different lighting areas are different, that is, the preset position information corresponding to different lighting areas is different. The control unit can determine the road type (i.e., road condition information) of the road currently located by the vehicle based on the positioning information of the vehicle. After determining the road type, the lighting area that matches the road type of the road currently located by the vehicle is determined from multiple lighting areas as the preset lighting area. After determining the preset lighting area, the actual lighting area of the vehicle can be determined based on the preset position information of the preset lighting area and the target position information of the target area, and then a scanning path covering the actual lighting area is planned.

[0088] For another example, multiple speed intervals and multiple lighting zones can be set, with each speed interval corresponding to each lighting zone, and each lighting zone having different illumination ranges. The control unit can determine the vehicle's current speed, determine a target speed interval within the multiple speed intervals, and then determine a lighting zone corresponding to the target speed interval from the multiple lighting zones, using this lighting zone as the preset lighting zone. The actual lighting zone of the vehicle can then be determined based on the preset position information of the preset lighting zone and the target position information of the target zone, and a scanning path can be planned that covers the actual lighting zone.

[0089] For another example, three lighting areas can be set separately, one lighting area corresponding to the vehicle's straight-ahead state, one lighting area corresponding to the vehicle's left-turn state, and another lighting area corresponding to the vehicle's right-turn state. The control element can determine whether the vehicle is in a straight-ahead state, a left-turn state, or a right-turn state based on the vehicle's current steering wheel angle. When the vehicle is determined to be in a left-turn state based on the steering wheel angle, the lighting area corresponding to the left-turn state is used as the preset lighting area; when the vehicle is determined to be in a right-turn state based on the steering wheel angle, the lighting area corresponding to the right-turn state is used as the preset lighting area; when the vehicle is determined to be in a straight-ahead state based on the steering wheel angle, the lighting area corresponding to the straight-ahead state is used as the preset lighting area. Afterwards, the actual lighting area of the vehicle can be determined based on the preset position information of the preset lighting area and the target position information of the target area, and a scanning path covering the actual lighting area can be planned.

[0090] For another example, the size of the preset lighting area along the X-axis is positively correlated with the vehicle's speed. An initial lighting area and a corresponding initial speed can be set. When determining the preset lighting area, the vehicle's current speed can be first obtained. When the speed is less than or equal to the initial speed, the initial lighting area, or the preset lighting area, is determined. When the speed is greater than the initial speed, the speed difference between the speed and the initial speed is determined. When the speed difference is greater than a preset difference, the speed difference is multiplied by a preset proportional coefficient to obtain a size increment. The size increment is then increased by the size increment to obtain a new preset lighting area. Subsequently, the vehicle's actual lighting area can be determined based on the preset position information of the new preset lighting area and the target position information of the target area, and a scanning path covering the actual lighting area can be planned.

[0091] For another example, an initial lighting area and a corresponding initial speed can be set. When determining the preset lighting area, the vehicle's current speed can be first obtained. When the speed is less than or equal to the initial speed and the vehicle is determined to be traveling straight ahead based on the steering wheel angle, the initial lighting area, or the preset lighting area, is determined. When the speed is greater than the initial speed and the vehicle is traveling straight ahead, the speed difference between the speed and the initial speed is determined. When the speed difference is greater than a preset difference, the speed difference is multiplied by a preset proportional coefficient to obtain a size increment. The size increment is then added to the x-axis dimension of the preset lighting area to obtain a new preset lighting area. Subsequently, the vehicle's actual lighting area can be determined based on the preset position information of the new preset lighting area and the target position information of the target area, and a scanning path covering the actual lighting area can be planned.

[0092] Furthermore, when the driving speed is less than or equal to the initial speed and the vehicle is determined to be turning left based on the steering wheel angle, an initial lighting area, i.e., a preset lighting area, is determined. When the driving speed is greater than the initial speed and the vehicle is determined to be turning left based on the steering wheel angle, the speed difference between the driving speed and the initial speed is determined. When the speed difference is greater than a preset difference, the product of the speed difference and a preset proportional coefficient is calculated to obtain a size offset. The preset lighting area is then offset in the negative direction of the X-axis by the size offset to obtain a new preset lighting area. The actual lighting area of the vehicle can then be determined based on the preset position information of the new preset lighting area and the target position information of the target area, and a scanning path covering the actual lighting area can be planned.

