Double-lamp fusion image generation method and system for vehicle headlamp projection

Abstract

The invention provides a double-lamp fusion image generation method and system for vehicle headlamp projection, and relates to the technical field of projection image processing. The method comprises the steps of determining a coordinate transformation relation of projection areas of a left lamp and a right lamp based on an existing double-lamp calibration result; inputting a user-defined original image with any resolution; calculating left and right projection areas of the vehicle lamp on the ground based on a calibration result in the first step; appointing double lamps to cooperatively project to a target projection area in front of the vehicle; generating a left lamp projection sub-graph and a right lamp projection sub-graph through a double-lamp fusion algorithm, and carrying out gradient fusion processing on an overlapping region of double-lamp projection; and adjusting the image to match the resolution of the lamp, and outputting two images to be projected by the left lamp and the right lamp respectively. According to the invention, double-lamp cooperative projection of images with any resolution is realized, the projection coverage range is expanded, and the flexibility and personalized experience of an automobile lighting system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of projection image processing, in particular to a dual-lamp fusion image generation method and system for vehicle headlamp projection. BACKGROUND

[0002] Under the impetus of the wave of automobile intelligence, models such as ET9 and M9 have pioneered the front headlamp projection system, which represents the latest trend in the field of intelligent lighting. This technology uses high-resolution LED matrix or DLP projection technology to accurately control the light beam, achieving animation projection such as welcome, light carpet, driving guidance, and warning signals. These functions not only improve night driving safety and lane lines, but also provide personalized entertainment experiences and interactive lighting effects. However, existing car light projection systems usually only support limited built-in patterns and do not support user input for custom images. Moreover, the projection function is often completed by a single lamp, which cannot achieve dual-lamp collaborative fusion projection, resulting in limited pattern resolution and coverage.

[0003] The above problems are currently unsolved. SUMMARY

[0004] The present application aims to overcome at least one technical problem in the prior art and provides a dual-lamp fusion image generation method and system for vehicle headlamp projection.

[0005] On the one hand, an embodiment of the present invention provides a method for generating a dual-lamp fusion image projected by a vehicle headlight, the method comprising: step S1, obtaining a dual-lamp calibration result of the vehicle, obtaining a mapping function between a left lamp projection pattern pixel coordinate system and a ground coordinate system, a mapping function between a right lamp projection pattern pixel coordinate system and a ground coordinate system, and hardware resolutions of the left lamp and the right lamp; step S2, receiving a custom projection image input by a user; step S3, based on the dual-lamp calibration result of the vehicle and the custom projection image, calculating a left lamp projection area of ​​the left lamp projected onto the ground and a right lamp projection area of ​​the right lamp projected onto the ground; step S4, receiving a height and a width of a desired projection area input by the user, and determining a target projection area based on a preset projection starting line position; step S5, dividing the target projection area into a left lamp target projection area and a right lamp target projection area based on the left lamp projection area and the right lamp projection area; step S6, calculating a target projection overlapping area based on the left lamp target projection area and the right lamp target projection area; step S7, calculating a target projection overlapping area based on the left lamp target projection area The custom projection image is divided into a left-lamp projection sub-image and a right-lamp projection sub-image based on the proportion of the shadow area and the right-lamp target projection area in the target projection area; step S8, the target projection overlapping area is inversely mapped based on the mapping function between the left-lamp and right-lamp projection pattern pixel coordinate systems and the ground coordinate system, and the projection overlapping area of ​​the left-lamp projection sub-image and the projection overlapping area of ​​the right-lamp projection sub-image are obtained respectively; step S9, the brightness of the projection overlapping area of ​​the left-lamp projection sub-image is linearly attenuated in a first direction using a preset brightness linear attenuation formula; step S10, the brightness of the projection overlapping area of ​​the right-lamp projection sub-image is linearly attenuated in a second direction using a preset brightness linear attenuation formula; step S11, the left-lamp projection sub-image and the right-lamp projection sub-image after linear attenuation processing are scaled to the hardware resolution of the headlight to obtain the left-lamp projection image and the right-lamp projection image respectively; step S12, the left-lamp projection image and the right-lamp projection image are sent to the left headlight controller and the right headlight controller respectively for left and right headlight projection.

[0006] Furthermore, the step S3 includes: step S301, based on the predefined left light corner point pixel coordinates, a mapping function between the left light projection pattern pixel coordinate system and the ground coordinate system is used to calculate the corner point ground coordinates projected onto the ground coordinate system by the predefined left light corner point pixel coordinates, and the area enclosed by the pixel coordinates is the left light projection area; step S302, based on the predefined right light corner point pixel coordinates, a mapping function between the right light projection pattern pixel coordinate system and the ground coordinate system is used to calculate the corner point ground coordinates projected onto the ground coordinate system by the predefined right light corner point pixel coordinates, and the area enclosed by the right light projection area.

[0007] Further, the step S4 comprises: determining the height p and the width q of the projection area by parameter setting, so as to limit the projection range of the double lamps within a rectangular area in front of the vehicle head , and the rectangular area is the target projection area.

[0008] Further, the step S7 comprises: step S701, acquiring the width of the left lamp target projection area at the preset projection starting line position; step S702, calculating the ratio between the width of the left lamp target projection area at the preset projection starting line position and the width of the expected projection area input by the user; step S703, multiplying the ratio by the width of the custom projection image to obtain the width of the left lamp projection sub-image; step S704, dividing the left side area of the custom projection image based on the width of the left lamp projection sub-image to obtain the left lamp projection sub-image; step S705, acquiring the width of the right lamp target projection area at the preset projection starting line position; step S706, calculating the ratio between the width of the right lamp target projection area at the preset projection starting line position and the width of the expected projection area input by the user; step S707, multiplying the ratio by the width of the custom projection image to obtain the width of the right lamp projection sub-image; and step S708, dividing the right side area of the custom projection image based on the width of the right lamp projection sub-image to obtain the right lamp projection sub-image.

