Vehicle lamp matrix control method and device, electronic equipment, storage medium and vehicle

Abstract

The invention discloses a vehicle lamp matrix method and device, electronic equipment, a storage medium and a vehicle, and relates to the technical field of light control, and the method comprises the steps: determining a first boundary angle of a target object relative to each pixel lamp in a vehicle lamp matrix in response to the situation that the target object appears in an irradiation range of the vehicle lamp matrix; determining an extinguishing boundary angle and a lightening boundary angle of the pixel lamp based on the second boundary angle of the illumination range of the pixel lamp and a pre-calibrated hysteresis angle; determining a pulse width modulation value of the pixel lamp based on a relationship among the extinguishing boundary angle, the lightening boundary angle and the first boundary angle; and the vehicle lamp matrix is controlled through the pulse width modulation value, so that the redundancy of pixel lamp response can be realized, the ADB function is more stable and reliable, and the comfort and safety of user experience are ensured.

Description

Technical Field

[0001] This application relates to the field of lighting control technology, and in particular to vehicle lighting matrix control methods, vehicle lighting matrix control devices, electronic devices, storage media, and vehicles. Background Technology

[0002] Adaptive High Beam (ADB) is a technology that uses environmental information perceived by cameras to adjust the high beam matrix of a car to ensure its own safety while preventing glare for drivers of oncoming or same-direction vehicles. The high beams in an ADB system are matrix headlights, where each element has a fixed illumination range.

[0003] In related technologies, ADB requires the orientation information of the target object. First, the camera obtains the polar coordinates of the object (centered on the camera or rear suspension). Then, ADB calculates the polar coordinates of the object relative to the headlight through transformation. The left and right boundary angles of the object relative to the headlight are then compared with the illumination angle of each LED in the matrix headlight. The headlight can only be turned off if the condition is met (i.e., the boundary angle of the object covers the illumination range of the LED).

[0004] Therefore, if the camera's perception function is defective, or if the boundary of the target object itself moves back and forth at the boundary of a certain pixel in the matrix headlight, it may cause that pixel light to frequently turn on and off, making the overall ADB function unstable and affecting the user experience. Summary of the Invention

[0005] The purpose of this invention is to provide a vehicle headlight matrix control method, a vehicle headlight matrix control device, an electronic device, a storage medium, and a vehicle, at least solving a technical problem of how to reduce the frequent on / off of pixel lights in matrix headlights and how to make ADB performance more stable and improve user experience.

[0006] This invention provides the following solution:

[0007] According to one aspect of the present invention, a vehicle lighting matrix control method is provided, comprising:

[0008] In response to a target object appearing within the illumination range of the headlight matrix, a first boundary angle of the target object relative to each pixel light in the headlight matrix is ​​determined;

[0009] Based on the second boundary angle of the pixel lamp illumination range and the pre-calibrated hysteresis angle, the extinguishing boundary angle and the lighting boundary angle of the pixel lamp are determined.

[0010] Based on the relationship between the extinguishing boundary angle, the lighting boundary angle, and the first boundary angle, the pulse width modulation (PWM) value of the pixel lamp is determined;

[0011] The vehicle headlight matrix is ​​controlled by the pulse width modulation value.

[0012] Preferably, determining the first boundary angle of the target object relative to each pixel light in the vehicle light matrix includes:

[0013] The target detection device acquires the target detection signal in real time.

[0014] In response to the target detection signal simultaneously meeting a preset validity condition, it is determined that the target object appears within the illumination range of the vehicle headlights;

[0015] Calculate the left and right boundary angles of the target object relative to the target object detection device;

[0016] Based on the left boundary angle, the right boundary angle, and the vehicle's own parameters, the first boundary angle of the target object relative to each pixel light in the headlight matrix on both sides of the vehicle is determined by coordinate transformation.

[0017] The first boundary angle includes a first left boundary angle and a first right boundary angle.

[0018] Preferably, the second boundary angle includes a second left boundary angle and a second right boundary angle;

[0019] The determination of the pixel lamp's off-center boundary angle and on-center boundary angle based on the second boundary angle of the pixel lamp's illumination range and the pre-calibrated hysteresis angle includes:

[0020] The sum of the second left boundary angle and the hysteresis angle is determined as the first extinguishing boundary angle of the right boundary of the pixel lamp, and the difference between the second left boundary angle and the hysteresis angle is determined as the first lighting boundary angle of the right boundary of the pixel lamp.