[0093] Furthermore, when the driving speed is less than or equal to the initial speed and the vehicle is determined to be turning right based on the steering wheel angle, an initial lighting area, i.e., a preset lighting area, is determined. When the driving speed is greater than the initial speed and the vehicle is determined to be turning right based on the steering wheel angle, the speed difference between the driving speed and the initial speed is determined. When the speed difference is greater than a preset difference, the product of the speed difference and a preset proportional coefficient is calculated to obtain a size offset. The preset lighting area is then offset in the positive direction of the X-axis by the size offset to obtain a new preset lighting area. The actual lighting area of the vehicle can then be determined based on the preset position information of the new preset lighting area and the target position information of the target area, and a scanning path covering the actual lighting area can be planned.

[0094] It should be understood that the above are merely illustrative examples, and specific methods for determining a preset lighting area based on reference data may include but are not limited to the above examples.

[0095] In an embodiment of the present application, before determining the actual lighting area of the vehicle, a preset lighting area is determined based on at least one reference data such as the road condition information, driving speed and steering wheel angle of the vehicle's current road. This can match the preset lighting area with the actual condition of the vehicle, and then the actual lighting area can be matched with the actual condition of the vehicle, thereby improving the lighting quality.

[0096] Optionally, the method may further include:

[0097] Determine the proportion of the actual lighting area within the preset lighting area;

[0098] When the ratio is less than or equal to the preset lower limit, the laser light source is turned off.

[0099] In one embodiment, after determining the actual illumination area, the area X1 of the actual illumination area and the area X2 of the preset illumination area can be calculated. Furthermore, the ratio X1 / X2 between the area X1 of the actual illumination area and the area X2 of the preset illumination area can be calculated. When X1 / X2 is less than or equal to a preset lower limit, the laser light source is directly turned off. In this case, no scanning path is planned, light is not controlled along the scanning path, and the area in front of the vehicle is not illuminated. Conversely, when X1 / X2 is greater than the preset lower limit, the laser light source can remain on, a scanning path covering the actual illumination area is planned, and light is controlled along the scanning path to illuminate the area in front of the vehicle.

[0100] In actual applications, the preset ratio lower limit can be set to a smaller value, such as 5%, 4% and 7%. When the proportion of the actual lighting area in the preset lighting area is less than or equal to the preset ratio lower limit, it indicates that the target area where the target object is located is close to or equal to the lighting area. At this time, there is little point in lighting, and the laser light source can be turned off.

[0101] As described above, the sensing module detects the area in front of the vehicle once per scanning cycle, and the control unit determines a scanning path once per scanning cycle and controls the light to scan along the scanning path. Thus, after determining that the proportion of the actual illuminated area within the preset illuminated area is less than or equal to a preset lower limit within a scanning cycle and shutting down the laser light source, in the next adjacent scanning cycle, if the proportion of the actual illuminated area within the preset illuminated area is greater than the preset lower limit, the laser light source can be turned on again, the scanning path can be planned, and the light can be controlled to scan along the scanning path again.

[0102] In an embodiment of the present application, when the proportion of the actual lighting area in the preset lighting area is less than or equal to the preset lower limit of the proportion, the laser light source is turned off. The laser light source can be turned off in time when lighting is not needed, thereby reducing the power consumption of the car lights.

[0103] Optionally, obtaining target position information of a target area where the target object is located includes:

[0104] Target position information of a target area where the part to be shielded is located is obtained, and the part to be shielded is located on a target object.

[0105] In one embodiment, the target area may be the area where the part to be shielded on the target object is located. When there is a target object in front of the vehicle, the target position information of the target area where the part to be shielded on the target object is located may be obtained, and the scanning path of the light may be planned according to the target position information. The light may be controlled to scan along the scanning path to scan the part to be shielded on the target object.

