Vehicle lamp control method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle lamp control method and device, a vehicle and a storage medium. The method comprises the steps that a target image and driving data of the vehicle are acquired; based on the driving data, compensating a preset projection position of each pixel in a vehicle lamp of the vehicle to obtain a target projection position of each pixel; based on the target image and the target projection position of each pixel, controlling the vehicle lamp to emit light so as to project the target image through the vehicle lamp; wherein the light emitted by each pixel is projected at the corresponding target projection position. According to the method, the vehicle lamp of the vehicle can output diversified information, and the light effect of the vehicle lamp is good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and more particularly, to a vehicle lamp control method and device, a vehicle, and a storage medium. BACKGROUND

[0002] In the development process of the modern automobile industry, the lighting technology of the vehicle lamp system has evolved from basic lighting functions to intelligent and interactive directions. In related technologies, there is a problem of poor light effect of the vehicle lamp. SUMMARY

[0003] The present application provides a vehicle lamp control method and device, a vehicle, and a storage medium to improve the light effect of the vehicle lamp.

[0004] In a first aspect, the embodiments of the present application provide a vehicle lamp control method, which includes: obtaining a target image and driving data of a vehicle; compensating for a preset projection position of each pixel in a vehicle lamp based on the driving data to obtain a target projection position of each pixel; controlling the vehicle lamp to emit light based on the target image and the target projection position of each pixel, so as to project the target image through the vehicle lamp; wherein the light emitted by each pixel is projected on the corresponding target projection position.

[0005] In a second aspect, the embodiments of the present application provide a vehicle lamp control device, which includes: an obtaining module configured to obtain a target image and driving data of a vehicle; a compensating module configured to compensate for a preset projection position of each pixel in a vehicle lamp based on the driving data to obtain a target projection position of each pixel; a control module configured to control the vehicle lamp to emit light based on the target image and the target projection position of each pixel, so as to project the target image through the vehicle lamp; wherein the light emitted by each pixel is projected on the corresponding target projection position.

[0006] In a third aspect, the embodiments of the present application further provide a vehicle, which includes one or more processors, a memory, and one or more application programs stored in the memory and configured to be executed by the one or more processors, the one or more programs being configured to execute the method of the first aspect.

[0007] In a fourth aspect, the embodiments of the present application further provide a computer-readable storage medium storing program code executable by a processor, the program code causing the processor to execute the above method when executed by the processor.

[0008] The application provides a vehicle lamp control method and device, a vehicle and a storage medium. In the application, the preset projection position of each pixel in the vehicle lamp is compensated based on the driving data of the vehicle, the target projection position of each pixel is obtained, and then the vehicle lamp is controlled to emit light based on the target image and the target projection position of each pixel, so that the target image is projected by the vehicle lamp. Therefore, the vehicle lamp can not only provide light, but also project the target image, so that the vehicle lamp outputs diversified information, and the light effect of the vehicle lamp is good. Moreover, the preset projection position of each pixel is compensated based on the driving data of the vehicle, and the target projection position of each pixel is obtained, so that the compensation of the projection position of each pixel is realized, which makes the target projection position of each pixel more suitable for the current driving state, so that the target image projected according to the target projection position of each pixel is more easily observed by a user, the display effect of the target image after projection is good, and the projection effect of the vehicle lamp is further improved.

[0009] Other features and advantages of the embodiments of the application will be described in the following description, and become apparent from the description, or be learned through the implementation of the embodiments of the application. The purposes and other advantages of the embodiments of the application can be achieved and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0011] Figure 1 A schematic diagram of a vehicle hardware environment suitable for the embodiments of the application is shown; Figure 2 A flowchart of a vehicle lamp control method according to an embodiment of the application is shown; Figure 3 A flowchart of S130 in the corresponding embodiment is shown; Figure 2 A flowchart of S130 in the corresponding embodiment is shown; Figure 4 A schematic diagram of a light parameter determination process in the embodiments of the application is shown; Figure 5 A schematic diagram of a vehicle lamp control process in the embodiments of the application is shown; Figure 6 A schematic diagram of a data processing process of an input layer in the embodiments of the application is shown; Figure 7Fig. 1 shows a schematic diagram of a data processing process of a processing layer in an embodiment of the application; Figure 8 Fig. 2 shows a schematic diagram of a data processing process of a transmission layer in an embodiment of the application; Figure 9 Fig. 3 shows a schematic diagram of a data processing process of an execution layer in an embodiment of the application; Figure 10 Fig. 4 shows a schematic diagram of a data processing process of a feedback layer in an embodiment of the application; Figure 11 Fig. 5 shows a structure block diagram of a vehicle lamp control device according to an embodiment of the application. DETAILED DESCRIPTION