[0021] The sum of the second right boundary angle and the hysteresis angle is determined as the second lighting boundary angle of the left boundary of the pixel lamp, and the difference between the second right boundary angle and the hysteresis angle is determined as the second extinguishing boundary angle of the left boundary of the pixel lamp.

[0022] Preferably, determining the pulse width modulation value of the pixel lamp based on the relationship between the extinguishing boundary angle, the ignition boundary angle, and the first boundary angle includes:

[0023] In response to the first right boundary angle being greater than or equal to the first extinguish boundary angle, an extinguish signal is determined to be output; if the first right boundary angle is less than or equal to the first ignition boundary angle, an ignition signal is determined to be output; if the first right boundary angle is less than or greater than the first extinguish boundary angle, an output signal is determined to maintain the state of the previous moment.

[0024] In response to the first left boundary angle being greater than or equal to the second lighting boundary angle, a lighting signal is determined to be output; if the first left boundary angle is less than or equal to the second extinguishing boundary angle, an extinguishing signal is determined to be output; if the first left boundary angle is less than or greater than the second lighting boundary angle, a signal to maintain the state of the previous moment is determined to be output.

[0025] Based on the lighting signal, the extinguishing signal, and the signal that maintains the state from the previous moment, the pulse width modulation value corresponding to the pixel lamp is determined.

[0026] Preferably, determining the pulse width modulation value corresponding to the pixel lamp based on the lit signal, the extinguished signal, or the signal maintaining the state from the previous moment includes:

[0027] In response to the fact that the output signal corresponding to the first right boundary is the same as the output signal corresponding to the first left boundary, the pulse width modulation value corresponding to the pixel lamp is determined according to the output signal.

[0028] or

[0029] In response to the fact that the output signal corresponding to the first right boundary is different from the output signal corresponding to the first left boundary, the pulse width modulation value corresponding to the pixel lamp is determined according to the extinguishing signal.

[0030] Preferably, the validity conditions are as follows:

[0031] The target object exists;

[0032] The confidence level of the target object is greater than a preset confidence threshold;

[0033] The target object is more than a preset distance threshold from the vehicle;

[0034] The right boundary angle of the target object is greater than the left boundary angle of the target object;

[0035] The right boundary angle and the left boundary angle are within the illumination range of the vehicle headlights.

[0036] According to a second aspect of the present invention, a vehicle lighting matrix control device is provided, comprising:

[0037] The target object boundary determination module is used to determine the first boundary angle of the target object relative to each pixel lamp in the vehicle lamp matrix in response to the target object appearing within the illumination range of the vehicle lamp matrix;

[0038] The pixel lamp boundary determination module is used to determine the extinguishing boundary angle and the lighting boundary angle of the pixel lamp based on the second boundary angle of the illumination range of the pixel lamp and the pre-calibrated hysteresis angle.

[0039] The pulse width modulation value determination module is used to determine the pulse width modulation value of the pixel lamp based on the relationship between the off boundary angle, the on boundary angle and the first boundary angle.

[0040] The vehicle headlight matrix control module is used to control the vehicle headlight matrix through the pulse width modulation value.

[0041] According to three aspects of the present invention, an electronic device is provided, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0042] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the vehicle lighting matrix control method.

[0043] According to four aspects of the present invention, a computer-readable storage medium is provided, comprising: storing a computer program executable by an electronic device, wherein when the computer program is run on the electronic device, the electronic device performs the steps of a vehicle lighting matrix control method.

[0044] According to five aspects of the present invention, a vehicle is provided, comprising:

[0045] Electronic equipment used to implement the steps of a vehicle lighting matrix control method;

[0046] The processor runs a program, and when the program runs, it executes the steps of the vehicle lighting matrix control method based on data output from the electronic device.

[0047] Storage medium for storing programs that, when running, execute steps of the headlight matrix control method based on data output from electronic devices.

[0048] The above solution achieves the following beneficial technical effects:

[0049] This application determines the extinguishing boundary angle and the lighting boundary angle of the pixel lamp by using the second boundary angle of the pixel lamp illumination range and the pre-calibrated hysteresis angle. This enables redundancy in the pixel lamp response, making the ADB function more stable and reliable, and ensuring the comfort and safety of the user experience.

[0050] This application determines the pulse width modulation value of the pixel lamp by considering the relationship between the extinguishing boundary angle, the lighting boundary angle, and the first boundary angle, thus providing users with a more stable and comfortable functional experience while ensuring safety. Attached Figure Description

[0051] Figure 1 This is a flowchart of a vehicle lighting matrix control method provided by one or more embodiments of the present invention.

