Intelligent vehicle lamp steering control equipment, system and control method

Abstract

The invention discloses an intelligent vehicle lamp steering control device, system and control method which are applied to the field of vehicle illumination, the intelligent vehicle lamp steering control device is located in a vehicle lamp, and the intelligent vehicle lamp steering control device comprises a processing module, a data acquisition module, an execution mechanism and at least one LED driver; the data acquisition module is used for acquiring perception data of the vehicle; the processing module is used for determining a light deflection parameter, a target LED chip matrix and a brightness control parameter according to the driving state information and the image information, generating a steering control instruction based on the light deflection parameter and sending the steering control instruction to the execution mechanism, and generating a brightness control instruction based on the brightness control parameter and the target LED chip matrix and sending the brightness control instruction to the LED driver; the executing mechanism is used for responding to the steering control instruction and executing steering operation; and the LED driver is used for driving the target LED chip matrix to adjust the brightness in response to the brightness control instruction. According to the equipment, lower-delay and higher-precision vehicle lamp control is realized.

Description

Technical Field

[0001] The present invention generally relates to the field of vehicle lighting technology, and in particular to an intelligent vehicle light steering control device, system and control method. Background Art

[0002] With the rapid development of the automotive industry and the continuous advancement of intelligent and automated technologies, vehicle lighting systems are no longer limited to traditional lighting functions, but are moving towards intelligent and adaptive features. Especially at night or in low-visibility environments, headlights, as a critical component for ensuring driving safety, have a direct impact on the driver's field of vision and reaction time.

[0003] Currently, the relevant technology achieves dynamic control of vehicle lights through multi-level collaborative control between sensors and vehicle control devices (such as domain controllers or central control platforms). However, this method requires lighting control via the CAN bus. Because the CAN bus is a half-duplex communication protocol, its limited data transmission rate makes it difficult to meet the needs of complex control instructions and large data volumes. In addition, when sensors and control devices communicate over long distances, not only are interface resources limited, but high-speed differential signals are also susceptible to electromagnetic interference during long-distance transmission, resulting in data processing delays and low vehicle light control accuracy. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide an intelligent vehicle light steering control device, system and control method.

[0005] In a first aspect, an embodiment of the present application provides an intelligent vehicle light steering control device, which is located in a vehicle light fixture and includes:

[0006] A processing module and a data acquisition module connected to the processing module, an actuator, and at least one LED driver; each of the LED drivers is in turn connected to an LED chip matrix; each of the LED chip matrices includes a plurality of LED chips;

[0007] The data acquisition module is used to: acquire the vehicle's perception data and send it to the processing module; the perception data includes the vehicle's driving state information and image information of target objects around the vehicle;

[0008] The processing module is configured to determine, based on the driving state information and the image information, a light deflection parameter, a target LED chip, and a brightness control parameter; generate a steering control instruction based on the light deflection parameter and send the instruction to the actuator; and generate a brightness control instruction based on the brightness control parameter and the target LED chip matrix and send the instruction to the LED driver; the target LED chip matrix is the LED chip in the LED chip matrix that can emit light to target objects around the vehicle;

[0009] The actuator is used to: perform a steering operation in response to the steering control instruction;

[0010] The LED driver is configured to drive the target LED chip to adjust brightness in response to the brightness control instruction.

[0011] In one embodiment, the processing module includes a dimming and steering unit;

[0012] The dimming steering unit is used to: determine the light deflection parameters based on the driving status information and the image information, convert the light deflection parameters into deflection values and generate steering control instructions, and send the steering control instructions to the actuator so that the actuator performs a steering operation according to the deflection value; the driving status information includes at least one of the following: steering information, speed information, and posture information.

[0013] In one embodiment, the light deflection parameters include: the illumination area of the headlight and the rotation angle of the headlight;

[0014] The dimming and steering unit is specifically used for:

[0015] Determining a steering angle of the vehicle according to the steering information, and determining a rotation angle of the headlight according to the steering angle of the vehicle;

[0016] When the speed information is greater than a speed threshold, adjusting the first illumination range in the headlight illumination area to be greater than the first threshold and the second illumination range to be less than the second threshold; the first illumination range is the area in the headlight illumination area parallel to the vehicle's travel direction, and the second illumination range is the area in the headlight illumination area perpendicular to the vehicle's travel direction;

[0017] When the speed information is not greater than a preset speed threshold, it is determined that the first illumination range in the vehicle light illumination area is not greater than a first threshold, and the second illumination range is not less than a second threshold.

[0018] In one embodiment, the dimming and redirection unit is further configured to:

[0019] Identifying road condition information of target objects around the vehicle based on the image information;

[0020] When the road condition information is a preset road condition and the headlight rotation angle is determined, the actuator is controlled to perform a steering operation according to the headlight rotation angle; the time when the actuator performs the steering operation is less than the time when the vehicle performs the steering operation.

[0021] In one embodiment, the deflection value includes a first deflection value and a second deflection value;

[0022] determining a first deflection value according to the driving state information, generating a first steering control instruction based on the first deflection value and sending the first steering control instruction to the actuator, so that the actuator performs an initial steering operation in response to the first steering control instruction;

[0023] After performing the initial steering operation, a second deflection value is determined according to the image information, and a second steering control instruction is generated based on the second deflection value and sent to the actuator, so that the actuator performs another steering operation in response to the second steering control instruction.

[0024] In one embodiment, the LED driver includes a plurality of LED channels, and each of the LED channels is connected to one or more LED chip matrices;

[0025] The processing module also includes a brightness control unit;

[0026] The brightness control unit is used to: determine the target LED chip matrix and corresponding brightness control parameters of the target object around the vehicle according to the driving status information and the image information and preset anti-glare rules; convert the brightness control parameters into register values of the LED driver, and generate brightness control instructions based on the target LED chip matrix and the register values and send them to the LED driver; the register values are used to store the brightness control parameters of the LED chip matrix connected to the LED channel; the brightness control parameters include at least one of the following: brightness value, display frequency, and color parameter.

[0027] In one embodiment, the brightness control unit is further configured to:

[0028] Determine the PWM parameters of the target LED chip matrix according to the register value; the PWM parameters include PWM duty cycle and PWM frequency;

[0029] A brightness control instruction is generated based on the target LED chip matrix and the PWM parameters and sent to the LED driver.

[0030] In one embodiment, the data acquisition module includes at least: a driving state information acquisition module and an image acquisition module; the driving state information acquisition module includes at least one of the following: an accelerometer, a rotation angle detection sensor, a gyroscope, and a magnetometer.

[0031] In a second aspect, the present application provides an intelligent vehicle light control system, which includes a vehicle light, and the intelligent vehicle light steering control device provided in the above embodiment is located in the vehicle light fixture.

[0032] In a third aspect, an embodiment of the present application provides an intelligent vehicle light control method, which is applied to the intelligent vehicle light steering control device provided in the above embodiment, and includes:

[0033] Acquiring vehicle perception data; the perception data includes vehicle driving state information and image information of target objects around the vehicle;

[0034] Determining light deflection parameters, a target LED chip matrix, and brightness control parameters based on the driving state information and the image information; the target LED chip matrix is the LED chips in the chip matrix that can emit light to target objects around the vehicle;

[0035] A steering control instruction is generated based on the light deflection parameter and sent to the actuator so that the actuator performs a steering operation. A brightness control instruction is generated based on the brightness control parameter and the target LED chip matrix and sent to the LED driver so that the LED driver drives the target LED chip matrix to adjust the brightness.