[0012] In order to enable persons skilled in the art to better understand the schemes of the present application, the technical schemes in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0013] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0014] Reference Figure 1 , Figure 1 Fig. 1 shows a schematic diagram of a vehicle hardware environment suitable for the embodiments of the present application, the vehicle 100 comprises a driving system 110, which can be built-in with various functions, for example, the driving system 110 can be built-in with a vehicle lamp control function for implementing the vehicle lamp control method of the present application, so as to control the vehicle lamp of the vehicle through the vehicle lamp control function.

[0015] Specifically, the driving system 110 can comprise a data acquisition device 111, one or more (only one is shown in the figure) processors 112, and a memory 113.

[0016] The data acquisition device 111 is configured to acquire environmental data around the vehicle and driving data of the vehicle, etc. For example, the data acquisition device 111 can include a camera configured to acquire surrounding environment information, a radar configured to acquire surrounding environment information, and an inertial navigation unit configured to acquire a motion state of the vehicle, etc.

[0017] The processor 112 can be a micro control unit (MCU), and the micro control unit is provided with a memory 113 in which programs for implementing the embodiments described below are stored, and the processor 112 can execute the programs stored in the memory 113.

[0018] The processor 112 can include one or more processors. The processor 112 is connected to various parts in the vehicle 100 through various interfaces and lines, and performs various functions of the vehicle 100 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 113, and calling data stored in the memory 113.

[0019] The memory 113 can include a random access memory (RAM) and a read-only memory (ROM). The memory 113 can be configured to store instructions, programs, codes, code sets or instruction sets. The memory 113 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing various method embodiments described below, etc.

[0020] Please refer to Figure 2 , Figure 2 A flow chart of a vehicle lamp control method according to an embodiment of the present application is shown, and the method is used for a vehicle, and the method includes the following steps. S110, acquiring a target image and driving data of the vehicle.

[0021] In the present application, the vehicle can be an electric vehicle or a fuel vehicle, and can be a sedan, an SUV, a bus or a truck, etc.

[0022] The vehicle lamp of the vehicle can be a Mini LED vehicle lamp with ten thousand pixels, that is, the vehicle lamp can include tens of thousands of Mini LED lamp beads, each lamp bead is a pixel, and each pixel can be independently controlled.

[0023] The target image can be a color image or a grayscale image, and can be an image in various image formats, which is not limited in the present application. The target image can be an image captured by a camera of the vehicle, an image sent by a user terminal (such as a mobile phone or a tablet computer) (which can be a screenshot, a photographed image, or an image drawn by a user, etc.), an image obtained from a network, or a vector image drawn by a user on a vehicle-mounted center control screen of the vehicle, etc.

[0024] The driving data of the vehicle refers to data for indicating the driving state of the vehicle, and can include the vehicle speed, the heading angle, the steering wheel angle, the acceleration, the temperature in the vehicle, the engine temperature, and the driving mileage, etc.

[0025] Generally, the vehicle can be configured with a vehicle light control function for implementing the vehicle light control method of the present application, which can be turned on based on the needs. For example, a virtual switch is displayed on the vehicle-mounted center control screen, and the vehicle light control function is determined to be turned on or off through the operation of the virtual switch, or the vehicle light control function can be turned on or off through a voice command, or the user terminal (such as a mobile phone) is installed with an application program corresponding to the light control method of the present application, and the on-off state of the vehicle light control function can be controlled through the application program.

[0026] Of course, the user can select the target image to be displayed on the vehicle-mounted center control screen, or select the target image through a voice command, or obtain the target image through the application program installed on the user terminal.

[0027] S120, compensating the preset projection position of each pixel in the vehicle light based on the driving data to obtain the target projection position of each pixel.

[0028] The vehicle light can include a plurality of light-emitting pixels, each light-emitting pixel being one pixel in S120, and each pixel in the vehicle light emits light to achieve the target of the vehicle light output light.

[0029] However, for each pixel in the vehicle light, a preset projection position can be configured so that when the pixel emits light, the light emitted by the pixel is projected on the preset projection position, and when each pixel projects the light emitted by itself on the corresponding preset projection position, the target of the vehicle light projection image can be achieved.

[0030] However, when projecting according to the fixed projection position of the pixel, the projection effect of the light emitted by the pixel can be poor when the driving state of the vehicle changes, and therefore, in order to ensure the projection effect, the preset projection position of each pixel can be compensated based on the driving data of the vehicle.

