Vehicle lamp and control method thereof, vehicle and storage medium

Abstract

The invention relates to a vehicle lamp and a control method thereof, a vehicle and a storage medium. Comprising a base module fixed on the outer side of a vehicle body; the middle module is connected with the side, away from the vehicle body, of the base module; the light-emitting module is detachably connected to the side, away from the base module, of the middle module and used for emitting light to provide illumination for the vehicle; the light-emitting module comprises a light-emitting unit and a flying unit fixedly connected to the top of the light-emitting unit. The base module is used for determining a flight target position based on a received control instruction; and controlling the middle module to release the light-emitting module, and controlling the flight unit to fly to the flight target position so as to drive the light-emitting unit to move to the flight target position. The flight target position is reached through the light-emitting unit and the flight unit, a user interacts with the vehicle based on an active guidance mode, and the use experience of the user is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle lamps, and in particular to a vehicle lamp, a method for controlling a vehicle lamp, a vehicle, and a computer-readable storage medium. Background Art

[0002] Currently, vehicle lighting provides illumination for vehicles. For scenarios like finding a vehicle, providing exterior lighting, and welcoming and dropping off passengers, the vehicle lights illuminate the vehicle's location, and users identify the vehicle based on the light. This passive interaction approach, when implemented in these scenarios, can make it difficult for users to discover the vehicle, resulting in a poor user experience. Summary of the Invention

[0003] One of the purposes of this application is to provide a vehicle lamp to solve the problem of low user experience of non-lighting functions of vehicle lamps in the existing technology in actual usage scenarios; the second purpose is to provide a control method for vehicle lamps; the third purpose is to provide a vehicle; and the fourth purpose is to provide a computer-readable storage medium.

[0004] In order to achieve the above objectives, the technical solutions adopted in this application are as follows:

[0005] A vehicle lamp, comprising:

[0006] A base module is fixed to the outside of the vehicle body and is electrically connected to the vehicle; an intermediate module is connected to a side of the base module away from the vehicle body; a light-emitting module is detachably connected to a side of the intermediate module away from the base module; the light-emitting module is electrically connected to the vehicle and is configured to emit light to illuminate the vehicle based on a lighting command sent by the vehicle when fixedly connected to the intermediate module;

[0007] The light emitting module comprises: a plurality of light emitting units and a corresponding flying unit fixedly connected to the top of each light emitting unit;

[0008] The base module is used to determine the flight target position based on the control instructions sent by the vehicle and send it to the flight unit, and control the intermediate module to release the light-emitting module; the flight unit is used to fly to the flight target position to drive the light-emitting unit to move to the flight target position to form an interactive queue, and the interactive queue is used for human-vehicle interaction.

[0009] Optionally, the base module includes:

[0010] The base body is fixed to the outer side of the vehicle body;

[0011] a communication component, disposed on a side of the base body away from the vehicle body, for receiving the control instruction;

[0012] A control component is arranged on a side of the base body away from the vehicle body and is electrically connected to the communication component. It is used to determine the flight target position based on the control instruction; control the intermediate module to release the light-emitting module, and control the flight unit to fly to the flight target position.

[0013] Optionally, the intermediate module includes:

[0014] a fixing component, one end of which is fixedly connected to the base module and the other end of which is detachably connected to the light-emitting module, and is used to fix the light-emitting module when connected to the light-emitting module;

[0015] The driving mechanism is located on the fixing component and is used to drive the light emitting module to move along the radial direction of the fixing component.

[0016] Optionally, the fixing component includes:

[0017] a push plate having an open accommodating cavity, one side of the push plate being fixedly connected to the base module, and the light emitting module being located in the open accommodating cavity;

[0018] A claw is provided on the outer edge of the open accommodating cavity and is used to fix the light emitting module when connected with the light emitting module.

[0019] Optionally, the flight unit includes:

[0020] A main arm shaft, one end of which is fixed to the top of the light-emitting unit;

[0021] a rotating shaft, one end of which is rotatably connected to the other end of the main arm shaft;

[0022] The foldable rotary wing is connected to the other end of the rotary shaft and is used for unfolding during flight.

[0023] Optionally, the light emitting module further includes:

[0024] The light distribution mirror is arranged in the light emitting direction of the light emitting unit.

[0025] Optionally, the light emitting module further includes:

[0026] The traveling unit is fixedly connected to the bottom of the light-emitting unit and is used to cushion the landing process of the flying unit and drive the light-emitting unit to move on the ground.

[0027] Optionally, the base module includes:

[0028] a wireless charging transmitter component, disposed on a side of the base body away from the vehicle body and electrically connected to the control component; the control component is further configured to control the wireless charging component to charge the intermediate module and / or the light-emitting module; and / or,

[0029] The intermediate module includes:

[0030] a first wireless charging receiving component, configured to receive power from the wireless charging transmitting component; and / or

[0031] The light emitting module further includes:

[0032] The second wireless charging receiving component is used to receive the electric energy of the wireless charging transmitting component.

[0033] A method for controlling a vehicle lamp, wherein the vehicle lamp includes the vehicle lamp as described above, the method comprising:

[0034] Detect vehicle status and user operations;

[0035] generating a control instruction based on the vehicle state and / or the user operation;

[0036] Determine the flight target position based on the control instruction control;

[0037] The flight unit is controlled to fly to the flight target position to form an interaction queue, and the interaction queue is used for human-vehicle interaction.

[0038] Optionally, the vehicle state includes a door opening / closing state, the user operation includes a gesture operation, and the step of generating a control instruction based on the vehicle state and / or the user operation includes:

[0039] In response to the adjustment of the door opening and closing state, the gesture operation is recognized, and the control instruction is determined to be a greeting mode instruction;

[0040] The step of determining the flight target position based on the control instruction comprises:

[0041] Under the welcoming mode instruction, the indicated position corresponding to the gesture operation is determined to be the flight target position.

[0042] Optionally, the vehicle state includes a key position, the user operation includes an unlocking operation, and the step of generating a control instruction based on the vehicle state and / or the user operation includes:

[0043] When the key position is within a preset vehicle unlocking range and the unlocking operation is received, determining that the control instruction is a vehicle search mode instruction;

[0044] The step of determining the flight target position based on the control instruction comprises:

[0045] Under the vehicle search mode instruction, determining a vehicle search path based on the key position and the vehicle position;

[0046] The position points in the vehicle search path are divided as flight target positions.

[0047] Optionally, the vehicle state includes a collision signal and a wading signal, and the step of generating a control instruction based on the vehicle state and / or the user operation includes:

[0048] In the case where the collision signal and / or the wading signal is detected, determining that the control instruction is an emergency mode instruction;

[0049] The step of determining the flight target position based on the control instruction comprises:

[0050] Under the emergency mode instruction, determining the body edge position of the vehicle;

[0051] A preset height is superimposed on the edge position of the vehicle body to determine the flight target position.

[0052] Optionally, the user operation includes a cruise trigger operation, and the step of generating a control instruction based on the vehicle state and / or the user operation includes:

[0053] In the case where the cruise trigger operation is detected, determining that the control instruction is an exploration mode instruction;

[0054] The step of determining the flight target position based on the control instruction comprises:

[0055] Under the exploration mode instruction, determining the body edge position of the vehicle;

[0056] A preset outward extension length is superimposed on the edge position of the vehicle body to determine the flight target position.

[0057] Optionally, the vehicle state includes a parking signal, and the user operation includes a warning signal; and the step of generating a control instruction based on the vehicle state and / or the user operation includes:

[0058] In the case where the parking signal and the warning signal are detected, determining that the control instruction is an alert mode instruction;

[0059] The step of determining the flight target position based on the control instruction comprises:

[0060] Under the alert mode command, determining the center position of the vehicle;

[0061] determining a warning area based on the center position and the warning radius corresponding to the warning signal;

[0062] The outer edge position point of the warning area is divided as the flight target position.

[0063] A vehicle comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the method for controlling a vehicle lamp as described above are implemented; or the vehicle comprises the vehicle lamp as described above.

[0064] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the vehicle lamp control method described above.

