A method and system for generating a dual-lamp fusion image projected by a vehicle headlamp

Abstract

The application provides a vehicle headlamp projection double-lamp fusion image generation method and system, and relates to the technical field of projection image processing. The method comprises the following steps: determining the coordinate transformation relationship of the projection areas of the left lamp and the right lamp based on the existing double-lamp calibration result; inputting a user-defined arbitrary resolution original image; calculating the left and right projection areas of the vehicle lamp on the ground based on the calibration result in the first step; specifying the target projection area of the double-lamp cooperative projection in front of the vehicle; generating the left lamp projection sub-image and the right lamp projection sub-image through the double-lamp fusion algorithm, and performing fusion processing on the overlapping area of the double-lamp projection; adjusting the image to match the lamp resolution, and outputting two images for the left lamp and the right lamp projection, respectively. The application realizes the double-lamp cooperative projection of an arbitrary resolution image, expands the projection coverage range, and improves the flexibility and personalized experience of the automobile lighting system.

Description

Technical Field

[0001] This invention relates to the field of projection image processing technology, specifically to a method and system for generating dual-lamp fusion images of vehicle headlight projection. Background Technology

[0002] Driven by the wave of automotive intelligence, models such as the NIO ET9 and Wenjie M9 have taken the lead in equipping headlight projection systems. This technology represents the latest trend in the field of intelligent lighting, employing high-resolution LED matrix or DLP projection technology to precisely control the beam and achieve animated projections such as welcome lights, light carpets, driving guidance, and warning signals. These functions not only improve nighttime driving safety but also provide personalized entertainment experiences and interactive lighting effects. However, existing headlight projection systems typically only support a limited number of built-in patterns, do not support user-inputted custom images, and the projection function is often performed by a single lamp, failing to achieve dual-lamp collaborative projection, resulting in limited pattern resolution and coverage.

[0003] The above problems urgently need to be solved. Summary of the Invention

[0004] The purpose of this invention is to overcome at least one technical problem existing in the prior art and to provide a method and system for generating dual-lamp fusion images of vehicle headlight projection.

[0005] On one hand, embodiments of the present invention provide a method for generating a dual-lamp fusion image of a vehicle's headlight projection. The method includes: Step S1, obtaining the dual-lamp calibration results of the vehicle, obtaining 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 and right lamps; Step S2, receiving a user-inputted custom projection image; Step S3, based on the dual-lamp calibration results and the custom projection image of the vehicle, calculating the left lamp projection area projected onto the ground and the right lamp projection area projected onto the ground; Step S4, receiving the height and width of the desired projection area input by the user, and determining the 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 the target projection overlap area based on the left lamp target projection area and the right lamp target projection area; Step S7, calculating the target projection overlap area based on the left lamp target projection area and the right lamp target projection area; The custom projection image is divided into left headlight projection sub-images and right headlight projection sub-images based on the proportion of the shadow area and the right headlight target projection area in the target projection area; Step S8: The target projection overlap area is inversely mapped based on the mapping function between the left and right headlight projection pattern pixel coordinate system and the ground coordinate system to obtain the projection overlap area of ​​the left headlight projection sub-image and the projection overlap area of ​​the right headlight projection sub-image respectively; Step S9: The brightness of the projection overlap area of ​​the left headlight projection sub-image is linearly attenuated in the first direction using a preset brightness linear attenuation formula; Step S10: The brightness of the projection overlap area of ​​the right headlight projection sub-image is linearly attenuated in the second direction using a preset brightness linear attenuation formula; Step S11: The left headlight projection sub-image and right headlight projection sub-image after linear attenuation processing are scaled to the vehicle headlight hardware resolution to obtain the left headlight projection image and the right headlight projection image respectively; Step S12: The left headlight projection image and the right headlight projection image are sent to the left headlight controller and the right headlight controller respectively for left and right headlight projection.

[0006] Further, step S3 includes: step S301, calculating the ground coordinates of the corner point projected onto the ground coordinate system based on the predefined left lamp corner point pixel coordinates using a mapping function between the left lamp projection pattern pixel coordinate system and the ground coordinate system, the area enclosed by which is the left lamp projection area; step S302, calculating the ground coordinates of the corner point projected onto the ground coordinate system based on the predefined right lamp corner point pixel coordinates using a mapping function between the right lamp projection pattern pixel coordinate system and the ground coordinate system, the area enclosed by which is the right lamp projection area.

[0007] Furthermore, step S4 includes: determining the height p and width q of the projection area through parameter settings, so that the projection range of the dual lights is limited to the front of the vehicle. Within the rectangular area, the The rectangular area is the target projection area.

[0008] Further, step S7 includes: step S701, obtaining the width of the left lamp target projection area at a preset projection start line position; step S702, calculating the ratio between the width of the left lamp target projection area at the preset projection start line position and the width of the user-input desired projection area; 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 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; step S705, obtaining the width of the right lamp target projection area at a preset projection start line position; step S706, calculating the ratio between the width of the right lamp target projection area at the preset projection start line position and the width of the user-input desired projection area; step S707, multiplying the ratio by the width of the custom projection image to obtain the width of the right lamp projection sub-image; step S708, 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.

