Adjusting method and device for ground lighting lamp of vehicle, vehicle and storage medium

Abstract

The invention provides an adjusting method and device for a ground illuminating lamp of a vehicle, the vehicle and a storage medium, the method is applied to the technical field of vehicle illumination, and the method comprises the steps that under the condition that the ground illuminating lamp of the vehicle is in an on state, road surface features within a preset range around the vehicle are obtained; judging whether a non-flat area exists in a preset range or not based on the road surface features; if it is determined that the non-flat area exists in the preset range, target working parameters of the ground lamp are determined according to the area features of the non-flat area, and the ground lamp is controlled to work according to the target working parameters so as to assist a user in identifying the non-flat area. The method can assist the user in knowing the topographic change of the ground, thereby improving the perception ability of the driver and passengers to the surrounding environment of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle lighting technology, and more specifically, to a method, device, vehicle, and storage medium for adjusting a ground lamp of a vehicle in the vehicle field. Background Art

[0002] The function of a vehicle's ground lights is to help drivers and passengers see the ground around the vehicle clearly at night or in low-light conditions when they open the vehicle door. However, in the prior art, once the ground lights are installed, they typically require manual adjustment by the driver, such as manually triggering an adjustment command for the ground lights to adjust the ground lights, so that the driver can clearly see changes in the terrain. However, if the driver cannot clearly see changes in the terrain in advance, it will be difficult for the driver to adjust the ground lights, which will affect the driver's ability to perceive the vehicle's surroundings. Therefore, how to improve the driver's ability to perceive the vehicle's surroundings has become a pressing issue. Summary of the Invention

[0003] The present application provides a method, device, vehicle and storage medium for adjusting a vehicle's ground lights. The method can assist users in understanding changes in ground terrain, thereby improving the driver's and passengers' perception of the vehicle's surrounding environment.

[0004] In a first aspect, a method for adjusting a vehicle's ground lights is provided, the method comprising: when the vehicle's ground lights are in an on state, obtaining road surface features within a preset range around the vehicle; based on the road surface features, determining whether there is a non-flat area within the preset range; if it is determined that the non-flat area exists within the preset range, determining target operating parameters of the ground lights based on the regional features of the non-flat area, and controlling the ground lights to operate according to the target operating parameters to assist the user in identifying the non-flat area.

[0005] The above technical solution, when the vehicle's ground lights are turned on, intelligently detects road conditions by acquiring road surface features within a preset range around the vehicle and determining whether there are any uneven areas based on these features. When an uneven area is detected, the target operating parameters for the ground lights are further determined based on the road surface features in the uneven area, and the ground lights are controlled to operate according to these parameters to assist the user in identifying the uneven area. This method not only automatically adjusts the target operating parameters of the ground lights based on road conditions but also enhances the user's perception of road conditions, ensuring that the light from the ground lights is more accurately illuminated in uneven areas. This, in turn, helps users more clearly identify uneven areas and avoid potential safety hazards.

[0006] In combination with the first aspect, in some possible implementations, the regional characteristics of the non-flat area include regional position characteristics, and the target operating parameters include the rotation angle of the ground lamp; determining the target operating parameters of the ground lamp based on the regional characteristics of the non-flat area, and controlling the ground lamp to operate according to the target operating parameters, includes: determining the rotation angle of the ground lamp based on the regional position characteristics of the non-flat area; controlling the rotation of the ground lamp based on the rotation angle of the ground lamp, so that the ground illumination range of the ground lamp covers the non-flat area.

[0007] This technical solution calculates the required rotation angle of the ground lights based on the specific location of the uneven area and controls the lights accordingly, ensuring that the lighting range of the ground lights accurately covers the uneven area. This method not only allows the ground lights to illuminate uneven areas more accurately, but also enhances the user's perception of road conditions, providing users with clearer and more comprehensive road information.

[0008] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining the rotation angle of the ground light based on the regional position characteristics of the non-flat area includes: determining a first distance between a first reference point corresponding to the non-flat area and a second reference point in the vehicle based on the regional position characteristics of the non-flat area; determining a second distance between a third reference point in the ground light and a fourth reference point in the vehicle; determining the height of the third reference point in the ground light relative to the ground; and calculating the rotation angle of the ground light based on the first distance, the second distance and the height.

[0009] The above technical solution determines the first distance between the uneven area and the vehicle based on the location characteristics of the uneven area. It also measures the second distance between the ground light and the vehicle, as well as the height of the ground light relative to the ground. Using these geometric parameters, the method calculates the required rotation angle of the ground light to ensure that the ground light's illumination range accurately covers the uneven area. By calculating and adjusting the ground light's rotation angle, this method ensures that the ground light's light accurately illuminates the uneven area, providing users with clearer and more comprehensive road information.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, if there are multiple non-flat areas within the preset range, then determining the rotation angle of the ground lamp based on the area position characteristics of the non-flat areas includes: determining the rotation angle of the ground lamp corresponding to each of the multiple non-flat areas based on the area position characteristics of each of the multiple non-flat areas; wherein, one non-flat area corresponds to a rotation angle of the ground lamp; controlling the rotation of the ground lamp based on the rotation angle of the ground lamp so that the ground illumination range of the ground lamp covers the non-flat areas includes: controlling the ground lamp to rotate in a polling manner according to the rotation angle corresponding to each of the multiple non-flat areas, so that the ground illumination range of the ground lamp covers each of the non-flat areas in turn.

[0011] This technical solution accurately calculates the rotation angle of the ground lamp corresponding to each uneven area based on the location characteristics of each area, ensuring that the ground lamp's light accurately covers each uneven area. By controlling the ground lamp to rotate according to the calculated angle, the ground lamp's illumination range can sequentially cover each uneven area, thereby achieving comprehensive illumination of complex road surfaces. This method not only improves the flexibility of the ground lamp, allowing the ground lamp to cope with a variety of complex road conditions, but also enhances the user's perception of road conditions.