[0036] The intelligent vehicle light steering control device, system and control method provided in the embodiments of the present application are located in the vehicle light fixture and include: a processing module and a data acquisition module connected to the processing module, an actuator, and at least one LED driver, each LED driver is connected to an LED chip matrix in turn; each LED chip matrix includes multiple LED chips; the data acquisition module is used to: obtain the vehicle's perception data and send it to the processing module; the perception data includes the vehicle's driving status information and image information of target objects around the vehicle; the processing module is used to: determine the light deflection parameters, the target LED chip matrix and the brightness control parameters based on the driving status information and the image information, generate a steering control instruction based on the light deflection parameters and send it to the actuator, and generate a brightness control instruction based on the brightness control parameters and the LED chip matrix and send it to the LED driver; the target LED chip matrix is the LED chip in the chip matrix that can emit light to the target objects around the vehicle; the actuator is used to: perform a steering operation in response to the steering control instruction; the LED driver is used to: drive the target LED chip to adjust the brightness in response to the brightness control instruction. Compared with the existing technology, on the one hand, the intelligent headlight steering control device in this application is located in the headlight fixture, reducing the dependence on long-distance communication of the CAN bus, avoiding the bandwidth limitation and anti-interference problems of the CAN bus, and directly connecting the data acquisition module, actuator and LED driver through the processing module without the need for transfer through the domain controller or central control platform, reducing communication delay and bit error rate, effectively improving the speed of data processing, and reducing data processing delay; on the other hand, the processing module can directly perform a comprehensive analysis of the vehicle's driving status information and image information obtained by the data acquisition module in the lamp, avoiding the delay and electromagnetic interference of long-distance transmission, thereby accurately determining the light deflection parameters, the target LED chip matrix irradiated to the surrounding target objects, and the brightness control parameters, which not only enables more precise steering operations on the actuator, but also can control the LED driver to drive the target LED chip matrix to adjust the brightness, achieving lower latency, higher precision, and stronger reliability of headlight dynamic control, and improving the accuracy of headlight control. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic diagram of the structure of an intelligent vehicle light steering control device provided in one embodiment of the present application;

[0039] Figure 2A schematic structural diagram of an intelligent vehicle light steering control device provided in another embodiment of the present application;

[0040] Figure 3 A schematic structural diagram of an intelligent vehicle light steering control device provided in another embodiment of the present application;

[0041] Figure 4 A flow chart of an intelligent vehicle light steering control method according to an embodiment of the present application;

[0042] Figure 5 A flowchart of an intelligent vehicle light steering control method provided in another embodiment of the present application.

[0043] Description of reference numerals:

[0044] Data acquisition module-10; driving status information acquisition module-11; image acquisition module-12; processing module-20; dimming and steering unit-21; brightness control unit-22; actuator-30; LED driver-40; LED chip matrix-41; communication module-50. DETAILED DESCRIPTION

[0045] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0046] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] As mentioned in the background technology, as automobiles gradually become intelligent and automated, headlights, as important exterior and functional parts, not only have lighting functions, but also need to work closely with the vehicle's intelligent systems (such as autonomous driving and environmental perception) to achieve upgrades in "information expression" functions to meet the needs of autonomous driving, environmental perception, and other requirements.

[0048] At present, the existing technology mainly has the following problems in the transmission between the control device (domain controller or central control platform) and the sensor on the vehicle: First, the limitations of CAN bus communication: the control device and the sensor rely on the CAN bus to transmit data. The CAN bus, as the existing communication method for lighting control, adopts a half-duplex communication protocol, which means that only sending or receiving operations can be performed at the same time node, and the real-time and bidirectional nature of the communication are limited. In addition, it adopts differential signal transmission (two lines CAN_H and CAN_L), and all nodes share the physical channel. At the same time, the data length of the CAN bus is limited, with a single frame of only 8 bytes, which makes it difficult to transmit large amounts of information such as complex control instructions, and cannot meet the needs of real-time data transmission of multiple cameras. In addition, its anti-interference ability is weak. When encountering a strong electromagnetic interference environment during vehicle driving, if additional shielding measures are not taken, it is easy to cause bit errors, resulting in transmission instruction errors, and then causing incorrect control of the light direction and brightness.

[0049] Secondly, there are issues with data transmission between headlight cameras. Communication between headlight cameras and the vehicle's domain controller or central control unit (DCU) involves long-distance communication, requiring a camera module consisting of a serializer and deserializer for image transmission. However, the DCU's or CCU's deserializer module has limited interfaces and may not be able to connect multiple headlight cameras. Furthermore, the serializer and deserializer, which transmit camera video stream data via high-speed differential signals, are susceptible to electromagnetic interference over long distances, increasing the bit error rate. This can lead to the DCU or CCU misidentifying road signs and objects ahead of the vehicle, affecting the control of lighting direction and brightness. Furthermore, the camera module's serializer and deserializer combination introduces data transmission latency. Through the encoding, serialization, and decoding processes, end-to-end latency increases (for example, reversing images can experience latency of 100ms), making it difficult to meet real-time control requirements. Furthermore, high-speed serializer and deserializer modules consume high power (for example, a module supporting 4K video transmission can consume up to 2-5W). This can cause localized temperature rise in a vehicle environment, increasing the heat dissipation burden on the headlights. At the same time, serializer and deserializer modules usually operate independently of the vehicle's CAN or Ethernet, requiring additional gateways for protocol conversion, which increases the complexity and cost of the system. In addition, serializer and deserializer chips from different manufacturers use private protocols (such as GMSL and FPD-Link), resulting in poor compatibility between cross-brand devices and increasing the difficulty of integrating the vehicle domain controller or central control.

[0050] Third, there are the complexities and risks of multi-sensor coordination: Existing intelligent headlight steering control technologies require the coordination of multiple sensors on the vehicle, increasing system complexity and potential reliability risks. Multi-sensor fusion requires processing heterogeneous data from different sensors (such as cameras and radars). Sensor-specific issues (such as domain bias and resolution conflicts) can easily lead to fusion model misalignment or information loss. Furthermore, the procurement cost of multi-sensor hardware (such as steering wheel angle sensors, vehicle height sensors, high-precision cameras, etc.) and their supporting computing modules is high, increasing ongoing maintenance costs accordingly. A sensor failure not only causes the headlight system to malfunction, potentially incurring significant repair costs, but can also impact other connected systems (such as ABS and tire pressure monitoring). In extreme weather (such as heavy rain and dense fog) or complex road conditions, the coordinated operation of different sensors can lead to missed or false detections due to sensor performance limitations. Furthermore, when performing sensor data fusion, improper strategies for prioritizing the outputs of different sensors can also lead to false positives and missed detections.

[0051] Finally, there are issues with system stability and accuracy: if the steering angle sensor or vehicle height sensor causes signal distortion due to water ingress, impact, or dust accumulation, it will directly affect the calculation accuracy of the headlight deflection angle. Electromagnetic interference generated by on-board electronic equipment (such as motors and high-voltage wiring harnesses) may interfere with the sensor signal, causing the execution action of the headlight system to shift. If there is a coding error or OTA upgrade failure in the vehicle's domain controller or central control, the algorithm of the headlight system may fail and the light pattern may not be dynamically adjusted according to the vehicle speed. When different models of sensors are replaced in the vehicle, if the dynamic data of the sensor (such as steering angle, acceleration) does not match the preset parameters of the control unit, the protection mechanism may be triggered, limiting the function of the headlight system, reducing the accuracy of the system, or even rendering it unusable.

[0052] Based on the above-mentioned defects, the present application provides an intelligent headlight steering control device, system and control method. Compared with the existing technology, on the one hand, the intelligent headlight steering control device in the present application is located in the headlight fixture, reducing the dependence on long-distance communication of the CAN bus, avoiding the bandwidth limitation and anti-interference problems of the CAN bus, and directly connecting the data acquisition module, actuator and LED driver through the processing module without the need for transfer through the domain controller or central control platform, reducing communication delay and bit error rate, effectively improving the speed of data processing, and reducing data processing delay; on the other hand, the processing module can directly perform a comprehensive analysis of the vehicle's driving status information and image information obtained by the data acquisition module in the lamp, avoiding the delay and electromagnetic interference of long-distance transmission, thereby accurately determining the light deflection parameters, the target LED chip matrix irradiated to the surrounding target objects and the brightness control parameters, which not only can more finely steer the actuator, but also can control the LED driver to drive the target LED chip matrix to adjust the brightness, realizing lower latency, higher precision and stronger reliability of headlight dynamic control, and improving the accuracy of headlight control.

[0053] Figure 1 This is a structural diagram of an intelligent vehicle light steering control device provided in an embodiment of the present application. The intelligent vehicle light steering control device includes: a data acquisition module 10, a processing module 20, an actuator 30 and at least one LED driver 40. The processing module 20 is respectively connected to the data acquisition module 10, the actuator 30 and at least one LED driver 40. Each LED driver 40 is correspondingly connected to an LED chip matrix 41, and each LED chip matrix 41 includes multiple LED chips.