[0009] Further, step S8 includes: step S801, applying an 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 coordinates of the target projection overlap region, and the area enclosed by these points is the projection overlap region of the left lamp projection sub-image; step S802, applying an 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 coordinates of the target projection overlap region, and the area enclosed by these points is the projection overlap region of the right lamp projection sub-image.

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

[0011] Furthermore, the preset linear attenuation formula is as follows: Wherein, 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 of the headlight projection sub-image to the starting attenuation pixel.

[0012] Further, step S9 includes: within the projection overlap area of ​​the left headlight projection sub-image, the initial 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 initial attenuation pixel, which includes: the normalized value of the distance between the current pixel and the pixel on the right boundary line of the area in the attenuation direction; step S10 includes: within the projection overlap area of ​​the right headlight projection sub-image, the initial attenuation pixel is the pixel on the left boundary line of the area; the attenuation step is the normalized distance from the current pixel of the headlight projection sub-image to the initial attenuation pixel, which includes: the normalized value of the distance between the current pixel and the pixel on the left boundary line of the area in the attenuation direction.

[0013] Further, step S11 includes: step S1101, obtaining the resolution of the left headlight projection sub-image after linear attenuation processing; step S1102, comparing the resolution of the left headlight projection sub-image after linear attenuation processing with the hardware resolution of the left headlight; step S1103, when the resolution of the left headlight projection sub-image after linear attenuation processing is less than the hardware resolution of the left headlight, increasing the resolution of the left headlight projection sub-image after linear attenuation processing to the hardware resolution of the left headlight by using two-dimensional bilinear interpolation; step S1104, when the resolution of the left headlight projection sub-image after linear attenuation processing is greater than the hardware resolution of the left headlight, reducing the resolution of the left headlight projection sub-image after linear attenuation processing to the hardware resolution of the left headlight by downsampling. Vehicle headlight hardware resolution; Step S1105: Obtain the resolution of the right headlight projection sub-image after linear attenuation processing; Step S1106: Compare the resolution of the right headlight projection sub-image after linear attenuation processing with the right headlight hardware resolution; Step S1107: When the resolution of the right headlight projection sub-image after linear attenuation processing is less than the right headlight hardware resolution, enlarge the resolution of the right headlight projection sub-image after linear attenuation processing to the right headlight hardware resolution using two-dimensional bilinear interpolation; Step S1108: When the resolution of the right headlight projection sub-image after linear attenuation processing is greater than the right headlight hardware resolution, reduce the resolution of the right headlight projection sub-image after linear attenuation processing to the right headlight hardware resolution using downsampling.

[0014] Secondly, embodiments of the present invention provide a dual-lamp fusion image generation system for vehicle headlight projection. The system is implemented using the aforementioned dual-lamp fusion image generation method for vehicle headlight projection. The system includes: a dual-lamp calibration result acquisition module, adapted to acquire the dual-lamp calibration results of the vehicle, obtaining the mapping function between the pixel coordinate system of the left lamp projection pattern and the ground coordinate system, and the mapping function between the pixel coordinate system of the right lamp projection pattern and the ground coordinate system, as well as the hardware resolution of the left and right lamps; a custom projection image input module, adapted to receive a custom projection image input by a user; and a projection area mapping module, adapted to... This system is used to calculate the left headlight projection area and the right headlight projection area on the ground based on the dual-lamp calibration results and a custom projection image of the vehicle; a target projection area input module, suitable for receiving the height and width of the desired projection area input by the user, and determining the target projection area based on a preset projection start line position; a target projection area mapping module, suitable for dividing the target projection area into a left headlight target projection area and a right headlight target projection area based on the left headlight projection area and the right headlight target projection area; and a target projection overlap area calculation module, suitable for calculating the target projection overlap area based on the left headlight target projection area and the right headlight target projection area. The projection region calculation yields the target projection overlap region; a custom projection image segmentation module is suitable for dividing the custom projection image into left-lamp projection sub-images and right-lamp projection sub-images based on the proportions of the left-lamp and right-lamp target projection regions within the target projection region; an inverse mapping module is suitable for applying an inverse mapping function between the left-lamp and right-lamp projection pattern pixel coordinate systems and the ground coordinate system to obtain the projection overlap regions of the left-lamp and right-lamp projection sub-images respectively; and an attenuation processing module is suitable for processing the projection of the left-lamp projection sub-image. The brightness of the overlapping area is linearly attenuated in a first direction using a preset linear brightness attenuation formula; the brightness of the overlapping area of ​​the right headlight projection sub-image is linearly attenuated in a second direction using a preset linear brightness attenuation formula; the left and right headlight projection image generation module is adapted to scale the left and right headlight projection sub-images after linear attenuation processing to the vehicle headlight hardware resolution to obtain the left headlight projection image and the right headlight projection image respectively; the projection image sending module is adapted to send the left headlight projection image and the right headlight projection image to the left headlight controller and the right headlight controller respectively for left and right headlight projection.