[0106] For example, after acquiring point cloud data, the laser radar sends the point cloud data to the control unit. The control unit performs target detection based on the point cloud data. When a target object is detected in front of the vehicle, the control unit can further detect the part to be shielded on the target object, such as the pedestrian's head and the vehicle's windshield.

[0107] See also Figure 7 , Figure 7 It is another path planning schematic diagram provided by an embodiment of the present application. The target object in front of the vehicle is formed, and the part to be shielded is the head of the formed object. When the control unit determines that there is a pedestrian in front of the vehicle based on the point cloud data, it can further detect the target area where the pedestrian's head is located based on the point cloud data, determine the target position information of the target area, and send the target position information to the control element. The control element plans a scanning path 36 for the light based on the position information. The scanning path 36 does not cover the pedestrian's head, but covers the pedestrian's body part. Afterwards, when the light is controlled to scan along the scanning path 36, the light can illuminate other areas except the pedestrian's head, forming a lighting blind spot on the pedestrian's head.

[0108] It should be understood that different objects have different parts to be shielded, and corresponding parts to be shielded can be pre-set according to the specific type of the object.

[0109] In an embodiment of the present application, when obtaining the position information of the target area where the target object is located, the target position information of the target area where the part to be shielded on the target object is located is obtained. When planning the scanning path based on the position information, only the part to be shielded on the target object can be shielded, while other parts of the target object can be illuminated. While helping the driver of the vehicle to see the target object clearly, interference with the target object caused by light can be avoided.

[0110] Optionally, obtaining target position information of a target area where the target object is located includes:

[0111] Obtain the current location information of the target object in the area within the current scanning cycle;

[0112] According to the current position information, the target position information of the target area where the target object is located in the next adjacent scanning cycle is predicted.

[0113] For example, after each acquisition of point cloud data, the LiDAR can determine the current location of the target based on the point cloud data and send this information to the control unit. After receiving this information, the control unit can predict the target's location during the next adjacent scanning cycle based on this information to obtain target location information and send this information to the control unit. The control unit then sends this information to the control unit, which can then plan a scanning path based on this information and control the light to scan along the scanning path.

[0114] In an embodiment of the present application, based on the current position information of the target object in the current scanning cycle, the target position information of the target area in the next adjacent scanning cycle is predicted, the scanning path of the light is planned according to the target position information, and the light scanning is controlled according to the scanning path. This can reduce the deviation between the formed lighting blind spot and the target area where the target object is located, thereby achieving precise shielding of the target object.

[0115] Optionally, the target position information of the target area where the target object is located in the next adjacent scanning cycle is predicted based on the current position information, including:

[0116] Predict the trajectory of the target;

[0117] According to the current position information and motion trajectory, the target position information is predicted.

[0118] For example, the motion trajectory may include the target's direction of movement and speed of movement. After acquiring point cloud data, the laser radar can determine the target's direction of movement and speed of movement based on the point cloud data while determining the current position information of the target's current location based on the point cloud data. It can also predict the target's movement distance in the current scanning cycle based on the movement speed and the cycle duration of the scanning cycle. The current position information, movement distance, and movement direction are then used to determine the target position information of the target area where the target will be located in the next adjacent scanning cycle. The target position information can then be sent to the control unit, which in turn sends the target position information to the control element. The control element can then plan a scanning path based on the target position information and control the light to scan along the scanning path.

[0119] In an embodiment of the present application, the target position information of the target area where the target object is located in the next scanning cycle is predicted based on the current position information and motion trajectory of the target object, so that the position information of the target area where the target object is located in the adjacent next scanning cycle can be determined more accurately.

[0120] See also Figure 8 , Figure 8 This is a schematic diagram of a vehicle light control process provided by an embodiment of the present application. Figure 8 As shown, the method includes the following steps:

[0121] Step 801: Determine whether there is a target object in front of the vehicle.

[0122] Step 802: Determine target location information of a target area where the target object is located.

[0123] For example, during vehicle operation, upon receiving a light-on command, the control unit can control the laser light source to turn on, causing it to emit laser light. Simultaneously, the lidar scans the area in front of the vehicle at a preset scanning cycle, acquiring point cloud data. Based on this point cloud data, it performs target detection to determine whether a target object is present in front of the vehicle. Upon determining the presence of a target object in front of the vehicle, the control unit can determine the target location within the target area based on the point cloud data and transmit this target location information to the control unit.