[0054] Among them, the above-mentioned at least one LED driver 40 can be LED driver 1, LED driver 2,..., LED driver n, and the chip matrix 41 can include LED chip 1, LED chip 2,..., LED chip m, where n is the number of LED drivers and m is the number of LED chips.

[0055] The data acquisition module 10 is used to: obtain the vehicle's perception data and send it to the processing module 20; the perception data includes the vehicle's driving status information and image information of target objects around the vehicle; the processing module 20 is used to: determine the light deflection parameters, the target LED chip matrix and the brightness control parameters based on the driving status information and the image information, generate a steering control instruction based on the light deflection parameters and send it to the actuator 30, and generate a brightness control instruction based on the brightness control parameters and the target LED chip matrix and send it to the LED driver 40; the target LED chip matrix is the LED chips in the entire LED chip matrix whose light can be emitted to the target objects around the vehicle.

[0056] The actuator 30 is used to execute a steering operation in response to a steering control instruction. The LED driver 40 is used to drive the target LED chip matrix to adjust the brightness in response to a brightness control instruction.

[0057] It should be noted that the aforementioned data acquisition module can collect vehicle driving status information and image information of target objects around the vehicle. Vehicle driving status information refers to information about the vehicle while in driving, and image information refers to image information of target objects around the vehicle captured by a camera. The data acquisition module can be integrated into the hardware board of the headlight. Target objects around the vehicle can refer to objects located around the vehicle, and can include obstacles, roads, etc. Obstacles can include, for example, road construction obstacles, accident scene obstacles, natural obstacles, other vehicles and pedestrians, debris and garbage, animals, etc. Construction obstacles include: construction fences, roadblocks, and warning signs; accident scene obstacles can include: vehicles involved in the accident, debris, etc.; natural obstacles include: fallen trees, rocks, mudslides, etc.

[0058] Optional, see Figure 2 As shown, the data acquisition module 10 at least includes: a driving state information acquisition module 11 and an image acquisition module 12; the driving state information acquisition module 11 includes at least one of the following: an accelerometer, a rotation angle detection sensor, a gyroscope, and a magnetometer.

[0059] It should be noted that the accelerometer can be a three-axis accelerometer, a six-axis accelerometer, a nine-axis accelerometer, etc.; the gyroscope can be a three-axis gyroscope, a six-axis gyroscope, a nine-axis gyroscope, etc.; and the magnetometer can be a three-axis magnetometer, a six-axis magnetometer, a nine-axis magnetometer, etc. The driving state information acquisition module 11 can be a sensor system including an accelerometer, a rotation angle detection sensor, a gyroscope, a magnetometer, etc. The accelerometer is used to collect vehicle acceleration information; the gyroscope is used to collect vehicle angular velocity information; the magnetometer is used to collect vehicle posture information; and the rotation angle detection sensor is used to collect vehicle steering information.

[0060] Among them, the vehicle's steering information may include the vehicle's steering angle and direction; the vehicle's posture information may be different postures according to the different road conditions and vehicle loads, including the vehicle being in a pitch or tilt state. For example, when the vehicle is in an uphill state, the corresponding posture information is a pitch state, and when the vehicle is in a downhill state, the corresponding posture information is a downward tilt state.

[0061] The image acquisition module 12 may be a camera that captures images of target objects around the vehicle to obtain image information of the target objects. This image information may include road conditions and information about objects around the vehicle. Objects around the vehicle include obstacles, pedestrians, and the like. By tracking and analyzing the features of the target objects in the image, such as changes in their position and shape, the motion information of the target objects can be estimated. For example, algorithms based on optical flow can calculate the speed and direction of target objects by analyzing the movement of pixels in an image; deep learning-based target detection and tracking algorithms can identify different target objects and track their motion trajectories.

[0062] In this embodiment, by setting up a driving status information collection module, it is possible to collect data such as the vehicle's steering, turning angle, speed, and vehicle offset rate in real time, providing good data guidance information for the headlight steering control, making it easier for the headlights to illuminate the blind spot on the inside of the curve, cover the field of vision when turning at night, and maintain the light level; and by setting up an image collection module, it is possible to provide data support for identifying target object information around the vehicle, thereby facilitating the dynamic adjustment of intelligent headlight steering.

[0063] The processing module establishes communication connections with the data acquisition module and at least one LED driver. Each LED driver is connected to a corresponding LED chip matrix. The chip matrix includes multiple LED channels, each of which is connected to a corresponding LED chip. The LED driver is used to control the brightness of each LED chip. Each LED chip illuminates a different area of the target object around the vehicle.

[0064] An LED driver is a power conversion and control device that provides stable working conditions for the LED chip matrix. Its main function is to convert the input power (such as AC or DC) into a constant current or constant voltage output suitable for LED operation, meeting the specific current and voltage requirements of the LED chip, ensuring stable and efficient light emission of the LED chip. It also has functions such as protecting the LED chip and adjusting the brightness.

[0065] Specifically, the data acquisition module performs data acquisition and processing in real time, obtains the vehicle's perception data and sends it to the processing module. The processing module obtains the vehicle's perception data, including the vehicle's driving status information and image information of target objects around the vehicle, and then analyzes and processes the vehicle's driving status information and the image information of target objects around the vehicle to determine the light deflection parameters, the target LED chips in the LED chip matrix that illuminate the target objects around the vehicle, and the corresponding brightness control parameters. The light deflection parameters are then packaged into steering control instructions and sent to the actuator, and the target LED chip matrix and the brightness control parameters are packaged into brightness control instructions and sent to the LED driver, so that the actuator responds to the steering control instruction and performs a steering operation according to the light deflection parameters, and the LED driver receives and responds to the brightness control instruction and drives the corresponding target LED chip matrix to adjust the brightness according to the brightness control parameters.

[0066] The actuator 30 can include a lens motor or a stepper motor. The lens motor is used to control the rotation angle of the light, with a response speed of millimeters, ensuring real-time dynamic adjustment. The stepper motor is used to control the independent opening and closing of auxiliary light sources (such as corner lights and fog lights) for zoned fill lighting.

[0067] Optional, please continue to see Figure 1 As shown, the intelligent vehicle light steering control device further includes a communication module 50, which establishes communication connections with the processing module 20 and the LED driver 40. The communication module 50 is configured to receive steering control instructions from the processing module 20 and transmit them to the actuator 30, and to receive brightness control instructions from the processing module 20 and transmit them to the LED driver 40.

[0068] The communication module 50 is used to receive and output communication data information such as software opening, closing, and updating sent by the processing module 20 .

[0069] Specifically, after obtaining the vehicle's steering, speed, and posture information, the light deflection parameters can be determined according to a preset steering-speed mapping rule. When it is detected that the vehicle's speed is less than the preset left turn and the steering angle reaches 15°, the initial light deflection parameters are determined to be a 10° left deflection according to the mapping rule. If the vehicle turns right at high speed, the initial light deflection parameters are appropriately increased to 12°-15°, ensuring that the light does not interfere with oncoming vehicles, so that the light direction accurately matches the vehicle's direction of travel. Among them, low vehicle speed refers to the vehicle's speed information being less than the speed threshold, and high vehicle speed refers to the vehicle's speed information being not less than the speed threshold. The speed threshold is customized according to actual needs.

[0070] Optionally, the system can dynamically compensate for the initially calculated light deflection parameters by combining vehicle attitude information such as pitch and tilt acquired from sensors like the three-axis accelerometer and gyroscope. If the vehicle is traveling uphill, the light's angle is automatically lowered based on the slope to prevent excessive upward tilt and insufficient road illumination. If the vehicle tilts due to changes in load, the light's angle is adjusted accordingly to ensure the light remains level or in the optimal direction.

[0071] After determining the light deflection parameters based on the vehicle's driving status, refined control can be achieved based on image information. Using the image information of target objects around the vehicle acquired by the camera, the processing module identifies target objects such as road signs, vehicles, pedestrians, and obstacles through computer vision algorithms (such as deep learning target detection models). Based on the location information of the target object, the image area is divided into a key lighting area, a general lighting area, and a weak lighting area. For example, when a pedestrian is detected on the left side of the road ahead, the area where the pedestrian is located and a certain range in front of it are set as the key lighting area. Then, based on the divided lighting areas and the distribution characteristics of the LED chip matrix, the target LED chip is determined. For the key lighting area, the LED chips covering the area are activated, and the brightness control parameters of the target LED chip matrix are accurately adjusted according to the target distance and ambient brightness through a preset brightness calculation model. If the target distance is close, the brightness is appropriately reduced to avoid glare; if the target distance is far and the environment is dim, the brightness is increased to ensure that the target is clearly visible.