[0015] Thirdly, embodiments of the present invention also provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the above-described method for generating dual-lamp fusion images of vehicle headlight projection.

[0016] Fourthly, embodiments of the present invention also provide a readable storage medium, wherein when the instructions in the storage medium are executed by the processor of an electronic device, the electronic device is able to execute the above-described method for generating a dual-lamp fusion image of a vehicle headlight projection.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention generates images for projection by the left and right lights through a dual-lamp fusion algorithm, realizing dual-lamp coordinated projection of images of any resolution in the vehicle headlight projection system. Compared with the method of single-lamp projection of built-in patterns, it not only expands the projection coverage while maintaining the original brightness uniformity, but also improves the flexibility of the automotive lighting system (supporting personalized pattern input and adaptive generation of left and right lamp patterns). Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic flowchart of a method for generating a dual-lamp fusion image of a vehicle headlight projection provided in Embodiment 1 of the present invention.

[0020] Figure 2 This is a schematic diagram of the left lamp projection area and the right lamp projection area provided in Embodiment 1 of the present invention.

[0021] Figure 3 This is a schematic diagram of a target projection area provided in Embodiment 1 of the present invention.

[0022] Figure 4 This is a schematic diagram of a target projection overlap area provided in Embodiment 1 of the present invention.

[0023] Figure 5 This is a schematic diagram of a dual-lamp fusion image generation system for vehicle headlight projection provided in Embodiment 2 of the present invention.

[0024] Figure 6 This is a partial block diagram of the electronic device provided in Embodiment 3 of the present invention. Detailed Implementation

[0025] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

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

[0027] The present invention will now be described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0028] Example 1

[0029] To facilitate understanding, the overall inventive concept of this invention is described below: This invention aims to provide a method and system for generating dual-lamp fusion images for vehicle headlight projection, addressing the problems in existing technologies that only support a limited number of built-in patterns, do not support user-input custom images, and where projection is often performed by a single lamp, failing to achieve collaborative dual-lamp fusion projection, resulting in limited pattern resolution and coverage. The overall inventive concept of this invention revolves around overcoming the limitations of existing vehicle headlight projection systems. The core objective is to achieve "dual-lamp collaborative projection of user-defined images," overcoming the limitations of single-lamp projection coverage, built-in pattern limitations, and uneven brightness in overlapping areas through technological innovation. The specific concept can be summarized as follows:

[0030] 1. Existing headlight projection systems suffer from two major problems: firstly, they only support a limited number of built-in patterns, lacking personalization; secondly, they rely on single-lamp projection, resulting in a small coverage area and limited resolution. This invention addresses these pain points by proposing an overall approach of "dual-lamp collaboration + custom image adaptation." This expands the projection range through dual-lamp cooperation and enables flexible projection of user-defined images through algorithmic adaptation.

[0031] 2. To achieve coordinated projection of dual lights, two key issues need to be addressed: "precise matching of projection areas" and "natural fusion of overlapping areas." Therefore, a complete technical path was designed, encompassing "calibration → input → calculation → generation → adaptation," including: Basic calibration: Establishing coordinate transformation relationships (mapping functions) through dual-light calibration results to accurately map the pixel coordinate system of the vehicle headlight projection pattern to the ground coordinate system, laying the foundation for spatial matching of dual-light projection; Image input and range control: Supporting user input of original images of arbitrary resolution and common formats, and allowing flexible definition of the projection area by specifying height (p) and width (q) to meet personalized and scenario-based needs; Overlapping area processing: Accurately locating the overlapping trapezoidal area by calculating the ground coordinates of the projection corner points of the left and right lights, and then solving the problem of excessive brightness in the overlapping area through a gradual fusion algorithm (the left light attenuates from right to left, and the right light attenuates from left to right), ensuring uniform projection effect; Resolution adaptation: Adjusting the resolution of the generated left and right light sub-images through interpolation or downsampling to match the hardware specifications of the lighting fixtures (M×N), ensuring algorithm compatibility.

[0032] The specific implementation method is as follows:

[0033] like Figure 1 The diagram shown is a flowchart of a method for generating a dual-lamp fusion image of a vehicle headlight projection provided by the present invention.