[0065] Beneficial effects of this application:

[0066] When the embodiment of the present application is fixedly connected to the intermediate module through the light-emitting module, it can emit light to provide illumination for the vehicle based on the lighting command sent by the vehicle, and can be used as the vehicle's lighting equipment to realize the lighting function; when human-vehicle interaction is required, the base module can be used to control the intermediate module to release the light-emitting module; the light-emitting module and the intermediate module can be separated, and the flying unit in the light-emitting module flies to the flight target position to drive the light-emitting unit to move to the flight target position to form an interaction queue. The light-emitting unit flies to the flight target position to form an interaction queue, and the corresponding human-vehicle interaction is carried out through the interaction queue. The user can quickly discover the interaction queue, and each light-emitting unit in the interaction queue interacts with the user. Based on the active guidance method, the user interacts with the vehicle, so that the user can realize the corresponding function based on the guidance of the light-emitting unit, thereby improving the user's user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 This is a schematic structural diagram of a vehicle lamp of the present application;

[0068] Figure 2 This is a schematic diagram of the intermediate module structure of a vehicle lamp in this application Figure 1 ;

[0069] Figure 3 This is a schematic diagram of the intermediate module structure of a vehicle lamp in this application Figure 2 ;

[0070] Figure 4 This is a schematic diagram of the light-emitting module structure of a vehicle lamp of this application Figure 1 ;

[0071] Figure 5 This is a schematic diagram of the light-emitting module structure of a vehicle lamp of this application Figure 2 ;

[0072] Figure 6 This is a schematic diagram of the light-emitting module structure of a vehicle lamp of this application Figure 3 ;

[0073] Figure 7 This is a flowchart of an embodiment of a method for controlling a vehicle lamp of the present application;

[0074] Figure 8 A schematic diagram of a welcoming and seeing-off process for an example of a vehicle lighting control method of the present application;

[0075] Figure 9 A schematic diagram of a vehicle search process for an example of a vehicle lamp control method of the present application;

[0076] Figure 10 A schematic diagram of an emergency mode of an example of a vehicle lamp control method of the present application;

[0077] Figure 11 A schematic diagram of an exploration mode of an example of a vehicle lamp control method of the present application;

[0078] Figure 12 A schematic diagram of an alert mode of an example of a vehicle lighting control method of the present application;

[0079] Figure 13 A schematic diagram of a vehicle embodiment of the present application;

[0080] Figure 14 A schematic diagram of an embodiment of a computer storage medium of the present application.

[0081] Description of reference numerals:

[0082] 100-base module, 110-base body, 120-communication component, 130-control component, 140-wireless charging transmitter component;

[0083] 200 - middle module; 210 - fixed component, 211 - push plate, 212 - claw, 220 - driving mechanism;

[0084] 300-light-emitting module, 310-light-emitting unit, 320-flight unit, 321-main arm axis, 322-rotation axis, 323-foldable rotary wing, 330-light distribution mirror. DETAILED DESCRIPTION

[0085] The following will describe the embodiments of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand the other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for the purpose of illustrating the present application and are not intended to limit the scope of protection of the present application.

[0086] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0087] Reference Figure 1 , shows a schematic structural diagram of a vehicle lamp of the present application, the vehicle lamp comprising:

[0088] The base module 100 is fixed to the outside of the vehicle body and is electrically connected to the vehicle. The intermediate module 200 is connected to the side of the base module 100 away from the vehicle body. The light-emitting module 300 is detachably connected to the side of the intermediate module 200 away from the base module 100. The light-emitting module 300 is electrically connected to the vehicle and is used to emit light to provide illumination for the vehicle.

[0089] The light emitting module 300 includes: a plurality of light emitting units 310 and a flying unit 320 fixedly connected to the top of each light emitting unit 310;

[0090] The base module 100 is used to determine the flight target position based on the control instructions sent by the vehicle and send it to the flight unit 320; control the intermediate module 200 to release the light-emitting module 300; the flight unit 320 is used to fly to the flight target position to drive the light-emitting unit 310 to move to the flight target position to form an interactive queue, and the interactive queue is used for human-vehicle interaction.

[0091] The vehicle lighting fixture described in this application may include three modules: a base module 100, an intermediate module 200, and a light-emitting module 300. The base module 100, intermediate module 200, and light-emitting module 300 are sequentially connected to achieve structural and electrical connections. The base module 100 is electrically connected to the vehicle, and the light-emitting unit 310 is electrically connected to the vehicle. The base module 100 serves as a load-bearing foundation and is fixed to the exterior of the vehicle, such as the front, rear, or side skirts. The intermediate module 200 is connected to the side of the base module 100 facing away from the vehicle body, meaning that the intermediate module 200 is connected to the exterior of the base module 100. The light-emitting module 300 is connected to the side of the intermediate module 200 facing away from the base module 100, meaning that the light-emitting module 300 is connected to the exterior of the intermediate module 200. In other words, from the exterior of the vehicle body, the base module 100, intermediate module 200, and light-emitting module 300 are sequentially connected. The light-emitting module 300 and the intermediate module 200 are detachably connected, meaning they can be fixedly connected or separate. When fixedly connected, the light-emitting module 300, based on lighting commands sent by the vehicle, emits light to illuminate the vehicle. For example, it can function as a headlight, illuminating the vehicle's direction of travel. It can also function as a taillight, displaying the vehicle's position through light, allowing vehicles behind it to identify its location.

[0092] The light module 300 may include multiple light-emitting units 310 and corresponding multiple flying units 320. The light-emitting units 310 themselves have light-emitting elements for emitting light. The flying units 320 are fixedly connected to the tops of their respective light-emitting units 310 and, through their own movement, propel the light-emitting units 310 into flight. For example, the flying units 320 may be equipped with rotors, with the rotation of the rotors driving the light-emitting units 310 into flight.

[0093] The base module 100 can receive control instructions from the vehicle's control system. These control instructions are used to control the light-emitting module 300. When the base module 100 receives the control instructions, it can determine the flight target position according to the specific control instructions and send the flight target position to each flying unit. The flight target position is the target position that the light-emitting module 300 needs to reach. Then the intermediate module 200 is controlled to release the light-emitting module 300 so that the light-emitting module 300 can be separated from the intermediate module 200. The flying unit 320 in the light-emitting module 300 flies to the flight target position. Since the flying unit 320 is fixed to the top of the light-emitting unit 310, the flight of the flying unit 320 drives the light-emitting unit 310 to move, and reaches the flight target position to form an interactive queue, and human-vehicle interaction is carried out through the interactive queue to realize the corresponding function.

[0094] In the embodiment of the present application, a base module 100 is fixed to the outside of the vehicle body, and the base module 100 is electrically connected to the vehicle; an intermediate module 200 is connected to the side of the base module 100 away from the vehicle body; a light-emitting module 300 is detachably connected to the side of the intermediate module 200 away from the base module 100; the light-emitting module 300 is electrically connected to the vehicle and is used to emit light to provide lighting for the vehicle; the light-emitting module 300 includes: a plurality of light-emitting units 310 and a flying unit 320 fixedly connected to the top of each light-emitting unit 310; the base module 100 is used to determine the flight target position based on the control command sent by the vehicle and send it to the flying unit 320; control the intermediate module 200 to release the light-emitting module 300; the flying unit 320 is used to fly to the flight target position to drive the light-emitting unit 310 to move to the flight target position to form an interactive queue, which is used for human-vehicle interaction. When the light-emitting module 300 is fixedly connected to the intermediate module 200, it can emit light to provide illumination for the vehicle based on the lighting instructions sent by the vehicle, and can be used as the vehicle's lighting equipment to realize the lighting function; when human-vehicle interaction is required, the base module 100 can be used to control the intermediate module 200 to release the light-emitting module 300; the light-emitting module 300 and the intermediate module 200 can be separated, and the flying unit 320 in the light-emitting module 300 flies to the flight target position to drive the light-emitting unit 310 to move to the flight target position to form an interaction queue. The light-emitting unit 310 flies to the flight target position to form an interaction queue, and the corresponding human-vehicle interaction is carried out through the interaction queue. The user can quickly discover the interaction queue, and each light-emitting unit 310 in the interaction queue interacts with the user. Based on the active guidance method, the user interacts with the vehicle, so that the user can realize the corresponding function based on the guidance of the light-emitting unit, thereby improving the user's user experience.

[0095] In some embodiments of the present application, the base module 100 includes:

[0096] The base body 110 is fixed to the outer side of the vehicle body;

[0097] a communication component 120 , disposed on a side of the base body 110 away from the vehicle body, for receiving the control command;

[0098] The control component 130 is arranged on the side of the base body 110 away from the vehicle body and is electrically connected to the communication component 120. It is used to determine the flight target position based on the control instruction; control the intermediate module 200 to release the light-emitting module 300, and control the flight unit 320 to fly to the flight target position.

[0099] You can Figure 1As shown, the base module 100 may include a base body 110, a communication component 120, and a control component 130. The base body 110 is fixed to the outside of the vehicle body and may be fixed to the outside of the vehicle body by means of a snap-on or threaded connection. For example, the base body 110 may be fixed to the outside of the vehicle body by providing through-holes at different locations on the base body 110 and bolting through the through-holes to connect to the vehicle body. Both the communication component 120 and the control component 130 may be located on the side of the base body 110 away from the vehicle body. That is, the communication component 120 and the control component 130 are located outside the base body 110. The communication component 120 can receive information from the vehicle body controller and perform corresponding actions, such as receiving OTA (Over-the-Air) instructions. The communication component 120 may communicate using satellite communication or an in-vehicle network, receiving control instructions via the satellite communication network or the in-vehicle network. The control component 130 is electrically connected to the communication component 120 and can receive control instructions forwarded by the communication component 120, analyze the information in the control instructions, and determine the flight target position. Then control the intermediate module 200 to release the light-emitting module 300 so that the light-emitting module 300 can be separated from the intermediate module 200. Then control the flight unit 320 in the light-emitting module 300 to fly to the flight target position. The flight of the flight unit 320 drives the light-emitting unit 310 to move and reach the flight target position to realize the corresponding function. In addition, the control module can continuously update its own control strategy through OTA. This makes the control of the flight unit 320 more in line with the user's usage requirements. The control instructions are received and processed by the communication component 120 and the control component 130. Whether inside or outside the car, the control instructions can be sent to the communication unit as needed, and the corresponding control can be triggered by the control component 130, expanding the usage scenarios. There can be multiple light-emitting modules 300, each of which has the same structure and is deployed on the intermediate module 200 at the same time, and is controlled based on the base module 100.