[0072] Optionally, the above-mentioned perception data may also include: environmental information, which may be obtained through detection by a light sensor, and by detecting the light intensity of target objects around the vehicle, different headlight modes (night, day, bad weather) are switched. Different headlight modes correspond to different numbers and brightness of LED chip matrices that are turned on. The number and brightness of LED chips turned on in day mode are greater than the number and brightness of LED chips turned on in night mode. For example, when it is detected that the ambient light intensity is less than the light threshold, the headlights are switched to night mode; when it is detected that the ambient light intensity is not less than the light threshold, the headlights are switched to day mode; when it is detected that the ambient light intensity is less than the light threshold and meets the bad weather conditions, the headlights are switched to bad weather mode.

[0073] An intelligent vehicle light steering control device provided in an embodiment of the present application is located in a vehicle light fixture and includes: a processing module and a data acquisition module connected to the processing module, an actuator, and at least one LED driver, each LED driver being connected in turn to an LED chip matrix; each LED chip matrix includes multiple LED chips; the data acquisition module is used to obtain the vehicle's perception data and send it to the processing module; the perception data includes the vehicle's driving status information and image information of target objects around the vehicle; the processing module is used to determine the light deflection parameters, the target LED chip matrix and the brightness control parameters based on the driving status information and the image information, generate a steering control instruction based on the light deflection parameters and send it to the actuator, and generate a brightness control instruction based on the brightness control parameters and the target LED chip matrix and send it to the LED driver; the target LED chip matrix is the LED chip in the chip matrix that can emit light to the target objects around the vehicle; the actuator is used to perform a steering operation in response to the steering control instruction; the LED driver is used to drive the target LED chip matrix to adjust the brightness in response to the brightness control instruction. Compared with the existing technology, on the one hand, the intelligent headlight steering control device in this application is located in the headlight fixture, reducing the dependence on long-distance communication of the CAN bus, avoiding the bandwidth limitation and anti-interference problems of the CAN bus, and directly connecting the data acquisition module, actuator and LED driver through the processing module without the need for transfer through the domain controller or central control platform, reducing communication delay and bit error rate, effectively improving the speed of data processing, and reducing data processing delay; on the other hand, the processing module can directly perform a comprehensive analysis of the vehicle's driving status information and image information obtained by the data acquisition module in the lamp, avoiding the delay and electromagnetic interference of long-distance transmission, thereby accurately determining the light deflection parameters, the target LED chip matrix irradiated to the surrounding target objects, and the brightness control parameters, which not only enables more precise steering operations on the actuator, but also can control the LED driver to drive the target LED chip matrix to adjust the brightness, achieving lower latency, higher precision, and stronger reliability of headlight dynamic control, and improving the accuracy of headlight control.

[0074] In one embodiment, see Figure 2 As shown, the processing module 20 includes a dimming and steering unit 21 .

[0075] The dimming steering unit 21 is used to: determine the light deflection parameters based on driving status information and image information, convert the light deflection parameters into deflection values and generate steering control instructions, and send the steering control instructions to the actuator so that the actuator performs the steering operation according to the deflection value; the driving status information includes at least one of the following: steering information, speed information, and posture information.

[0076] Specifically, after obtaining the steering information, speed information and posture information, the dimming steering unit can process them separately, determine the steering speed (such as the angle change per second) and steering trend (sharp turn / slow turn) from the steering information, and determine whether the vehicle is currently in a low-speed state, medium-speed state or high-speed state based on the speed information, and determine the initial light deflection parameters in combination with the posture information.

[0077] After acquiring the image information, a deep learning model can be used to identify target objects in the vehicle's surrounding environment, including road boundaries, lane lines, pedestrians, vehicles, obstacles and special signs (such as curve warning signs). When the target object is identified, the initial light deflection parameters are adjusted according to the anti-glare rules based on the position of the target object to obtain the adjusted light deflection parameters. Then, according to the mapping rules between the light deflection parameters and the deflection values, the adjusted light deflection parameters are converted into deflection values and the deflection values are packaged into steering control instructions, and the steering control instructions are sent to the actuator.

[0078] Taking the actuator as a lens motor as an example, after receiving the steering control instruction, the lens motor drives the lens to move according to the deflection value to change the beam shape and irradiation range.

[0079] In this embodiment, the dimming steering unit can accurately determine the light deflection parameters based on the steering information and speed information in the driving status information, control the rotation angle of the headlight lens, ensure clear vision on bends, and dynamically adjust the light height and brightness based on the vehicle posture information (the slope angle ahead and the bumpy road conditions) to avoid glare affecting other vehicles.

[0080] The light deflection parameters include: the lighting area and the rotation angle of the headlight.

[0081] The dimming steering unit is specifically used to: determine the steering angle of the vehicle according to the steering information, and determine the rotation angle of the headlights according to the steering angle of the vehicle; when the speed information is greater than the speed threshold, adjust the first illumination range in the headlight illumination area to be greater than the first threshold, and the second illumination range to be less than the second threshold; the first illumination range is the area range in the headlight illumination area parallel to the vehicle's driving direction, and the second illumination range is the area range in the headlight illumination area perpendicular to the vehicle's driving direction; when the vehicle speed information in the vehicle posture information is not greater than the preset speed threshold, determine that the first illumination range in the headlight illumination area is not greater than the first threshold, and the second illumination range is not less than the second threshold.

[0082] Specifically, a mapping relationship is established in advance between the steering angle of the vehicle and the rotation angle of the headlights. For example, a steering angle of 10° corresponds to a headlight rotation angle of 8°-25°. After obtaining the vehicle steering information, the dimming steering unit determines the headlight rotation angle based on the vehicle's steering angle and the mapping relationship. After obtaining the speed information, it is determined whether the speed information is greater than a preset threshold. When the speed information is greater than the preset threshold, it indicates that the vehicle is in a high-speed state, and the first illumination range in the headlight illumination area parallel to the vehicle's driving direction is adjusted to be greater than the first threshold, and the second illumination range in the headlight illumination area parallel to the vehicle's driving direction is adjusted to be less than the second threshold. The first threshold and the second threshold are custom settings based on actual needs.

[0083] When the speed information is not greater than the preset speed threshold, indicating that the vehicle is in a low-speed state, the first illumination range in the headlight illumination area parallel to the vehicle's driving direction is adjusted to be no greater than the first threshold, and the second illumination range in the headlight illumination area parallel to the vehicle's driving direction is adjusted to be no less than the second threshold.

[0084] The aforementioned adjustment of the first illumination range within the headlight illumination area parallel to the vehicle's travel direction to be greater than the first threshold, and the adjustment of the second illumination range within the headlight illumination area parallel to the vehicle's travel direction to be less than the second threshold, can be understood as lengthening and narrowing the illumination range at high speeds, thereby enhancing long-distance vision. Adjusting the first illumination range within the headlight illumination area parallel to the vehicle's travel direction to no greater than the first threshold, and the adjustment of the second illumination range within the headlight illumination area parallel to the vehicle's travel direction to no less than the second threshold, can be understood as widening and bringing the illumination range closer at low speeds, thereby facilitating observation of pedestrians, obstacles, and other target objects.

[0085] In this embodiment, the vehicle's steering and speed information can be used to automatically adjust the actuator's light deflection parameters so that the light direction is synchronized with the vehicle's driving trajectory, facilitating precise zoning lighting and achieving multi-lane ultra-wide coverage and ultra-long-distance lighting.

[0086] In one embodiment, the dimming and redirection unit is further configured to:

[0087] Identify road condition information of target objects around the vehicle based on image information; when the road condition information is a preset road condition and the headlight rotation angle is determined, control the actuator to perform a steering operation according to the headlight rotation angle; the time when the actuator performs the steering operation is less than the time when the vehicle performs the steering operation.