[0034] As an example, the method includes: Step S1, obtaining the dual-lamp calibration results of the vehicle, obtaining 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, as well as the hardware resolution of the left and right lamps; Step S2, receiving a user-inputted custom projection image; Step S3, based on the dual-lamp calibration results of the vehicle and the custom projection image, calculating the left lamp projection area projected onto the ground and the right lamp projection area projected onto the ground; Step S4, receiving the height and width of the desired projection area input by the user, and determining the 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 the target projection overlap area based on the left lamp target projection area and the right lamp target projection area; Step S7, calculating the target projection overlap area based on the left lamp target projection area and the right lamp target projection area. The target projection area is used to divide the custom projection image into a left headlight projection sub-image and a right headlight projection sub-image. Step S8: The target projection overlap area is inversely mapped based on the mapping function between the pixel coordinate system of the left and right headlight projection patterns and the ground coordinate system to obtain the projection overlap area of ​​the left headlight projection sub-image and the projection overlap area of ​​the right headlight projection sub-image, respectively. Step S9: The brightness of the projection overlap area of ​​the left headlight projection sub-image is linearly attenuated in a first direction using a preset brightness linear attenuation formula. Step S10: The brightness of the projection overlap area of ​​the right headlight projection sub-image is linearly attenuated in a second direction using a preset brightness linear attenuation formula. Step S11: The left headlight projection sub-image and the right headlight projection sub-image after linear attenuation are scaled to the vehicle headlight hardware resolution to obtain the left headlight projection image and the right headlight projection image, respectively. Step S12: The left headlight projection image and the right headlight projection image are sent to the left headlight controller and the right headlight controller, respectively, for left and right headlight projection.

[0035] In some feasible implementations, step S1, obtaining the dual-lamp calibration results of the vehicle, and obtaining the mapping functions between the pixel coordinate system of the left lamp projection pattern and the ground coordinate system, and the mapping functions between the pixel coordinate system of the right lamp projection pattern and the ground coordinate system, as well as the hardware resolution of the left and right lamps, includes: based on existing dual-lamp calibration results (the calibration process can use existing technology; this implementation does not involve calibration details, that is, the technical solution described in this implementation is performed on vehicle lamps that have already been factory-calibrated), determining the coordinate transformation relationship of the projection areas of the left and right lamps, for example, using the known resolution of the left projection headlight. A point on the pattern The coordinates of the projection onto the ground are Then the invertible matrix can be determined. As a mapping function, the headlight projection pattern is mapped onto the physical plane of the ground. Similarly, the mapping function for the right-side projected headlight is: .in These represent the positions of points in a coordinate system with the center of the vehicle's front as the origin, horizontal forward as the x-axis, and horizontal left as the y-axis. The results obtained are the dual-lamp calibration results. , (M, N), where This refers to the inherent resolution of the vehicle headlight hardware. In this embodiment, it is assumed that the inherent hardware resolution of the left and right headlights is the same, both being... .

[0036] In some feasible implementations, step S2, receiving the user-inputted custom projection image, includes: inputting a user-defined original image of arbitrary resolution, such as common image formats like PNG and JPEG, and denoting the resolution of this image as... (Number of pixels in the horizontal and vertical directions).

[0037] In some feasible implementations, combined with Figure 2 As shown, step S3 includes: step S301, calculating the ground coordinates of the corner point projected onto the ground coordinate system based on the predefined left lamp corner point pixel coordinates using the mapping function between the left lamp projection pattern pixel coordinate system and the ground coordinate system, and the area enclosed by the predefined left lamp corner point pixel coordinates is the left lamp projection area; step S302, calculating the ground coordinates of the corner point projected onto the ground coordinate system based on the predefined right lamp corner point pixel coordinates using the mapping function between the right lamp projection pattern pixel coordinate system and the ground coordinate system, and the area enclosed by the predefined right lamp corner point pixel coordinates is the right lamp projection area.

[0038] Preferably, through the mapping function in step S1 Calculate the corner points of the custom projected image , , , The position projected onto the ground coordinate system by the left light is: , , , Then through the mapping function Calculate the corner points of the custom projected image , , , The position projected onto the ground coordinate system by the right light is: , , , The overlapping area of ​​the left and right lights is , , , The trapezoidal area enclosed by the light source has the left light projection area as follows: , , , The trapezoidal area enclosed by the light source has a right-hand projection area of ​​[missing information]. , , , The enclosed trapezoidal area.

[0039] In some feasible implementations, combined with Figure 3 As shown, step S4 includes: determining the height p and width q of the projection area through parameter settings, so that the projection range of the dual lights is limited to the front of the vehicle. Within the rectangular area, the The rectangular area is the target projection area. This target projection area represents the ground area covered by the final composite image that the user hopes will be. The boundary of the target projection area in the ground coordinate system is typically defined by the coordinates of four corner points: the lower left corner t7 (0, -q / 2), the lower right corner t4 (0, q / 2), the upper left corner t6 (p, -q / 2), and the upper right corner t1 (p, q / 2).

[0040] In some feasible implementations, combined with Figure 4 As shown, 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 light source has a right-hand projection area of ​​[missing information]. , , , The trapezoidal area enclosed by the following points defines the target projection area: 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). Here, d is the horizontal distance between the projection starting line and the y-axis. Therefore, the corner points of the left lamp target projection area are t6, t7, t8, and t5. In other words, the area enclosed by t6, t7, t8, and t5 is the left lamp target projection area. The corner points of t8 and t5 are also considered. Coincident, t5 is the line parallel to the y-axis with x=p in the ground coordinate system and the coordinate point. The intersection points of the lines connecting them. Similarly, the corner points of the right lamp target projection area are t1, t2, t3, and t4.