[0012] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the ground-illuminating lamp is controlled to rotate in a polling manner according to the rotation angles corresponding to each of the multiple non-flat areas, so that the ground-illuminating range of the ground-illuminating lamp covers each of the non-flat areas in turn, including: when the ground-illuminating lamp is controlled to rotate in a polling manner according to the rotation angles corresponding to each of the multiple non-flat areas, when the center of the current ground-illuminating range of the ground-illuminating lamp does not coincide with the center of the non-flat area, the ground-illuminating lamp is controlled to switch to a scattering working mode; when the center of the current ground-illuminating range of the ground-illuminating lamp coincides with the center of the non-flat area, the ground-illuminating lamp is controlled to switch to a focusing working mode, so that the current ground-illuminating range of the ground-illuminating lamp is focused and covers each of the non-flat areas.

[0013] The above technical solution can dynamically adjust the working mode of the ground lamp during the process of polling and rotating to cover various non-flat areas, so that the ground lamp can switch between the scattering working mode and the focusing working mode, and when the center of the current lighting range of the ground lamp coincides with the center of the non-flat area, the ground lamp is controlled to switch to the focusing working mode, thereby ensuring that the non-flat area can be fully illuminated, and then ensuring that the lighting range of the ground lamp can accurately focus on the non-flat area, thereby achieving the purpose of providing users with more accurate road information.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the area characteristics of the non-flat area include area type characteristics, and the target operating parameters include the light source color of the ground lamp; determining the target operating parameters of the ground lamp based on the area characteristics of the non-flat area, and controlling the ground lamp to operate according to the target operating parameters, includes: determining the light source color corresponding to the area type characteristics based on the area type characteristics of the non-flat area; controlling the ground lamp to emit light according to the light source color corresponding to the area type characteristics, so as to identify the non-flat area by the light source color corresponding to the area type.

[0015] The above technical solution determines the light source color of the ground lights based on the area type characteristics of the uneven area and controls the ground lights to emit light according to this light source color, thus achieving intuitive identification of uneven areas. This method can pre-configure different light source colors for different area types, allowing users to identify the area type of uneven areas by different light source colors, thereby facilitating users to make appropriate avoidance decisions in advance.

[0016] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the controlling the lighting of the ground lamp according to the light source color corresponding to the area type feature includes: determining the maximum distance between the non-flat area and the ground; determining the degree of non-flatness of the non-flat area based on the maximum distance; determining the flashing frequency of the ground lamp based on the degree of non-flatness, and controlling the ground lamp to flash at the flashing frequency according to the light source color corresponding to the area type feature.

[0017] The above technical solution can determine the degree of unevenness of the uneven area based on the maximum distance between the uneven area and the ground, and determine the flashing frequency of the ground lights based on the degree of unevenness. By controlling the flashing of the ground lights, this method can more intuitively assist users in understanding the degree of danger of the road conditions, allowing users to make corresponding avoidance measures in advance, thereby enhancing users' perception of road conditions.

[0018] In the second aspect, a device for adjusting the ground lights of a vehicle is provided, which includes: an acquisition module for acquiring road surface characteristics within a preset range around the vehicle when the ground lights of the vehicle are on; a judgment module for judging whether there is a non-flat area within the preset range based on the road surface characteristics; and a control module for determining target operating parameters of the ground lights based on the regional characteristics of the non-flat area if it is determined that the non-flat area exists within the preset range, and controlling the ground lights to operate according to the target operating parameters, so as to assist the user in identifying the non-flat area.

[0019] In combination with the second aspect, in certain implementations of the second aspect, the regional characteristics of the non-flat area include regional position characteristics, and the target operating parameters include the rotation angle of the ground lamp; the control module is specifically used to: determine the target operating parameters of the ground lamp based on the regional characteristics of the non-flat area, and control the ground lamp to operate according to the target operating parameters, including: determining the rotation angle of the ground lamp based on the regional position characteristics of the non-flat area; controlling the rotation of the ground lamp based on the rotation angle of the ground lamp, so that the ground illumination range of the ground lamp covers the non-flat area.

[0020] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the regional characteristics of the non-flat area include regional position characteristics, and the target working parameters include the rotation angle of the ground lamp; the control module is specifically used to: determine the rotation angle of the ground lamp based on the regional position characteristics of the non-flat area, including: determining the first distance between the first reference point corresponding to the non-flat area and the second reference point in the vehicle based on the regional position characteristics of the non-flat area; determining the second distance between the third reference point in the ground lamp and the fourth reference point in the vehicle; determining the height of the third reference point in the ground lamp relative to the ground; and calculating the rotation angle of the ground lamp based on the first distance, the second distance and the height.

[0021] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the control module is specifically used to: if there are multiple non-flat areas within the preset range, then determining the rotation angle of the ground lamp based on the area position characteristics of the non-flat areas, including: determining the rotation angle of the ground lamp corresponding to each of the multiple non-flat areas based on the area position characteristics of each of the multiple non-flat areas; wherein, one non-flat area corresponds to a rotation angle of the ground lamp; controlling the rotation of the ground lamp based on the rotation angle of the ground lamp so that the ground illumination range of the ground lamp covers the non-flat area, including: controlling the ground lamp to rotate in a polling manner according to the rotation angle corresponding to each of the multiple non-flat areas, so that the ground illumination range of the ground lamp covers each of the non-flat areas in turn.

[0022] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the ground-illuminating lamp is controlled to rotate in a polling manner according to the rotation angles corresponding to each of the multiple non-flat areas, so that the ground-illuminating range of the ground-illuminating lamp covers each of the non-flat areas in turn, including: when the ground-illuminating lamp is controlled to rotate in a polling manner according to the rotation angles corresponding to each of the multiple non-flat areas, when the center of the current ground-illuminating range of the ground-illuminating lamp does not coincide with the center of the non-flat area, the ground-illuminating lamp is controlled to switch to a scattering working mode; when the center of the current ground-illuminating range of the ground-illuminating lamp coincides with the center of the non-flat area, the ground-illuminating lamp is controlled to switch to a focusing working mode, so that the current ground-illuminating range of the ground-illuminating lamp is focused and covers each of the non-flat areas.

[0023] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the regional characteristics of the non-flat area include regional type characteristics, and the target operating parameters include the light source color of the ground lamp; the control module is specifically used to: determine the target operating parameters of the ground lamp based on the regional characteristics of the non-flat area, and control the ground lamp to operate according to the target operating parameters, including: determining the light source color corresponding to the regional type characteristics based on the regional type characteristics of the non-flat area; controlling the ground lamp to emit light according to the light source color corresponding to the regional type characteristics, so as to identify the non-flat area by the light source color corresponding to the regional type.