[0100] In addition, a buffer support (not shown in the figure) can be set between the base body 110 and the intermediate module 200. The buffer support is used to adjust the relative position between the base body 110 and the intermediate module 200 to avoid a hard connection between the base body 110 and the intermediate module 200 bracket, which may cause the light-emitting module 300 to be damaged due to vibration.

[0101] In one embodiment of the present application, the base module 100 includes:

[0102] The wireless charging transmitting component 140 is disposed on a side of the base body 110 away from the vehicle body and is electrically connected to the control component 130; the control component 130 is also used to control the wireless charging component to charge the intermediate module 200 and / or the light-emitting module 300;

[0103] A wireless charging sending component 140 is provided on the side of the base body 110 away from the vehicle body, that is, on the outside of the base body 110. The wireless charging sending component 140 is electrically connected to the control component 130. The wireless charging sending component 140 can be connected to a power source, and the control component 130 can control the wireless charging sending component 140 to charge the intermediate module 200 and / or the light-emitting module 300. For example, when the control component 130 detects that the light-emitting module 300 and the intermediate module 200 are in a specific position and angle, it starts to supply power to the intermediate module 200 and the light-emitting module 300. This allows the intermediate module 200 and / or the light-emitting module 300 to be charged while maintaining a relatively flexible connection state to increase the scope of application.

[0104] In one embodiment of the present application, the intermediate module 200 includes:

[0105] A fixing component 210 , one end of which is fixedly connected to the base module 100 and the other end of which is detachably connected to the light emitting module 300 , and is used to fix the light emitting module 300 when connected to the light emitting module 300 ;

[0106] The driving mechanism 220 is located on the fixing component 210 and is used to drive the light emitting module 300 to move along the radial direction of the fixing component 210 .

[0107] You can refer to Figure 2 and Figure 3 , the intermediate module 200 may include a fixing component 210 and a driving mechanism 220. The fixing component 210 is fixed to the base module 100, thereby fixing the intermediate module 200 to the base module 100. One end of the fixing component 210 is fixedly connected to the base module 100, and the other end is detachably connected to the light emitting module 300, so that the light emitting module 300 can be connected to the base module 100. When the fixing component 210 is connected to the light emitting module 300, the light emitting module 300 is fixed. The driving mechanism 220 is located on the fixing component 210 and can move on the fixing component 210 along the radial direction of the fixing component 210. The radial direction of the fixing component 210 is as shown in FIG. Figure 3 When the driving mechanism 220 needs to move the light emitting module 300, the driving mechanism 220 first drives the light emitting module 300 to move radially along the fixing member 210 until it reaches one end of the fixing member 210, thereby releasing the light emitting module 300. The light emitting module 300 then flies by its own flight unit 320.

[0108] In one embodiment of the present application, the fixing component 210 includes:

[0109] A push plate 211 having an open receiving cavity, one side of which is fixedly connected to the base module 100, and the light emitting module 300 is located in the open receiving cavity;

[0110] The claws 212 are provided at the outer edge of the open receiving cavity and are used to fix the light emitting module 300 when connected with the light emitting module 300 .

[0111] like Figure 2 As shown, the fixing component 210 may include a push plate 211 and a claw 212. The push plate 211 has an open accommodating cavity, and the opening in the open accommodating cavity faces outward. The light-emitting module 300 is arranged in the open accommodating cavity and is temporarily stored in the open accommodating cavity. The push plate 211 is fixedly connected to the base module 100. This allows the light-emitting module 300 to remain relatively stable with the base module 100. The claw 212 is arranged at the outer edge of the open accommodating cavity, and the claw 212 extends toward the inner side of the open accommodating cavity. It can fix the light-emitting module 300 when connected to the light-emitting module 300, preventing the light-emitting module 300 from moving abnormally or falling. In one example, the light-emitting module 300 can be mounted on the open accommodating cavity of the push plate 211 by magnetic attraction, and is assisted in fixing by the claw 212. The radial movement of the light-emitting module 300 is completed by the driving mechanism 220, and the battery unit is powered by the wireless charging unit. In addition, a sensing unit may be provided to detect position changes of the light emitting module 300 on the push plate 211 so as to control the light emitting module 300 .

[0112] In one embodiment of the present application, the intermediate module 200 includes: a first wireless charging receiving component, configured to receive power from the wireless charging transmitting component 140;

[0113] The first wireless charging receiving component, mounted on the fixed component 210, receives power from the wireless charging transmitting component 140 of the base module 100. For example, when the coil in the wireless charging transmitting component 140 is energized, the coil in the first wireless charging receiving component, operating on the principle of a transformer, receives the power from the coil in the wireless charging transmitting component 140. Wireless charging allows the intermediate module 200 to continuously receive power for use.

[0114] In one embodiment of the present application, the flight unit 320 includes:

[0115] A main arm shaft 321, one end of which is fixed to the top of the light-emitting unit 310;

[0116] A rotating shaft 322, one end of which is rotatably connected to the other end of the main arm shaft 321;

[0117] The foldable rotary wing 323 is connected to the other end of the rotary shaft 322 and is used for unfolding during flight.

[0118] You can refer to Figure 4 、 Figure 5 and Figure 6 The flight unit 320 may include a main arm shaft 321, a rotating shaft 322, and a foldable rotary wing 323. The main arm shaft 321 is fixed to the top of the light-emitting unit 310 and is fixedly connected to the light-emitting unit 310. The rotating shaft 322 is located between the main arm shaft 321 and the foldable rotary wing 323. One end of the rotating shaft 322 is rotatably connected to the main arm shaft 321, and the other end is connected to the foldable rotary wing 323. The rotating shaft 322 can rotate relative to the main arm shaft 321, thereby adjusting the relative position of the foldable rotary wing 323 and the main arm shaft 321. When the angle between the rotation axis 322 and the main arm axis 321 is 0 degrees and the rotation axis 322 and the main arm axis 321 coincide, the foldable rotor 323 is retracted to the top of the light-emitting module 300. When the angle between the rotation axis 322 and the main arm axis 321 is 90 degrees and the rotation axis 322 is perpendicular to the main arm axis 321, the foldable rotor 323 is deployed. When deployed, the foldable rotor 323 is controlled by the control unit to fly. The foldable rotor 323 can be composed of several symmetrical blades. When the foldable rotor 323 is deployed and rotated, the blades and the air move relative to each other, generating aerodynamic force. The vertical component of the aerodynamic force is called lift, which enables the flight unit 320 to take off and land vertically and hover. The horizontal component of the aerodynamic force is called propulsion (or pulling force), which enables the flight unit 320 to move forward, backward, or sideways. Flight is achieved by controlling the rotation of the blades.

[0119] In one embodiment of the present application, the light emitting module 300 further includes:

[0120] The light distribution lens 330 is arranged in the light emitting direction of the light emitting unit 310 .

[0121] The light-emitting unit 310 can utilize an LED (light-emitting diode) for illumination. A light distribution lens 330 can be positioned in the direction of the light-emitting unit 310 to adjust the color scattering direction of the light. This allows the light from the light-emitting unit 310 to be optically adjusted as needed, enhancing the user experience. The light distribution lens 330 can be made of transparent glass, plastic, or other materials, and is not limited in this application. For example, the light distribution lens 330 can be made of PC (polycarbonate).

[0122] Furthermore, to further protect the light-emitting unit 310, a housing can be provided in the area not covered by the light distribution lens 330, with the housing and the light distribution lens 330 enclosing the light-emitting unit 310. The housing can also be made of a material such as PC, and the housing and the light distribution lens 330 can be connected by adhesive, such as PUR (moisture-curing reactive polyurethane hot melt adhesive).

[0123] In one embodiment of the present application, the light emitting module 300 further includes:

[0124] The traveling unit is fixedly connected to the bottom of the light emitting unit 310 and is used to cushion the landing process of the flying unit 320 and drive the light emitting unit 310 to move on the ground.

[0125] A driving unit can be installed at the bottom of the light unit 310. This unit has no driving force and is used to cushion the landing of the flying unit 320 and to move the light unit 310 on the ground. The driving force during movement comes from the flying unit 320. The driving unit can be a foldable wheel that can be deployed when needed and stored at the bottom of the light unit 310 when not needed.

[0126] In one embodiment of the present application, the light emitting module 300 further includes:

[0127] The execution module can execute the flight instructions for the flight target position based on the flight target position received by the control unit of the base module 100. The execution modules in each light-emitting module 300 can communicate and interact with each other, so that multiple light-emitting modules 300 can form a queue to work.

[0128] In one embodiment of the present application, the light emitting module 300 further includes:

[0129] The second wireless charging receiving component is used to receive the electric energy from the wireless charging sending component 140 .