[0031] In some embodiments, the compensation amount of each pixel can be determined by the vehicle speed of the vehicle, and then the preset projection position of each pixel is compensated based on the compensation amount of each pixel to obtain the target projection position of each pixel. For example, the vehicle speed of the vehicle is multiplied by the first coefficient of each pixel to obtain the compensation amount of each pixel, and the first coefficients of the pixels can be different, and the first coefficient is, for example, 0.1, etc.

[0032] In yet some embodiments, the compensation amount of each pixel can be determined by the heading angle of the vehicle, and then the preset projection position of each pixel is compensated based on the compensation amount of each pixel to obtain the target projection position of each pixel. For example, the heading angle of the vehicle is multiplied by the second coefficient of each pixel to obtain the compensation amount of each pixel, and the second coefficients of the pixels can be different, and the second coefficient is, for example, 0.2, etc.

[0033] In still some embodiments, the compensation amount of each pixel can be determined by the steering wheel rotation angle of the vehicle, and then the preset projection position of each pixel is compensated based on the compensation amount of each pixel to obtain the target projection position of each pixel. For example, the steering wheel rotation angle of the vehicle is multiplied by the third coefficient of each pixel to obtain the compensation amount of each pixel, and the third coefficients of the pixels can be different, and the third coefficient is, for example, 0.3, etc.

[0034] In still some embodiments, the driving data of the vehicle includes the vehicle speed and the steering wheel rotation angle of the vehicle; thereby, the light type compensation matrix can also be constructed based on the vehicle speed and the steering wheel rotation angle; and the preset projection position of each pixel is compensated by the light type compensation matrix to obtain the target projection position of each pixel. That is, the compensation amount of each pixel can be determined based on both the vehicle speed and the steering wheel rotation angle of the vehicle.

[0035] The compensation reference amount can be determined based on the vehicle speed and the steering wheel rotation angle, and then a matrix is constructed based on the compensation reference amount as the light type compensation matrix.

[0036] For example, for any one pixel, the preset projection position (x, y) of the pixel, the constructed light type compensation matrix can be wherein k is a preset coefficient which can be set based on requirements, v is the vehicle speed, is the steering wheel rotation angle, and thereby the compensation process for the pixel can be expressed as wherein (x, y) is the target projection position of the pixel. ,

[0037] S130, based on the target image and the target projection position of each pixel, controlling the vehicle lamp to emit light to project the target image through the vehicle lamp.

[0038] ​The light emitted by each pixel is projected at the corresponding target projection position.

[0039] That is, the pixel data of each pixel can be determined based on the target image and the target projection position of each pixel, and then the light emission of each pixel is controlled based on the pixel data of each pixel to achieve the control of the light emission of the vehicle lamp to project the target of the target image. At this time, the light emitted by each pixel is projected at the corresponding target projection position.

[0040] It is worth mentioning that for a static image (which can be a pixel bitmap or a vector image), the content is generally fixed and does not change, so the static image can be directly projected without the need for compensation processing of the static image, that is, the static image is directly converted into a pixel bitmap for the vehicle lamp of the vehicle, and the vehicle lamp is directly controlled to output the static pixel bitmap so that the light emitted by the pixel is projected at the corresponding preset projection position.

[0041] Correspondingly, for a dynamic image (which can be a pixel bitmap or a vector image), the content changes, so the dynamic image can be compensated in the manner of the present application to make the light emitted by the pixel be projected at the corresponding target projection position.

[0042] Thus, when outputting a static image, the step of compensation processing is omitted, the amount of data processing is reduced, the energy consumption of the vehicle is reduced, and the endurance of the vehicle is prolonged.

[0043] In the embodiment, the preset projection position of each pixel in the vehicle lamp is compensated based on the driving data of the vehicle to obtain the target projection position of each pixel, and then the light emission of the vehicle lamp is controlled based on the target image and the target projection position of each pixel to project the target image through the vehicle lamp. Thus, the vehicle lamp not only provides light but also projects the target image, so that the vehicle lamp outputs diversified information, and the light effect of the vehicle lamp is better. Moreover, the preset projection position of each pixel is compensated in combination with the driving data of the vehicle to obtain the target projection position of each pixel, so that the compensation of the projection position of each pixel is realized, which makes the target projection position of each pixel more suitable for the current driving state, so that the target image projected according to the target projection position of each pixel is more easily observed by the user, the display effect after the projection of the target image is better, and the projection effect of the vehicle lamp is further improved.