[0024] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the control module is specifically used to: control the ground lamp to emit light according to the light source color corresponding to the area type characteristics, including: determining the maximum distance between the non-flat area and the ground; determining the degree of non-flatness of the non-flat area based on the maximum distance; determining the flashing frequency of the ground lamp based on the degree of non-flatness, and controlling the ground lamp to flash according to the flashing frequency according to the light source color corresponding to the area type characteristics.

[0025] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the method of the first aspect or any possible implementation of the first aspect.

[0026] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0027] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic flow chart of a method for adjusting a vehicle headlamp provided in an embodiment of the present application;

[0029] Figure 2 This is a schematic diagram of calculating the rotation angle of a floor lamp provided in an embodiment of the present application;

[0030] Figure 3 This is a schematic diagram of a polling rotation of a ground lamp provided in an embodiment of the present application;

[0031] Figure 4 This is a schematic structural diagram of a vehicle headlight adjustment device provided in an embodiment of the present application;

[0032] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0034] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0035] The function of a vehicle's ground lights is to help drivers and passengers see the ground around the vehicle clearly at night or in low-light conditions when the vehicle door is opened. However, in the prior art, once the ground lights are installed, they typically require manual adjustment by the driver, such as manually triggering an adjustment command for the ground lights to adjust the ground lights, so that the driver can clearly see changes in the terrain. However, if the driver cannot clearly see changes in the terrain in advance, they will not be able to adjust the ground lights, which will affect their ability to perceive the vehicle's surroundings. Therefore, how to improve the driver's and passengers' ability to perceive the vehicle's surroundings has become a pressing issue.

[0036] To at least solve the above problems, an embodiment of the present application provides a method for adjusting the headlights of a vehicle, which is applied to the vehicle controller. The method can assist users in understanding the changes in the terrain of the ground, thereby improving the driver and passengers' perception of the vehicle's surrounding environment.

[0037] Figure 1 This is a schematic flowchart of a method for adjusting a vehicle headlamp provided in an embodiment of the present application.

[0038] For example, Figure 1 As shown, the method 100 includes:

[0039] Step 101: When the ground lights of the vehicle are turned on, obtain road surface features within a preset range around the vehicle.

[0040] Step 102: Based on the road surface characteristics, determine whether there is a non-flat area within a preset range.

[0041] Step 103: If it is determined that there is a non-flat area within the preset range, target operating parameters of the ground lamp are determined according to regional characteristics of the non-flat area, and the ground lamp is controlled to operate according to the target operating parameters to assist the user in identifying the non-flat area.

[0042] In an embodiment of the present application, when a vehicle's ground lights are turned on, intelligent detection of road conditions is achieved by acquiring road surface characteristics within a preset range around the vehicle and determining whether there are any uneven areas based on these road surface characteristics. When an uneven area is detected, the ground lights' target operating parameters are further determined based on the road surface characteristics of the uneven area, and the ground lights are controlled to operate according to these parameters to assist the user in identifying the uneven area. This method not only automatically adjusts the ground lights' target operating parameters based on road conditions but also enhances the user's perception of road conditions, ensuring that the ground lights' light more accurately illuminates uneven areas. This, in turn, helps users more clearly identify uneven areas and avoid potential safety hazards.

[0043] Below Figure 1The implementation of each step in the embodiment shown is described in detail.

[0044] Regarding step 101, it is understood that there are two main ways to activate the vehicle's pavement lights: first, automatic activation. When the vehicle is parked, when the vehicle's door switch sensor detects that the door is open, the door switch sensor transmits a signal indicating the door is open to the vehicle's electronic control unit. Upon receiving the signal, the electronic control unit controls the pavement lights to turn on. Second, manual activation. The user can manually activate the pavement lights using a switch inside the vehicle, which is typically located on the center console or near the door.

[0045] The preset range around the above-mentioned vehicle is pre-calibrated and can be understood as a circular area with the vehicle as the center and the preset distance as the radius, or it can be understood as a circular area with the ground light as the center and the maximum distance that the ground light's light beam can cover as the radius.

[0046] The aforementioned road surface characteristics refer to the physical, geometric, and material properties of the road surface. These properties can be acquired by onboard sensors (e.g., millimeter-wave radar, lidar), describing road conditions within a predetermined range. These sensors and ground lights can be located simultaneously in the vehicle's rearview mirrors.

[0047] Regarding step 102, it is understood that the non-flat area refers to an area where there are significant geometric undulations, obstacles or material changes on the road surface, resulting in unevenness or potential risks. The geometric undulations may refer to vertical undulations on the road surface.

[0048] The road surface features acquired by the sensor are used to determine whether there is a non-flat area within the preset range. Specifically, the millimeter wave radar transmits a millimeter wave signal and receives the reflected wave to obtain the round-trip time of the millimeter wave. The round-trip time is sent to the vehicle controller via the controller area network (CAN). The vehicle controller calculates the distance measurement value based on the round-trip time. If the distance measurement values ​​of multiple consecutive points detected within the preset range are not within the preset distance range, it means that the calculated distance measurement value is either less than the lower limit of the preset distance range or greater than the upper limit of the preset distance range. When the distance measurement value is less than the lower limit of the preset distance range, it means that the distance measurement value is short, that is, the round-trip time of the millimeter wave signal is also short, from which it can be seen that the reflection point of the millimeter wave is closer to the millimeter wave radar; when the distance measurement value is greater than the upper limit of the preset distance range, it means that the distance measurement value is long, that is, the round-trip time of the millimeter wave signal is long, from which it can be seen that the reflection point of the millimeter wave is farther away from the millimeter wave radar, that is, there is a non-flat area on the road surface within the preset range.