[0130] The second wireless charging receiving component, mounted on the light-emitting unit 310, receives power from the wireless charging transmitting component 140 of the base module 100. For example, when the coil in the wireless charging transmitting component 140 is energized, the coil in the second wireless charging receiving component, operating on the principle of a transformer, receives the power from the coil in the wireless charging transmitting component 140. Wireless charging allows the intermediate module 200 to continuously receive power for use.

[0131] The embodiment of the present application further discloses a vehicle, including the vehicle lamp as described above, for lighting and realizing corresponding functions.

[0132] For example, a vehicle may also include: an exterior surround-view camera for real-time capture of the user's body movements outside the vehicle; an exterior microphone for real-time capture of the user's voice outside the vehicle; an interior camera, located inside the vehicle, for real-time capture of the user's facial expressions; and an interior microphone for real-time capture of the user's voice. A vehicle computer system, responsible for identifying and determining the user's position based on the images of the human body captured by the camera and the voice captured by the interior microphone, may also be included. Vehicle sensors, located around the vehicle, detect collisions and water falls, as well as the passing of humans or animals. The distance can be divided into three levels of warning zones, with different levels of alarms triggered. If a user carries an item such as a light-emitting module or an identifiable Bluetooth key, communication between the Bluetooth key / light-emitting module and the light-emitting module will occur, and no alarm will be triggered. Each light-emitting module is pre-numbered 1-N, with lower numbers giving higher priority.

[0133] Reference Figure 7 , shows a flowchart of the steps of an embodiment of a vehicle lamp control method of the present application. The vehicle lamp includes the vehicle lamp as described above. For the vehicle lamp, please refer to the above embodiment and will not be repeated here. The vehicle lamp control method includes:

[0134] Step 701, detecting vehicle status and user operation;

[0135] Vehicle status and user operations can be detected by sensors on the vehicle. Vehicle status refers to various vehicle states, such as door status and power-on status. User operations refer to user actions that control the vehicle status or instruct the vehicle to perform a target function. User operations can be performed directly through devices on the vehicle or indirectly through operations on a mobile communication device.

[0136] Step 702: Generate a control instruction based on the vehicle state and / or the user operation;

[0137] By identifying at least one of the vehicle state and the user operation, a control instruction corresponding to the vehicle state and / or the user operation can be determined. The control instruction is used to control the intermediate module and the light-emitting module in the vehicle lamp.

[0138] Step 703, determining the flight target position based on the control instruction;

[0139] The data in the control instruction can be identified to determine the flight target position that the flight unit needs to reach in the control instruction.

[0140] Step 704: Control the flight unit to fly to the flight target position to form an interaction queue, where the interaction queue is used for human-vehicle interaction.

[0141] Control the flight unit to fly to the flight target position, and use the flight unit to drive the light-emitting unit to reach the flight target position, and emit light at the flight target position to form an interactive queue. Through the interactive queue, human-vehicle interaction is carried out to realize the corresponding function, allowing the user to use the light of the light-emitting unit at the flight target position to identify or illuminate the vehicle.

[0142] In this embodiment, the flight unit is controlled to fly to a target location based on different vehicle states and / or user operations, thereby driving the light unit to move to the target location. Once the light unit is delivered to the target location, the user can quickly discover the light unit, and through active guidance, the user interacts with the vehicle, enabling the user to perform corresponding functions based on the guidance of the light unit, thereby improving the user experience.

[0143] In one embodiment of the present application, the vehicle state and / or user operation can be identified based on the dynamic decision model to determine the corresponding control instruction. For example, the dynamic decision model can be expressed as:

[0144]

[0145] pi is a parameter set; P={P1,P2,......,P n Covers basic gestures, facial expressions, time of occurrence, location of occurrence, voice, vehicle body parameters and other parameters;

[0146] w i (t) is the dynamic weight distribution: W(t)={w1(t),w2(t),......,w n (t)}W i (t) Dynamic parameters dynamically adjust parameter ratios based on user usage habits and environment;

[0147] Adaptive threshold generation algorithm: T t =T0*(1+α(t)*β(t));

[0148] Where T0 is pre-set based on historical data, α(t) is calculated based on parameter volatility, such as the standard deviation percentage β(t) mapped by the preset risk matrix, through:

[0149]

[0150] Different actions are performed when the ratio A is in different intervals.

[0151]

[0152] Table 1

[0153] The dynamic decision-making model can also be deployed synchronously in the cloud, recording user actions and feeding them back to the cloud. The execution results are then used to reverse-correct weights and thresholds, automatically reducing the weights of relevant parameters after multiple false triggers. The optimized model can be deployed in the vehicle terminal through regular over-the-air (OTA) updates. This model can be uploaded to the cloud system based on user actions, such as facial expressions, each time the user uses a gesture or voice, as well as vehicle status. The cloud-based model recognizes and learns the user's facial expressions. If the user displays a corresponding expression every time they perform a gesture or speak a certain word, the proportion of such expressions is continuously increased based on the number of times the user performs a gesture or speaks a certain word. Alternatively, if the user frequently performs an action at a certain time or location, the proportion of such expressions is increased. If the user does not perform the corresponding gesture, voice, or action at that time or location, the vehicle will proactively perform the action. The optimized cloud-based model is remotely distributed to the vehicle terminal, completing the transition from gesture or voice to proactive action recommendations based on user expressions. The machine can update the controls corresponding to user operations, and can upload the user's facial expressions and voice during the entire car-using process to the cloud through 4G / 5G signals. The basic dynamic model deployed in the cloud is based on the facial expressions and voice uploaded by the car system, and the basic model is optimized and learned to determine the instructions required by the user. It is distributed to the vehicle through regular OTA to achieve more accurate recognition of user operations.

[0154] In one embodiment of the present application, the vehicle status includes the door opening and closing status, the user operation includes a gesture operation, and the step of generating a control instruction based on the vehicle status and / or the user operation includes: responding to the adjustment of the door opening and closing status, identifying the gesture operation, and determining that the control instruction is a welcoming mode instruction.

[0155] The vehicle's door opening and closing status represents the door's opening and closing status, which can include the vehicle's open state and the door's closed state. Gesture operations are commands generated using hand movements. Gesture operations can be pre-recognized and a corresponding database established to quickly analyze gesture operations.

[0156] When the vehicle door is opened or closed, that is, when the vehicle changes from an open state to a closed state, or from a closed state to an open state, a gesture operation can be recognized and the control command is determined to be a pick-up mode command. The pick-up mode command is a function that the vehicle needs to perform to pick up or drop off guests.

[0157] Correspondingly, the step of determining the flight target position based on the control instruction includes: under the welcoming mode instruction, determining the indicated position corresponding to the gesture operation as the flight target position.

[0158] In the pick-up mode, the robot recognizes gestures and determines the indicated location. This location is then used as the flight target, and the robot controls the flight unit to fly to the target location.

[0159] For example, in the welcoming scene, the vehicle lighting control example can be as follows Figure 8 shown.

[0160] Step S11: Welcome command recognition. When a user brings a key, a vehicle-bound phone, a wristband, glasses, or other device within the vehicle's sensing range, the user is determined to be near the vehicle. The vehicle's sensing range can be configured based on a combination of the vehicle's sensing range and the human body's sensing area. For example, when the vehicle is in standby mode, the vehicle's antenna can periodically transmit a wake-up signal. Upon detecting that a key or phone, or other identifiable device, has entered the sensing range, the key or other identifiable device can respond by transmitting an encrypted signal, interacting with the vehicle body controller via the encrypted signal. Upon receiving the encrypted signal, the vehicle body controller generates a wake-up signal and forwards it to the vehicle gateway, waking up all controllers connected to the gateway. Simultaneously, the vehicle body controller transmits the wake-up signal to the vehicle's lights via CAN communication. Upon receiving the lighting signal, the vehicle's lights activate the base module's control components. The gesture or expression and the corresponding lighting pattern, i.e., the trajectory of each light module in the current welcome function, can be pre-configured within the welcome scene to create a target flight position corresponding to the user's unique welcome animation. The trajectory of each light module is stored in the controller component via CAN communication. When the surround-view camera detects in real time that the user is carrying a key / mobile phone / bracelet / glasses bound to the vehicle and other vehicle-sensing devices within the vehicle's sensing range and adjusts the door opening and closing status, it can identify the user's desired welcome based on the user's gesture operation based on the decision model, and recognize the welcome command, such as a V gesture or a joyful expression, representing a welcome animation corresponding to a welcome method.

[0161] Step S12: The flight target position of the welcome function is determined. The user's real-time positioning information can be obtained, and the position indicated by the V gesture operation is used as the flight target position and the user's real-time positioning information is sent to the control component via CAN communication.