[0052] Figure 2 This is a system principle block diagram provided in a specific embodiment of the present invention.

[0053] Figure 3 This is a schematic diagram of an effectiveness detection method provided in a specific embodiment of the present invention.

[0054] Figure 4 This is a schematic diagram of the boundary hysteresis response provided in a specific embodiment of the present invention.

[0055] Figure 5 This is a schematic diagram of an ADB system with boundary hysteresis response provided in a specific embodiment of the present invention.

[0056] Figure 6 This is a flowchart of the ADB system provided in a specific embodiment of the present invention.

[0057] Figure 7 This is a structural diagram of a vehicle lighting matrix control device provided in one or more embodiments of the present invention.

[0058] Figure 8 This is a block diagram of an electronic device structure for a vehicle headlight matrix control method provided in one or more embodiments of the present invention. Detailed Implementation

[0059] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0060] Figure 1 This is a flowchart of a vehicle lighting matrix control method provided by one or more embodiments of the present invention.

[0061] like Figure 1 The illustrated headlight matrix control method includes:

[0062] Step S1: In response to the target object appearing within the illumination range of the vehicle light matrix, determine the first boundary angle of the target object relative to each pixel light in the vehicle light matrix.

[0063] Figure 2 This is a system principle block diagram provided in a specific embodiment of the present invention. For example... Figure 2 As shown, the system includes three related domain controllers: Domain Controller 1, Domain Controller 2, and Domain Controller 3. IFC-related software resides in Domain Controller 1, body control functions in Domain Controller 2, and the ABD system and headlight driver are deployed in Domain Controller 3. The power management system supplies power to the domain controllers. The Internal Feedback Controller (IFC) in Domain Controller 1 captures images of the road, processes them into sensing signals, and then sends them across domains to Domain Controller 3 for reception by the ADB. The coordinate transformation module in the ADB receives the IFC signal, converts it into a position signal relative to the headlights, and transmits it to the validity check module and the boundary hysteresis processing module. The validity check module analyzes the target detection signal to determine the validity of the target. The boundary hysteresis processing module adds hysteresis to the boundary angles of the pixel light illumination range. Additionally, signals from the body control module in Domain Controller 2 are also input to the ADB as conditions for state transitions. From a real-time transmission perspective, the IFC signal is transmitted via Ethernet; from a cost perspective, body signals and headlight control signals can be transmitted via CAN.

[0064] Furthermore, the ADB system receives the IFC sensing signal and acquires the target detection signal in real time. This allows it to determine the first boundary angle of the target relative to each pixel in the headlight matrix when the target appears within the illumination range of the headlight matrix. The target detection device included in the IFC can be a camera, radar, or other similar equipment.

[0065] The first boundary angle includes the left and right boundary angles of the target object relative to each pixel of the vehicle light matrix. For ease of distinction, the left and right boundary angles of the target object are referred to as the first left boundary angle and the first right boundary angle.

[0066] Step S2: Based on the second boundary angle of the pixel lamp illumination range and the pre-calibrated hysteresis angle, determine the extinguishing boundary angle and the lighting boundary angle of the pixel lamp.

[0067] The second boundary angle includes the left boundary angle and the right boundary angle of the pixel lamp illumination range. For ease of distinction, this disclosure refers to the left boundary angle and the right boundary angle of the pixel lamp illumination range as the second left boundary angle and the second right boundary angle.

[0068] The illumination range of each pixel lamp can be determined in advance through measurement, while the hysteresis angle can be calibrated according to the instructions of the vehicle's IFC signal and the number of pixel lamps in the lamp matrix.

[0069] Hysteresis angles are then added to the left and right boundary angles of the pixel lamp's illumination range to determine the pixel lamp's off and on boundary angles.

[0070] Step S3: Determine the pulse width modulation value of the pixel lamp based on the relationship between the extinguishing boundary angle, the lighting boundary angle, and the first boundary angle.

[0071] The first left boundary angle of the target object is compared with the off boundary angle and on boundary angle of the pixel lamp after adding hysteresis to determine the output signal corresponding to control the pixel lamp. The first right boundary angle of the target object is compared with the off boundary angle and on boundary angle to determine another output signal corresponding to control the pixel lamp. Based on the determined output signal, the pulse width modulation value for controlling the on and off of the pixel lamp is determined.

[0072] Once the pulse width modulation (PWM) values ​​for all pixel lights are obtained, the PWM values ​​are sent to the light driver.