[0049] For example, taking the example of non-flat areas including raised areas and potholes, if the distance measurement values ​​of multiple consecutive points detected within the preset range are less than the lower limit of the preset distance range, it means that the distance measurement values ​​are short, that is, the round-trip time of the millimeter wave signal is short, and it can be seen that the reflection point of the millimeter wave is closer to the millimeter wave radar, that is, there is a raised area on the road surface within the preset range; if the distance measurement values ​​of multiple consecutive points detected within the preset range are greater than the upper limit of the preset distance range, it means that the distance measurement values ​​are long, that is, the round-trip time of the millimeter wave signal is long, and it can be seen that the reflection point of the millimeter wave is farther away from the millimeter wave radar, that is, there is a pothole on the road surface within the preset range.

[0050] If the distance measurement values ​​of a plurality of consecutive points are detected to be within the preset distance range, it indicates that there is no uneven area on the road surface within the preset range.

[0051] Regarding step 103, it is understood that the regional features of the non-flat area may include regional position features and regional type features, and the regional type may include a protrusion type and a pothole type. The target operating parameters of the ground lamp may include a rotation angle of the ground lamp and a light source color of the ground lamp.

[0052] In some embodiments, target operating parameters of the ground lamp are determined based on the regional characteristics of the non-flat area, and the ground lamp is controlled to operate according to the target operating parameters, including: determining the rotation angle of the ground lamp based on the regional position characteristics of the non-flat area; controlling the rotation of the ground lamp based on the rotation angle of the ground lamp so that the lighting range of the ground lamp covers the non-flat area.

[0053] It can be understood that the rotation angle of the above-mentioned floor lamp refers to the angle at which the lamp body of the floor lamp rotates relative to the initial position or fixed axis of the floor lamp.

[0054] When it is determined that there is a non-flat area within a preset range, the millimeter-wave radar can measure the position of the non-flat area and send a signal representing the position of the non-flat area to the vehicle controller. The vehicle controller calculates the rotation angle of the ground light based on the position of the non-flat area and sends the rotation angle to the ground light controller. The ground light controller controls the ground light to rotate according to the rotation angle.

[0055] In order to control the rotation of the ground lamp, one or more drive motors can be integrated inside the ground lamp. The vehicle controller calculates the target speed of the drive motor based on the principle of Hall counting or ripple counting, and sends the target speed to the drive motor controller. The drive motor controller controls the drive motor to rotate according to the target speed so that the ground lamp rotates according to the rotation angle.

[0056] The above technical solution not only enables the ground lights to illuminate non-flat areas more accurately, but also improves the user's perception of road conditions, thereby providing users with clearer and more comprehensive road information.

[0057] In some embodiments, the rotation angle of the ground light is determined based on the regional position characteristics of the non-flat area, including: determining a first distance between a first reference point corresponding to the non-flat area and a second reference point in the vehicle based on the regional position characteristics of the non-flat area; determining a second distance between a third reference point in the ground light and a fourth reference point in the vehicle; determining the height of the third reference point in the ground light relative to the ground; and calculating the rotation angle of the ground light based on the first distance, the second distance and the height.

[0058] It is understood that the first reference point can be any point in the projection of the uneven area onto the ground, the second reference point can be understood as a point located in the vehicle at the same level as the first reference point, the third reference point can be any point in the ground light, and the fourth reference point can be understood as a point located in the vehicle at the same level as the third reference point. The second and fourth reference points are on the same vertical reference line.

[0059] The first distance is used to describe the distance from the first reference point to the vehicle, the second distance is used to describe the distance from the third reference point to the vehicle, and the height is used to describe the height of the third reference point from the ground.

[0060] Taking into account the different positions of the non-flat areas, the first distance and the second distance obtained are also different. Therefore, the size relationship between the first distance and the second distance is also different. At this time, the millimeter wave radar can send the obtained first distance, second distance and height to the vehicle controller. The vehicle controller can first calculate the absolute value of the difference between the first distance and the second distance, and then calculate the ratio of the absolute value to the height, so as to obtain the tangent value of the rotation angle, and then obtain the rotation angle of the ground lamp.

[0061] For example, Figure 2 This is a schematic diagram of calculating the rotation angle of a floor lamp provided by an embodiment of the present application. Taking the non-flat area as an example, such as Figure 2 As shown in (a) of the figure, the first reference point in the figure is the projection point of the raised center A of the raised area to the ground, the second reference point is point C in the vehicle at the same horizontal height as the projection point of the raised center A to the ground, the third reference point is the center B of the ground lamp, which can be specifically understood as the center B of the ground lamp body, and the fourth reference point is point D in the vehicle at the same horizontal height as the center B of the ground lamp. The first distance is the distance between the projection point of the raised center A to the ground and point C (that is, Figure 2The second distance is the distance between the center B of the ground lamp and point D (i.e. Figure 2 (a) in L21), the height is the minimum height between the center B of the ground lamp and the ground (i.e. Figure 2 In (a) H1), since the first distance is greater than the second distance, the difference between the first and second distances is greater than zero. In this case, there is no need to calculate the absolute value of the difference. The ratio between the difference and the height can be directly calculated to obtain the tangent value of the rotation angle. The formula for calculating the rotation angle is as follows:

[0062]

[0063] Wherein, the above θ1 is the rotation angle of the ground lamp.

[0064] Take the non-flat area as an example, such as the pothole area. Figure 2 As shown in (b) of the figure, the first reference point is the projection point of the pothole center E on the ground, the second reference point is point C in the vehicle at the same level as the projection point of the pothole center E on the ground, the third reference point is the center B of the ground lamp, which can be specifically understood as the center B of the ground lamp body, and the fourth reference point is point D in the vehicle at the same level as the center B of the ground lamp. The first distance is the distance between the projection point of the pothole center E on the ground and point C (that is, Figure 2 (b) in L12), the second distance is the distance between the center B of the ground lamp and point D (i.e. Figure 2 (b) in L21), the height is the minimum height between the center B of the ground lamp and the ground (i.e. Figure 2 In (b) H1), since the first distance is smaller than the second distance, the difference between the first and second distances is less than zero. In this case, it is necessary to calculate the absolute value of the difference and the ratio of the absolute value to the height to obtain the tangent value of the rotation angle. The formula for calculating the rotation angle is as follows:

[0065]

[0066] Wherein, the above θ2 is the rotation angle of the ground lamp.

