Adaptive control method of a lighting device and lighting device

Abstract

The embodiment of the present application provides a kind of adaptive control method of lighting device and lighting device, it is related to lighting technical field;Method includes according to the target motion parameter of target object, the environment interference severity score of target statistical window corresponding to current control period is determined, and according to the target environment mode determined by the environment interference severity score of current control period and the smooth severity score of previous control period, determine lighting area voting threshold parameter, target tracking lock threshold parameter and drive control parameter;So as to according to lighting area voting threshold parameter, target tracking lock threshold parameter and target motion parameter, target lighting candidate dominant area and the effectiveness of target lighting candidate dominant area are determined in turn;In the case where target lighting candidate dominant area is judged as effective, according to drive control parameter, control drive lamp head moves.The embodiment of the present application can improve lighting effect in various outdoor environments.

Description

Technical Field

[0001] This application relates to the field of lighting technology, and in particular to an adaptive control method and lighting device for a lighting device. Background Technology

[0002] Lighting installations are typically used to illuminate outdoor environments. These installations can be streetlights or lamps mounted on buildings. In practical applications, to improve the lighting effect, adaptive control methods are usually implemented to dynamically adjust the illumination angle of the lighting installation, thereby increasing the illumination intensity in specific areas and improving the lighting effect. However, when the lighting range of the installation includes the outdoor environment, the existing adaptive control methods are less effective due to the uncontrollable nature of the outdoor environment. Summary of the Invention

[0003] The main objective of this application is to propose an adaptive control method and a lighting device that can improve the lighting effect in various outdoor environments.

[0004] To achieve the above objectives, a first aspect of this application proposes an adaptive control method for a lighting device, comprising:

[0005] Based on the target motion parameters of the target object, the environmental interference severity score of the target statistical window corresponding to the current control cycle is determined, wherein the environmental interference severity score characterizes the degree of interference of the environment on the radar detection results within the current control cycle;

[0006] Based on the environmental disturbance severity score of the current control period and the smoothing severity score of the previous control period, the target environmental mode for the current control period is determined.

[0007] Based on the target environment mode of the current control cycle, the control parameters for the current control cycle are determined. The control parameters include the lighting area voting threshold parameter, the target tracking lock threshold parameter, and the drive control parameter.

[0008] Based on the voting threshold parameter of the lighting area and the target motion parameter, the candidate dominant area of ​​target lighting is determined;

[0009] Based on the target tracking lock threshold parameter, target objects within the target illumination candidate dominance region are locked and tracked to determine the validity of the target illumination candidate dominance region;

[0010] When the target lighting candidate dominant area is determined to be valid, the driving component of the lighting device is controlled to drive the lamp head of the lighting device to move in order to provide illumination to the target object within the target lighting candidate dominant area, according to the driving control parameters.

[0011] To achieve the above objectives, a second aspect of the present application provides a lighting device, including a control chip, a driving component, and a lamp head. The driving end of the driving component is connected to the lamp head, and the control chip is communicatively connected to the driving component. The control chip is used to execute any of the methods described in the first aspect.

[0012] The adaptive control method and lighting device proposed in this application use target motion parameters of the target object acquired by radar to score the severity of environmental interference in the outdoor environment. Based on this environmental interference severity score and the smoothed severity score of the previous control cycle, the target environment mode for the current control cycle is determined, allowing for a more accurate assessment of the impact of the outdoor environment on automatic control. Furthermore, through the confirmation process of the target lighting candidate dominant region, the locking and tracking process, and the deployment of a multi-level control flow for drive control, more precise analysis of the lamp head's turning angle can be achieved. Additionally, by introducing control parameters determined based on the target environment mode into each control flow of the multi-level control flow to assist in the analysis and judgment of whether the current control cycle needs to switch from the currently illuminating dominant region to the target lighting candidate dominant region, more accurate adaptive direction control of the lamp head can be ensured in various outdoor environments. Compared with related technologies, the embodiments of this application enable the lighting device to improve lighting effects in various outdoor environments. Attached Figure Description

[0013] Figure 1 This is a flowchart illustrating the adaptive control method for the lighting device provided in this application;

[0014] Figure 2 This is a flowchart illustrating the process of confirming the target environment mode in one embodiment of the adaptive control method for the lighting device provided in this application;

[0015] Figure 3 This is a flowchart illustrating the process of determining the target lighting candidate dominant region in another embodiment of the adaptive control method for the lighting device provided in this application;

[0016] Figure 4 This is a schematic diagram of the lighting area divided by the lighting range supported by the lamp head in another embodiment of the adaptive control method for the lighting device provided in this application;

[0017] Figure 5 This is a flowchart illustrating the tracking and locking process for a target object within a candidate dominant area of ​​the target lighting in another embodiment of the adaptive control method for the lighting device provided in this application.