[0073] The output signals controlling the pixel lamp include an off signal, an on signal, and a signal to maintain the state from the previous moment.

[0074] Step S4: Control the headlight matrix by pulse width modulation value.

[0075] The light driver drives the high beam to perform corresponding actions through pulse width modulation values, controlling the on / off state of each pixel light in the headlight matrix.

[0076] By adding a hysteresis angle to each pixel in the headlight matrix, and comparing the boundary angle after adding the hysteresis angle with the boundary angle of the target object, the on / off state of the pixel can be determined, thus achieving redundant processing of the pixel response. Combined with the validity judgment of target object detection (i.e., if it is determined that the target object is within the illumination range of the headlight matrix, the implementation method proposed in this embodiment is executed), the on / off state of the pixel is finally controlled, providing users with a more stable and comfortable functional experience while ensuring safety.

[0077] In this embodiment, the target detection signal can be acquired in real time through the IFC target detection device, thereby determining the validity of the target detection signal.

[0078] If the target object detection signal simultaneously meets the preset validity conditions, it is determined that the target object appears within the illumination range of the vehicle headlights. The left and right boundary angles of the target object relative to the target object detection device are calculated. Then, using the left and right boundary angles and the vehicle's own parameters, coordinate transformation is performed to determine the first left and first right boundary angles of the target object relative to each pixel light in the headlight matrix on both sides of the vehicle.

[0079] The validity conditions are as follows:

[0080] The target object exists;

[0081] The confidence level of the target object is greater than the preset confidence threshold;

[0082] The target object is more than a preset distance threshold from the vehicle;

[0083] The right boundary angle of the target object is greater than the left boundary angle of the target object;

[0084] The right and left boundary angles are within the illumination range of the headlights.

[0085] The confidence threshold and distance threshold can be adjusted according to the actual situation or different detection signals can be used for detection; no specific limitations are made here.

[0086] Figure 3 This is a schematic diagram of an effectiveness detection method provided in a specific embodiment of the present invention. Figure 3 As shown, the existence of a target is determined by whether its ID is non-zero. If the target ID is non-zero, the target is confirmed to exist, and its confidence level is further determined; otherwise, the target is invalid. Taking a confidence threshold of 0.5 as an example, if the target confidence level is greater than 0.5, the distance to the target is determined; otherwise, the target is deemed invalid. Taking a distance threshold of 5 meters as an example, if the distance between the target and the vehicle is greater than 5 meters, the left and right boundary angles of the target are determined; otherwise, the target is deemed invalid. If the right boundary angle of the target is greater than the left boundary angle, it is determined whether the target boundary angle is within the illumination range of the vehicle's headlights; otherwise, the target is deemed invalid. If both the left and right boundary angles of the target are within the illumination range of the vehicle's headlights, the target is deemed valid; otherwise, the target is deemed invalid. That is, if the target object ID is non-zero, the confidence level is greater than 0.5, the target object is more than 5 meters away from the vehicle, the right boundary angle of the target object is greater than the left boundary angle, and the left and right boundary angles are within the illumination range of the lights, and all of the above conditions are met, then the target object shown by the perception information is considered a valid target; if any of the above conditions are not met, then the target object is considered invalid.

[0087] The specific implementation method for determining the extinguishing boundary angle and the lighting boundary angle of the pixel lamp based on the second boundary angle of the pixel lamp illumination range and the pre-calibrated hysteresis angle is as follows.

[0088] The sum of the second left boundary angle and the hysteresis angle is determined as the first extinguishing boundary angle of the right boundary of the pixel lamp, and the difference between the second left boundary angle and the hysteresis angle is determined as the first lighting boundary angle of the right boundary of the pixel lamp.

[0089] The sum of the second right boundary angle and the hysteresis angle is determined as the second illumination boundary angle of the left boundary of the pixel lamp, and the difference between the second right boundary angle and the hysteresis angle is determined as the second extinguishing boundary angle of the left boundary of the pixel lamp.

[0090] Furthermore, if the first right boundary angle is greater than or equal to the first extinguish boundary angle, an extinguish signal is determined to be output; if the first right boundary angle is less than or equal to the first ignition boundary angle, an ignition signal is determined to be output; if the first right boundary angle is less than the first extinguish boundary angle or greater than the first ignition boundary angle, a signal maintaining the state of the previous moment is determined to be output.

[0091] If the first left boundary angle is greater than or equal to the second lighting boundary angle, determine to output a lighting signal; if the first left boundary angle is less than or equal to the second extinguishing boundary angle, determine to output an extinguishing signal; if the first left boundary angle is less than or greater than the second lighting boundary angle, determine to output a signal that maintains the state of the previous moment.