[0088] It should be noted that the preset road condition refers to complex road conditions, such as multiple obstacles on the road, steep road slopes, unlit sections, or sections with many bends. After acquiring the image information, a preset recognition algorithm is used to identify the image information, extract key features from the image, and analyze these key features to obtain road condition information. A determination is then made as to whether the road condition meets the preset conditions. If the road condition meets the preset conditions and the headlight rotation angle is determined, a steering control instruction is sent to the actuator, causing the actuator to execute a steering operation based on the headlight rotation angle. In this case, the actuator controls the headlights to execute the steering operation earlier than the vehicle itself executes the steering operation.

[0089] Exemplarily, the image information is identified and analyzed. For example, when it is identified that the road signs included in the target objects around the vehicle have multiple turns, the road condition is determined to be a complex road condition.

[0090] In this embodiment, by determining whether it is a preset road condition based on image information, the road section area (such as the blind spot on the inside of a curve) can be illuminated in advance for complex road conditions, thereby enhancing the driver's predictive ability, thereby reducing visual blind spots, improving the flexibility of dynamic steering driving, and further ensuring the safety of vehicle driving.

[0091] In one embodiment, the deflection value includes a first deflection value and a second deflection value;

[0092] A first deflection value is determined according to driving status information, and a first steering control instruction is generated based on the first deflection value and sent to the actuator, so that the actuator responds to the first steering control instruction and performs an initial steering operation; after the initial steering operation is performed, a second deflection value is determined according to image information, and a second steering control instruction is generated based on the second deflection value and sent to the actuator, so that the actuator responds to the second steering control instruction and performs a second steering operation.

[0093] Compared with the prior art solution that only refers to sensor data for steering control, the technical solution of the present application first determines a first deflection value based on driving status information to drive the actuator to achieve coarse-grained steering, which can enable the headlights to quickly follow changes in the vehicle's driving direction, facilitate rapid and timely response to steering actions, avoid delays caused by waiting for image information processing, and determine a second deflection value in combination with image information, thereby driving the actuator in the headlights to adjust the direction more finely, facilitating adaptation to various complex environments, and further achieving high-response and high-precision control of headlight steering.

[0094] Specifically, sensors are used to acquire the vehicle's steering, speed, and attitude information in real time. This information is then filtered and de-noised to remove noise caused by vehicle vibration, electromagnetic interference, and other factors, ensuring data accuracy. Users can pre-build a deflection calculation model based on historical steering, speed, and attitude information. The acquired steering, speed, and attitude information is then processed through this deflection calculation model to obtain a first deflection value. If the vehicle is turning at low speed, the first deflection value is calculated proportionally to the steering angle. For example, a steering angle of 15° corresponds to a first deflection value of 10°. If the vehicle is traveling at high speed, the deflection ratio is appropriately reduced, taking safety into consideration, to avoid excessive light deflection that could interfere with oncoming vehicles. Furthermore, the first deflection value is corrected based on the vehicle's pitch and roll. For example, when the vehicle is traveling uphill, the light's illumination angle is reduced, resulting in a negative adjustment to the first deflection value.

[0095] After determining the first deflection value, the first deflection value can be converted into a first steering control command recognizable by the actuator (lens motor) according to a specific communication protocol and sent to the actuator (lens motor) via an internal communication bus. Upon receiving the first steering control command, the actuator (lens motor) activates relevant components (such as the steering motor and transmission mechanism), causing the headlights to perform an initial steering operation according to the first deflection value, initially adapting the headlight direction to the vehicle's changing direction.

[0096] The camera captures real-time image information of the vehicle's forward environment and processes it using computer vision algorithms (such as deep learning object detection algorithms). It identifies objects in the image, such as road boundaries, lane markings, pedestrians, vehicles, and obstacles, and analyzes their position, distance, motion, and other information. It also determines the current road scene, such as a curve, straight road, or intersection, based on the image content, to generate an image analysis result. Based on this image analysis result and a preset steering strategy, a second steering value is determined. If a pedestrian or obstacle is detected on the inside of a curve, the light deflection angle is further increased based on the initial steering action to calculate a second steering value. If the vehicle is currently on a straight road and no specific objects appear in the image, the second steering value can be set to zero or slightly adjusted based on slight adjustments to the vehicle's posture. The second steering value is converted into a corresponding control signal, generating a second steering control command containing the second steering value, execution time, and other information. This command is then sent to the actuator (lens motor) via an internal communication link to ensure accurate and timely transmission of the command. After receiving the second steering control command, the actuator (lens motor) turns the vehicle's headlights again based on the initial steering, so that the light is accurately illuminated to the areas that need illumination, such as pedestrians and obstacles on the inside of the curve, or optimizes the light illumination direction according to changes in road scenes to improve night driving safety.

[0097] In this embodiment, a first deflection value is determined based on driving state information and an initial steering action is performed, allowing the headlights to quickly follow changes in the vehicle's direction and respond immediately to steering movements, avoiding delays caused by waiting for image processing. A subsequent secondary steering action, based on image information, further precisely adjusts the light direction, overcoming the limitations of the initial steering relying solely on driving state information and enabling precise adaptation to complex environments. For example, on a curve, the system can more accurately illuminate the blind spot inside the curve. Phased control allows the lighting to better adapt to actual road conditions. The initial steering ensures that the vehicle's lights quickly cover the main direction of travel during a turn. The secondary steering action then precisely illuminates key targets such as pedestrians and obstacles identified in the image, illuminating potential danger zones in advance. This provides the driver with more time to observe and a clear field of view, reducing the likelihood of nighttime driving accidents. Furthermore, by splitting the control process into the initial steering action based on driving state information and the secondary steering action based on image information, the system avoids the computational burden of processing large amounts of driving state and image data simultaneously. The first steering relies on relatively simple driving status data processing to quickly complete basic steering actions; the second steering is based on the first steering and only analyzes and adjusts the image information, reducing the amount of data processing, lowering the requirements for hardware computing power, and improving system operation efficiency.

[0098] In one embodiment, the LED driver includes a plurality of LED channels, each LED channel is connected to one or more LED chips; the processing module 20 further includes a brightness control unit 22 .

[0099] The brightness control unit 22 is used to: determine the target LED chip matrix and corresponding brightness control parameters of the target objects around the vehicle according to the driving status information and image information and the preset anti-glare rules; convert the brightness control parameters into register values of the LED driver, and generate brightness control instructions based on the target LED chip matrix and the register values and send them to the LED driver; the register values are used to store the brightness control parameters of the LED chip matrix connected to the LED channel; the brightness control parameters include at least one of the following: brightness value, display frequency, and color parameter.

[0100] It should be noted that each LED channel in an LED driver has a corresponding register. These registers are used to store the register values of the LED chip matrix connected to that channel. These register values can include information such as the LED chip's brightness level and color parameters (for color LEDs). The LED driver precisely controls the lighting state of each LED chip by reading and setting the values of these registers.

[0101] Register values refer to the data stored in registers. Register values can, for example, represent the brightness level, color information, and operating mode of an LED chip matrix. Registers are typically assigned a certain number of bits (e.g., 8 or 16 bits), and their value ranges correspond to different brightness levels for the LEDs. For an 8-bit register, for example, the value range is 0-255. 0 might represent the LED being completely off, 255 represents maximum brightness, and values in between correspond to different brightness percentages. For example, a register value of 128 might cause the LED chip matrix to illuminate at 50% brightness. For color LEDs (such as RGB LEDs), different register values can control the brightness of the three primary colors, red, green, and blue, respectively. By combining the brightness of different colors, a rich variety of colors can be achieved. For example, if three registers control the RGB colors, different combinations of register values can enable the LED to display a variety of colors. Register values can also be used to set the LED operating mode. For example, some LED drivers support blinking mode, gradient mode, and other modes. By writing specific values to specific registers, different operating modes can be selected. For example, writing a value of 1 causes the LED chip matrix to enter blinking mode, while writing a value of 2 causes the LED chip matrix to enter gradient mode.

[0102] Optionally, the register values above can also reflect the current status of the LED driver or LED chip matrix. For example, certain registers can store fault information. When the register value reaches a specific value, it indicates that the LED driver or LED chip matrix has experienced a fault, such as overcurrent or overheating. The device can monitor the device status by reading these register values and take appropriate measures in a timely manner.