[0041] In some feasible implementations, combined with Figure 4 As shown, step S6, calculating the target projection overlap area based on the left headlight target projection area and the right headlight target projection area, includes: the area enclosed by t6, t7, t8 and t5 obtained in step S5 is the left headlight target projection area, and the area enclosed by t1, t2, t3 and t4 is the right headlight target projection area. The overlapping part of these two areas is the target projection overlap area, that is, the area enclosed by corner points t2, t3, t8 and t5 is the target projection overlap area.

[0042] In some feasible implementations, step S7 includes: step S701, obtaining the width of the left lamp target projection area at a preset projection start line position; step S702, calculating the ratio between the width of the left lamp target projection area at the preset projection start line position and the width of the user-input desired projection area; 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 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; step S705, obtaining the width of the right lamp target projection area at a preset projection start line position; step S706, calculating the ratio between the width of the right lamp target projection area at the preset projection start line position and the width of the user-input desired projection area; step S707, multiplying the ratio by the width of the custom projection image to obtain the width of the right lamp projection sub-image; step S708, 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.

[0043] Preferred, combined Figure 4 As shown, the division ratio of the custom projection image is the distance between corner points t7 and t8 / the distance between corner points t7 and t4. That is, the left lamp projection sub-image is the left part of the custom projection image after being divided according to this ratio, and the right lamp projection sub-image is the right part of the custom image obtained by dividing it according to the distance between corner points t3 and t4 / the distance between corner points t7 and t4.

[0044] In some feasible implementations, step S8 includes: step S801, applying an inverse mapping based on the mapping function between the left lamp projection pattern pixel coordinate system and the ground coordinate system to obtain coordinate points in the left lamp projection sub-image corresponding to the corner coordinates of the target projection overlap region, the area enclosed by which is the projection overlap region of the left lamp projection sub-image; step S802, applying an inverse mapping based on the mapping function between the right lamp projection pattern pixel coordinate system and the ground coordinate system to obtain coordinate points in the right lamp projection sub-image corresponding to the corner coordinates of the target projection overlap region, the area enclosed by which is the projection overlap region of the right lamp projection sub-image.

[0045] Preferably, the region enclosed by corner points t2, t3, t8, and t5 is the target projection overlap region, and the mapping function obtained in step S1 is used. and mapping function The corner points t2, t3, t8, and t5 are calculated using inverse mapping to obtain their coordinate positions in the left lamp projection sub-image. And its coordinate position in the right lamp projection sub-image is In other words, this step reveals the locations where brightness attenuation needs to be applied to the left and right lamp projection sub-images. Since the illuminance in the overlapping area of ​​the target projection is shared by both the left and right lamps, failing to apply brightness processing to the overlapping area will result in higher illuminance within the overlapping area, leading to uneven brightness in the final projection patterns of the left and right lamps.

[0046] In some feasible implementations, step S9 includes: linearly reducing pixel brightness in the projection overlap area of ​​the left lamp projection sub-image using a brightness linear attenuation formula along a first direction, where the first direction is from right to left; step S10 includes: linearly reducing pixel brightness in the projection overlap area of ​​the right lamp projection sub-image using a brightness linear attenuation formula along a second direction, where the second direction is from left to right.

[0047] Preferably, the area in the left lamp projection sub-image that needs brightness attenuation processing is the corner point. Within the enclosed area, linear brightness decay occurs from right to left, and the preset linear decay formula is: ;

[0048] 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 in the headlight projection sub-image to the starting attenuation pixel. Within the overlapping projection area of ​​the left headlight projection sub-image, the starting attenuation pixel is the pixel on the right boundary line of that area. The attenuation step, the normalized distance from the current pixel in the headlight projection sub-image to the starting attenuation pixel, includes the normalized value of the distance between the current pixel and the pixel on the right boundary line of that area in the attenuation direction. That is, the distance from the current pixel to the starting attenuation pixel is normalized to be within the range [0,1], and this distance is the vertical distance from the current pixel to the starting attenuation pixel. In other words, within the area of ​​the left headlight projection sub-image requiring brightness attenuation, pixels closer to the right experience greater brightness attenuation, while new pixels closer to the left experience less brightness attenuation.

[0049] Preferably, step S10 includes: within the projection overlap area of ​​the right headlight projection sub-image, the initial attenuation pixel is the pixel on the left boundary line of that area; the attenuation step is the normalized distance from the current pixel in the headlight projection sub-image to the initial attenuation pixel, including: the normalized value of the distance between the current pixel and the pixel on the left boundary line of that area in the attenuation direction. Similarly, the area in the right headlight projection sub-image that needs brightness attenuation processing is the corner point. Within the enclosed area, linear brightness decay occurs from right to left, and the preset linear decay formula is: .