[0092] Figure 4 This is a schematic diagram of the boundary hysteresis response provided in a specific embodiment of the present invention. Figure 4 As shown, taking a pixel lamp of the target object relative to the left headlight with a hysteresis angle of 0.1 degrees as an example: If the right boundary angle of the target object relative to the left headlight is greater than or equal to the sum of the left boundary angle of the pixel lamp's illumination range plus 0.1 degrees (i.e., the first extinguishing boundary angle), then the pixel lamp is determined to be extinguished, and an extinguishing signal for that pixel lamp is output. If the right boundary angle of the target object relative to the left headlight is less than or equal to the difference between the left boundary angle of the pixel lamp's illumination range and 0.1 degrees (i.e., the first lighting boundary angle), then the pixel lamp is determined to be lit, and an lighting signal for that pixel lamp is output. Otherwise, the pixel lamp maintains its state from the previous moment. After completing the above operations, the relationship between the left boundary angle of the target object relative to the left headlight and the right boundary angle of the pixel lamp, as well as the relationship between the left and right boundary angles of the target object relative to the right headlight and the left and right boundary angles of the right headlight, are compared. This determines the output signals of all pixel lamps and the pulse width modulation value, so as to control the headlight matrix through the pulse width modulation value.

[0093] The relationship between the left boundary angle of the target object relative to the left headlight and the right boundary angle of the pixel light, and the relationship between the left and right boundary angles of the target object relative to the right headlight and the left and right boundary angles of the right headlight, are as follows:

[0094] For the left boundary angle (first left boundary angle) of the target object relative to the left headlight, if the first left boundary angle is greater than or equal to the second right boundary angle of the pixel light plus 0.1° (second lighting boundary angle), then a lighting signal is output; if it is less than or equal to the right boundary angle of the LED minus 0.1° (second extinguishing boundary angle), then an extinguishing signal is output; otherwise, the previous state is maintained.

[0095] For the right boundary angle (first right boundary angle) of the target object relative to the right headlight, if it is greater than or equal to the left boundary angle (second left boundary angle) of the pixel light plus 0.1° (first extinguish boundary angle), then an extinguish signal is output; if it is less than or equal to the second left boundary angle of the pixel light minus 0.1° (first ignition boundary angle), then an ignition signal is output; otherwise, the previous state is maintained.

[0096] For the left boundary angle (first left boundary angle) of the target object relative to the right headlight, if it is greater than or equal to the right boundary angle of the pixel light (second right boundary angle) plus 0.1° (second lighting boundary angle), then a lighting signal is output; if it is less than or equal to the second right boundary angle of the pixel light minus 0.1° (second extinguishing boundary angle), then an extinguishing signal is output; otherwise, the previous state is maintained.

[0097] Figure 5 This is a schematic diagram of an ADB system with boundary hysteresis response provided in a specific embodiment of the present invention. Figure 5 As shown, after receiving the sensing signal from the camera, ADB first calculates the left and right boundary angles of the target object relative to the headlights on both sides through coordinate transformation. The system needs to calculate the illumination range of each pixel of the matrix headlight, where the illumination range of the pixel light usually needs to be measured in advance. ADB compares the boundary angle of the target object with the illumination range angle of the pixel light with added hysteresis one by one. For each pixel light, a turn-off signal is output for those that meet the conditions. Finally, the PWM values ​​of all pixels are output together to the matrix headlight, causing it to block the corresponding position of the target vehicle while keeping the other positions lit.

[0098] That is, the left and right boundary angles of the target object are compared one by one with the off and on boundary angles of the pixel lamps to determine the output signal of each pixel lamp of the left and right car lights, thereby determining the pulse width modulation value of each pixel lamp.

[0099] For example, if the output signal corresponding to the first right boundary is the same as the output signal corresponding to the first left boundary, the pulse width modulation value corresponding to the pixel lamp is determined based on the output signal. For instance, by comparing the first right boundary angle of the target object with the off boundary angle and the on boundary angle of the pixel lamp, an off signal is output; by comparing the first left boundary angle of the target object with the off boundary angle and the on boundary angle of the pixel lamp, an off signal is also output, thus determining that the pixel lamp outputs an off signal.