[0103] For example, assume an LED driver includes twelve LED channels, each connected to an LED chip matrix. Each LED channel has a corresponding 8-bit register containing a register value used to control the brightness of the corresponding LED chip matrix. The register value can range from 0 to 255, where 0 indicates the LED is completely off and 255 indicates the LED is illuminated at maximum brightness. When a control instruction from the processing module indicates that the brightness of the LED in the first channel needs to be set to 50%, it determines that the register value corresponding to the first LED channel is 128 (because 128 is approximately half of 255). The brightness control instruction is sent to the LED driver via the communication module. In response to the brightness control instruction sent by the communication module, the LED driver reads the register value and adjusts the current of the LED chip in the first LED channel accordingly, thereby driving the target LED chip matrix to achieve 50% brightness output. The number of LED channels can be customized according to actual needs, for example, thirteen LED channels, fourteen LED channels, or more. A larger number of LED channels can reduce the number of LED drivers used, thereby reducing system costs.

[0104] Specifically, after acquiring the perception data, the computing unit matches the spatial area where the target object is located in the vehicle's surrounding environment with the LED chips in the LED chip matrix through a pre-established mapping relationship table. For example, when a pedestrian is detected on the left side in front, the LED chip matrix corresponding to the pedestrian's area is determined as the target LED chip according to the mapping relationship table. After determining the target LED chip, the brightness control parameters corresponding to the target LED chip are determined based on the type of target object, driving status, and ambient lighting conditions. For pedestrians or vehicles at close range, in order to avoid glare interference and ensure that the driver can clearly identify them, the computing unit will reduce the brightness of the corresponding target LED chip. For target objects at a distance, in order to ensure sufficient lighting intensity, the brightness of the target LED chip will be appropriately increased.

[0105] Ambient lighting conditions are also an important factor in determining brightness control parameters. When ambient light is low, the calculation unit increases the brightness of all target LED chips to enhance the lighting effect. When ambient light is high, the brightness of the target LED chip matrix is reduced accordingly to save energy and avoid unnecessary light pollution.

[0106] The LED driver controls the brightness of the LED chip matrix using register values. Different LED drivers may have different register bit counts and encoding schemes. The calculation unit converts the determined brightness control parameter into the corresponding register value based on the specific specifications of the LED driver. For example, if the LED driver uses an 8-bit register to represent the brightness control parameter, with a range of 0-255, the calculation unit will proportionally map the brightness control parameter to the range of 0-255 to obtain the corresponding register value.

[0107] After the brightness control unit obtains the target LED chip and register value, it generates the corresponding brightness control instruction according to the communication protocol of the LED driver. The brightness control instruction usually contains the address information of the target LED chip and the corresponding register value. For example, if the LED driver supports the SPI communication protocol, the control unit will encapsulate the address and register value of the target LED chip into an SPI data packet according to the format of the SPI protocol. The brightness control unit sends the generated brightness control instruction to the LED driver through the hardware interface. Common hardware interfaces include the SPI interface. Taking the SPI interface as an example, when sending the brightness control instruction, the brightness control unit will send out each data bit of the SPI data packet in sequence according to the timing requirements of the SPI protocol. After receiving the brightness control instruction, the LED driver parses the target LED chip address and register value in the instruction, and controls the corresponding LED chip matrix to adjust the brightness according to the target LED chip matrix address and register value.

[0108] By implementing a brightness control unit in this embodiment, targeted regulation of individual LED chips is achieved. During nighttime driving, when a pedestrian or vehicle is detected ahead, the system activates only the specific chip that illuminates the target. This not only clearly illuminates the target but also avoids glare for other road users, significantly improving lighting quality and safety. Compared to the traditional method of transmitting data to the vehicle's central control or domain controller for processing, this reduces the data transmission process, avoids issues caused by insufficient CAN bus transmission rates and data latency, and significantly shortens the time from perception to response, ensuring that the lights can react quickly to changing conditions.

[0109] In one embodiment, the brightness control unit is further used to: determine the PWM parameters of the target LED chip matrix according to the register value; the PWM parameters include PWM duty cycle and PWM frequency; generate a brightness control instruction based on the target LED chip matrix and the PWM parameters and send it to the LED driver.

[0110] The register value stores the brightness control parameters of the LED chip matrix connected to the LED channel. The brightness control unit needs to convert the register value into PWM duty cycle and PWM frequency.

[0111] Specifically, there's a mapping between register values and PWM duty cycles. Assume the LED driver uses an 8-bit register to store brightness control parameters, with a value range of 0-255. A register value of 0 indicates the LED chip is completely off, corresponding to a PWM duty cycle of 0%. A register value of 255 indicates the LED chip is emitting at maximum brightness, corresponding to a PWM duty cycle of 100%. For intermediate register values, the brightness control unit uses a linear mapping to determine the PWM duty cycle. For example, if the register value is 128, the PWM duty cycle is 50%.

[0112] PWM frequency has a significant impact on the LED's lighting effect and system performance. A lower PWM frequency may cause the LED to flicker, while a higher PWM frequency can make the LED brightness change more smoothly, but it will also increase system functionality and electromagnetic interference.

[0113] The brightness control unit determines the PWM frequency based on the register value. Generally speaking, when higher brightness is required, the PWM frequency can be increased to reduce flicker; when lower brightness is required, the PWM frequency can be decreased to reduce power consumption. For example, in flicker-sensitive applications, such as automotive headlights, when the target object is farther away from the vehicle, the register value indicates higher brightness, and the control unit will set the PWM frequency to above 20kHz. When the target object is closer to the vehicle, the register value indicates lower brightness, and the PWM frequency can be set to around 10kHz.

[0114] After determining the target LED chip matrix and PWM parameters, the brightness control unit combines the target LED chip matrix information and PWM parameters (duty cycle and frequency) into control instructions that comply with the LED driver communication protocol. Different LED drivers may use different communication protocols, such as SPI (Serial Peripheral Interface), I 2 C (Integrated Circuit Bus), CAN (Controller Area Network Bus), LIN (Serial Communication Network Bus), etc.

[0115] For example, if the LED driver's communication protocol is SPI, the brightness control instruction may contain multiple bytes, some of which represent the address of the target LED chip matrix, while others represent the PWM duty cycle and PWM frequency. For example, the first byte may represent the address of the target LED chip, and the next two bytes represent the PWM duty cycle and PWM frequency, respectively. The brightness control unit will encapsulate these bytes into the corresponding control instruction according to the timing requirements of the SPI protocol and send it to the LED driver.

[0116] Optionally, to ensure that control commands are accurately transmitted to the LED driver, the brightness control unit can also include error detection and correction information in the control commands. For example, a check byte can be added to the end of the brightness control command to detect errors during transmission. If the LED driver detects an error after receiving the brightness control command, it will send an error feedback signal to the brightness control unit, which will then resend the control command until the LED driver correctly receives it.

[0117] The brightness control unit sends the generated brightness control command to the LED driver via the hardware interface. During this process, the brightness control unit must adhere to the hardware interface's communication rules. For example, when using the SPI interface, the brightness control unit must set the clock signal and chip select signal to ensure data transmission is executed in the correct timing. After sending the brightness control command, the brightness control unit also monitors the status of the LED driver. It can determine whether the command was executed correctly by reading the LED driver's status register. If the LED driver's status is abnormal, the brightness control unit will take appropriate measures, such as reissuing the brightness control command or adjusting the PWM parameters, to ensure that the target LED chip emits at the expected brightness.

[0118] In this embodiment, the PWM duty cycle refers to the ratio of the high level (on time) within the PWM signal cycle to the total cycle time. By adjusting the duty cycle, the average current of the LED is controlled to achieve linear brightness adjustment. For example, a PWM duty cycle of 50% corresponds to a brightness of 50% for the LED chip.

[0119] This embodiment determines the PWM parameters of the target LED chip matrix based on the register value, enabling more precise control of the brightness of each target LED chip matrix. Compared to traditional all-on, all-off, or grouped control methods, it can achieve control of each LED chip. Furthermore, the PWM frequency is dynamically adjusted based on the register value. Increasing the frequency when high brightness is required can smooth the LED brightness change, while appropriately reducing the PWM frequency at low brightness levels. This not only meets lighting needs but also avoids unnecessary power consumption caused by high frequencies. This feature is particularly important in flicker-sensitive applications, such as automotive headlights, as it can effectively enhance the visual experience and reduce driver visual fatigue.