[0162] Step S13: Welcome control. After receiving the target flight position and user location information in the welcome signal, the control unit controls the intermediate module to move to a specific position. This specific position is a preset position in the lamp to facilitate takeoff of the flight units in the light modules. A signal for the intermediate module's claws to open and a signal for the drive mechanism to push are transmitted to the intermediate module via Bluetooth, thereby controlling the claws to open to a specific position. The drive mechanism of the intermediate module then moves radially to facilitate takeoff of the light modules. Based on the flight position pre-stored in the lamp controller prior to the V gesture, the movement stroke of each light module forms the terminal position information, which is then matched with the user's real-time location information. The updated matching signal and each light module's trajectory to the corresponding target flight position are transmitted to the corresponding light module via wireless satellite communication. The flight units in the light modules are controlled to take off sequentially in numerical order. Each light module moves based on the position trajectory. Simultaneously, the light modules provide real-time feedback of their location via wireless satellite communication. The positioning signals fed back by the light modules are compared in real time with the travel trajectory to ensure that the light modules are on the preset travel trajectory, accurately reaching the flight target position. The user can preset and save the flight target position corresponding to the current welcome function in the vehicle terminal. Based on the user's location, the movement trajectory of each numbered light module or the light module's own function, such as lighting, is pre-set in the vehicle computer, and specific gestures or voices are stored. The user can trigger a dedicated welcome scene and the corresponding flight target position through the stored specific gestures / voices next time. In addition, during the welcome process, the vehicle's surround-view camera / external microphone can continuously monitor the user's gestures or voice and other user operations, and transmit real-time user operation information to the vehicle terminal, which updates the decision based on the dynamic decision model. When it is recognized that the user has the intention to switch or terminate, the vehicle system will send the switching signal or termination signal to the control component via CAN communication. The control component will send another randomly generated welcome trajectory and the user's current location information or animation termination signal to the light module via satellite communication signals, thereby controlling the light module to reach another welcome flight target position or terminate the current welcome function.

[0163] Step S14: Welcome is complete. When the user opens the vehicle door, the door sensor transmits a signal to the vehicle body controller via CAN communication. The body controller forwards the door opening signal to the vehicle terminal via CAN communication. Upon receiving the door opening signal, the vehicle terminal can make a decision based on a dynamic decision model. If the welcome is complete, the control unit transmits the end signal and the vehicle's current location information to the light module via satellite communication. The light module determines the flight trajectory based on the vehicle's location information and returns to the intermediate module based on this trajectory. Upon detecting that the light module has reached a specific position, the second wireless charging receiving unit is controlled to deploy. After deployment, it attaches to the corresponding position of the intermediate module, securing it to the intermediate module and charging it. The intermediate module detects whether the light module is properly installed and sends a real-time signal indicating the light unit is in place to the control unit via Bluetooth communication. Upon receiving the charging signal, the control unit controls the wireless charging transmitting unit of the base module and the wireless charging receiving unit of the intermediate module to charge the battery unit of the intermediate module, and the second wireless charging receiving unit of the wireless charging transmitting unit also charges. At the same time, the control component transmits the signal of the control claw engagement to the middle module through Bluetooth communication, and the control claw engages and fixes the light-emitting module. When all the light-emitting modules are fixed, the control component controls the middle module to move to the initial position, and the welcoming function of the vehicle lamp is completed.

[0164] Correspondingly, there is also a function to send guests off after the user gets off the car. Figure 8 As shown:

[0165] Step S15: Recognize the guest escort command. While the vehicle is in motion, the in-vehicle camera and microphone transmit the user's voice and facial expressions to the onboard terminal in real time via Ethernet and LVDS (low-voltage differential signaling). The onboard terminal continuously recognizes the user's facial expressions and voice based on a locally deployed dynamic decision-making model, judging the user's current mood until the vehicle is shut down and the guest escort command is confirmed.

[0166] Step S16, guest delivery control. The vehicle-mounted terminal stores the user's facial expressions and voice during driving, and sends the flight target position in the guest delivery signal corresponding to the user's mood to the control component via a CAN signal. After receiving the CAN signal, the control component controls the intermediate module to move to a specific position, controls the claw to open and the driving mechanism to push the light module to a specific position, and at the same time, controls each light module via satellite communication to determine the corresponding motion stroke based on its own flight target position, and then controls the light module to take off in the order of numbering. At the same time, the light module control unit sends the real-time positioning information to the control component via satellite communication. The control component compares the positioning signal fed back by the light module with the travel trajectory in real time to ensure that the light module is on the preset travel trajectory, completing the corresponding guest delivery function.

[0167] In one embodiment of the present application, the vehicle state includes a key position, and the user operation includes an unlocking operation. The step of generating a control instruction based on the vehicle state and / or the user operation includes: if the key position is within a preset vehicle unlocking range and the unlocking operation is received, determining that the control instruction is a vehicle search mode instruction;

[0168] When a user unlocks the vehicle using a sensing device, the user performs an unlocking operation. The sensing device can be used as a key during unlocking, and the key position is the position of the sensing device. Upon detecting that the key position is within the preset vehicle unlocking range, the user's key operations can be detected in real time. For example, an unlocking operation is generated when the user presses the unlock button on the key. Upon receiving an unlocking operation, it can be determined that the control instruction is a vehicle search mode instruction. The vehicle lighting needs to be controlled to help the user find the vehicle. The preset vehicle unlocking range can be determined based on the vehicle sensor detection range.

[0169] The step of determining the flight target position based on the control instruction includes: determining a vehicle search path based on the key position and the vehicle position under the vehicle search mode instruction; and dividing position points in the vehicle search path as flight target positions.

[0170] Under the vehicle search mode command, path planning can be performed based on the key position as the user's current location, the key position as the end point, and the vehicle position as the starting point to determine the vehicle search path. Path planning can be global or local. After obtaining the vehicle search path, the vehicle search path can be divided based on the number of light-emitting modules, and the position points in the determined vehicle search path can be used as the flight target positions of the light-emitting modules. Each light-emitting module is controlled to reach the flight target position and emit light at the flight target position. The vehicle search path is visualized based on multiple light-emitting points, thereby guiding the user to the vehicle, allowing the user to find the vehicle more quickly, improving the efficiency of the vehicle search and the interactive experience of the vehicle search.

[0171] For example, in the vehicle search scenario, the vehicle lighting control example can be as follows Figure 9 shown.

[0172] Step S21: Determine the vehicle search command. When a user triggers an unlock operation using a sensor-enabled device such as a mobile phone or Bluetooth key, for example, remote vehicle search is triggered by a mobile phone. The mobile phone transmits the unlock signal and the device's location information (i.e., the key's location) to the cloud via mobile signals such as 4G. After receiving the mobile phone request, the cloud verifies user permissions, parses the command, and forwards it to the user's vehicle. The vehicle computer receives the unlock command from the cloud via the 4G / 5G network, making a decision based on a dynamic decision model. If the decision is to search for the vehicle, the vehicle search command is determined.

[0173] Step S22: Determine the flight target location. The key's current location is received via the cloud as positioning information, and a path is planned based on the vehicle and user locations. Once planned, the path is divided by placing light-emitting modules at intervals at a certain distance from the ground to determine the flight target location.

[0174] Step S23: Vehicle search control. Information such as the target flight position and key location of the light module can be transmitted to the control unit via CAN communication. The control unit then controls the intermediate module to move to a specific position, which facilitates the light module's takeoff. The control unit then controls the intermediate module's claws to open and the drive mechanism to push the light module to the specific position. Simultaneously, based on each light module's target flight position, the corresponding trajectory is determined and matched with the light module's number in ascending order from user to vehicle. The trajectory, along with the signals from the illuminated light modules and the flight unit's takeoff signal, is transmitted via satellite communication. The light modules' light modules are controlled to illuminate and their flight units to take off. The modules take off sequentially in order of number, while the light modules transmit positioning information back in real time via satellite communication. The control unit compares the positioning signals returned by the light modules with their travel trajectories in real time, ensuring that each light module follows the set trajectory to its target flight position, until it reaches a certain distance in front of the user. After a light module reaches its target flight position, it can detect whether the user has passed by. If the user has passed by, indicating that the user no longer needs the light module's guidance, the light module can be controlled to return. When a user is detected passing by a light module, the module's position is matched with the user's real-time key location. Once the position of the light module matches the user's real-time key location, the light module can be controlled to return. A return path is planned based on the current light unit position and vehicle location. This information is transmitted via satellite communication to the current light module, which then flies back to the intermediate module at the vehicle's location. This process is repeated for all light modules in sequence. When the user approaches the vehicle, all light modules return to their original positions. After detecting that all light modules have reached a specific position, the second wireless charging receiver deploys and attaches to the corresponding position of the intermediate module. The intermediate module detects whether the light module is properly installed and transmits a signal indicating the light unit is in place via Bluetooth communication in real time to the control unit. Based on this signal, the control unit controls the wireless charging transmitter and the first wireless charging receiver of the intermediate module to charge the intermediate module and supplies power to the light module via the second wireless charging receiver. Simultaneously, the control unit controls the engaging claws to secure the light modules. Once all light modules are secured, the intermediate module moves to its initial position, completing the vehicle search process.

[0175] In one embodiment of the present application, the vehicle status includes a collision signal and a wading signal, and the step of generating a control instruction based on the vehicle status and / or the user operation includes: when the collision signal and / or the wading signal is detected, determining that the control instruction is an emergency mode instruction.