[0100] If the output signal corresponding to the first right boundary is different from the output signal corresponding to the first left boundary, the pulse width modulation value corresponding to the pixel lamp is determined based on the extinguishing signal. For example, by comparing the first right boundary angle of the target object with the extinguishing boundary angle and the lighting boundary angle of the pixel lamp, an extinguishing signal is output; by comparing the first left boundary angle of the target object with the extinguishing boundary angle and the lighting boundary angle of the pixel lamp, an extinguishing signal is output. Thus, it is determined that the pixel lamp outputs an extinguishing signal.

[0101] To enhance the stability and reliability of the ADB function and ensure a comfortable and safe user experience, an additional angle is added as a hysteresis loop to the left and right boundary angles of the pixel lamps. The left and right boundary angles of the target object are then compared with the illuminated boundary of each pixel lamp after the hysteresis loop angle is added, determining the control signal for each pixel lamp. This control signal is divided into three types: an on signal, an off signal, and a signal maintaining the state from the previous moment. It should be noted that this embodiment operates under the condition of a limited number of target objects; that is, the received sensing information is judged, and a target object is deemed valid if certain conditions are met. The validity signal and the pixel lamp control state processed by the hysteresis strategy are then integrated, and if both conditions are met, a pixel lamp off signal is output, extinguishing the corresponding matrix pixel.

[0102] Figure 6 This is a flowchart of the ADB system provided in a specific embodiment of the present invention. Figure 6 As shown, the ADB system first receives the sensing signal from the IFC camera, then judges a portion of the sensing signal. If the signal meets the requirements or reaches a certain threshold, the sensing signal is considered valid. Next, the system performs hysteresis processing on the response boundaries of the LED pixels. During this process, hysteresis judgment is performed on each LED in the matrix headlight sequentially, and the processed signal is output. Finally, the system comprehensively judges the aforementioned valid signal and the hysteresis-processed signal. LED pixels that meet the conditions are turned off, and the corresponding pulse width modulation (PWM) value is output to the matrix headlight.

[0103] Figure 7 This is a structural diagram of a vehicle lighting matrix control device provided in one or more embodiments of the present invention.

[0104] like Figure 7 The vehicle lighting matrix control device shown includes: a target object boundary determination module, a pixel lamp boundary determination module, a pulse width modulation value determination module, and a vehicle lighting matrix control module.

[0105] The target object boundary determination module is used to determine the first boundary angle of the target object relative to each pixel lamp in the vehicle lamp matrix in response to the target object appearing within the illumination range of the vehicle lamp matrix.

[0106] The pixel lamp boundary determination module is used to determine the extinguishing boundary angle and the lighting boundary angle of the pixel lamp based on the second boundary angle of the pixel lamp illumination range and the pre-calibrated hysteresis angle.

[0107] The pulse width modulation value determination module is used to determine the pulse width modulation value of the pixel lamp based on the relationship between the off boundary angle, the on boundary angle and the first boundary angle.

[0108] The headlight matrix control module is used to control the headlight matrix through pulse width modulation values.

[0109] The target object boundary determination module is used to acquire the target object detection signal in real time through the target object detection device; in response to the target object detection signal simultaneously meeting the preset validity conditions, determine that the target object appears within the illumination range of the vehicle headlights; calculate the left boundary angle and right boundary angle of the target object relative to the target object detection device; and determine the first boundary angle of the target object relative to each pixel light in the headlight matrix on both sides of the vehicle through coordinate transformation based on the left boundary angle, right boundary angle and vehicle parameters; wherein the first boundary angle includes the first left boundary angle and the first right boundary angle.

[0110] The second boundary angle includes the second left boundary angle and the second right boundary angle.

[0111] The pixel lamp boundary determination module is used to determine the sum of the second left boundary angle and the hysteresis angle as the first extinguish boundary angle of the right boundary of the pixel lamp, and to determine the difference between the second left boundary angle and the hysteresis angle as the first ignition boundary angle of the right boundary of the pixel lamp; to determine the sum of the second right boundary angle and the hysteresis angle as the second ignition boundary angle of the left boundary of the pixel lamp, and to determine the difference between the second right boundary angle and the hysteresis angle as the second extinguish boundary angle of the left boundary of the pixel lamp.

[0112] The pulse width modulation (PWM) value determination module is used to determine the output of an off signal in response to a first right boundary angle being greater than or equal to a first off boundary angle, to determine the output of an on signal when the first right boundary angle is less than or equal to a first on boundary angle, and to determine the output of a signal maintaining the state of the previous moment when the first right boundary angle is less than or greater than the first off boundary angle; in response to a first left boundary angle being greater than or equal to a second on boundary angle, to determine the output of an on signal, to determine the output of an off signal when the first left boundary angle is less than or equal to a second off boundary angle, and to determine the output of a signal maintaining the state of the previous moment when the first left boundary angle is less than or greater than the second on boundary angle; and to determine the PWM value corresponding to the pixel lamp based on the on signal, the off signal, and the signal maintaining the state of the previous moment.