[0124] Alternatively, after acquiring the point cloud data, the laser radar may send the point cloud data to the control unit, which then executes steps 801-802 based on the point cloud data. Alternatively, after acquiring the point cloud data, the control unit may send the point cloud data to the control element, which then executes steps 801-802 based on the point cloud data.

[0125] When the laser radar or the control unit determines that there is no target object in front of the vehicle, it can send a notification message to the control element to notify the control element that there is no target object in front of the vehicle.

[0126] Step 803: Determine the actual lighting area of the vehicle based on the preset position information and the target position information.

[0127] Step 804: Plan a scanning path that covers the actual lighting area.

[0128] For example, after receiving the target position information, the control element determines that there is a target object in front of the vehicle, and can determine the actual lighting area based on the target position information and the preset position information of the pre-planned preset lighting area, and then plan a scanning path covering the actual lighting area.

[0129] Step 805: Control the light to scan along the planned scanning path.

[0130] like Figure 4-5 As shown, after planning a new scanning path, the control element can control the galvanometer based on the planned scanning path so that the laser light moves along the planned scanning path, while illuminating the front of the vehicle and forming a lighting blind spot in the target area where the target object is located.

[0131] Step 806: Control the light to scan along a preset scanning path.

[0132] like Figure 3 As shown, a scanning path can be pre-planned. This scanning path is called a preset scanning path and is the scanning path when there is no target in front of the vehicle. After receiving the notification information, the control unit determines that there is no target in front of the vehicle and can control the galvanometer based on the preset scanning path to move the laser light along the preset scanning path to illuminate the area in front of the vehicle.

[0133] See also Figure 9 , Figure 9 It is a structural schematic diagram of a vehicle light control device provided in an embodiment of the present application.

[0134] like Figure 9 As shown, the vehicle light control device 900 may include:

[0135] An acquisition module 901 is configured to acquire target position information of a target area where a target object is located, the target object being located in front of the vehicle;

[0136] a planning module 902 for planning a scanning path for the light emitted by the laser light source according to the target position information, wherein the scanning path does not cover the target area;

[0137] The control unit 903 is configured to control the light to scan along the scanning path to illuminate the front of the vehicle and form an illumination blind spot in the target area.

[0138] Optionally, the planning module 902 is specifically used to determine the actual lighting area of the vehicle based on the preset position information and the target position information, the actual lighting area does not cover the target area, and the preset position information is the position information of the preset lighting area pre-planned for the vehicle; and plan the scanning path covering the actual lighting area.

[0139] Optionally, the vehicle light control device 900 further includes a merging module for determining the distance between two adjacent target objects when there are multiple target objects; and merging the two target areas where the two adjacent target objects are located into one when the distance between the two adjacent target objects is less than a preset distance.

[0140] Optionally, the vehicle light control device 900 further includes a determination module for obtaining reference data, wherein the reference data includes at least one of the road condition information of the vehicle's current road, the vehicle's current driving speed, and the vehicle's current steering wheel angle; and determining the preset lighting area based on the reference data.

[0141] Optionally, the vehicle light control device 900 further includes a shut-down module for determining the proportion of the actual lighting area within the preset lighting area; and shutting down the laser light source when the proportion is less than or equal to a preset lower limit of the proportion.

[0142] Optionally, the acquisition module 901 is specifically configured to acquire the target position information of the target area where the part to be shielded is located, and the part to be shielded is located on the target object.

[0143] Optionally, the acquisition module 901 is specifically used to obtain the current position information of the area where the target object is located in the current scanning cycle; based on the current position information, predict the target position information of the target area where the target object is located in the next adjacent scanning cycle.

[0144] Optionally, the acquisition module 801 is specifically configured to predict a motion trajectory of the target object; and predict the target position information based on the current position information and the motion trajectory.