[0067] In addition, if there is only one non-flat area within the preset range, a rotation angle corresponding to the position of the non-flat area is calculated based on the regional position characteristics of the non-flat area, and the ground lamp is controlled to rotate according to the rotation angle, so that the current ground lighting range of the ground lamp covers the non-flat area; if there are multiple non-flat areas within the preset range, multiple rotation angles corresponding to each of the multiple non-flat areas are calculated based on the regional position characteristics of each of the multiple non-flat areas, and the ground lamp is controlled to rotate according to the multiple rotation angles in a polling manner, so that the center of the current ground lighting range of the ground lamp covers each non-flat area in turn.

[0068] The above technical solution, by calculating and adjusting the rotation angle of the ground lamp, can ensure that the light of the ground lamp accurately illuminates uneven areas, providing users with clearer and more comprehensive road information.

[0069] In some embodiments, if there are multiple non-flat areas within a preset range, the rotation angle of the ground lamp is determined according to the area position characteristics of the non-flat areas, including: determining the rotation angle of the ground lamp corresponding to each of the multiple non-flat areas according to the area position characteristics of each of the multiple non-flat areas; wherein, one non-flat area corresponds to a rotation angle of the ground lamp; controlling the rotation of the ground lamp according to the rotation angle of the ground lamp so that the ground illumination range of the ground lamp covers the non-flat areas, including: controlling the ground lamp to rotate in a polling manner according to the rotation angle corresponding to each of the multiple non-flat areas, so that the ground illumination range of the ground lamp covers each non-flat area in turn.

[0070] It is understood that the above-mentioned polling rotation is intended to control the ground lamp to rotate sequentially according to multiple rotation angles. The above-mentioned coverage can be understood as: the current ground illumination range of the ground lamp completely covers the non-flat area (that is, the center of the ground illumination range coincides with the center of the non-flat area, or the center of the ground illumination range does not coincide with the center of the non-flat area but the ground illumination range completely includes the non-flat area). The above-mentioned coverage can also be understood as: the current ground illumination range of the ground lamp partially covers the non-flat area (that is, the ground illumination range does not completely include the non-flat area).

[0071] For example, Figure 3 This is a schematic diagram of a polling rotation of a ground lamp provided in an embodiment of the present application. Figure 3 As shown, Figure 3There are two non-flat areas involved, namely the raised area and the pothole area. Assume that the vehicle controller calculates the rotation angle θ1 based on the raised center A of the raised area, and the rotation angle θ2 based on the pothole center E of the pothole area. At this time, the ground lamp controller needs to control the ground lamp to rotate according to the two rotation angles θ1 and θ2. Specifically, it can be understood as follows: the ground lamp controller first controls the ground lamp to rotate according to θ1, so that the current ground illumination range center of the ground lamp coincides with the raised center A, and then controls the ground lamp to rotate according to θ1+θ2, so that the current ground illumination range center of the ground lamp coincides with the pothole center E; it can also be understood as follows: the ground lamp controller first controls the ground lamp to rotate according to θ2, so that the current ground illumination range center of the ground lamp coincides with the pothole center E, and then controls the ground lamp to rotate according to θ2+θ1, so that the current ground illumination range center of the ground lamp coincides with the raised center A.

[0072] The above technical solution not only improves the flexibility of the ground lamp lighting, so that the ground lamp's lighting range can cover each non-flat area in turn, but also enhances the user's perception of road conditions.

[0073] However, in actual applications, in order to prevent the ground lamp from rotating at too large an angle, thereby affecting the user's ability to view the road conditions, it may be considered to preset a maximum rotation angle to ensure that the user can view the road conditions.

[0074] In some embodiments, if the calculated rotation angle is greater than or equal to the maximum rotation angle, the floor lamp is controlled to rotate according to the maximum rotation angle; if the calculated rotation angle is less than the maximum rotation angle, the floor lamp is controlled to rotate according to the calculated rotation angle.

[0075] It can be understood that the above-mentioned maximum rotation angle refers to the maximum angle of rotation of the lamp body of the floor lamp relative to the initial position or fixed axis of the floor lamp.

[0076] If the rotation angle calculated by the vehicle controller is greater than or equal to the maximum rotation angle, the vehicle controller will send the maximum rotation angle to the ground lamp controller, and the ground lamp controller will control the ground lamp to rotate according to the maximum rotation angle; if the rotation angle calculated by the vehicle controller is less than the maximum rotation angle, the vehicle controller will send the calculated rotation angle to the ground lamp controller, and the ground lamp controller will control the ground lamp to rotate according to the calculated rotation angle.

[0077] In addition, in order to further highlight the non-flat area, during the polling rotation of the ground lamp, when the ground lighting range of the ground lamp rotates to the non-flat area, the ground lighting range of the ground lamp can be completely focused on the non-flat area to assist users in accurately identifying the non-flat area.

[0078] In some embodiments, the ground-illuminating lamp is controlled to rotate in a polling manner according to the rotation angles corresponding to each of the multiple non-flat areas, so that the ground-illuminating range of the ground-illuminating lamp covers each non-flat area in turn, including: when the ground-illuminating lamp is controlled to rotate in a polling manner according to the rotation angles corresponding to each of the multiple non-flat areas, when the center of the current ground-illuminating range of the ground-illuminating lamp does not coincide with the center of the non-flat area, the ground-illuminating lamp is controlled to switch to a scattering working mode; when the center of the current ground-illuminating range of the ground-illuminating lamp coincides with the center of the non-flat area, the ground-illuminating lamp is controlled to switch to a focusing working mode, so that the current ground-illuminating range of the ground-illuminating lamp is focused and covers each non-flat area.

[0079] It can be understood that the above-mentioned scattering working mode refers to the light emitted by the light source of the ground lamp passing through the scattering lens so that the light is evenly dispersed to the ground or non-flat area, and the above-mentioned focusing working mode refers to the light emitted by the light source of the ground lamp being concentrated and projected onto the non-flat area through a convex lens.