[0044] In some embodiments, as shown in FIG. 1B, S130 includes: Figure 3 S131, acquiring environmental data of the environment around the vehicle.

[0045] ​The environmental data around the vehicle can include object data of objects around the vehicle and light data, etc. The objects around the vehicle can include pedestrians, obstacles, lane lines, road sign indications, traffic signal lights, etc. The light data can include visibility levels and ambient light intensities, etc.

[0046] In S132, a light parameter of the vehicle light is determined based on the environmental data.

[0047] In this embodiment, the light parameter can include a brightness value of the vehicle light, a size of a pixel region emitting light in the vehicle light, a flicker frequency, etc.

[0048] In some embodiments, the corresponding light parameter can be obtained by predicting based on the environmental data through an environmental compensation model. The environmental compensation model is trained through a neural network model initialized by sample data. The sample data can include sample environmental data collected by the vehicle and labeled light parameters for the sample environmental data. The labeled light parameter can refer to a light parameter with a high light effect in a real environment indicated by the sample environmental data. The labeled light parameter can be labeled by an expert based on experience.

[0049] In yet some embodiments, a mapping table can be established. The mapping table includes a plurality of initial environmental data and respective initial light parameters of the initial environmental data. Thus, the initial light parameter corresponding to the environmental data of the vehicle is obtained from the mapping table as the light parameter of the vehicle light.

[0050] Of course, generally, the environmental data of the vehicle can include multiple types. Thus, the initial environmental data in the mapping table can be a combination data of a combination of multiple types of environmental data. Each combination data corresponds to an initial light parameter. For example, one initial environmental data is a combination data of a pedestrian data, an obstacle data, a road sign indication data, and a visibility level. The initial environmental data corresponds to an initial light parameter.

[0051] In still some embodiments, S150 can further include: obtaining a Q value table obtained through Q learning; the Q value table including a plurality of reference environmental data and respective reference light parameters corresponding to the reference environmental data; and obtaining the reference light parameter corresponding to the environmental data from the Q value table as the light parameter of the light.

[0052] The Q value table refers to a mapping table learned by Q learning. The Q value table includes a plurality of reference environmental data and a plurality of reference light parameters. The reference light parameter corresponding to each reference environmental data refers to the reference light parameter with the highest Q value under the constraint of the reference environmental data in the Q value table. Thus, each reference environmental data in the Q value table corresponds to a reference light parameter.

[0053] In the present application, the obtaining manner of the Q value table can include: obtaining a plurality of reference environment data and a plurality of reference light parameters; for each reference environment data, determining a sample reward value of the reference environment data for each reference light parameter; the sample reward value of the reference environment data for the reference light parameter refers to a reward value obtained by a sample vehicle when the sample vehicle controls its own vehicle light to emit light according to the reference light parameter in an environment indicated by the reference environment data; the sample reward value includes a safety reward value indicating the driving safety of the sample vehicle and / or an energy consumption reward value indicating the energy consumption level; and generating the Q value table based on the sample reward values of the plurality of reference environment data for the plurality of reference light parameters through Q learning.

[0054] Generally, the higher the safety of the sample vehicle, the higher the safety reward value, the lower the safety of the sample vehicle, the lower the safety reward value, and similarly, the higher the energy consumption of the sample vehicle, the lower the energy consumption reward value, and the lower the energy consumption of the sample vehicle, the higher the energy consumption reward value.

[0055] That is, in the present application, when determining the sample reward value of the reference environment data for the reference light parameter, two dimensions of rewards, safety reward value and energy consumption reward value, are considered. It can be weighted sum or average of the safety reward value and the energy consumption reward value, and the result is taken as the sample reward value to realize the fusion of the safety reward value and the energy consumption reward value, so that the sample reward value is more accurate. For example, in the case of fusing 2 dimensions of rewards by weighted sum, the determination process of the sample reward value R is , W1 and W2 are weights, which can be set based on requirements, Safety is the safety reward value, and EnergyEfficiency is the energy consumption reward value.

[0056] In the present application, through the Q learning algorithm, a corresponding reference light parameter is selected for each reference environment data from a plurality of reference light parameters to obtain the Q value table, so as to realize the target of indexing the light parameter from the Q value table based on the environment data.