[0009] Further, the step S8 comprises: step S801, using inverse mapping based on the mapping function between the left lamp projection pattern pixel coordinate system and the ground coordinate system to obtain the coordinate points in the left lamp projection sub-image corresponding to the corner point coordinates of the target projection overlap area, and the area surrounded by the coordinate points is the projection overlap area of the left lamp projection sub-image; and step S802, using inverse mapping based on the mapping function between the right lamp projection pattern pixel coordinate system and the ground coordinate system to obtain the coordinate points in the right lamp projection sub-image corresponding to the corner point coordinates of the target projection overlap area, and the area surrounded by the coordinate points is the projection overlap area of the right lamp projection sub-image.

[0010] Further, the step S9 comprises: linearly reducing the pixel brightness in the projection overlap area of the left lamp projection sub-image along a first direction by using a brightness linear attenuation formula, and the first direction is from right to left; and the step S10 comprises: linearly reducing the pixel brightness in the projection overlap area of the right lamp projection sub-image along a second direction by using a brightness linear attenuation formula, and the second direction is from left to right.

[0011] Further, the preset linear attenuation formula is: ​; wherein the attenuation coefficient is a floating-point parameter with a value between 0 and 1, and the attenuation step is a normalized distance from the current pixel point of the vehicle lamp projection sub-image to the starting attenuation pixel.

[0012] Further, the step S9 comprises: in the projection overlapping area of the left lamp projection sub-image, the starting attenuation pixel is a pixel on the right boundary line in the area; the attenuation step being a normalized distance from the current pixel point of the vehicle lamp projection sub-image to the starting attenuation pixel comprises: a normalized value of the distance between the current pixel point and the pixel on the right boundary line in the area in the attenuation direction; the step S10 comprises: in the projection overlapping area of the right lamp projection sub-image, the starting attenuation pixel is a pixel on the left boundary line in the area; the attenuation step being a normalized distance from the current pixel point of the vehicle lamp projection sub-image to the starting attenuation pixel comprises: a normalized value of the distance between the current pixel point and the pixel on the left boundary line in the area in the attenuation direction.

[0013] Further, the step S11 comprises: a step S1101, obtaining the resolution of the left lamp projection sub-image after linear attenuation processing; a step S1102, comparing the resolution of the left lamp projection sub-image after linear attenuation processing with the left vehicle lamp hardware resolution; a step S1103, when the resolution of the left lamp projection sub-image after linear attenuation processing is smaller than the left vehicle lamp hardware resolution, enlarging the resolution of the left lamp projection sub-image after linear attenuation processing to the left vehicle lamp hardware resolution by means of two-dimensional bilinear difference; a step S1104, when the resolution of the left lamp projection sub-image after linear attenuation processing is greater than the left vehicle lamp hardware resolution, reducing the resolution of the left lamp projection sub-image after linear attenuation processing to the left vehicle lamp hardware resolution by means of downsampling; a step S1105, obtaining the resolution of the right lamp projection sub-image after linear attenuation processing; a step S1106, comparing the resolution of the right lamp projection sub-image after linear attenuation processing with the right vehicle lamp hardware resolution; a step S1107, when the resolution of the right lamp projection sub-image after linear attenuation processing is smaller than the right vehicle lamp hardware resolution, enlarging the resolution of the right lamp projection sub-image after linear attenuation processing to the right vehicle lamp hardware resolution by means of two-dimensional bilinear difference; a step S1108, when the resolution of the right lamp projection sub-image after linear attenuation processing is greater than the right vehicle lamp hardware resolution, reducing the resolution of the right lamp projection sub-image after linear attenuation processing to the right vehicle lamp hardware resolution by means of downsampling.

[0014] In a second aspect, an embodiment of the present application provides a system for generating a dual-lamp fusion image projected by a vehicle headlamp, which is implemented by using the method for generating a dual-lamp fusion image projected by a vehicle headlamp as described above. The system comprises: a dual-lamp calibration result acquisition module, which is adapted to acquire the dual-lamp calibration result of the vehicle, to obtain the mapping function between the pixel coordinate system of the left-lamp projection pattern and the ground coordinate system, the mapping function between the pixel coordinate system of the right-lamp projection pattern and the ground coordinate system, and the hardware resolution of the left lamp and the right lamp; a self-defined projection image input module, which is adapted to receive the self-defined projection image input by a user; a projection area mapping module, which is adapted to calculate the left-lamp projection area on the ground and the right-lamp projection area on the ground based on the dual-lamp calibration result of the vehicle and the self-defined projection image; a target projection area input module, which is adapted to receive the height and width of the expected projection area input by a user, and to determine the target projection area based on the preset projection starting line position; a target projection area mapping module, which is adapted to divide the target projection area into the left-lamp target projection area and the right-lamp target projection area based on the left-lamp projection area and the right-lamp projection area; a target projection overlap area calculation module, which is adapted to calculate the target projection overlap area based on the left-lamp target projection area and the right-lamp target projection area; a self-defined projection image division module, which is adapted to divide the self-defined projection image into the left-lamp projection sub-image and the right-lamp projection sub-image based on the proportion of the left-lamp target projection area and the right-lamp target projection area in the target projection area; an inverse mapping module, which is adapted to use inverse mapping to obtain the projection overlap area of the left-lamp projection sub-image and the projection overlap area of the right-lamp projection sub-image based on the mapping function between the pixel coordinate system of the left-lamp and right-lamp projection patterns and the ground coordinate system; a decay processing module, which is adapted to perform linear decay processing on the projection overlap area brightness of the left-lamp projection sub-image in a first direction by using a preset brightness linear decay formula, and to perform linear decay processing on the projection overlap area brightness of the right-lamp projection sub-image in a second direction by using a preset brightness linear decay formula; a left-lamp and right-lamp projection image generation module, which is adapted to scale the left-lamp projection sub-image and the right-lamp projection sub-image after linear decay processing to the hardware resolution of the vehicle lamps to obtain the left-lamp projection image and the right-lamp projection image, respectively; and a projection image sending module, which is adapted to send the left-lamp projection image and the right-lamp projection image to the left-lamp controller and the right-lamp controller, respectively, for left-lamp and right-lamp projection.

[0015] In a third aspect, an embodiment of the present application further provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the method for generating a dual-lamp fusion image projected by a vehicle headlamp as described above is implemented.

[0016] In a fourth aspect, the embodiments of the present application further provide a readable storage medium, when instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the vehicle headlamp projection double-lamp fusion image generation method described above.