[0145] See also Figure 10 , Figure 10 This is a schematic diagram of the structure of a device provided in an embodiment of the present application. Figure 10 As shown, the device 100 includes: a memory 101 and a processor 102, wherein the memory 101 stores an executable program code 1011, and the processor 102 is used to call and execute the executable program code 1011 to perform a vehicle light control method.

[0146] In addition, an embodiment of the present application also protects a vehicle light control device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a vehicle light control method provided by an embodiment of the present application.

[0147] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0148] In the case of dividing each functional module into corresponding functional modules, the device may further include a determination module, a replacement module, a control unit, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0149] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle light control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0150] In the case of an integrated unit, the device may include a determination module and a control unit. When the device is applied to a device, the processing module may be used to control and manage the actions of the device. The storage module may be used to support the device in executing relevant program codes, etc.

[0151] The processing module may be a processor or a vehicle body configuration module, which may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure herein. The processor may also be a combination of devices that implement computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing system (DSP) and a microprocessor, and the storage module may be a memory.

[0152] This embodiment further provides a readable storage medium, in which program code is stored. When the program code is run on an electronic device, the electronic device executes the above-mentioned related method steps to implement a vehicle light control method provided in the above embodiment.

[0153] This embodiment further provides a program product. When the program product is run on an electronic device, the electronic device executes the above-mentioned related steps to implement a vehicle light control method provided in the above embodiment.

[0154] Among them, the device, readable storage medium, program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0155] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0156] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0157] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle light control method, characterized in that: The vehicle lamp includes a laser light source, and the method includes: Acquiring target position information of a target area where a target object is located, wherein the target object is located in front of the vehicle; planning a scanning path for the light emitted by the laser light source according to the target position information, wherein the scanning path does not cover the target area; The light is controlled to scan along the scanning path to illuminate the front of the vehicle and form an illumination blind spot in the target area.

2. The method according to claim 1, wherein Planning a scanning path for the light emitted by the laser light source according to the target position information includes: Determining an actual lighting area of the vehicle according to preset position information and the target position information, wherein the actual lighting area does not cover the target area, and the preset position information is position information of a preset lighting area pre-planned for the vehicle; The scanning path is planned to cover the actual lighting area.

3. The method according to claim 2, wherein Before planning the scanning path covering the actual lighting area, the method further includes: In the case where there are multiple targets, determining the distance between two adjacent targets; When the distance between two adjacent targets is less than a preset distance, the two target areas where the two adjacent targets are located are merged into one.

4. The method according to claim 2, wherein Before determining the actual lighting area of the vehicle based on the preset position information and the target position information, the method further includes: Acquiring reference data, the reference data including at least one of road condition information of a road currently located by the vehicle, a current driving speed of the vehicle, and a current steering wheel angle of the vehicle; The preset lighting area is determined according to the reference data.

5. The method according to claim 2, wherein The method further comprises: Determining the proportion of the actual lighting area within the preset lighting area; When the ratio is less than or equal to a preset lower limit, the laser light source is turned off.

6. The method according to claim 1, wherein The acquiring target position information of the target area where the target object is located includes: The target position information of the target area where the part to be shielded is located is acquired, and the part to be shielded is located on the target object.

7. The method according to claim 1, wherein The acquiring target position information of the target area where the target object is located includes: Obtaining the current location information of the target object in the current scanning period; The target position information of the target area where the target object will be located in the next adjacent scanning cycle is predicted based on the current position information.

8. The method according to claim 7, wherein The step of predicting the target position information of the target area where the target object is located in the next adjacent scanning cycle based on the current position information includes: Predicting the motion trajectory of the target object; The target position information is predicted based on the current position information and the motion trajectory.

9. A vehicle light control device, characterized in that: The vehicle lamp includes a laser light source, and the device includes: an acquisition module, configured to acquire target position information of a target area where a target object is located, the target object being located in front of the vehicle; a planning module, configured to plan a scanning path for the light emitted by the laser light source according to the target position information, wherein the scanning path does not cover the target area; A control unit is used to control the light to scan along the scanning path to illuminate the front of the vehicle and form an illumination blind spot in the target area.

10. An electronic device, characterized in that: The device comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the electronic device executes the method according to any one of claims 1 to 8.

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