[0057] For example, the vehicle can include an ADAS sensor, a rain sensor, and a chassis domain control module, wherein the ADAS can include a camera and a radar, as shown in Figure 4 The radar is used to obtain object data (such as pedestrian data and obstacle data, etc.), the camera is used to obtain lane line data and road sign identification data, etc., and the rain sensor is used to collect rain data, so as to determine the visibility level through the rain data. Thus, the obtained environment data includes object data, visibility level, lane line data, and road sign identification data, and through these environment data, dynamic compensation is realized to obtain the light parameter of the vehicle light, thereby realizing the target of dynamically adjusting the light parameter based on the environment data.

[0058] S133, control the vehicle lamp to emit light based on the target image, the light parameter, and the target projection position of each pixel.

[0059] That is, after the light parameter is determined, the vehicle lamp is controlled to emit light in combination of the target image, the light parameter, and the target projection position of each pixel.

[0060] That is, in the present application, the pixel data of each pixel can be determined based on the target image, the light parameter, and the target projection position of each pixel, and then each pixel is controlled to emit light based on the pixel data of each pixel, so that the light emitted by each pixel is projected on the corresponding target projection position, achieving the purpose of projecting the target image.

[0061] In some embodiments, S133 can also include determining the pixel data of each pixel based on the target image, the light parameter, and the target projection position of each pixel, and sending the pixel data of each pixel to the vehicle lamp controller through a computer local area network channel, so that the vehicle lamp controller controls the light emission of each pixel according to the pixel data of each pixel. The computer local area network channel can be an Ethernet channel or a ring local area network channel, etc.

[0062] Since the vehicle lamp includes a plurality of pixels, the total amount of pixel data of the plurality of pixels is large, in order to realize high-speed transmission, the pixel data of each pixel is transmitted to the vehicle lamp controller through the computer local area network channel.

[0063] Of course, it is not difficult to understand that the method also includes responding to the light control instruction for the vehicle lamp, and sending the light control instruction to the vehicle lamp controller of the vehicle through the controller local area network channel, so that the vehicle lamp controller controls the vehicle lamp according to the light control instruction. The controller local area network can be, for example, a can protocol or a canFD protocol.

[0064] In the present application, the light control instruction refers to the control instruction for the vehicle lamp, which can be, for example, the control instruction for turning on or off the turn signal, the high beam, the low beam, the double flash, the brake light, and the fog light. The data amount of the light control instruction is small, so it can be transmitted through the controller local area network channel.

[0065] Therefore, transmitting the pixel data and the light control instruction through different channels can effectively avoid the interference between the light control instruction and the pixel data, and improve the safety and stability of data transmission. Moreover, the computer local area network channel can support the transmission of data with a large data amount, and improve the transmission efficiency of the pixel data with a large data amount.

[0066] Generally, the vehicle can obtain the user triggered light control instruction through the vehicle's on-board central screen, or transmit the light control instruction to the vehicle through the application program on the user terminal, or make decisions on the light control instruction through its own intelligent driving function.

[0067] In some embodiments, S133 can further include: determining the pixel data of each pixel based on the target image, the light parameter, and the target projection position of each pixel, compressing the pixel data of each pixel to obtain compressed pixel data, and sending the compressed pixel data to the vehicle's lamp controller through the computer local area network channel, so that the lamp controller decompresses the compressed control data to obtain the pixel data of each pixel, and controls the light emission of each pixel according to the pixel data of each pixel.

[0068] The compression of the pixel data can be run-length encoding (RLE) compression, LZR compression, LZMA compression, etc. Thus, the pixel data is compressed to reduce the data volume of data transmission, improve the data transmission efficiency, and further improve the response timeliness of the vehicle lamp.

[0069] In this embodiment, the environmental data is also obtained, and the vehicle lamp is controlled in combination with the environmental data and the driving data, so that the display effect of the vehicle lamp fits the environmental data and the driving data, and the display effect of the vehicle lamp is further improved.

[0070] In some embodiments, after S130, the method further includes: in response to monitoring that the temperature of the target pixel region reaches a temperature threshold, performing brightness reduction processing on the pixels in the target pixel region; the target pixel region is any one of the plurality of pixel regions. The temperature threshold can be set based on requirements, for example, 70℃.

[0071] The brightness reduction processing can be reducing the brightness value by a specified value or not emitting light in the target pixel region, and the specified value can be, for example, 10% or 20%.

[0072] For example, the vehicle lamp can be divided into 20 regions (each group of 50 pixels), and the working temperature of each of the 20 regions is monitored. When the temperature of a certain region is too high and reaches the designed critical temperature threshold, the light output of the corresponding region can be turned off or the brightness value can be reduced. Generally, each pixel can be independently controlled by adjusting the PWM frequency (100Hz-10kHz) and the RGB pixel value, thereby achieving independent control of each pixel.