[0017] Compared with the prior art, the present application has the following beneficial effects: the present application generates images for left and right lamp projection through a double-lamp fusion algorithm, realizes double-lamp cooperative projection of images of any resolution in a vehicle headlamp projection system, and compared with the single-lamp projection built-in pattern method, not only expands the projection coverage range under the premise of maintaining the original brightness uniformity, but also improves the flexibility of the automobile lighting system (supports personalized pattern input and left and right lamp pattern adaptive generation). BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described below in conjunction with the drawings and embodiments.

[0019] Figure 1 is a vehicle headlamp projection double-lamp fusion image generation method flowchart provided by the embodiment 1 of the present application.

[0020] Figure 2 is a left lamp projection area and right lamp projection area schematic diagram provided by the embodiment 1 of the present application.

[0021] Figure 3 is a target projection area schematic diagram provided by the embodiment 1 of the present application.

[0022] Figure 4 is a target projection overlap area schematic diagram provided by the embodiment 1 of the present application.

[0023] Figure 5 is a vehicle headlamp projection double-lamp fusion image generation system structure schematic diagram provided by the embodiment 2 of the present application.

[0024] Figure 6 is a partial block diagram of an electronic device provided by the embodiment 3 of the present application. DETAILED DESCRIPTION

[0025] Before the example embodiments are discussed in more detail, it should be mentioned that some of the example embodiments are described as processes or methods depicted as flow charts. While the processes are described in serial, many of the operations can be performed in parallel, concurrently or even simultaneously. In addition, the order of the operations can be re-arranged. The processes can be terminated when their operations are completed, but can also have additional steps not included in the figure. The processes can correspond to methods, functions, procedures, subroutines, subprograms, etc.

[0026] It should be understood that, although the terms "first", "second", etc. can be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of the example embodiments, a first element can be called a second element, and similarly a second element can be called a first element. The term "and / or" as used herein includes any and all combinations of one or more of the associated associated items.

[0027] The present application will now be described in detail in connection with the drawings. The drawing is a simplified schematic diagram, which only schematically illustrates the basic structure of the present application, and thus only shows the components related to the present application.

[0028] Embodiment 1 For ease of understanding, the overall inventive concept of the present application is described here: the present application aims to provide a method and system for generating a dual-lamp fusion image of vehicle headlight projection, to solve the problem that the prior art only supports limited built-in patterns, does not support user input custom images, and the projection function is often completed by a single lamp, which cannot realize dual-lamp collaborative fusion projection, resulting in limited pattern resolution and coverage. The overall inventive concept of the present application is to solve the limitations of the existing vehicle headlight projection system, and the core goal is to realize "dual-lamp collaborative projection of user-defined images". Through technical innovation, the limitations of single-lamp projection, built-in pattern limitations, and uneven brightness in overlapping areas are broken through, and the specific concept can be summarized as: 1. The existing headlight projection system has two core problems: one is that it only supports built-in limited patterns, lacking personalization; the other is that it relies on single-lamp projection, with small coverage and limited resolution. The present application takes solving these pain points as the starting point, proposes the overall idea of "dual-lamp collaboration + custom image adaptation", and realizes flexible projection of user-defined images through algorithm adaptation.

[0029] 2、To realize the cooperative projection of double headlights, two key problems of "precise matching of projection area" and "natural fusion of overlapping area" need to be solved, therefore a whole process technical path from "calibration-input-computation-generation-adaptation" is designed, including: basic calibration: through the coordinate transformation relationship (mapping function) established by the calibration results of double headlights, the pixel coordinate system of the projection pattern of the vehicle headlight is accurately mapped with the ground coordinate system, laying a foundation for the spatial matching of double headlight projection; image input and range control: supporting the user to input original images of any resolution and any common format, and allowing to define the projection area flexibly by specifying the height (p) and width (q) to meet the individualization and scene needs; overlapping area processing: through the calculation of the ground coordinates of the projection angle points of the left and right headlights, the overlapping trapezoidal area is accurately positioned, and then the gradient fusion algorithm (left headlight attenuation from right to left, right headlight attenuation from left to right) is used to solve the problem of high brightness in the overlapping area, ensuring the uniformity of the projection effect; resolution adaptation: through interpolation or downsampling, the resolution of the generated left and right headlight sub-images is adjusted to match the hardware specifications (MxN) of the lamp, ensuring the algorithm compatibility.

[0030] The specific implementation is as follows: As shown in Figure 1 , it is a flow chart of a double headlight fusion image generation method for vehicle front headlight projection provided by the present application.

[0031] As an example, the method comprises: step S1, obtaining the double-lamp calibration result of the vehicle to obtain the mapping function between the left-lamp projection pattern pixel coordinate system and the ground coordinate system, the mapping function between the right-lamp projection pattern pixel coordinate system and the ground coordinate system, and the hardware resolution of the left lamp and the right lamp; step S2, receiving a user-input custom projection image; step S3, based on the double-lamp calibration result of the vehicle and the custom projection image, calculating the left-lamp projection area on the ground and the right-lamp projection area on the ground; step S4, receiving the height and width of the expected projection area input by the user, and determining the target projection area based on the preset projection starting line position; step S5, dividing the target projection area into a left-lamp target projection area and a right-lamp target projection area based on the left-lamp projection area and the right-lamp projection area; step S6, calculating a target projection overlap area based on the left-lamp target projection area and the right-lamp target projection area; step S7, dividing the custom projection image into a left-lamp projection sub-image and a right-lamp projection sub-image based on the proportion of the left-lamp target projection area and the right-lamp target projection area in the target projection area; step S8, using inverse mapping based on the mapping function between the left-lamp and right-lamp projection pattern pixel coordinate system and the ground coordinate system to respectively obtain the projection overlap area of the left-lamp projection sub-image and the projection overlap area of the right-lamp projection sub-image; step S9, performing linear attenuation processing in a first direction on the projection overlap area of the left-lamp projection sub-image using a preset brightness linear attenuation formula; step S10, performing linear attenuation processing in a second direction on the projection overlap area of the right-lamp projection sub-image using a preset brightness linear attenuation formula; step S11, scaling the left-lamp projection sub-image and the right-lamp projection sub-image after linear attenuation processing to the hardware resolution of the vehicle lamps to respectively obtain a left-lamp projection image and a right-lamp projection image; and step S12, sending the left-lamp projection image and the right-lamp projection image to a left-lamp controller and a right-lamp controller respectively for left-lamp and right-lamp projection.