[0050] In other words, in the area of ​​the right lamp projection sub-image that requires brightness attenuation processing, the pixels closer to the left experience more brightness attenuation, while the newer pixels closer to the right experience less brightness attenuation.

[0051] In some feasible implementations, step S11 includes: step S1101, obtaining the resolution of the left headlight projection sub-image after linear attenuation processing; step S1102, comparing the resolution of the left headlight projection sub-image after linear attenuation processing with the hardware resolution of the left headlight; step S1103, when the resolution of the left headlight projection sub-image after linear attenuation processing is less than the hardware resolution of the left headlight, enlarging the resolution of the left headlight projection sub-image after linear attenuation processing to the hardware resolution of the left headlight by using two-dimensional bilinear interpolation; step S1104, when the resolution of the left headlight projection sub-image after linear attenuation processing is greater than the hardware resolution of the left headlight, reducing the resolution of the left headlight projection sub-image after linear attenuation processing by downsampling. Step S1105: Obtain the resolution of the right headlight projection sub-image after linear attenuation processing; Step S1106: Compare the resolution of the right headlight projection sub-image after linear attenuation processing with the right headlight hardware resolution; Step S1107: When the resolution of the right headlight projection sub-image after linear attenuation processing is less than the right headlight hardware resolution, enlarge the resolution of the right headlight projection sub-image after linear attenuation processing to the right headlight hardware resolution using two-dimensional bilinear interpolation; Step S1108: When the resolution of the right headlight projection sub-image after linear attenuation processing is greater than the right headlight hardware resolution, reduce the resolution of the right headlight projection sub-image after linear attenuation processing to the right headlight hardware resolution using downsampling.

[0052] Preferably, the resolution of the left lamp projection sub-image output in step S10 is... and the resolution of the right lamp projection sub-image Compare its resolution with the inherent resolution of the headlight hardware in step S1. .

[0053] Resolution adjustment based on comparison results: Case 1: Image magnification interpolation algorithm is used. Two-dimensional bilinear interpolation is preferred. Principle: For the target... Each pixel in the image, based on its position in the original... The new pixel value is obtained by weighted averaging the values ​​of the four surrounding known pixels in the image. This produces a smooth result and preserves image information well. Case 2: Image downsampling (reduction) algorithm is used. Nearest neighbor downsampling is preferred. Principle: For the target... For each pixel in the image, directly take the original... The value of the pixel closest in location to the image. The calculation is simple and fast. Case 3: No adjustment is needed. Similarly, regarding the resolution of the right lamp's projected sub-image. The same method was used for resolution adjustment, which will not be elaborated here. Final output: Two images with a resolution of [resolution value missing]. The image file or data stream is used by the left front headlight projection controller and by the right front headlight projection controller.

[0054] The dual-lamp fusion image generation method in the vehicle headlight projection system described above has the following significant advantages, addressing the limitations of existing systems from multiple dimensions, including technological breakthroughs, functional expansion, and improved user experience:

[0055] (1) Supports user-defined images, breaking through the limitations of built-in patterns: Existing systems usually only support a limited number of preset built-in patterns (such as welcome light carpets, fixed warning symbols, etc.), while this method allows users to input user-defined original images of any resolution (supporting common formats such as PNG and JPEG). This feature greatly enhances the personalized experience, allowing users to project custom patterns (such as personalized logos, temporary information prompts, etc.) according to their needs, expanding the application scenarios of vehicle headlight projection (such as customized welcome effects, scene-based interactive projection, etc.).

[0056] (2) Dual-lamp collaborative projection expands coverage: Traditional single-lamp projection is limited by the resolution and projection angle of a single lamp, resulting in a limited coverage area. This method uses the left and right lamps to work together, determining the projection area based on a calibrated coordinate transformation relationship. The coverage area can be flexibly adjusted by specifying the height (p meters) and width (q meters) of the projection area. The dual-lamp collaboration breaks through the physical limitations of a single lamp, enabling the projection of larger images (such as a rectangular area of ​​p meters × q meters in front of the vehicle), improving the practicality of lighting and projection (such as wider light carpet coverage and farther information prompts).

[0057] (3) Gradual blending of overlapping areas to ensure uniformity of projection effect: Dual-lamp projection inevitably has overlapping areas. If they are directly superimposed, the brightness of these areas will be too high, resulting in "overexposure" or visual distortion. This method uses a dual-lamp fusion algorithm to specifically process the overlapping areas: the brightness of the overlapping area of ​​the left lamp projection sub-image decreases linearly from right to left, and the brightness of the overlapping area of ​​the right lamp projection sub-image decreases linearly from left to right (the attenuation formula precisely controls the brightness change), ensuring a smooth transition of brightness between the overlapping and non-overlapping areas, resulting in a uniform and natural overall projection effect and avoiding visual defects.