[0120] Specifically, see Figure 3 As shown, Figure 3A schematic diagram of the structure of the intelligent vehicle light steering control device provided in an embodiment of the present application. The processing module is the intelligent vehicle light control system SOC, the image acquisition module is a laser radar or millimeter wave radar, the driving status information acquisition module is a sensor (6-axis or 9-axis), the actuator is a lens motor, and the multiple LED drivers are LED driver 1, LED driver 2, ..., LED driver n. LED driver 1 is connected to multiple LED chips, namely LED chip 1, LED chip 2, ..., LED chip m. LED driver 2 is connected to LED chip (m+1), ..., LED chip (2m). LED driver n is connected to LED chip n(m-1), ..., LED chip (nm). The device may also include: a DCDC converter and a CAN controller. n represents the number of LED drivers, and m represents the number of LED chips that can be lit by one LED driver.

[0121] The intelligent headlight control system (SOC) connects to a lidar or millimeter-wave radar via an RS485 / UART / Ethernet interface to receive image information of surrounding objects captured by the camera. It also connects to sensors via I2C / SPI / UART interfaces, and also to sensors (six-axis or nine-axis) via I2C / SPI / UART. The SOC also connects to an external 12VDC via a DC-DC converter. 12VDC represents the external 12V DC input, which serves as the system's initial power source. The DC-CDC converter converts the external 12V DC input into a voltage suitable for internal system use, powering components such as the SOC. The SOC connects to multiple LED driver matrices (1-n) via a CAN controller. Each LED driver matrix corresponds to multiple LED chips or LED chip matrices. The SOC connects to the CAN connector via the CAN controller, the RS485 connector via an RS485 transceiver, and the UART connector via a UART interface.

[0122] Among them, the CAN controller is responsible for processing CAN (Controller Area Network) bus communication, communicating with the intelligent headlight control system SOC through the SPI or UART interface, and connected to the CAN connector through the CAN interface. The CAN controller is also connected to the lidar or millimeter wave radar through the CAN bus. The RS485 transceiver is used to implement signal transmission and reception of the RS485 communication protocol, connected to the intelligent headlight control system SOC through the UART interface, and connected to the RS485 connector through the RS485 interface to realize communication with external RS485 devices. The UART connector is based on the UART (Universal Asynchronous Receiver / Transmitter) protocol, connected to the intelligent headlight control system SOC through the UART interface, and is used to connect external Uart devices. The intelligent headlight control system SOC is connected to the lens motor, and the lens motor is also connected to the CAN controller through the CAN bus.

[0123] For example, the laser radar or millimeter-wave radar continuously monitors the vehicle's surrounding environment information and collects image information of target objects around the vehicle. The sensor collects the vehicle's driving status information and sends it to the intelligent headlight control system SOC, so that the intelligent headlight control system SOC determines the light deflection parameters, target LED chips and brightness control parameters based on the driving status information and image information, generates a steering control instruction based on the light deflection parameters and sends it to the lens motor, and generates a brightness control instruction based on the brightness control parameters and the target LED chip matrix and sends it to the LED driver, so that the lens motor responds to the steering control instruction and performs a steering operation, and the LED driver responds to the brightness control instruction and drives the target LED chip matrix to adjust the brightness.

[0124] This embodiment processes the vehicle's driving status information collected by sensors and image information of surrounding objects captured by radar, dynamically adjusting the lighting distribution and accurately identifying oncoming vehicles, pedestrians, obstacles, and road conditions. This allows for precise control of the LED chip matrix, allowing the headlights to dynamically adapt their brightness based on the distance and speed of the target object. For example, when approaching a target quickly at close range, the brightness is reduced to avoid glare, while when approaching a target at a distance and moving slowly, the brightness is appropriately increased. This ensures good lighting effects in various motion states and enhances lighting adaptability for dynamic targets. Furthermore, the combined use of driving status and image information enriches the system's perception of target objects, making target judgment more comprehensive and accurate, and improving intelligence. This, in turn, reduces reflections and glare, improving nighttime safety and the comfort of other road users.

[0125] On the other hand, an embodiment of the present application provides an intelligent vehicle light control system, which includes the intelligent vehicle light steering control device provided in the above embodiment.

[0126] The intelligent vehicle light control system provided in an embodiment of the present application includes a vehicle light, and an intelligent vehicle light steering control device is located within the vehicle light fixture. Compared to the prior art, the intelligent vehicle light steering control device of the present application is located within the vehicle light fixture, reducing reliance on long-distance CAN bus communication and avoiding the bandwidth limitations and anti-interference issues of the CAN bus. The processing module directly connects the data acquisition module, actuator, and LED driver without requiring transit through a domain controller or central control platform, reducing communication delay and bit error rate, effectively improving data processing speed, and reducing data processing delay. Furthermore, the processing module can directly analyze the vehicle's driving status information and image information acquired by the data acquisition module within the lamp fixture, avoiding the delay and electromagnetic interference associated with long-distance transmission. This allows for precise determination of light deflection parameters, the target LED chip matrix irradiated to surrounding target objects, and brightness control parameters. This not only enables more precise steering of the actuator but also controls the LED driver to adjust the brightness of the target LED chip matrix, achieving dynamic vehicle light control with lower latency, higher precision, and greater reliability, thereby improving the accuracy of vehicle light control.

[0127] On the other hand, an embodiment of the present application provides an intelligent vehicle light steering control method. Figure 4 The figure shows a flow chart of the intelligent vehicle light steering control method according to an embodiment of the present application, which can be executed by the vehicle light. Figure 4 As shown, the method includes:

[0128] S101. Acquire vehicle perception data; the perception data includes vehicle driving status information and image information of target objects around the vehicle.

[0129] S102, determining light deflection parameters, a target LED chip matrix, and brightness control parameters based on the driving state information and the image information; the target LED chip matrix is the LED chips in the chip matrix that can emit light to target objects around the vehicle.

[0130] S103. Generate a steering control instruction based on the light deflection parameter and send it to the actuator so that the actuator performs a steering operation. Generate a brightness control instruction based on the brightness control parameter and the target LED chip matrix and send it to the LED driver so that the LED driver drives the target LED chip matrix to adjust the brightness.

[0131] The above-mentioned vehicle perception data includes the vehicle's driving status information and image information of target objects around the vehicle. Figure 5As shown in the figure, taking the data acquisition module as a sensor or camera as an example, the intelligent vehicle light steering control device is first started, the CAN controller is identified and driven, and the mounted LED driver (1 to n) is identified. The PWM of all LED channels on the LED driver is set to 100%, and the PWM register values of all LED channels on the LED driver transmitted from the CAN controller are written to the LED driver, driving the LED chips to fully light up and have the same brightness value cd / mm 2 The intelligent headlight steering control device then identifies and drives the lens motor, drives the lens motor back to the specified position (centered by default), identifies, drives, and turns on the camera, collects and transmits real-time video data from the vehicle's front to the intelligent headlight steering control system, and identifies and drives the sensor, collects and transmits real-time vehicle driving status information (speed information, steering information, and posture information) to the intelligent headlight control system. When the intelligent headlight control state is on (on by default), the vehicle's driving status information transmitted by the sensor is obtained, and the lens motor is initially deflected. The intelligent headlight control algorithm performs preliminary horizontal / vertical deflection on the lens motor based on the sensor data, and outputs the motor's preliminary deflection value, so that the lens motor achieves preliminary deflection according to the preliminary deflection value. The intelligent headlight control algorithm also performs fine horizontal / vertical deflection on the lens motor based on the road signs and road surface information recognized by the camera, and outputs the lens motor's fine deflection value, so that the lens motor achieves fine deflection according to the fine deflection value.

[0132] After the lens motor is deflected twice, the brightness of the area in front of the vehicle can be set. The intelligent headlight control algorithm calculates the anti-glare brightness value of the target LED chip in the area based on the camera's recognition of road markings and road surface information, outputs the anti-glare brightness value of the target LED chip, and then writes the calculated PWM register value of the LED channel on the LED driver to the LED driver, so that the LED driver drives the LED chip to light up according to the calculated anti-glare brightness value cd / mm 2 .