[0032] In some possible embodiments, the step S1 of obtaining the double-lamp calibration result of the vehicle to obtain the mapping function between the left-lamp projection pattern pixel coordinate system and the ground coordinate system, the mapping function between the right-lamp projection pattern pixel coordinate system and the ground coordinate system, and the hardware resolution of the left lamp and the right lamp comprises: based on an existing double-lamp calibration result (the calibration process can use existing technology, and the calibration details are not involved in the present embodiment, that is, the technical solution of the present embodiment is performed on a vehicle lamp that has been calibrated at the factory), determining the coordinate transformation relationship of the projection areas of the left lamp and the right lamp, for example, using the known resolution of the left-side projection headlamp , the coordinate position of a certain point on the pattern projected onto the ground is , then the invertible matrix As a mapping function, the headlight projection pattern is mapped to the ground physical plane Similarly, the mapping function of the right projection headlight is .in The coordinates are the positions of a certain point in the coordinate system with the center of the vehicle head as the origin, the horizontal forward as the horizontal coordinate, and the horizontal left as the vertical coordinate. The result of the dual-lamp calibration is ( , , M, N), where is the inherent resolution of the headlight hardware. In this embodiment, it is assumed that the hardware inherent resolutions of the left and right headlights are the same, both .

[0033] In some feasible implementations, the step S2 of receiving a user-defined projection image includes: inputting a user-defined original image of any resolution, such as a common image format such as PNG, JPEG, etc., and recording the resolution of the image as (number of pixels in horizontal and vertical directions).

[0034] In some feasible embodiments, combined with Figure 2 As shown, the step S3 includes: step S301, based on the predefined left light corner point pixel coordinates, a mapping function between the left light projection pattern pixel coordinate system and the ground coordinate system is used to calculate the corner point ground coordinates projected onto the ground coordinate system by the predefined left light corner point pixel coordinates, and the area enclosed by the pixel coordinates is the left light projection area; step S302, based on the predefined right light corner point pixel coordinates, a mapping function between the right light projection pattern pixel coordinate system and the ground coordinate system is used to calculate the corner point ground coordinates projected onto the ground coordinate system by the predefined right light corner point pixel coordinates, and the area enclosed by the right light projection area.

[0035] Preferably, the mapping function in step S1 Calculate the corner points of the custom projected image 、 、 、 The position projected by the left light to the ground coordinate system is 、 、 、 , and then through the mapping function Calculate the corner points of the custom projected image 、 、 、 The position projected by the right light to the ground coordinate system is 、 、 、 , the overlapping area of ​​the left and right lights is 、 、 、 The trapezoidal area enclosed by the left light projection area is 、 、 、 The trapezoidal area enclosed by the right lamp has a projection area of 、 、 、 Enclosed trapezoidal area.

[0036] In some feasible embodiments, combined with Figure 3 As shown, the step S4 includes: determining the height p and width q of the projection area by setting parameters so that the projection range of the dual lights is limited to the front of the vehicle. In the rectangular area, the The rectangular area is the target projection area. This target projection area represents the ground range that the user wants to cover in the final synthesized complete image. The boundary definition of the target projection area in the ground coordinate system is usually represented by the coordinates of four corner points, including: lower left corner t7 (0, -q / 2), lower right corner t4 (0, q / 2), upper left corner t6 (p, -q / 2), and upper right corner t1 (p, q / 2).

[0037] In some feasible embodiments, combined with Figure 4 As shown, the step S5, dividing the target projection area into a left light target projection area and a right light target projection area based on the left light projection area and the right light projection area, includes: the left light projection area is 、 、 、 The trapezoidal area enclosed by the right lamp has a projection area of 、 、 、 The target projection area is the area enclosed by the lower left corner point t7 (d, -q / 2), the lower right corner point t4 (d, q / 2), the upper left corner point t6 (p+d, -q / 2), and the upper right corner point t1 (p+d, q / 2), where d is the horizontal distance between the projection starting line and the y-axis. The corner points of the left light target projection area are t6, t7, t8, and t5, that is, the area enclosed by t6, t7, t8, and t5 is the target projection area of ​​the left light, where t8 is the corner point of the left light projection area. Coincident, t5 is the line parallel to the y-axis and the coordinate point x=p in the ground coordinate system Similarly, the corner points of the right light's target projection area are t1, t2, t3, and t4.

[0038] In some possible implementation manners, the step S6 comprises: Figure 4 As shown in the figure, the step S6 comprises: obtaining the left lamp target projection region based on the region surrounded by t6, t7, t8 and t5, and the right lamp target projection region based on the region surrounded by t1, t2, t3 and t4, and the overlapping part of the two regions is the target projection overlapping region, i.e., the region surrounded by the corner points t2, t3, t8 and t5 is the target projection overlapping region.

[0039] In some possible implementation manners, the step S7 comprises: a step S701 of obtaining the width of the left lamp target projection region at the preset projection starting line position; a step S702 of calculating the ratio between the width of the left lamp target projection region at the preset projection starting line position and the width of the expected projection region input by the user; a step S703 of multiplying the ratio by the width of the custom projection image to obtain the width of the left lamp projection sub-image; a step S704 of dividing the left side region of the custom projection image based on the width of the left lamp projection sub-image to obtain the left lamp projection sub-image; a step S705 of obtaining the width of the right lamp target projection region at the preset projection starting line position; a step S706 of calculating the ratio between the width of the right lamp target projection region at the preset projection starting line position and the width of the expected projection region input by the user; a step S707 of multiplying the ratio by the width of the custom projection image to obtain the width of the right lamp projection sub-image; and a step S708 of dividing the right side region of the custom projection image based on the width of the right lamp projection sub-image to obtain the right lamp projection sub-image.