[0080] For example, Figure 3 As shown, when the ground lamp controller controls the ground lamp to rotate according to θ1, so that the center of the current ground lighting range of the ground lamp coincides with the center A of the protrusion, the ground lamp controller can control the ground lamp to be in the focusing working mode, so that the current ground lighting range of the ground lamp only covers the protrusion area; in the process of the ground lamp controller controlling the ground lamp to rotate according to θ1+θ2, the ground lamp controller can control the ground lamp to be in the scattering working mode, but when the center of the current ground lighting range of the ground lamp coincides with the center B of the pothole, the ground lamp controller can control the ground lamp to be in the focusing working mode again, so that the current ground lighting range of the ground lamp only covers the pothole area.

[0081] The above technical solution can ensure that non-flat areas are adequately illuminated, thereby ensuring that the illumination range of the ground lamp can accurately focus on the non-flat areas, thereby achieving the purpose of providing users with more accurate road information.

[0082] In practical applications, the floor lamp may further include lamp heads with multiple light source colors, for example, red lamp heads and yellow lamp heads, for illuminating non-flat areas of different area types with different colors, so that users can distinguish the area types of the non-flat areas.

[0083] In some embodiments, target operating parameters of a floor lamp are determined based on regional characteristics of a non-flat area, and the floor lamp is controlled to operate according to the target operating parameters, including: determining a light source color corresponding to the regional type characteristics based on regional type characteristics of the non-flat area; and controlling the floor lamp to emit light based on the light source color corresponding to the regional type characteristics, so as to identify the non-flat area by the light source color corresponding to the regional type.

[0084] It is understood that the aforementioned non-flat areas include both raised and pitted areas. A corresponding light source color is pre-configured for each area type. For example, the light source color for raised areas is red, while the light source color for pitted areas is yellow. The corresponding light source color is determined based on the area type determined by the vehicle controller.

[0085] For example, if the vehicle controller determines that the area type of the non-flat area within the preset range is a raised type, the ground light controller controls the red lamp head of the ground light to emit red light; if the vehicle controller determines that the area type of the non-flat area within the preset range is a pothole area, the ground light controller controls the yellow lamp head of the ground light to emit yellow light.

[0086] In addition, if there is only one non-flat area within the preset range, the light source color corresponding to the area type feature is determined based on the area type feature of the one non-flat area, and the ground lamp is controlled to emit light according to the light source color, so that the ground lamp illuminates the non-flat area; if there are multiple non-flat areas within the preset range, multiple light source colors corresponding to each non-flat area are calculated based on the area type features of each non-flat area, and the ground lamp is controlled to emit light in sequence according to the light source colors corresponding to each non-flat area, so that the ground lamp illuminates each non-flat area in sequence.

[0087] More specifically, the preset range can be divided into four right-angle areas. If there is only one non-flat area in one of the areas, the ground lights in this area are controlled to emit light according to the light source color corresponding to the non-flat area; if there are multiple non-flat areas in one of the areas, the ground lights in this area are controlled to emit light in sequence according to the light source colors corresponding to the multiple non-flat areas.

[0088] The above technical solution can pre-configure different light source colors for different area types, so that users can identify the area type of non-flat areas through different light source colors, thereby facilitating users to make corresponding avoidance in advance.

[0089] In practical applications, millimeter-wave radar can measure the relative distance between the uneven area and the ground, thereby determining the degree of unevenness of the uneven area. Then, according to the degree of unevenness of the uneven area, the ground lights are controlled to flash at a preset flashing frequency to assist users in identifying uneven areas of different severity.

[0090] In some embodiments, the ground lamp is controlled to emit light according to the light source color corresponding to the area type characteristics, including: determining the maximum distance between the non-flat area and the ground; determining the degree of non-flatness of the non-flat area based on the maximum distance; determining the flashing frequency of the ground lamp based on the degree of non-flatness, and controlling the ground lamp to flash according to the flashing frequency according to the light source color corresponding to the area type characteristics.

[0091] It can be understood that the maximum distance between the non-flat area and the ground can be understood as the distance between the lowest point or the highest point of the non-flat area and the ground, and the non-flatness is used to describe the degree of concavity and convexity of the non-flat area.

[0092] According to the degree of non-flatness, the preset corresponding relationship is queried to determine the flashing frequency of the ground light. In actual application, in order to give users more reminders, the flashing frequency of the ground light can be increased as the degree of non-flatness increases.

[0093] In some embodiments, the ground lamp is controlled to emit light according to the light source color corresponding to the area type feature, so as to identify the non-flat area by the light source color corresponding to the area type, including: determining the maximum distance between the non-flat area and the ground; if the maximum distance is greater than or equal to a preset threshold, the ground lamp is controlled to flash at a first flashing frequency according to the light source color corresponding to the area type feature, so that the light source color of the ground lamp identifies the non-flat area; if the maximum distance is less than the preset threshold, the ground lamp is controlled to flash at a second flashing frequency according to the light source color corresponding to the area type feature, so that the light source color of the ground lamp identifies the non-flat area; wherein the first flashing frequency is greater than the second flashing frequency.

[0094] It is understood that the above-mentioned preset threshold can be pre-calibrated to measure the degree of unevenness of the non-flat area, and the above-mentioned preset threshold can be pre-calibrated to 4 cm. The above-mentioned first flashing frequency and second flashing frequency can also be pre-calibrated, and the first flashing frequency is greater than the second flashing frequency to assist the user in identifying the degree of unevenness of the non-flat area.

[0095] If the maximum distance between the non-flat area and the ground is greater than or equal to a preset threshold, it indicates that the non-flat area has a large degree of undulation, that is, the non-flatness of the non-flat area is high. In this case, the ground lamp controller can control the ground lamp to flash at a faster frequency based on the light source color corresponding to the area type characteristics of the non-flat area. If the maximum distance between the non-flat area and the ground is less than the preset threshold, it indicates that the non-flat area has a small degree of undulation, that is, the non-flatness of the non-flat area is low. In this case, the ground lamp controller can control the ground lamp to flash at a slower frequency based on the light source color corresponding to the area type characteristics of the non-flat area.