[0176] When a vehicle collides, a collision signal may be issued. When the vehicle status includes a collision signal, it indicates that the vehicle has collided. When the vehicle enters a flooded area, a flood signal may be issued. When the vehicle status includes a flood signal, it indicates that the vehicle is wading through water. In the event of a vehicle collision or wading through water, the location of the parking space needs to be displayed to facilitate rescue or alert other traffic participants. When a collision signal and / or a flood signal is detected, the control command may be determined to be an emergency mode command. The emergency mode command is used to indicate that the vehicle is in a state where the edge position needs to be displayed.

[0177] The step of determining the flight target position based on the control instruction includes: determining the body edge position of the vehicle under the emergency mode instruction; and superimposing a preset height on the body edge position to determine the flight target position.

[0178] Under emergency mode commands, the vehicle's edge position is first determined. This can be a point on the vehicle's outer edge, such as the bottom, middle, or top. This can be determined based on pre-measured measurements or input parameters. The vehicle's edge position is then superimposed on the edge position. This height can be customized. For example, if the vehicle's edge position is the bottom and the vehicle height is 1.7 meters, the pre-set height can be set to 2 meters, allowing the final flight target to be higher than the vehicle. This pre-set height is superimposed on the vehicle's edge position to determine the target position, making it easier to detect, facilitating rescue efforts or alerting other traffic participants. The light module is then controlled to fly to the target position, illuminating it to indicate the vehicle's location.

[0179] For example, in an emergency mode scenario, the vehicle lighting control example can be as follows Figure 10 shown.

[0180] Step S31, emergency mode identification. When the vehicle collision sensor sends a collision signal or the wading sensor sends a wading signal, the vehicle-mounted system makes a decision based on the dynamic decision-making model, and decides that the vehicle is in emergency mode, triggering the emergency mode instruction. The spatial position information of the light-emitting module and the vehicle collision signal / wading signal can be sent to the control component through CAN communication. The position of the light-emitting module is determined by the spatial position of the vehicle and the posture of the vehicle, which plays a warning and rescue role. In addition, if the vehicle breaks down and the user turns on the emergency alarm switch, the body controller receives the emergency alarm signal and sends it to the vehicle-mounted system through CAN communication. The vehicle-mounted system makes a decision based on the dynamic decision-making model. The dynamic decision-making model is based on the emergency alarm signal, and the decision-making is based on the highest priority.

[0181] Step S32: Emergency Mode Control. The target flight position is transmitted to the control unit. Upon receiving the target flight position, the control unit matches the movement and posture information of each light module based on the target flight position with the light module number. Once the matching is complete, a signal is generated to illuminate the light module. The movement and posture information is transmitted to the corresponding light module via satellite communication. Simultaneously, the control unit controls the support module to move the intermediate module to a specific position for the light module to take off. The control unit then controls the claws to open and the drive mechanism to push the light module to the specific position. After the control component detects that the intermediate module has arrived at a specific position, the control unit controls the light-emitting module to start flying to the flight target position. During the flight, the light-emitting module sends its own positioning information, attitude signal and power information to the control component via satellite communication in real time. The control component matches the received positioning information and attitude information with the preset travel trajectory and attitude information. The lamp controller detects that a specific number of light-emitting modules have arrived at the preset position, forming a specific danger alarm pattern such as a triangle, and sends a high-brightness signal to the light-emitting module via satellite communication. The LED light-emitting unit in the light-emitting module is controlled to continuously emit high-intensity red light to warn the following vehicle to reduce the risk of collision. When the control component monitors that the power of the light-emitting module is only enough to meet the return trip, the control component sends the flight target position of the previous light-emitting module to the new light-emitting module in sequence through satellite communication, and controls the new light-emitting module to start flying to the flight target position. During the journey, the newly numbered light-emitting module sends its own positioning information, attitude signal and power information to the control component via satellite communication in real time. The control component matches the received positioning information and posture information with the preset travel trajectory and posture information. After the control component detects that a specific number of light-emitting modules have arrived at the preset flight target position, when the control component detects that a new light-emitting module is about to arrive at the designated position, the old light-emitting module is controlled to return along the original route. After the control component detects that the light-emitting module has returned to its original position, and after detecting that all light-emitting modules have arrived at the specific position, the second wireless charging receiving component is unfolded, and after unfolding, it is adsorbed to the corresponding position of the intermediate module. The intermediate module detects whether the light-emitting module is installed in place, and sends the signal of the light-emitting unit in place to the control component in real time via Bluetooth communication. Based on the signal of arrival, the control component controls the wireless charging transmitting component and the first wireless charging receiving component of the intermediate module to charge the intermediate module, and supplies power to the light-emitting module through the second wireless charging commentary component. At the same time, the control component controls the claws to engage and fix the light-emitting module. When all light-emitting modules are fixed, the intermediate module is controlled to move to the initial position.Furthermore, in the event of a collision or wading, the collision / wading signal and the travel information of the light module are transmitted to the control unit via CAN communication. The control unit controls the ejection mechanism to directly eject the light module. At the same time, the takeoff signal of each light module, the flashing signal of the light unit, and the corresponding travel information and attitude information are sent to the corresponding light module via satellite communication, controlling all light modules to take off to the predetermined position at the same time. After losing communication with the lighting controller, the light modules are grouped according to number and quantity, and the light module with the smallest number (highest priority) in the group controls the remaining light modules. The light module unit transmits its own power to the light module with the highest priority via satellite communication. Then, based on the circuit of the light module, the light unit with low power is landed, and a landing signal can be sent to the corresponding light module. After receiving the landing signal, the corresponding light module controls the light module to descend vertically. When the periphery of the light module touches the water surface, the corresponding light module control unit controls the flight unit to recover, hovering on the water surface or deploying the wheels to land on the ground, while reducing the light intensity and continuously lighting at a certain light intensity, thereby improving the success rate of rescue.

[0182] In one embodiment of the present application, the user operation includes a cruise trigger operation, and the step of generating a control instruction based on the vehicle state and / or the user operation includes: when the cruise trigger operation is detected, determining that the control instruction is an exploration mode instruction;

[0183] While the vehicle is in motion or driving, the user can set it to cruise mode. In cruise mode, the vehicle's vehicle controller controls the vehicle without the user having to control the accelerator pedal. The user can trigger cruise control by touching relevant controls on the vehicle, such as buttons and levers. This cruise triggering operation controls the vehicle's cruise state. If a cruise triggering operation is detected, the control command is determined to be an exploration mode command. The exploration mode command is used to control the vehicle's lighting for environmental exploration.

[0184] The step of determining the flight target position based on the control instruction includes: determining the body edge position of the vehicle under the exploration mode instruction; and superimposing a preset outward extension length on the body edge position to determine the flight target position.

[0185] Under the exploration mode command, the vehicle's edge is first determined. A preset extension length (which can be customized) is added to the vehicle's outer edge. The resulting location is then determined as the light module's flight target.

[0186] For example, in the exploration mode scenario, the control example of vehicle lights can be as follows Figure 11 shown.

[0187] Step S41: Exploration mode recognition. While the vehicle is in motion, the user activates cruise mode via voice input or vehicle interface input, triggering a cruise trigger operation. A decision is made based on the dynamic decision model to execute the cruise mode instruction.

[0188] Step S42: Exploration Mode Control. After executing the cruise mode command, the vehicle's edge position is determined based on the center of the vehicle. Based on the vehicle's edge position and the width of the road in the same direction as the vehicle, a certain initial height above the ground (H) is set greater than the normal height H of a conventional vehicle. The corresponding light-emitting modules can be adjusted based on road conditions. A rectangular area is defined, for example, with the distance A from each rectangular edge to the vehicle's center greater than the distance from the corresponding vehicle edge to the center. This determines the flight target position corresponding to each light-emitting module. Each rectangular edge is assigned a corresponding number of light-emitting modules based on the coverage area of ​​the light-emitting module's sensor unit. The light-emitting module's posture should ensure that the sensor unit covers a certain distance around the vehicle. The corresponding light-emitting module's trajectory is planned based on the vehicle's trajectory. The cruise mode command and the corresponding light-emitting module's trajectory based on the target flight position are transmitted to the control unit via CAN communication. Upon receiving the cruise mode command, the control unit controls the support module to move the intermediate module to a specific position, opens the intermediate module's claws, and drives the module to the specific position. Simultaneously, the intermediate module's claws are controlled to open to a specific position, and the intermediate module's drive mechanism moves radially to facilitate takeoff. The light modules are controlled to take off sequentially in numerical order, while each transmits its position to the control unit in real time via wireless communication. The control unit compares the positioning signals from the light modules with the vehicle edge position transmitted via CAN communication in real time, ensuring that each light module moves according to a pre-set trajectory and posture, and that all light modules maintain their relative positions to the vehicle edge. When a light module's sensor detects a rapidly approaching vehicle, and the vehicle's height exceeds the sensor's detection range, the light module control unit transmits a signal to the control unit via CAN communication. Upon detecting this, the control unit sends a signal to the corresponding light module via satellite communication to control its ascent. The light modules also transmit their position information to the control unit in real time via satellite communication until the control unit determines that the corresponding light module can cover the height of the oncoming vehicle, at which point they cease their ascent. Once the corresponding light module detects the vehicle has passed, it transmits this information to the control unit via satellite communication. Upon receiving this signal, the control unit sends a signal to the corresponding light module via satellite communication to control its return to its previous position. When the control unit detects that the power level of a light module is only sufficient for the return trip, it controls the support module to move the intermediate module to a specific position, facilitating the light module's takeoff. The control unit then controls the claws to open and the drive mechanism to push the light module out to the specific position. Simultaneously, the control unit controls the claws of the intermediate module to open to a specific position, and the drive mechanism of the intermediate module to move radially, facilitating the takeoff of the new light module. The trajectory and posture information of the previous light module are then transmitted sequentially to the corresponding light module in numerical order, controlling the light module's takeoff.The new light module transmits its attitude, positioning, and other information to the control unit via satellite communication in real time. When the control unit detects that the new light module is about to reach the previous light module's position, it sends the return information to the previous light module via satellite communication, controlling the new light module to return, and this process continues until the user turns off cruise mode.