[0040] Preferably, the step S7 comprises: Figure 4 As shown in the figure, the division ratio of the custom projection image is the distance between the corner point t7 and the corner point t8 / the distance between the corner point t7 and the corner point t4. That is, the left lamp projection sub-image is the left part region of the custom projection image divided in the ratio, and the right lamp projection sub-image is the right part region of the custom projection image divided in the ratio of the distance between the corner point t3 and the corner point t4 / the distance between the corner point t7 and the corner point t4.

[0041] In some possible implementation manners, the step S8 comprises: step S801, adopting inverse mapping based on a mapping function between a left lamp projection pattern pixel coordinate system and a ground coordinate system to obtain a coordinate point corresponding to the corner point coordinate of the target projection overlap region in the left lamp projection sub-image, and a region surrounded by the coordinate point is a projection overlap region of the left lamp projection sub-image; and step S802, adopting inverse mapping based on a mapping function between a right lamp projection pattern pixel coordinate system and the ground coordinate system to obtain a coordinate point corresponding to the corner point coordinate of the target projection overlap region in the right lamp projection sub-image, and a region surrounded by the coordinate point is a projection overlap region of the right lamp projection sub-image.

[0042] Preferably, the region surrounded by the corner points t2, t3, t8 and t5 is the target projection overlap region, the mapping function obtained through the step S1 is and the mapping function is used to calculate the corner points t2, t3, t8 and t5 in the inverse mapping manner, respectively, to obtain coordinate positions of the corner points t2, t3, t8 and t5 in the left lamp projection sub-image as and coordinate positions of the corner points t2, t3, t8 and t5 in the right lamp projection sub-image as That is, through the step, positions needing brightness attenuation in the left lamp projection sub-image and the right lamp projection sub-image can be obtained, and since the illumination in the target projection overlap region is irradiated by the left lamp and the right lamp together, if the overlap region is not processed in brightness, the illumination in the overlap region is relatively high, and the brightness of the final left lamp projection pattern and the right lamp projection pattern is uneven.

[0043] In some possible implementation manners, the step S9 comprises: linearly lowering pixel brightness in the projection overlap region of the left lamp projection sub-image in a first direction by using a brightness linear attenuation formula, and the first direction is from right to left; and the step S10 comprises: linearly lowering pixel brightness in the projection overlap region of the right lamp projection sub-image in a second direction by using a brightness linear attenuation formula, and the second direction is from left to right.

[0044] Preferably, the region needing brightness attenuation processing in the left lamp projection sub-image is a region surrounded by the corner points , and linear brightness attenuation is performed in the region from right to left, and the preset linear attenuation formula is . The attenuation coefficient is a floating point parameter of 0 to 1, and the attenuation step is a normalized distance from a current pixel point of a lamp projection sub-image to a starting attenuation pixel. In the projection overlapping area of the left lamp projection sub-image, the starting attenuation pixel is a pixel on the right boundary line in the area. The attenuation step is a normalized value of a distance of the current pixel point and the pixel on the right boundary line in the area in the attenuation direction. That is, the distance value from the current pixel point to the starting attenuation pixel is normalized to be in the range of [0, 1], and the distance is a vertical distance from the current pixel point to the starting attenuation pixel. That is, in the area of the left lamp projection sub-image that needs to be processed by the brightness attenuation, the closer to the right side of the pixel, the more the brightness attenuation, and the closer to the left side of the new pixel, the less the brightness attenuation.

[0045] Preferably, the step S10 includes that, in the projection overlapping area of the right lamp projection sub-image, the starting attenuation pixel is a pixel on the left boundary line in the area; and the attenuation step is a normalized value of a distance of the current pixel point and the pixel on the left boundary line in the area in the attenuation direction. Similarly, the area of the right lamp projection sub-image that needs to be processed by the brightness attenuation is the area surrounded by the corner point The preset linear attenuation formula is: .

[0046] That is, in the area of the right lamp projection sub-image that needs to be processed by the brightness attenuation, the closer to the left side of the pixel, the more the brightness attenuation, and the closer to the right side of the new pixel, the less the brightness attenuation.

[0047] In some feasible implementations, the step S11 includes: step S1101, obtaining the resolution of the left light projection sub-image after linear attenuation processing; step S1102, comparing the resolution of the left light projection sub-image after linear attenuation processing with the left headlight hardware resolution; step S1103, when the resolution of the left light projection sub-image after linear attenuation processing is less than the left headlight hardware resolution, amplifying the resolution of the left light projection sub-image after linear attenuation processing to the left headlight hardware resolution by a two-dimensional bilinear interpolation method; step S1104, when the resolution of the left light projection sub-image after linear attenuation processing is greater than the left headlight hardware resolution, reducing the resolution of the left light projection sub-image after linear attenuation processing by a downsampling method. As small as the hardware resolution of the left headlight; step S1105, obtaining the resolution of the right headlight projection sub-image after linear attenuation processing; step S1106, comparing the resolution of the right headlight projection sub-image after linear attenuation processing with the hardware resolution of the right headlight; step S1107, when the resolution of the right headlight projection sub-image after linear attenuation processing is smaller than the hardware resolution of the right headlight, amplifying the resolution of the right headlight projection sub-image after linear attenuation processing to the hardware resolution of the right headlight by means of two-dimensional bilinear interpolation; step S1108, when the resolution of the right headlight projection sub-image after linear attenuation processing is larger than the hardware resolution of the right headlight, reducing the resolution of the right headlight projection sub-image after linear attenuation processing to the hardware resolution of the right headlight by means of downsampling.

[0048] Preferably, the resolution of the left light projection sub-image outputted in the analysis step S10 is and the resolution of the right light projected sub-image , compared with the inherent resolution of the headlight hardware in step S1 .

[0049] Resolution adjustment based on comparison results: Case 1: :Use image magnification interpolation algorithm. Preferably, two-dimensional bilinear interpolation (Bilinear Interpolation). Principle: For the target Each pixel on the image is The new pixel value is calculated by weighted average calculation of the values ​​of the four known pixels around the image. The effect is smooth and can better preserve the image information. Case 2: :Use image reduction (downsampling) algorithm. Optimize the nearest neighbor downsampling (Nearest Neighbor Downsampling). Principle: For the target For each pixel on the image, directly take the original The value of the pixel closest to the position in the image. The calculation is simple and fast. Case 3: : No adjustment is needed. Similarly, the resolution of the right light projection sub-image is also adjusted in the same way, and will not be described here. The final output: two image files or data streams with a resolution of for the left front light projection controller and for the right front light projection controller.