[0096] For example, taking the area type characteristic of the non-flat area as a raised type, if the distance between the highest point of the non-flat area and the ground is greater than or equal to 4 cm, it means that the raised area has a high degree of raisedness, that is, the non-flatness of the raised area is high. At this time, the ground lamp controller controls the red lamp head of the ground lamp to emit red light and flash at a first flashing frequency; if the distance between the highest point of the non-flat area and the ground is less than 4 cm, it means that the raised area has a low degree of raisedness, that is, the non-flatness of the raised area is low. At this time, the ground lamp controller controls the red lamp head of the ground lamp to emit red light and flash at a second flashing frequency.

[0097] The above technical solution can more intuitively assist users in understanding the unevenness of road conditions, allowing users to make corresponding avoidance decisions in advance, thereby enhancing users' perception of road conditions.

[0098] In specific applications, in order to assist users in better identifying non-flat areas, the ground lamp can work together with the color of the light source during the rotation of the ground lamp according to the rotation angle.

[0099] In some embodiments, if it is determined that there are multiple non-flat areas within a preset range, the ground lights are controlled to rotate in a polling manner according to the rotation angles corresponding to the multiple non-flat areas, and the ground lights are controlled to emit light according to the light source colors corresponding to the multiple non-flat areas, so as to identify the non-flat areas by the rotation angles and light source colors corresponding to each non-flat area.

[0100] For example, Figure 3 As shown, when the ground lamp controller controls the ground lamp to rotate according to θ1, and the current center of the ground lighting range of the ground lamp coincides with the center of the protrusion A, the ground lamp controller can control the red lamp head of the ground lamp to emit red light; in the process of the ground lamp controller controlling the ground lamp to rotate according to θ1+θ2, the ground lamp controller can control the green lamp head of the ground lamp to emit green light or control the white lamp head of the ground lamp to emit white light. When the current center of the ground lighting range of the ground lamp coincides with the center of the pothole E, the ground lamp controller can control the yellow lamp head of the ground lamp to emit yellow light.

[0101] More specifically, when the floor lamp controller controls the operation of the floor lamp through two working parameters, namely, the rotation angle and the light source color, it can also work in conjunction with the scattering working mode and the focusing working mode to provide users with more obvious reminders.

[0102] For example, Figure 3As shown, when the ground lamp controller controls the ground lamp to rotate according to θ1, and the center of the current ground illumination range of the ground lamp coincides with the center of the raised area A, the ground lamp controller can control the red lamp head of the ground lamp to emit red light, and control the ground lamp to switch to the gathering working mode, so that the current ground illumination range of the ground lamp only covers the raised area; in the process of the ground lamp controller controlling the ground lamp to rotate according to θ1+θ2, the ground lamp controller can control the green lamp head of the ground lamp to emit green light or control the white lamp head of the ground lamp to emit white light, and control the ground lamp to be in the scattering working mode. When the center of the current ground illumination range of the ground lamp coincides with the center of the pothole E, the ground lamp controller can control the yellow lamp head of the ground lamp to emit yellow light, and control the ground lamp to switch to the gathering working mode again, so that the current ground illumination range of the ground lamp only covers the pothole area.

[0103] Figure 4 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0104] For example, Figure 4 As shown, the apparatus 400 includes:

[0105] The acquisition module 401 is used to acquire road features within a preset range around the vehicle when the ground lights of the vehicle are turned on.

[0106] The judgment module 402 is used to judge whether there is a non-flat area within a preset range based on road surface characteristics.

[0107] The control module 403 is used to determine the target operating parameters of the ground lamp according to the regional characteristics of the non-flat area if it is determined that there is a non-flat area within the preset range, and control the ground lamp to operate according to the target operating parameters to assist the user in identifying the non-flat area.

[0108] In one possible implementation, the regional characteristics of the non-flat area include regional position characteristics, and the target operating parameters include the rotation angle of the ground lamp; the control module is specifically used to: determine the target operating parameters of the ground lamp based on the regional characteristics of the non-flat area, and control the ground lamp to operate according to the target operating parameters, including: determining the rotation angle of the ground lamp based on the regional position characteristics of the non-flat area; controlling the rotation of the ground lamp based on the rotation angle of the ground lamp so that the lighting range of the ground lamp covers the non-flat area.

[0109] In one possible implementation, the regional characteristics of the non-flat area include regional position characteristics, and the target working parameters include the rotation angle of the ground lamp; the control module is specifically used to: determine the rotation angle of the ground lamp based on the regional position characteristics of the non-flat area, including: determining the first distance between the first reference point corresponding to the non-flat area and the second reference point in the vehicle based on the regional position characteristics of the non-flat area; determining the second distance between the third reference point in the ground lamp and the fourth reference point in the vehicle; determining the height of the third reference point in the ground lamp relative to the ground; and calculating the rotation angle of the ground lamp based on the first distance, the second distance and the height.

[0110] In one possible implementation, the control module is specifically used to: if there are multiple non-flat areas within a preset range, determine the rotation angle of the ground lamp according to the regional position characteristics of the non-flat areas, including: determining the rotation angle of the ground lamp corresponding to each of the multiple non-flat areas according to the regional position characteristics of each of the multiple non-flat areas; wherein, one non-flat area corresponds to a rotation angle of the ground lamp; control the rotation of the ground lamp according to the rotation angle of the ground lamp so that the ground illumination range of the ground lamp covers the non-flat areas, including: controlling the ground lamp to rotate in a polling manner according to the rotation angle corresponding to each of the multiple non-flat areas, so that the ground illumination range of the ground lamp covers each non-flat area in turn.

[0111] In one possible implementation, the control module is specifically used to: control the ground-illuminating lamp to rotate in a polling manner according to the rotation angles corresponding to each of the multiple non-flat areas, so that the ground-illuminating range of the ground-illuminating lamp covers each non-flat area in turn, including: when controlling the ground-illuminating lamp to rotate in a polling manner according to the rotation angles corresponding to each of the multiple non-flat areas, when the center of the current ground-illuminating range of the ground-illuminating lamp does not coincide with the center of the non-flat area, controlling the ground-illuminating lamp to switch to a scattering working mode; when the center of the current ground-illuminating range of the ground-illuminating lamp coincides with the center of the non-flat area, controlling the ground-illuminating lamp to switch to a focusing working mode, so that the current ground-illuminating range of the ground-illuminating lamp focuses on covering each non-flat area.