[0133] Where n is the number of LED drivers, and m is the number of LED chips that can be illuminated by one LED driver, with m>n. Each LED channel in an LED driver has a corresponding register. These registers are used to store parameters related to the LED chip connected to that channel. For example, a register can store the register value of the LED chip, which represents information such as brightness level and color parameters. The LED driver precisely controls the lighting state of each LED chip by reading and setting the values of these registers.

[0134] In this embodiment, the driving status information collected by the sensor and the image information of the target objects around the vehicle collected by the camera can accurately determine the light deflection parameters, target LED chip and brightness control parameters to control and adjust the brightness of the target LED chip, achieving multi-lane ultra-wide coverage and ultra-long-distance lighting, greatly enhancing the environmental perception ability under complex road conditions, ensuring driving safety, and improving user experience.

[0135] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the aforementioned module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0136] In summary, the intelligent vehicle light steering control device, system and control method provided in the embodiments of the present application are located in the vehicle light fixture, and include: a processing module and a data acquisition module connected to the processing module, an actuator, and at least one LED driver, each LED driver is connected to an LED chip matrix in turn; each LED chip matrix includes multiple LED chips; the data acquisition module is used to: obtain the vehicle's perception data and send it to the processing module; the perception data includes the vehicle's driving status information and image information of the target objects around the vehicle; the processing module is used to: determine the light deflection parameters, the target LED chip matrix and the brightness control parameters based on the driving status information and the image information, generate a steering control instruction based on the light deflection parameters and send it to the actuator, and generate a brightness control instruction based on the brightness control parameters and the target LED chip and send it to the LED driver; the target LED chip matrix is the LED chip in the chip matrix that can emit light to the target objects around the vehicle; the actuator is used to: perform a steering operation in response to the steering control instruction; the LED driver is used to: drive the target LED chip to adjust the brightness in response to the brightness control instruction. Compared with the existing technology, on the one hand, the intelligent headlight steering control device in this application is located in the headlight fixture, reducing the dependence on long-distance communication of the CAN bus, avoiding the bandwidth limitation and anti-interference problems of the CAN bus, and directly connecting the data acquisition module, actuator and LED driver through the processing module without the need for transfer through the domain controller or central control platform, reducing communication delay and bit error rate, effectively improving the speed of data processing, and reducing data processing delay; on the other hand, the processing module can directly perform a comprehensive analysis of the vehicle's driving status information and image information obtained by the data acquisition module in the lamp, avoiding the delay and electromagnetic interference of long-distance transmission, thereby accurately determining the light deflection parameters, the target LED chip irradiated to the surrounding target objects, and the brightness control parameters, which not only enables more precise steering operations on the actuator, but also can control the LED driver to drive the target LED chip to adjust the brightness, thereby achieving lower latency, higher precision, and stronger reliability of headlight dynamic control, and improving the accuracy of headlight control.

[0137] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. An intelligent vehicle light steering control device, characterized in that: The intelligent headlight steering control device is located in the headlight fixture and includes: A processing module and a data acquisition module connected to the processing module, an actuator, and at least one LED driver; each of the LED drivers is in turn connected to an LED chip matrix; each of the LED chip matrices includes a plurality of LED chips; The data acquisition module is used to: acquire the vehicle's perception data and send it to the processing module; the perception data includes the vehicle's driving state information and image information of target objects around the vehicle; The processing module is configured to determine, based on the driving state information and the image information, a light deflection parameter, a target LED chip matrix, and a brightness control parameter; generate a steering control instruction based on the light deflection parameter and send the instruction to the actuator; and generate a brightness control instruction based on the brightness control parameter and the target LED chip matrix and send the instruction to the LED driver; the target LED chip matrix is the LED chips in the LED chip matrix that can emit light to target objects around the vehicle; The actuator is used to: perform a steering operation in response to the steering control instruction; The LED driver is configured to drive the target LED chip matrix to adjust brightness in response to the brightness control instruction.

2. The intelligent vehicle light steering control device according to claim 1, characterized in that: The processing module includes a dimming and steering unit; The dimming steering unit is used to: determine the light deflection parameters based on the driving status information and the image information, convert the light deflection parameters into deflection values and generate steering control instructions, and send the steering control instructions to the actuator so that the actuator performs a steering operation according to the deflection value; the driving status information includes at least one of the following: steering information, speed information, and posture information.

3. The intelligent vehicle light steering control device according to claim 2, characterized in that: The light deflection parameters include: the lighting area and the rotation angle of the light; The dimming and steering unit is specifically used for: Determining a steering angle of the vehicle according to the steering information, and determining a rotation angle of the headlight according to the steering angle of the vehicle; When the speed information is greater than a speed threshold, adjusting the first illumination range in the headlight illumination area to be greater than the first threshold and the second illumination range to be less than the second threshold; the first illumination range is the area in the headlight illumination area parallel to the vehicle's travel direction, and the second illumination range is the area in the headlight illumination area perpendicular to the vehicle's travel direction; When the speed information is not greater than a preset speed threshold, it is determined that the first illumination range in the vehicle light illumination area is not greater than a first threshold, and the second illumination range is not less than a second threshold.

4. The intelligent vehicle light steering control device according to claim 3, characterized in that: The dimming and steering unit is also used for: identifying road condition information of target objects around the vehicle based on the image information; When the road condition information is a preset road condition and the headlight rotation angle is determined, the actuator is controlled to perform a steering operation according to the headlight rotation angle; the time when the actuator performs the steering operation is less than the time when the vehicle performs the steering operation.

5. The intelligent vehicle light steering control device according to claim 2, characterized in that: The deflection value includes a first deflection value and a second deflection value; determining a first deflection value according to the driving state information, generating a first steering control instruction based on the first deflection value and sending the first steering control instruction to the actuator, so that the actuator performs an initial steering operation in response to the first steering control instruction; After performing the initial steering operation, a second deflection value is determined according to the image information, and a second steering control instruction is generated based on the second deflection value and sent to the actuator, so that the actuator performs another steering operation in response to the second steering control instruction.

6. The intelligent vehicle light steering control device according to claim 1, characterized in that: The LED driver includes a plurality of LED channels, each of which is connected to one or more LED chip matrices; The processing module also includes a brightness control unit; The brightness control unit is used to: determine the target LED chip matrix and corresponding brightness control parameters of the target object around the vehicle according to the driving status information and the image information and preset anti-glare rules; convert the brightness control parameters into register values of the LED driver, and generate brightness control instructions based on the target LED chip matrix and the register values and send them to the LED driver; the register values are used to store the brightness control parameters of the LED chip matrix connected to the LED channel; the brightness control parameters include at least one of the following: brightness value, display frequency, and color parameter.

7. The intelligent vehicle light steering control device according to claim 6, characterized in that: The brightness control unit is further configured to: Determine the PWM parameters of the target LED chip matrix according to the register value; the PWM parameters include PWM duty cycle and PWM frequency; A brightness control instruction is generated based on the target LED chip matrix and the PWM parameters and sent to the LED driver.

8. The intelligent vehicle light steering control device according to claim 1, characterized in that: The data acquisition module at least includes: a driving state information acquisition module and an image acquisition module; the driving state information acquisition module includes at least one of the following: an accelerometer, a rotation angle detection sensor, a gyroscope, and a magnetometer.

9. An intelligent vehicle light steering control system, characterized in that: The intelligent vehicle light steering control device as described in any one of claims 1 to 8 is located in the vehicle light fixture.

10. An intelligent vehicle light steering control method, characterized in that: Applied to the intelligent vehicle light steering control device according to any one of claims 1 to 8, the method comprises: Acquiring vehicle perception data; the perception data includes vehicle driving state information and image information of target objects around the vehicle; Determining light deflection parameters, a target LED chip matrix, and brightness control parameters based on the driving state information and the image information; the target LED chip matrix is the LED chips in the chip matrix that can emit light to target objects around the vehicle; A steering control instruction is generated based on the light deflection parameter and sent to the actuator so that the actuator performs a steering operation. A brightness control instruction is generated based on the brightness control parameter and the target LED chip matrix and sent to the LED driver so that the LED driver drives the target LED chip matrix to adjust the brightness.

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