[0050] The double-lamp fusion image generation method in the vehicle headlight projection system in the above embodiment has the following significant advantages, which solve the limitations of existing systems from multiple dimensions such as technical breakthroughs, functional expansion, and user experience improvement: (1) Support for user-defined images, breaking the built-in pattern limit: Existing systems usually only support a limited number of built-in patterns (such as welcome carpet, fixed warning symbols, etc.), while this method allows the input of user-defined arbitrary resolution original images (supporting PNG, JPEG, etc. Common formats). This feature greatly improves the personalized experience, allowing users to project custom patterns (such as personalized logos, temporary information prompts, etc.), expanding the application scenarios of car light projection (such as custom welcome effects, scenario-based interactive projection, etc.).

[0051] (2) Double-lamp collaborative projection, expanding the coverage: Traditional single-lamp projection is limited by single-lamp resolution and projection angle, with limited coverage. This method works with left and right lights based on the calibrated coordinate transformation relationship to determine the projection area, and can adjust the coverage by specifying the height (p meters) and width (q meters) of the projection area. Double-lamp cooperation breaks through the physical limitations of single-lamp, enabling the projection of larger images (such as a rectangular area of p meters x q meters in front of the car), improving the practicality of lighting and projection (such as wider carpet coverage, longer information prompts, etc.).

[0052] (3) Gradual fusion in overlapping areas, ensuring uniformity of projection effect: Double-lamp projection inevitably has overlapping areas, and if directly superimposed, the brightness of the area will be too high, causing "overexposure" or visual discontinuity. This method uses a double-lamp fusion algorithm to specifically process the overlapping area: the projection overlapping area of the left light projection sub-image decays linearly from right to left, and the projection overlapping area of the right light projection sub-image decays linearly from left to right (the decay formula accurately controls the brightness change), ensuring smooth transition of brightness between the overlapping area and the non-overlapping area, and the overall projection effect is uniform and natural, avoiding visual defects.

[0053] (4) Adapt to the resolution of the lamp, compatible with different hardware specifications: the resolution (MxN) of the headlamp projection system of different vehicle models may differ. This method adapts to the hardware through a flexible resolution adjustment strategy: if the generated sub-image resolution is less than the resolution of the lamp, it is enlarged through two-dimensional bilinear interpolation; if it is greater, it is reduced through nearest neighbor downsampling. This feature enhances the versatility of the method, making it compatible with high-resolution light sources of different resolutions (such as megapixel LED matrix, DLP digital light processing technology), reducing dependence on specific hardware.

[0054] (5) Expand the boundaries of intelligent lighting functions, improve driving safety and experience: combined with high-resolution light source technology, this method supports more complex dual-lamp coordination functions (such as dynamic driving guidance, large-scale warning signal projection, etc.), which can assist driving at night through larger and clearer projected information (such as lane guidance, obstacle warning). The combination of personalized projection and precise control also improves user interaction experience (such as custom welcome animations, scene-based lighting effects), in line with the development trend of automotive intelligence and personalization.

[0055] In summary, this method solves the limitations of existing systems in terms of personalization, coverage range, and projection effect, taking into account practicality, compatibility, and user experience, providing key technical support for the upgrade of vehicle headlamp projection systems.

[0056] Embodiment 2 Please refer to Figure 5 The embodiment provides a vehicle headlamp projection dual-lamp fusion image generation system structure diagram.

[0057] As an example, the system is implemented using the vehicle headlamp projection dual-lamp fusion image generation method described in embodiment 1. The system includes: A dual-lamp calibration result acquisition module 500 is adapted to acquire the dual-lamp calibration result of the vehicle, obtain the mapping function between the left lamp projection pattern pixel coordinate system and the ground coordinate system, and the mapping function between the right lamp projection pattern pixel coordinate system and the ground coordinate system, and the hardware resolution of the left lamp and the right lamp.

[0058] A custom projection image input module 510 is adapted to receive user input of a custom projection image.

[0059] A projection area mapping module 520 is adapted to calculate the left lamp projection area on the ground and the right lamp projection area on the ground based on the dual-lamp calibration result of the vehicle and the custom projection image.

[0060] A target projection area input module 530 is adapted to receive the height and width of the desired projection area input by the user, and determine the target projection area based on the preset projection starting line position.

[0061] The target projection area mapping module 540 is adapted to divide the target projection area into a left lamp target projection area and a right lamp target projection area based on the left lamp projection area and the right lamp projection area.

[0062] The target projection overlap area calculation module 550 is adapted to calculate the target projection overlap area based on the left light target projection area and the right light target projection area.

[0063] The custom projection image division module 560 is adapted to divide the custom projection image into a left-lamp projection sub-image and a right-lamp projection sub-image based on the proportions of the left-lamp target projection area and the right-lamp target projection area in the target projection area.

[0064] The inverse mapping module 570 is adapted to inversely map the target projection overlap area based on a mapping function between the left and right light projection pattern pixel coordinate systems and the ground coordinate system, thereby obtaining the projection overlap area of ​​the left light projection sub-image and the projection overlap area of ​​the right light projection sub-image, respectively.

[0065] The attenuation processing module 580 is adapted to perform linear attenuation processing on the brightness of the projection overlapping area of ​​the left-light projection sub-image using a preset brightness linear attenuation formula in a first direction; and to perform linear attenuation processing on the brightness of the projection overlapping area of ​​the right-light projection sub-image using a preset brightness linear attenuation formula in a second direction.

[0066] The left and right headlight projection image generation module 590 is adapted to scale the left headlight projection sub-image and the right headlight projection sub-image after linear attenuation processing to the vehicle headlight hardware resolution to obtain the left headlight projection image and the right headlight projection image respectively.

[0067] The projection image sending module 5100 is adapted to send the left light projection image and the right light projection image to the left light controller and the right light controller respectively for left and right light projection.

[0068] It is not difficult to find that this embodiment is a system embodiment corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0069] It is worth mentioning that each module involved in the embodiment is a logic unit, which can be a physical unit, a part of a physical unit, or a combination of multiple physical units in actual application. In addition, in order to highlight the innovative part of the application, units not closely related to solving the technical problems proposed in the application are not introduced in the embodiment, but this does not mean that there are no other units in the embodiment.