[0073] Of course, in order to facilitate the user to view the condition of the vehicle lamp, the working condition (pixel value or temperature value of the pixel, etc.) and working mode of each pixel can be fed back in real time, and the working condition and working mode of each pixel can be displayed on the user interface of the vehicle-mounted central control screen of the vehicle. Alternatively, the vehicle can also send the working condition and working mode of each pixel to the user terminal, so that the user terminal (actually an application program in the user terminal) displays the working condition and working mode of each pixel.

[0074] In this application, in order to facilitate the control of the vehicle lamp, a development interface can also be configured to support the application program of the third party to call the vehicle lamp to realize various ways to control the vehicle lamp.

[0075] For example, the vehicle can be a vehicle-mounted central control screen, an intelligent driving domain controller, a central domain control module, an intelligent driving system (ADAS) sensor, a rain sensor, a chassis domain control module, etc.

[0076] The ADAS sensor detects environmental information, and the intelligent driving domain controller processes the detected environmental information to obtain the aforementioned environmental data (including pedestrians, surrounding obstacles, lane lines, and road sign identification, etc.); the rain sensor provides weather such as rain and fog, and environmental data such as visibility level; the chassis domain control module provides driving data such as vehicle speed, gear position, steering wheel rotation angle, etc.

[0077] As shown in Figure 6 , the chassis domain control module obtains the vehicle speed and steering wheel rotation angle, the intelligent driving domain controller obtains the information of pedestrians, obstacles, road sign identification, etc., and the rain sensor detects the rain data to obtain the visibility level, etc., thereby achieving the goal of obtaining driving data and environmental data.

[0078] The vehicle lamp control function of the vehicle lamp can be started through the vehicle-mounted central control screen, or through the mobile phone APP (Application, application program), and in the case that the vehicle lamp control function is started, the central domain control module of the vehicle obtains the pixel data based on the target image, driving data and environmental data, or the central domain control module directly receives the control type data and sends the pixel data or control type data to the vehicle lamp controller, which controls the vehicle lamp to emit light.

[0079] Moreover, in the vehicle lamp emitting device, the working state and temperature information of the vehicle lamp can also be monitored, so that the central domain control module controls the brightness of each region of the vehicle lamp based on the temperature information.

[0080] Of course, the working state and temperature information of the vehicle lamp can also be sent to the mobile phone APP, so that the mobile phone APP displays the working state and temperature information of the vehicle lamp, or directly displays the working state and temperature information of the vehicle lamp on the vehicle-mounted central control screen, so that the user can check the working state and temperature information of the vehicle lamp in time.

[0081] Of course, in order to realize the vehicle lamp control method of the present application, a control system including an input layer, a processing layer, a transmission layer, an execution layer and a feedback layer can be constructed to realize vehicle lamp control through the control system.

[0082] The input layer is used to obtain target images, driving data and environmental data. Specifically, as shown in Figure 7 the vector diagram drawn through the vehicle-mounted central control screen or the mobile phone APP can be obtained as the target image, and the preset effect of the light can also be selected through the voice instruction or the vehicle-mounted central control screen. The preset effect refers to the display effect of the light, such as flashing at a certain frequency, switching the high beam and low beam at a preset frequency, and alternating flashing the left and right turn signals, etc.

[0083] The environmental data fusion refers to collecting object data through the ADAS sensor, collecting rainfall data through the rainfall sensor, and obtaining driving data through the chassis domain control module, and obtaining environmental data based on the object data and the rainfall data.

[0084] The processing layer is used to obtain pixel data of each pixel. As shown in Figure 8 For the display of the preset effect, the light control instruction corresponding to the preset effect is called to realize light control through the light control instruction corresponding to the preset effect; for the drawn vector diagram, it is converted into a pixel bitmap to obtain the pixel data of each pixel (the pixel bitmap includes the pixel data of each pixel in the vehicle lamp, and the pixel value of each pixel in the pixel bitmap is the pixel data of each pixel), and for real-time rendering of the dynamic image, dynamic compensation is performed based on the driving data, the target image and the environmental data to obtain the pixel data of each pixel (i.e. the pixel data of each pixel is determined according to the method of the foregoing embodiments of the present application).

[0085] After obtaining the pixel data of each pixel, the pixels are compressed to obtain compressed pixel data, so as to reduce the data amount.