[0058] (4) Adapting to lamp resolution and compatible with different hardware specifications: The resolution (M×N) of the headlight projection system may vary between different vehicle models. This method adapts to the hardware through a flexible resolution adjustment strategy: if the resolution of the generated sub-image is less than the lamp resolution, it is magnified by two-dimensional bilinear interpolation; if it is greater, it is reduced by nearest neighbor downsampling. This feature enhances the versatility of the method and is compatible with high-resolution light sources of different resolutions (such as megapixel LED matrices and DLP digital light processing technology), reducing the dependence on specific hardware.

[0059] (5) Expanding the boundaries of intelligent lighting functions and improving driving safety and experience: Combining high-resolution light source technology, this method supports more complex dual-lamp collaborative functions (such as dynamic driving guidance, large-area warning signal projection, etc.), and can assist driving at night through a wider range and clearer projection information (such as lane prompts, obstacle warnings). The combination of personalized projection and precise control also improves the user interaction experience (such as customized welcome animations, scene-based lighting effects), which is in line with the development trend of automotive intelligence and personalization.

[0060] In summary, this method addresses the limitations of existing systems in terms of personalization, coverage, and projection effect through technological innovation, while taking into account practicality, compatibility, and user experience, providing key technical support for the upgrade of vehicle headlight projection systems.

[0061] Example 2

[0062] Please see Figure 5 This embodiment provides a schematic diagram of a dual-lamp fusion image generation system for vehicle headlight projection.

[0063] As an example, the system is implemented using the dual-lamp fusion image generation method for vehicle headlight projection described in Embodiment 1, and the system includes:

[0064] The dual-lamp calibration result acquisition module 500 is suitable for acquiring the dual-lamp calibration results of the vehicle, obtaining 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 and right lamps.

[0065] The custom projection image input module 510 is suitable for receiving custom projection images input by the user.

[0066] The projection area mapping module 520 is suitable for calculating the left lamp projection area projected onto the ground and the right lamp projection area projected onto the ground based on the dual lamp calibration results of the vehicle and a custom projection image.

[0067] The target projection area input module 530 is suitable for 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 start line position.

[0068] The target projection area mapping module 540 is suitable for 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.

[0069] The target projection overlap region calculation module 550 is suitable for calculating the target projection overlap region based on the target projection regions of the left lamp and the right lamp.

[0070] The custom projection image segmentation module 560 is suitable for dividing the custom projection image into a left-light projection sub-image and a right-light projection sub-image based on the proportion of the left-light target projection area and the right-light target projection area in the target projection area.

[0071] The inverse mapping module 570 is suitable for inverse mapping the target projection overlap region based on the mapping function between the pixel coordinate system of the left and right lamp projection patterns and the ground coordinate system, to obtain the projection overlap region of the left lamp projection sub-image and the projection overlap region of the right lamp projection sub-image, respectively.

[0072] The attenuation processing module 580 is suitable for applying a preset linear attenuation formula to the brightness of the overlapping projection area of ​​the left lamp projection sub-image in a first direction, and applying a preset linear attenuation formula to the brightness of the overlapping projection area of ​​the right lamp projection sub-image in a second direction.

[0073] The left and right headlight projection image generation module 590 is suitable for scaling the left headlight projection sub-image and the right headlight projection sub-image, which have undergone linear attenuation processing, to the vehicle headlight hardware resolution to obtain the left headlight projection image and the right headlight projection image, respectively.

[0074] The projection image sending module 5100 is adapted to send the left headlight projection image and the right headlight projection image to the left headlight controller and the right headlight controller respectively for left and right headlight projection.

[0075] It is not difficult to see that this embodiment is a system implementation 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 will not be repeated here to reduce repetition. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the first embodiment.

[0076] It is worth mentioning that all modules involved in this embodiment are logical units. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this invention, this embodiment does not introduce units that are not closely related to solving the technical problem proposed by this invention; however, this does not mean that other units are absent from this embodiment.

[0077] Example 3

[0078] Please see Figure 6 The present invention also provides an electronic device, including: a memory and a processor; the memory stores at least one program instruction; the processor loads and executes the at least one program instruction to implement the dual-lamp fusion image generation method for vehicle headlight projection provided in Embodiment 1.

[0079] The memory 602 and processor 601 are connected via a bus, which may include any number of interconnecting buses and bridges, connecting various circuits of one or more processors 601 and memory 602 together. The bus may also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 601 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 601.

[0080] Processor 601 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 602 can be used to store data used by processor 601 during operation.