[0070] Embodiment 3 Please refer to Figure 6 The embodiment of the application further provides an electronic device, including a memory and a processor; the memory stores at least one program instruction; the processor realizes the vehicle headlamp projection double-lamp fusion image generation method provided in the embodiment 1 by loading and executing the at least one program instruction.

[0071] The memory 602 and the processor 601 are connected in a bus manner, and the bus can include any number of interconnected buses and bridges. The bus connects one or more processors 601 and various circuits of the memory 602 together. The bus can also connect various other circuits such as peripheral devices, voltage stabilizers, and power management circuits together, which are well known in the art, and therefore, further description is not given herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements such as multiple receivers and transmitters, which provide a unit for communicating with various other devices on the transmission medium. The data processed by the processor 601 is transmitted on the wireless medium through the antenna, and further, the antenna also receives data and transmits the data to the processor 601.

[0072] The processor 601 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. The memory 602 can be used to store data used by the processor 601 in performing operations.

[0073] Embodiment 4 The embodiment of the application further provides a storage medium, and the storage medium stores the vehicle headlamp projection double-lamp fusion image generation method. The vehicle headlamp projection double-lamp fusion image generation program is executed by the processor to realize the steps of the vehicle headlamp projection double-lamp fusion image generation method as described above. Since the storage medium adopts all the technical solutions of all the embodiments described above, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described here.

[0074] The above-mentioned are only embodiments of the present application, and the common knowledge of specific structures and characteristics in the scheme is not described too much herein. The ordinary skilled person in the art knows all the ordinary technical knowledge in the field of the present application before the application date or the priority date, can know all the prior art in the field, and has the ability to apply conventional experimental means before that date. The ordinary skilled person in the art can perfect and implement the present scheme under the guidance of the present application, combined with their own ability. Some typical known structures or known methods should not be an obstacle for the ordinary skilled person in the art to implement the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application. The scope of protection of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

Claims

1. A method for generating a dual-light fusion image projected by a vehicle headlight, characterized in that: The method comprises: Step S1: Obtain dual-headlight calibration results of the vehicle, obtain a mapping function between a left headlight projection pattern pixel coordinate system and a ground coordinate system, a mapping function between a right headlight projection pattern pixel coordinate system and a ground coordinate system, and hardware resolutions of the left and right headslights; Step S2: receiving a custom projection image input by a user; Step S3: Based on the dual-lamp calibration result of the vehicle and the customized projection image, calculate the left lamp projection area of ​​the left lamp and the right lamp projection area of ​​the right lamp; Step S4: receiving the height and width of the desired projection area input by the user, and determining the target projection area based on the preset projection starting line position; Step S5: dividing the target projection area into a left light target projection area and a right light target projection area based on the left light projection area and the right light projection area; Step S6: Calculate the target projection overlapping area based on the left light target projection area and the right light target projection area; Step S7: dividing the custom projection image into a left-light projection sub-image and a right-light projection sub-image based on the proportions of the left-light target projection area and the right-light target projection area in the target projection area; Step S8: Inversely mapping the target projection overlap area based on the mapping function between the left and right light projection pattern pixel coordinate systems and the ground coordinate system to obtain the projection overlap area of ​​the left light projection sub-image and the projection overlap area of ​​the right light projection sub-image respectively; Step S9: performing linear attenuation processing on the brightness of the overlapping area of ​​the projection sub-image of the left light using a preset brightness linear attenuation formula in a first direction; Step S10: performing linear attenuation processing on the brightness of the overlapping area of ​​the projection sub-image of the right light projection in the second direction using a preset brightness linear attenuation formula; Step S11: scaling the left light projection sub-image and the right light projection sub-image after the linear attenuation processing to the vehicle light hardware resolution to obtain the left light projection image and the right light projection image respectively; Step S12: sending the left light projection image and the right light projection image to the left light controller and the right light controller respectively for left and right light projection.

2. The method for generating a dual-lamp fusion image projected by a vehicle headlight according to claim 1, characterized in that: The step S3 comprises: Step S301: Based on the predefined left light corner pixel coordinates, a mapping function between the left light projection pattern pixel coordinate system and the ground coordinate system is used to calculate the ground coordinates of the corner points projected onto the ground coordinate system by using the predefined left light corner pixel coordinates. The area enclosed by the predefined left light corner pixel coordinates is the left light projection area. Step S302: Based on the predefined right light corner pixel coordinates, a mapping function between the right light projection pattern pixel coordinate system and the ground coordinate system is used to calculate the corner ground coordinates projected from the predefined right light corner pixel coordinates to the ground coordinate system. The area enclosed by the predefined right light corner pixel coordinates is the right light projection area.

3. The method for generating a dual-lamp fusion image projected by a vehicle headlight according to claim 1, characterized in that: The step S4 comprises: The height p and width q of the projection area are determined by parameter settings, so that the projection range of the dual lights is limited to the front of the vehicle. In the rectangular area, the The rectangular area is the target projection area.

4. The method for generating a dual-lamp fusion image projected by a vehicle headlight according to claim 1, characterized in that: The step S7 comprises: Step S701: obtaining the width of the left light target projection area at a preset projection start line position; Step S702: Calculate the ratio between the width of the left light target projection area at the preset projection start line position and the width of the desired projection area input by the user; Step S703: multiplying the ratio by the width of the custom projection image to obtain the width of the left light projection sub-image; Step S704: Divide the left area of ​​the custom projection image based on the width of the left light projection sub-image to obtain a left light projection sub-image; Step S705: obtaining the width of the right light target projection area at the preset projection start line position; Step S706: Calculate the ratio between the width of the right light target projection area at the preset projection start line position and the width of the desired projection area input by the user; Step S707: multiply the ratio by the width of the custom projection image to obtain the width of the sub-image projected by the right light; Step S708: Divide the right area of ​​the custom projection image based on the width of the right light projection sub-image to obtain the right light projection sub-image.