[0086] The transmission layer is used to realize the transmission of data. For example Figure 9 as shown, a double channel is provided, for the light control instruction, it is transmitted through the CANFD channel, and for the pixel data (compressed pixel data), it is transmitted through the Ethernet channel.

[0087] The execution layer is used to control the light emission of the vehicle lamp, for example Figure 10As shown, the compressed pixel data is compressed by the car light controller to obtain pixel data of each pixel, and each pixel is independently controlled by the respective pixel data to realize pixel output and pixel light emission to display the corresponding effect.

[0088] The feedback layer is used to implement the running state of the feedback car light. For example Figure 11 As shown, the car light state of the car light is collected in real time, and the car light state is displayed on the user interface of the vehicle-mounted central control screen. At the same time, temperature monitoring is performed, and the brightness is adjusted in real time based on the temperature of the car light: if the temperature exceeds the temperature threshold, the brightness is reduced, thereby realizing dynamic feedback adjustment.

[0089] In this example, the light of the car light is rendered in real time, improving the interaction accuracy and experience; combined with environmental perception data (weather, road conditions, pedestrian position), the effect of the light is automatically adjusted, reducing manual operation of the user, and improving driving safety and experience smoothness.

[0090] Referring to the accompanying Figure 11 , Figure 11 A structure block diagram of a car light control device according to an embodiment of the present application is shown. The device 1100 is used for a vehicle, and includes: The acquisition module 1110 is configured to acquire a target image and driving data of the vehicle; The compensation module 1120 is configured to compensate a preset projection position of each pixel in the car light of the vehicle based on the driving data to obtain a respective target projection position of each pixel; The control module 1130 is configured to control the car light to emit light based on the target image and the respective target projection position of each pixel, so as to project the target image through the car light; wherein the light emitted by each pixel is projected on the corresponding target projection position.

[0091] Optionally, the driving data includes a vehicle speed and a steering wheel turning angle of the vehicle; the compensation module 1120 is further configured to construct a light type compensation matrix based on the vehicle speed and the steering wheel turning angle; and the preset projection position of each pixel is compensated by the light type compensation matrix to obtain the respective target projection position of each pixel.

[0092] Optionally, the control module 1130 is further configured to acquire environmental data of an environment around the vehicle; determine a light parameter of the car light based on the environmental data; and control the car light to emit light based on the target image, the light parameter, and the respective target projection position of each pixel.

[0093] Optionally, the control module 1130 is further configured to acquire a Q value table obtained through Q learning; the Q value table includes a plurality of reference environmental data and a reference light parameter corresponding to each reference environmental data; and the reference light parameter corresponding to the environmental data is acquired from the Q value table as the light parameter of the light.

[0094] Optionally, the device further comprises a learning module configured to obtain a plurality of reference environment data and a plurality of reference light parameters; for each reference environment data, determine a sample reward value of the reference environment data for each reference light parameter; the sample reward value of the reference environment data for the reference light parameter refers to a reward value obtained by a sample vehicle when the sample vehicle controls the light of the sample vehicle to emit light according to the reference light parameter in an environment indicated by the reference environment data; the sample reward value comprises a safety reward value indicating driving safety of the sample vehicle and / or an energy consumption reward value indicating energy consumption; and generate a Q value table based on the sample reward values of the plurality of reference environment data for the plurality of reference light parameters through Q learning.

[0095] Optionally, the control module 1130 is further configured to determine pixel data of each pixel based on the target image, the light parameter, and the target projection position of each pixel; and send the pixel data of each pixel to a light controller of the vehicle through a computer local area network channel, so that the light controller controls the light emission of each pixel according to the pixel data of each pixel.

[0096] Optionally, the control module 1130 is further configured to respond to a light control instruction for the light; and send the light control instruction to the light controller of the vehicle through the controller local area network channel, so that the light controller controls the light according to the light control instruction.

[0097] Optionally, the light comprises a plurality of pixel regions; each pixel region comprises a plurality of pixels; and the control module 1130 is further configured to, for each pixel region, if it is monitored that the temperature of the pixel region reaches a temperature threshold, perform a brightness reduction process on the pixels in the pixel region.

[0098] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and module can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

[0099] In addition, each function in each embodiment of the present application can be integrated in one processing module, or each module can be physically independent, or two or more modules can be integrated in one module. The above integrated module can be realized in the form of hardware or in the form of a software function module.

[0100] On the other hand, the present application also provides a computer readable storage medium, the computer readable storage medium stores program code, the program code can be called by a processor to execute the method described in the foregoing method embodiments.