[0081] Example 4

[0082] This invention also proposes a storage medium storing a method for generating a dual-lamp fusion image of a vehicle headlight projection. When the dual-lamp fusion image generation program of the vehicle headlight projection is executed by a processor, it implements the steps of the dual-lamp fusion image generation method of the vehicle headlight projection as described above. Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0083] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, based on the guidance provided in this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A method for generating a dual-lamp fusion image of a vehicle headlight projection, characterized in that, The method includes: Step S1: Obtain the dual-lamp calibration results of the vehicle, and 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 and right lamps. Step S2: Receive the user-inputted custom projection image; Step S3: Based on the dual-lamp calibration results of the vehicle and the custom projection image, calculate the left lamp projection area projected onto the ground and the right lamp projection area projected onto the ground. Step S4: 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 start line position; Step S5: 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; Step S6: Calculate the target projection overlap area based on the left lamp target projection area and the right lamp target projection area; Step S7: Divide 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: The target projection overlap region is inversely mapped based on the mapping function between the pixel coordinate system of the left and right lamp projection patterns and the ground coordinate system to obtain the projection overlap region of the left lamp projection sub-image and the projection overlap region of the right lamp projection sub-image, respectively. Step S9: Apply a preset linear brightness attenuation formula to the brightness of the overlapping projection area of ​​the left lamp projection sub-image and perform linear attenuation processing in the first direction. Step S10: Apply a preset linear brightness attenuation formula to the brightness of the overlapping projection area of ​​the right lamp projection sub-image and perform linear attenuation processing in the second direction. Step S11: Scale the left and right headlight projection sub-images after linear attenuation processing to the vehicle headlight hardware resolution to obtain the left headlight projection image and the right headlight projection image respectively. Step S12: Send the left headlight projection image and the right headlight projection image to the left headlight controller and the right headlight controller respectively for left and right headlight projection.

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

3. The method for generating a dual-lamp fusion image of a vehicle headlight projection according to claim 1, characterized in that, Step S4 includes: By setting parameters to determine the height p and width q of the projection area, the projection range of the dual headlights is limited to the front of the vehicle. Within the rectangular area, the The rectangular area is the target projection area.

4. The method for generating a dual-lamp fusion image of a vehicle headlight projection according to claim 1, characterized in that, Step S7 includes: Step S701: Obtain the width of the left lamp target projection area at the preset projection start line position; Step S702: Calculate the ratio between the width of the left lamp target projection area at the preset projection start line position and the width of the desired projection area input by the user; Step S703: Multiply the ratio by the width of the custom projection image to obtain the width of the left lamp projection sub-image; Step S704: Divide 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; Step S705: Obtain the width of the right lamp 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 right lamp projection sub-image; Step S708: Divide 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.

5. The method for generating a dual-lamp fusion image of a vehicle headlight projection according to claim 1, characterized in that, Step S8 includes: Step S801: The corner coordinates of the target projection overlap area are inversely mapped 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 that correspond to the corner coordinates of the target projection overlap area. The area enclosed by these points is the projection overlap area of ​​the left lamp projection sub-image. Step S802: The corner coordinates of the target projection overlap area are inversely mapped 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 that correspond to the corner coordinates of the target projection overlap area. The area enclosed by these points is the projection overlap area of ​​the right lamp projection sub-image.

6. The method for generating a dual-lamp fusion image of a vehicle headlight projection according to claim 1, characterized in that, Step S9 includes: Within the overlapping projection area of ​​the left lamp projection sub-image, the pixel brightness is linearly reduced along the first direction using a brightness linear attenuation formula, where the first direction is from right to left. Step S10 includes: Within the overlapping area of ​​the projection of the right lamp projection 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 of a vehicle headlight projection according to claim 6, characterized in that, The preset linear attenuation formula is as follows: ； 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 of the headlight projection sub-image to the starting attenuation pixel.

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

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

10. A dual-lamp fusion image generation system for vehicle headlight projection, the system being implemented using the dual-lamp fusion image generation method for vehicle headlight projection as described in any one of claims 1-9, characterized in that, The system includes: The dual-lamp calibration result acquisition module is suitable for acquiring the dual-lamp calibration results of the vehicle, obtaining 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 and right lamps. A custom projection image input module, suitable for receiving custom projection images input by the user; The projection area mapping module is suitable for calculating the left lamp projection area and the right lamp projection area on the ground based on the dual lamp calibration results and custom projection images of the vehicle. The target projection area input module is suitable for 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 start line position; The target projection area mapping module is suitable for 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. The target projection overlap region calculation module is suitable for calculating the target projection overlap region based on the target projection regions of the left lamp and the right lamp. A custom projection image segmentation module is applicable to 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; The inverse mapping module is suitable for inversely mapping the target projection overlap region based on the mapping function between the pixel coordinate system of the left and right lamp projection patterns and the ground coordinate system, to obtain the projection overlap region of the left lamp projection sub-image and the projection overlap region of the right lamp projection sub-image respectively. The attenuation processing module is suitable for applying a preset linear attenuation formula to the brightness of the overlapping projection area of ​​the left lamp projection sub-image in a first direction; and applying a preset linear attenuation formula to the brightness of the overlapping projection area of ​​the right lamp projection sub-image in a second direction. The left and right headlight projection image generation module is suitable for scaling the left headlight projection sub-image and the right headlight projection sub-image after linear attenuation processing to the vehicle headlight hardware resolution, so as to obtain the left headlight projection image and the right headlight projection image respectively. The projection image sending module is suitable for sending the left headlight projection image and the right headlight projection image to the left headlight controller and the right headlight controller respectively for left and right headlight projection.

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