[0189] In one embodiment of the present application, the vehicle state includes a parking signal, and the user operation includes an alert signal; and the step of generating a control instruction based on the vehicle state and / or the user operation includes: upon detecting the parking signal and the alert signal, determining that the control instruction is an alert mode instruction;

[0190] When the vehicle is parked, users need to prevent any abnormalities from occurring while the vehicle is unoccupied and need to monitor the vehicle's surroundings. This can trigger an alert signal. This alert signal controls the vehicle's lighting to monitor the surrounding environment and promptly notify the user of any unusual circumstances. If both the parking signal and the alert signal are detected, the control command is determined to be an alert mode command.

[0191] The step of determining the flight target position based on the control instruction includes: determining the center position of the vehicle under the alert mode instruction; determining the alert area based on the center position and the alert radius corresponding to the alert signal; and dividing the outer edge position point of the alert area as the flight target position.

[0192] When triggering the warning signal, the user can set a warning radius. If not set, the default value is used. Under the warning mode command, the center position of the vehicle is determined. The area formed by the center position and the warning radius is the warning area. The outer edge of the warning area is then divided into multiple outer edge locations, which are used as flight target locations. The light module is controlled to fly to the corresponding flight target location.

[0193] For example, in the alert mode scenario, the vehicle lighting control example can be as follows Figure 12 shown.

[0194] Step S51: Activate the vehicle. The vehicle periodically transmits a wake-up signal via its antenna. Upon detecting a key or mobile phone within sensing range, the key or other identifiable device responds with an encrypted signal. Upon receiving the signal, the vehicle body controller forwards it to the gateway, waking up all controllers on the gateway. Simultaneously, the body controller sends a lighting signal to the vehicle's lights via CAN communication. Upon receiving the lighting signal, the control unit turns on all lights to alert the user that the vehicle has been activated.

[0195] Step S52: Alert mode identification. When the vehicle is stopped, the user can activate alert mode on the vehicle's screen or by voice, triggering an alert signal. The user then enters the alert radius via voice or the vehicle's computer. When the vehicle is parked, alert mode is entered and the alert mode command is executed.

[0196] Step S53, warning control. The warning radius and the center position of the vehicle are used to determine the warning area. Based on the number of light-emitting modules, the warning area is divided to determine the flight target position. The number of light-emitting modules is a certain value of the total number of light-emitting modules, evenly distributed on the warning area, and ensures that the ranges of the two light-emitting module sensors can cover each other without blind spots. The flight target position of the light-emitting module is determined based on information such as the flight trajectory of the flight target position. The control component matches the flight target position with the light-emitting module number. The light-emitting module sends its own positioning information to the control component via satellite communication in real time. The control component matches the flight trajectory based on the flight target position with the positioning information to ensure that the light-emitting module can reach the specific position. After the control component controls and detects that all light-emitting modules have reached the flight target position, a signal that the light-emitting module is highlighted and then extinguished is sent to the light-emitting module via satellite communication. When an animal / person without an identifiable device enters the third-level range of the light-emitting module, the light-emitting module sends the detected signal to the control component via satellite communication. The control unit sends a signal to the vehicle controller via CAN communication. The vehicle controller then simultaneously alerts the user of the location of the anomaly. When the light module detects that an animal or person has left the Level 3 range, the light module sends a signal to the control unit via satellite communication. The control unit sends this signal to the vehicle controller via CAN communication. The vehicle controller then uploads the anomaly disappearance signal to the cloud via 4G / 5G network. The cloud then sends it to the user's pre-registered mobile phone, alerting the user that the anomaly has disappeared in a specific direction. If the light module detects that an animal or person, not carrying any identifiable equipment, continues to move within the warning range into the Level 2 range, a signal is sent to the control unit via satellite communication. After identifying the anomaly, the control unit controls the movement of the intermediate module to a specific position, controls the opening of the claws, and the drive mechanism to push the light module out to the specified position. Simultaneously, the claws of the intermediate module are opened to a specific position, and the drive mechanism of the intermediate module moves radially to facilitate the launch of the light module. The light modules launch in order, and simultaneously transmit the previously preset trajectory information, posture information, and light unit flashing information to the remaining light modules via satellite communication. The control unit directs the light module to a preset position. Simultaneously, the light module transmits its own positioning and posture information to the control unit in real time via satellite communication. The control unit compares the positioning signal provided by the light module with the travel trajectory in real time to ensure the light module remains on the preset travel trajectory. It also directs a certain number of remaining light modules to the secondary warning zone of this light module, alternating red lights to repel anomalies. The control unit also transmits the anomaly signal via CAN communication to the vehicle controller, which then calls the user via the 4G / 5G network to alert them. When the light module's sensor detects that the anomaly has disappeared, the light module sends a signal to the control unit via satellite communication.The control component transmits a signal to the vehicle controller via CAN communication. The vehicle controller uploads the abnormality disappearance signal to the cloud via 4G / 5G network. The signal is then sent from the cloud to the user's pre-registered mobile phone, alerting the user that the abnormality has disappeared in a certain direction. Simultaneously, the control component transmits a return signal and a light-emitting unit shutdown signal to the previously driven light module via satellite communication, causing the light module to return. When a light module detects an animal or person without identifiable equipment entering the first-level alert area, the light module sends a signal to the control component via satellite communication. The control component sends a flashing signal to the alert light module, causing the light unit to flash. Simultaneously, the control component transmits information to the vehicle controller via CAN communication. The vehicle controller transmits the preset first-level alert information to the CAN network. Upon receiving this information, the body controller controls the horn to sound at a specific frequency and turns on all vehicle lights. The interior camera transmits real-time information about the vehicle interior to the body controller via LVDS signals. If the body controller detects that a user is not inside, the doors will automatically unlock, prompting the user to enter the vehicle. Once the user enters the vehicle, the doors and windows will lock. If the body controller detects that a user is already inside the vehicle, the doors and windows will automatically lock. Furthermore, when the vehicle is parked but not required for security, it can enter a standby state. The onboard surround-view camera and external microphone can be activated to continuously monitor the user. If the user, inside or outside the vehicle, displays specific gestures or voice commands that require individual light modules, the external microphone and camera transmit the detected voice and video to the vehicle controller in real time via Ethernet and LVDS signals. If a user with a sensory device such as a key is detected near a vehicle light, the vehicle speed is zero, and the intermediate module detects a certain tension on the corresponding light module, a dynamic decision model can be used to make a decision. Once the light module needs to be released, the decision signal is transmitted to the control unit via CAN communication. The control unit then releases the intermediate module's latch, allowing the user to manually remove the light module. Alternatively, in standby mode, the dynamic decision model can be used to determine the destination entered by the user. A route is then planned based on the destination, and the required number of light modules is estimated based on the range of each light module. The user's location signal is obtained in real time via the cloud. The vehicle controller then transmits the number of light modules, the route, and the user's location signal to the control unit via CAN communication. After receiving the signal, the control component controls the intermediate module to move to a specific position, controls the claws to open, and drives the mechanism to push the light-emitting module to a specific position.Simultaneously, the control unit, which can be paired with the light-emitting module, transmits the user's location information, itinerary information, posture information, and lighting information to the light-emitting module via satellite communication. The control unit controls the light-emitting module's light-emitting unit to face downward and fly to a predetermined location near the user. At this point, the light-emitting module with a lower priority number flashes and illuminates, notifying the user that it is about to land, and then descends to the ground. The light-emitting module with a higher priority number maintains its light-emitting unit in a downward position and continues to fly to a predetermined location near the user. The sensor unit transmits its own location information, posture information, light-emitting unit, and battery status to the control unit in real time via satellite communication. The control unit also receives the user's location information from the cloud in real time. The control unit then transmits the user's location information to the light-emitting module via satellite communication in real time, ensuring that the light-emitting module remains on the preset route and at a predetermined location in front of the user. When the control unit detects that the current light-emitting module is nearing depletion, it sends a flashing and landing signal to the light-emitting module via satellite communication. The control unit then controls the light-emitting module's light-emitting unit to flash a predetermined number of times to alert the user that the module is about to run out of power, and then descends to the nearest ground surface. The next light module is activated. After the new light module is activated, satellite communication is established with the control component. The control component transmits the user's location information, travel information, attitude information, lighting information, etc. to the light module via satellite communication, controlling the light module to continue flying along the preset route, operating sequentially until the user reaches the destination. The control component receives the positioning information fed back by the corresponding light module via satellite communication and matches it with the preset route. When it detects that the user is traveling in the opposite direction and has returned a certain distance along the previous route, the control component transmits the user's return signal to the control component via CAN communication. The user's location is received through the cloud. A light unit is arranged at a certain distance based on the distance between the user and the vehicle. The location information and travel trajectory are sent to the control component via CAN signals. The control component matches the location information with the remaining light module numbers and transmits the travel trajectory and the light unit lighting signal to the corresponding light module via satellite communication. The control component controls the intermediate module to move to a specific position, controls the claw to open, and controls the drive mechanism to push the light module to the specific position. The light modules take off in the order of their numbers. At the same time, the light modules send real-time positioning information to the control component via satellite communication. The control unit compares the positioning signals from the light modules with the travel trajectory in real time to ensure they are on the preset trajectory. It then controls each light module to a specific position and illuminates its light unit. The light modules transmit their own parameters, such as their position and battery level, to the control unit via satellite communication in real time. When a light module detects a user passing by, it sends a signal back to the control unit via satellite communication. The control unit matches the received signal with the user's real-time location and, if a match is successful, sends a return signal to the light modules via satellite communication, controlling their return. When the user returns to the vicinity of the vehicle, all light modules return to the middle module.After the control component detects that the light-emitting module has reached a specific position, it controls the second wireless charging receiving component to unfold, so as to control the second wireless charging receiving component to be adsorbed to the corresponding position of the intermediate module. The intermediate module detects whether the light-emitting module is installed in place. After the light-emitting module is installed in place, it controls the wireless charging transmitting component of the base module to supply power. At the same time, the control component controls the claws to engage and fix the light-emitting module. When all the light-emitting modules are fixed, the second wireless charging receiving component controls the intermediate module to move to the initial position, and the journey ends. When the second wireless charging receiving component detects that the light-emitting module continues to deviate from the preset route and the time reaches a certain value, the vehicle system will actively call the number previously reserved by the user through the 4G / 5G signal, and send the real-time location information of the light-emitting module used by the user at this time to the mobile phone number to improve the safety of use.