[0113] In response to the output signal corresponding to the first right boundary being the same as the output signal corresponding to the first left boundary, the pulse width modulation value corresponding to the pixel lamp is determined based on the output signal; or, in response to the output signal corresponding to the first right boundary being different from the output signal corresponding to the first left boundary, the pulse width modulation value corresponding to the pixel lamp is determined based on the extinguishing signal.

[0114] The validity conditions are as follows:

[0115] The target object exists;

[0116] The confidence level of the target object is greater than the preset confidence threshold;

[0117] The target object is more than a preset distance threshold from the vehicle;

[0118] The right boundary angle of the target object is greater than the left boundary angle of the target object;

[0119] The right and left boundary angles are within the illumination range of the headlights.

[0120] Figure 8 This is a block diagram of an electronic device structure for a vehicle headlight matrix control method provided in one or more embodiments of the present invention.

[0121] like Figure 8 As shown, this application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0122] The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of a vehicle lighting matrix control method.

[0123] This application also provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of a vehicle lighting matrix control method.

[0124] This application also provides a vehicle, including:

[0125] Electronic equipment used to implement the steps of a vehicle lighting matrix control method;

[0126] The processor runs a program, and when the program runs, it executes the steps of the vehicle lighting matrix control method based on data output from the electronic device.

[0127] Storage medium for storing programs that, when running, execute steps of the headlight matrix control method based on data output from electronic devices.

[0128] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0129] The electronic device comprises a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory. The operating system can be any one or more computer operating systems that control the electronic device through processes, such as Linux, Unix, Android, iOS, or Windows. Furthermore, in this embodiment of the invention, the electronic device can be a smartphone, tablet computer, or other handheld device, or a desktop computer, portable computer, or other electronic device; there is no particular limitation in this embodiment.

[0130] In this embodiment of the invention, the executing entity for electronic device control can be an electronic device itself, or a functional module within an electronic device capable of calling and executing a program. The electronic device can obtain the firmware corresponding to the storage medium. This firmware is provided by the supplier, and different storage media may have the same or different firmware; no limitation is made here. After obtaining the firmware corresponding to the storage medium, the electronic device can write this firmware into the storage medium; specifically, it burns the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented using existing technology, and will not be elaborated upon in this embodiment of the invention.

[0131] Electronic devices can also obtain reset commands corresponding to the storage media. The reset commands corresponding to the storage media are provided by the supplier. The reset commands corresponding to different storage media can be the same or different, and no restrictions are imposed here.

[0132] At this time, the storage medium of the electronic device is a storage medium on which the corresponding firmware has been written. The electronic device can respond to the reset command corresponding to the storage medium on which the corresponding firmware has been written, thereby resetting the storage medium on which the corresponding firmware has been written according to the reset command. The process of resetting the storage medium according to the reset command can be implemented by existing technology and will not be described in detail in this embodiment of the invention.

[0133] For ease of description, the above devices are described separately by function as various units and modules. Of course, in implementing this application, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0134] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0135] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0136] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle lighting matrix control method, characterized in that, The vehicle lighting matrix control method includes: In response to a target object appearing within the illumination range of the headlight matrix, a first boundary angle of the target object relative to each pixel light in the headlight matrix is ​​determined; Based on the second boundary angle of the pixel lamp illumination range and the pre-calibrated hysteresis angle, the extinguishing boundary angle and the lighting boundary angle of the pixel lamp are determined. Based on the relationship between the extinguishing boundary angle, the lighting boundary angle, and the first boundary angle, the pulse width modulation value of the pixel lamp is determined; The vehicle headlight matrix is ​​controlled by the pulse width modulation value.

2. The vehicle headlight matrix control method according to claim 1, characterized in that, Determining the first boundary angle of the target object relative to each pixel light in the vehicle light matrix includes: The target detection device acquires the target detection signal in real time. In response to the target detection signal simultaneously meeting a preset validity condition, it is determined that the target object appears within the illumination range of the vehicle headlights; Calculate the left and right boundary angles of the target object relative to the target object detection device; Based on the left boundary angle, the right boundary angle, and the vehicle's own parameters, the first boundary angle of the target object relative to each pixel light in the headlight matrix on both sides of the vehicle is determined by coordinate transformation. The first boundary angle includes a first left boundary angle and a first right boundary angle.