5. The method for generating a dual-lamp fusion image projected by a vehicle headlight according to claim 1, characterized in that: The step S8 comprises: Step S801: Inversely mapping the corner coordinates of the target projection overlap area based on a mapping function between the left light projection pattern pixel coordinate system and the ground coordinate system to obtain coordinate points in the left light projection sub-image corresponding to the corner coordinates of the target projection overlap area. The area enclosed by these coordinate points is the projection overlap area of ​​the left light projection sub-image. Step S802: The coordinates of the corner points of the target projection overlapping area are inversely mapped based on the mapping function between the pixel coordinate system of the right light projection pattern and the ground coordinate system to obtain coordinate points in the right light projection sub-image corresponding to the coordinates of the corner points of the target projection overlapping area. The area enclosed by the coordinate points is the projection overlapping area of ​​the right light projection sub-image.

6. The method for generating a dual-lamp fusion image projected by a vehicle headlight according to claim 1, characterized in that: The step S9 includes: In the overlapping area of ​​the projection sub-images of the left light, the pixel brightness is linearly reduced along a first direction using a brightness linear attenuation formula, where the first direction is from right to left; The step S10 includes: In the projection overlapping area of ​​the right light projected sub-image, the pixel brightness is linearly reduced along the second direction using a brightness linear attenuation formula, where the second direction is from left to right.

7. The method for generating a dual-lamp fusion image projected by a vehicle headlight according to claim 6, characterized in that: The preset linear attenuation formula is: ； The attenuation coefficient is a floating-point parameter ranging from 0 to 1, and the attenuation step is the normalized distance from the current pixel point of the headlight projection sub-image to the starting attenuation pixel.

8. The method for generating a dual-lamp fusion image projected by a vehicle headlight according to claim 7, characterized in that: The step S9 includes: In the overlapping projection area of ​​the left light projection sub-image, the starting attenuation pixel is the pixel on the right boundary line of the area; The attenuation step is the normalized distance from the current pixel of the headlight projection sub-image to the starting attenuation pixel, including: the normalized value of the distance between the current pixel and the pixel on the right boundary line in the area in the attenuation direction; The step S10 includes: In the overlapping projection area of ​​the right light projection sub-image, the starting attenuation pixel is the pixel on the left boundary line of the area; The attenuation step is the normalized distance from the current pixel point of the headlight projection sub-image to the starting attenuation pixel, including: the normalized value of the distance between the current pixel point and the pixel on the left boundary line in the area in the attenuation direction.

9. The method for generating a dual-lamp fusion image projected by a vehicle headlight according to claim 1, characterized in that: The step S11 includes: Step S1101: Obtain the resolution of the left light projection sub-image after linear attenuation processing; Step S1102: Compare the resolution of the left headlight projection sub-image after the linear attenuation processing with the left headlight hardware resolution; Step S1103: When the resolution of the left headlight projection sub-image after the linear attenuation processing is smaller than the left headlight hardware resolution, the resolution of the left headlight projection sub-image after the linear attenuation processing is amplified to the left headlight hardware resolution by using a two-dimensional bilinear interpolation method; Step S1104: When the resolution of the left headlight projection sub-image after the linear attenuation processing is greater than the left headlight hardware resolution, the resolution of the left headlight projection sub-image after the linear attenuation processing is reduced to the left headlight hardware resolution by downsampling; Step S1105: Obtain the resolution of the right light projection sub-image after linear attenuation processing; Step S1106: Compare the resolution of the right headlight projection sub-image after the linear attenuation processing with the hardware resolution of the right headlight; Step S1107: When the resolution of the right headlight projection sub-image after the linear attenuation processing is smaller than the right headlight hardware resolution, the resolution of the right headlight projection sub-image after the linear attenuation processing is amplified to the right headlight hardware resolution by using a two-dimensional bilinear interpolation method; Step S1108: When the resolution of the right headlight projection sub-image after the linear attenuation processing is greater than the right headlight hardware resolution, the resolution of the right headlight projection sub-image after the linear attenuation processing is reduced to the right headlight hardware resolution by downsampling.

10. A system for generating a dual-light fusion image projected by a vehicle headlight, the system being implemented by the method for generating a dual-light fusion image projected by a vehicle headlight according to any one of claims 1 to 9, characterized in that: The system comprises: a dual-lamp calibration result acquisition module adapted to acquire the dual-lamp calibration result of the vehicle, obtain a mapping function between the left lamp projection pattern pixel coordinate system and the ground coordinate system, a mapping function between the right lamp projection pattern pixel coordinate system and the ground coordinate system, and the hardware resolutions of the left and right lamps; A custom projection image input module, adapted to receive a custom projection image input by a user; A projection area mapping module is adapted to calculate a left light projection area and a right light projection area projected onto the ground by the left light and the right light, based on the dual-light calibration results of the vehicle and a custom projection image; The target projection area input module is adapted to receive the height and width of the desired projection area input by the user, and determine the target projection area based on the preset projection starting line position; a target projection area mapping module, adapted to divide the target projection area into a left light target projection area and a right light target projection area based on the left light projection area and the right light projection area; a target projection overlap area calculation module, adapted to calculate a target projection overlap area based on the left light target projection area and the right light target projection area; A custom projection image division module, adapted to divide the custom projection image into a left-lamp projection sub-image and a right-lamp projection sub-image based on the proportions of the left-lamp target projection area and the right-lamp target projection area in the target projection area; an inverse mapping module adapted to perform inverse mapping on the target projection overlap area based on a mapping function between the pixel coordinate systems of the projection patterns of the left and right lights and the ground coordinate system, thereby obtaining a projection overlap area of ​​the left light projection sub-image and a projection overlap area of ​​the right light projection sub-image, respectively; an attenuation processing module, adapted to perform linear attenuation processing on the brightness of the overlapping projection area of ​​the sub-images projected by the left lamp using a preset linear attenuation formula in a first direction; and to perform linear attenuation processing on the brightness of the overlapping projection area of ​​the sub-images projected by the right lamp using a preset linear attenuation formula in a second direction; The left and right headlight projection image generation module is used to scale the left and right headlight projection sub-images after linear attenuation processing to the vehicle headlight hardware resolution to obtain the left and right headlight projection images respectively; The projection image sending module is adapted to send the left light projection image and the right light projection image to the left light controller and the right light controller respectively for left and right light projection.

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