[0101] The computer-readable storage medium can be an electronic, magnetic, optical, or other physical storage device that contains or stores a programmable code that can be read by a computer. The computer-readable storage medium can be a non-transitory computer-readable storage medium. The computer-readable storage medium can have a storage space that stores program codes for performing any of the method steps described above. The program codes can be read from or written to one or more computer program products. The program codes can be compressed in an appropriate form, for example.

[0102] Finally, it should be noted that the above examples are merely used to illustrate the technical solutions of the present application, and are not intended to limit the same. Although the present application has been described in detail with reference to the foregoing examples, those skilled in the art will understand that the technical solutions described in the foregoing examples can still be modified, or some of the technical features can be replaced by equivalent features. Such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A lighting control method, characterized in that, The method includes: Acquire target images and vehicle driving data; Based on the driving data, the preset projection position of each pixel in the vehicle's headlights is compensated to obtain the target projection position of each pixel. Based on the target image and the target projection position of each pixel, the vehicle headlights are controlled to emit light so as to project the target image through the vehicle headlights; wherein the light emitted by each pixel is projected onto the corresponding target projection position.

2. The method according to claim 1, characterized in that, The driving data includes the vehicle speed and steering wheel angle; The step of compensating the preset projection position of each pixel in the vehicle's headlights based on the driving data to obtain the target projection position of each pixel includes: Based on the vehicle speed and the steering wheel angle, a light pattern compensation matrix is ​​constructed; The preset projection position of each pixel is compensated by the light pattern compensation matrix to obtain the target projection position of each pixel.

3. The method according to claim 1, characterized in that, The step of controlling the headlights to emit light based on the target image and the target projection position of each pixel includes: Obtain environmental data of the environment surrounding the vehicle; Based on the environmental data, the lighting parameters of the vehicle lights are determined; The vehicle lights are controlled to emit light based on the target image, the lighting parameters, and the target projection position of each pixel.

4. The method according to claim 3, characterized in that, Determining the headlight parameters based on the environmental data includes: Obtain a Q-value table obtained through Q-learning; the Q-value table includes multiple reference environment data and reference lighting parameters corresponding to each of the reference environment data. The reference lighting parameters corresponding to the environmental data are obtained from the Q-value table and used as the lighting parameters of the light.

5. The method according to claim 4, characterized in that, Before obtaining the Q-value table obtained through Q-learning, the method further includes: Acquire the multiple reference environmental data and multiple reference lighting parameters; For each reference environment data, a sample reward value for each reference lighting parameter is determined; the sample reward value for the reference environment data for the reference lighting parameter refers to the reward value obtained by the sample vehicle when it controls its own headlights to emit light according to the reference lighting parameter in the environment indicated by the reference environment data; the sample reward value includes a safety reward value indicating the driving safety of the sample vehicle and / or an energy consumption reward value indicating the energy consumption level. Through Q-learning, the Q-value table is generated based on the sample reward values ​​of the multiple reference lighting parameters according to multiple reference environmental data.

6. The method according to claim 3, characterized in that, The step of controlling the vehicle headlights to emit light based on the target image, the lighting parameters, and the target projection position of each pixel includes: Pixel data for each pixel is determined based on the target image, the lighting parameters, and the target projection position of each pixel. The pixel data of each pixel is sent to the vehicle's headlight controller via a computer local area network channel, so that the headlight controller controls the illumination of each pixel according to the pixel data of each pixel.

7. The method according to claim 1, characterized in that, The method further includes: In response to a lighting control command for the vehicle lights; The lighting control command is sent to the vehicle's headlight controller via the controller area network channel, so that the headlight controller can control the headlights.

8. The method according to claim 1, characterized in that, The vehicle headlight comprises multiple pixel regions; each pixel region comprises multiple pixels. After controlling the headlights to emit light based on the target image and the target projection position of each pixel, the method further includes: For each pixel region, if the temperature of the pixel region is detected to reach a temperature threshold, the brightness of the pixels in the pixel region is reduced.

9. A vehicle lighting control device, characterized in that, The device includes: The acquisition module is used to acquire target images and vehicle driving data; The compensation module is used to compensate the preset projection position of each pixel in the vehicle's headlights based on the driving data, so as to obtain the target projection position of each pixel. A control module is used to control the headlights to emit light based on the target image and the target projection position of each pixel, so as to project the target image through the headlights; wherein the light emitted by each pixel is projected onto the corresponding target projection position.

10. A vehicle, characterized in that, include: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the method as described in any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores processor-executable program code, which, when executed by the processor, causes the processor to perform the method according to any one of claims 1-8.

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