3. The vehicle headlight matrix control method according to claim 2, characterized in that, The second boundary angle includes the second left boundary angle and the second right boundary angle; The determination of the pixel lamp's off-center boundary angle and on-center boundary angle based on the second boundary angle of the pixel lamp's illumination range and the pre-calibrated hysteresis angle includes: The sum of the second left boundary angle and the hysteresis angle is determined as the first extinguishing boundary angle of the right boundary of the pixel lamp, and the difference between the second left boundary angle and the hysteresis angle is determined as the first lighting boundary angle of the right boundary of the pixel lamp. The sum of the second right boundary angle and the hysteresis angle is determined as the second lighting boundary angle of the left boundary of the pixel lamp, and the difference between the second right boundary angle and the hysteresis angle is determined as the second extinguishing boundary angle of the left boundary of the pixel lamp.

4. The vehicle headlight matrix control method according to claim 3, characterized in that, The step of determining the pulse width modulation value of the pixel lamp based on the relationship between the extinguishing boundary angle, the ignition boundary angle, and the first boundary angle includes: In response to the first right boundary angle being greater than or equal to the first extinguish boundary angle, an extinguish signal is determined to be output; if the first right boundary angle is less than or equal to the first ignition boundary angle, an ignition signal is determined to be output; if the first right boundary angle is less than or greater than the first extinguish boundary angle, an output signal is determined to maintain the state of the previous moment. In response to the first left boundary angle being greater than or equal to the second lighting boundary angle, a lighting signal is determined to be output; if the first left boundary angle is less than or equal to the second extinguishing boundary angle, an extinguishing signal is determined to be output; if the first left boundary angle is less than or greater than the second lighting boundary angle, a signal to maintain the state of the previous moment is determined to be output. Based on the lighting signal, the extinguishing signal, and the signal that maintains the state from the previous moment, the pulse width modulation value corresponding to the pixel lamp is determined.

5. The vehicle headlight matrix control method according to claim 4, characterized in that, The step of determining the pulse width modulation value corresponding to the pixel lamp based on the lit signal, the turned-off signal, or the signal maintaining the state of the previous moment includes: In response to the fact that the output signal corresponding to the first right boundary is the same as the output signal corresponding to the first left boundary, the pulse width modulation value corresponding to the pixel lamp is determined according to the output signal. or In response to the fact that the output signal corresponding to the first right boundary is different from the output signal corresponding to the first left boundary, the pulse width modulation value corresponding to the pixel lamp is determined according to the extinguishing signal.

6. The vehicle headlight matrix control method according to claim 2, characterized in that, The validity conditions are as follows: The target object exists; The confidence level of the target object is greater than a preset confidence threshold; The target object is more than a preset distance threshold from the vehicle; The right boundary angle of the target object is greater than the left boundary angle of the target object; The right boundary angle and the left boundary angle are within the illumination range of the vehicle headlights.

7. A vehicle lighting matrix control device, characterized in that, The vehicle lighting matrix control device includes: The target object boundary determination module is used to determine the first boundary angle of the target object relative to each pixel lamp in the vehicle lamp matrix in response to the target object appearing within the illumination range of the vehicle lamp matrix; The pixel lamp boundary determination module is used to determine the extinguishing boundary angle and the lighting boundary angle of the pixel lamp based on the second boundary angle of the illumination range of the pixel lamp and the pre-calibrated hysteresis angle. The pulse width modulation value determination module is used to determine the pulse width modulation value of the pixel lamp based on the relationship between the off boundary angle, the on boundary angle and the first boundary angle. The vehicle headlight matrix control module is used to control the vehicle headlight matrix through the pulse width modulation value.

8. An electronic device, characterized in that, include: The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus. The memory stores a computer program that, when executed by a processor, causes the processor to perform the steps of the vehicle lighting matrix control method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The device stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the vehicle light matrix control method as described in any one of claims 1 to 6.

10. A vehicle, characterized in that, include: An electronic device for implementing the steps of the vehicle lighting matrix control method as described in any one of claims 1 to 6; A processor that runs a program that, when the program is running, executes the steps of the vehicle lighting matrix control method as described in any one of claims 1 to 6 from data output by the electronic device. A storage medium for storing a program that, when run, performs the steps of the vehicle lighting matrix control method as described in any one of claims 1 to 6 on data output from an electronic device.

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