[0197] Reference Figure 13 An embodiment of the present invention further provides a vehicle, comprising: a processor 1301, a memory 1302, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the vehicle lamp control method as described above are implemented.

[0198] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0199] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0200] Reference Figure 14 The embodiment of the present invention further provides a computer-readable storage medium 1401, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle lamp control method as described in any one of the embodiments of the present invention are executed.

[0201] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to in detail.

[0202] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, embodiments of the present invention may take the form of a fully hardware embodiment, a fully software embodiment, or an embodiment combining software and hardware. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0203] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0204] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0205] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0206] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or modification made by those skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A vehicle lamp, characterized in that: include: A base module is fixed to the outside of the vehicle body and is electrically connected to the vehicle; an intermediate module is connected to a side of the base module away from the vehicle body; a light-emitting module detachably connected to a side of the intermediate module away from the base module; the light-emitting module is electrically connected to the vehicle, and is configured to emit light to illuminate the vehicle based on a lighting instruction sent by the vehicle when fixedly connected to the intermediate module; The light emitting module comprises: a plurality of light emitting units and a corresponding flying unit fixedly connected to the top of each light emitting unit; The base module is used to determine the flight target position based on the control instructions sent by the vehicle and send it to the flight unit, and control the intermediate module to release the light-emitting module; the flight unit is used to fly to the flight target position to drive the light-emitting unit to move to the flight target position to form an interactive queue, and the interactive queue is used for human-vehicle interaction.

2. The vehicle lamp according to claim 1, characterized in that: The base module includes: The base body is fixed to the outer side of the vehicle body; a communication component, disposed on a side of the base body away from the vehicle body, for receiving the control instruction; A control component is arranged on a side of the base body away from the vehicle body and is electrically connected to the communication component. It is used to determine the flight target position based on the control instruction; control the intermediate module to release the light-emitting module, and control the flight unit to fly to the flight target position.

3. The vehicle lamp according to claim 1, characterized in that The intermediate module includes: a fixing component, one end of which is fixedly connected to the base module and the other end of which is detachably connected to the light-emitting module, and is used to fix the light-emitting module when connected to the light-emitting module; The driving mechanism is located on the fixing component and is used to drive the light emitting module to move along the radial direction of the fixing component.

4. The vehicle lamp according to claim 3, characterized in that: The fixing component includes: a push plate having an open accommodating cavity, one side of the push plate being fixedly connected to the base module, and the light emitting module being located in the open accommodating cavity; A claw is provided on the outer edge of the open accommodating cavity and is used to fix the light emitting module when connected with the light emitting module.

5. The vehicle lamp according to claim 1, characterized in that: The flight unit comprises: A main arm shaft, one end of which is fixed to the top of the light-emitting unit; a rotating shaft, one end of which is rotatably connected to the other end of the main arm shaft; The foldable rotary wing is connected to the other end of the rotary shaft and is used for unfolding during flight.

6. The vehicle lamp according to claim 1, characterized in that The light emitting module further includes: The light distribution mirror is arranged in the light emitting direction of the light emitting unit.

7. The vehicle lamp according to claim 1, characterized in that: The light emitting module further includes: The traveling unit is fixedly connected to the bottom of the light-emitting unit and is used to cushion the landing process of the flying unit and drive the light-emitting unit to move on the ground.

8. The vehicle lamp according to any one of claims 2 to 7, characterized in that: The base module includes: a wireless charging transmitter component, disposed on a side of the base body away from the vehicle body and electrically connected to the control component; the control component is further configured to control the wireless charging component to charge the intermediate module and / or the light-emitting module; and / or, The intermediate module includes: a first wireless charging receiving component, configured to receive power from the wireless charging transmitting component; and / or The light emitting module further includes: The second wireless charging receiving component is used to receive the electric energy of the wireless charging transmitting component.

9. A method for controlling a vehicle lamp, characterized in that: The vehicle lamp comprises the vehicle lamp according to any one of claims 1 to 7, and the method comprises: Detect vehicle status and user operations; generating a control instruction based on the vehicle state and / or the user operation; Determine the flight target position based on the control instruction control; The flight unit is controlled to fly to the flight target position to form an interaction queue, and the interaction queue is used for human-vehicle interaction.

10. The method according to claim 9, characterized in that The vehicle state includes a door opening / closing state, the user operation includes a gesture operation, and the step of generating a control instruction based on the vehicle state and / or the user operation includes: In response to the adjustment of the door opening and closing state, the gesture operation is recognized, and the control instruction is determined to be a greeting mode instruction; The step of determining the flight target position based on the control instruction comprises: Under the welcoming mode instruction, the indicated position corresponding to the gesture operation is determined to be the flight target position.

11. The method according to claim 9, characterized in that The vehicle state includes a key position, the user operation includes an unlocking operation, and the step of generating a control instruction based on the vehicle state and / or the user operation includes: When the key position is within a preset vehicle unlocking range and the unlocking operation is received, determining that the control instruction is a vehicle search mode instruction; The step of determining the flight target position based on the control instruction comprises: Under the vehicle search mode instruction, determining a vehicle search path based on the key position and the vehicle position; The position points in the vehicle search path are divided as flight target positions.

12. The method according to claim 9, characterized in that The vehicle state includes a collision signal and a wading signal, and the step of generating a control instruction based on the vehicle state and / or the user operation includes: In the case where the collision signal and / or the wading signal is detected, determining that the control instruction is an emergency mode instruction; The step of determining the flight target position based on the control instruction comprises: Under the emergency mode instruction, determining the body edge position of the vehicle; A preset height is superimposed on the edge position of the vehicle body to determine the flight target position.

13. The method according to claim 9, characterized in that The user operation includes a cruise trigger operation, and the step of generating a control instruction based on the vehicle state and / or the user operation includes: In the case where the cruise trigger operation is detected, determining that the control instruction is an exploration mode instruction; The step of determining the flight target position based on the control instruction comprises: Under the exploration mode instruction, determining the body edge position of the vehicle; A preset outward extension length is superimposed on the edge position of the vehicle body to determine the flight target position.

14. The method according to claim 9, characterized in that The vehicle state includes a parking signal, and the user operation includes a warning signal; and the step of generating a control instruction based on the vehicle state and / or the user operation includes: In the case where the parking signal and the warning signal are detected, determining that the control instruction is an alert mode instruction; The step of determining the flight target position based on the control instruction comprises: Under the alert mode command, determining the center position of the vehicle; determining a warning area based on the center position and the warning radius corresponding to the warning signal; The outer edge position point of the warning area is divided as the flight target position.

15. A vehicle, characterized in that: The invention comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the method for controlling a vehicle lamp according to any one of claims 9 to 14 are implemented; or the vehicle lamp according to any one of claims 1 to 8 are implemented.

16. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle lamp control method according to any one of claims 9 to 14 are implemented.

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