[0112] In one possible implementation, the regional characteristics of the non-flat area include regional type characteristics, and the target operating parameters include the light source color of the ground lamp; the control module is specifically used to: determine the target operating parameters of the ground lamp based on the regional characteristics of the non-flat area, and control the ground lamp to operate according to the target operating parameters, including: determining the light source color corresponding to the regional type characteristics based on the regional type characteristics of the non-flat area; controlling the ground lamp to emit light according to the light source color corresponding to the regional type characteristics, so as to identify the non-flat area by the light source color corresponding to the regional type.

[0113] In one possible implementation, the control module is specifically used to: control the ground lamp to emit light according to the light source color corresponding to the area type characteristics, including: determining the maximum distance between the non-flat area and the ground; determining the degree of non-flatness of the non-flat area based on the maximum distance; determining the flashing frequency of the ground lamp based on the degree of non-flatness, and controlling the ground lamp to flash according to the flashing frequency according to the light source color corresponding to the area type characteristics.

[0114] Figure 5 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0115] For example, Figure 5 As shown, the vehicle 500 includes: a memory 501 and a processor 502, wherein the memory 501 stores an executable program code 5011, and the processor 502 is used to call and execute the executable program code 5011 to perform a method for adjusting a vehicle ground light.

[0116] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a method for adjusting a vehicle ground light provided in an embodiment of the present application.

[0117] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0118] In the case of dividing each functional module into corresponding functional modules, the device may further include an acquisition module, a judgment module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0119] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method for adjusting the ground lights of a vehicle, and thus can achieve the same effect as the above-mentioned implementation method.

[0120] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of relevant program codes.

[0121] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing system (DSP) and a microprocessor, and the storage module may be a memory.

[0122] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle ground light adjustment method provided in the above embodiment.

[0123] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle ground light adjustment method provided in the above embodiment.

[0124] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement the vehicle ground lamp adjustment method provided in the above embodiment.

[0125] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0126] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0127] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0128] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for adjusting a vehicle ground light, characterized in that: The method comprises: When the ground lights of the vehicle are turned on, obtaining road surface features within a preset range around the vehicle; Based on the road surface characteristics, determining whether there is a non-flat area within the preset range; If it is determined that the non-flat area exists within the preset range, the target operating parameters of the ground lamp are determined according to the regional characteristics of the non-flat area, and the ground lamp is controlled to operate according to the target operating parameters to assist the user in identifying the non-flat area.

2. The method according to claim 1, characterized in that The regional feature of the non-flat area includes a regional position feature, and the target operating parameter includes a rotation angle of the ground lamp; The step of determining target operating parameters of the ground lamp according to the regional characteristics of the non-flat area and controlling the ground lamp to operate according to the target operating parameters includes: determining a rotation angle of the ground lamp according to a regional position feature of the non-flat area; The ground lamp is controlled to rotate according to a rotation angle of the ground lamp, so that the lighting range of the ground lamp covers the non-flat area.

3. The method according to claim 2, characterized in that The determining the rotation angle of the ground lamp according to the regional position characteristics of the non-flat area includes: determining, based on a regional position feature of the non-flat area, a first distance between a first reference point corresponding to the non-flat area and a second reference point in the vehicle; determining a second distance between a third reference point in the ground light and a fourth reference point in the vehicle; Determining the height of a third reference point in the ground lamp relative to the ground; The rotation angle of the ground lamp is calculated according to the first distance, the second distance and the height.

4. The method according to claim 2, characterized in that If there are multiple non-flat areas within the preset range, determining the rotation angle of the ground light according to the regional position characteristics of the non-flat areas includes: Determining the rotation angles of the ground lights corresponding to the plurality of non-flat areas according to the respective area position features of the plurality of non-flat areas; wherein one non-flat area corresponds to one rotation angle of the ground light; The step of controlling the rotation of the ground lamp according to the rotation angle of the ground lamp so that the illumination range of the ground lamp covers the non-flat area includes: The ground lighting lamp is controlled to rotate in a polling manner according to the rotation angles corresponding to the plurality of non-flat areas, so that the lighting range of the ground lighting lamp covers each of the non-flat areas in sequence.

5. The method according to claim 4, characterized in that The controlling the ground lamp to rotate according to the rotation angles corresponding to the plurality of non-flat areas so that the illumination range of the ground lamp covers each of the non-flat areas in sequence includes: When the ground lamp is controlled to rotate according to the rotation angles corresponding to the plurality of uneven areas, when the center of the current illumination range of the ground lamp does not coincide with the center of the uneven area, the ground lamp is controlled to switch to a scattering working mode; When the center of the current illumination range of the ground lamp coincides with the center of the non-flat area, the ground lamp is controlled to switch to a focusing working mode so that the current illumination range of the ground lamp focuses on and covers each of the non-flat areas.

6. The method according to claim 1, characterized in that The regional feature of the non-flat area includes a regional type feature, and the target operating parameter includes a light source color of the ground lamp; The step of determining target operating parameters of the ground lamp according to the regional characteristics of the non-flat area, and controlling the ground lamp to operate according to the target operating parameters, includes: determining, according to the area type feature of the non-flat area, a light source color corresponding to the area type feature; The ground lamp is controlled to emit light according to the light source color corresponding to the area type feature, so as to identify the non-flat area by the light source color corresponding to the area type.

7. The method according to claim 6, characterized in that The controlling the ground lamp to emit light according to the light source color corresponding to the area type feature includes: determining a maximum distance between the uneven area and the ground; determining a degree of non-flatness of the non-flat area according to the maximum distance; Based on the non-flatness, a flashing frequency of the ground lamp is determined, and the ground lamp is controlled to flash according to the flashing frequency according to the light source color corresponding to the area type feature.

8. An adjustment device for a vehicle ground light, characterized in that: The device comprises: an acquisition module, configured to acquire road features within a preset range around the vehicle when the ground lights of the vehicle are turned on; A judgment module, configured to judge whether there is a non-flat area within the preset range based on the road surface characteristics; The control module is used to determine the target operating parameters of the ground lamp according to the regional characteristics of the non-flat area if it is determined that the non-flat area exists within the preset range, and control the ground lamp to operate according to the target operating parameters to assist the user in identifying the non-flat area.

9. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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