[0018] Figure 6This is a schematic diagram of the angle constraint for lamp head angle rotation protection in one embodiment of the adaptive control method for the lighting device provided in this application.

[0019] Figure 7 This is a schematic diagram of the hardware structure of the device corresponding to the adaptive control method of the lighting device provided in this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0022] The following is an explanation of the terms used in the embodiments of this application:

[0023] Lighting devices are typically used to illuminate outdoor environments. These devices can be streetlights or luminaires mounted on buildings. In practical applications, to improve the lighting effect of lighting devices, adaptive control methods are usually implemented to dynamically adjust the illumination angle, thereby increasing the illumination intensity in specific areas and improving the lighting effect. However, due to the uncontrollable nature of outdoor environments, existing adaptive control methods have relatively poor lighting performance. Therefore, this application provides an adaptive control method and lighting device that can improve the lighting effect in various outdoor environments.

[0024] The angle-related threshold parameters described in the embodiments of this application are all set according to the angle defined by the acquisition device for acquiring the target object. For example, if radar is used to acquire the target object, the angle-related threshold parameters are set based on the angle defined by the radar.

[0025] Reference Figure 1 As shown, an adaptive control method for a lighting device according to an embodiment of this application includes:

[0026] Step S100: Based on the target motion parameters of the target object, determine the environmental interference severity score of the target statistical window corresponding to the current control cycle, wherein the environmental interference severity score characterizes the degree of interference of the environment on the radar detection results within the current control cycle.

[0027] Step S200: Determine the target environmental mode for the current control period based on the environmental disturbance severity score of the current control period and the smoothing severity score of the previous control period.

[0028] Step S300: Based on the target environment mode of the current control cycle, determine the control parameters for the current control cycle. The control parameters include the lighting area voting threshold parameter, the target tracking lock threshold parameter, and the drive control parameters.

[0029] Step S400: Determine the candidate dominant region of target illumination based on the illumination area voting threshold parameter and the target motion parameter;

[0030] Step S500: Perform target tracking and locking processing on the target object within the target illumination candidate dominance area according to the target tracking lock threshold parameter, and determine the validity of the target illumination candidate dominance area;

[0031] Step S600: If the target lighting candidate dominant area is determined to be valid, the driving component of the lighting device is controlled to drive the lamp head of the lighting device to move in order to provide illumination to the target object in the target lighting candidate dominant area according to the driving control parameters.

[0032] Therefore, by using the target motion parameters of the target object acquired by radar to score the severity of environmental interference in the outdoor environment, and then determining the target environment pattern for the current control cycle based on the environmental interference severity score and the smoothed severity score of the previous control cycle, the impact of the outdoor environment on automatic control can be more accurately determined. Simultaneously, through the confirmation process of the target illumination candidate dominant area, the locking and tracking processing, and the deployment of a multi-level control flow for drive control, a more accurate analysis of the lamp head's turning angle can be achieved. Furthermore, by introducing control parameters determined based on the target environment pattern into each control flow of the multi-level control flow to assist in the analysis and judgment of whether the current control cycle needs to switch from the currently illuminating dominant area to the target illumination candidate dominant area, it is possible to further ensure that the lamp head can perform more accurate adaptive direction control in various outdoor environments. The embodiments of this application enable the lighting device to improve the lighting effect in various outdoor environments.

[0033] The target object is an object that the radar can identify. Due to the influence of the outdoor environment, the radar may detect not only real people, but also at least one of raindrops, leaves, or reflected ghost images. In this case, people, raindrops, leaves, and reflected ghost images are all detected as target objects by the radar. Therefore, by statistically analyzing the target motion parameters of the target objects detected within the target statistics window corresponding to the current control cycle, interference from rain and snow, multipath reflection, target jitter, or loss can be identified in various situations affecting the detection results. The target motion parameters are a set of relevant parameters used to calculate the severity score of environmental interference. These parameters can be directly output by the radar. In some embodiments, the azimuth angle can be determined based on the radar-detected coordinates, and the target motion parameters can be determined based on the radar-acquired data and the azimuth angle. This application will not elaborate on these specific methods. The radar acquires target object data once per control cycle.

[0034] In some embodiments, the radar is configured as a higher-precision radar such as millimeter-wave radar, thereby further ensuring the reliability of the lighting control results.

[0035] This application does not limit the radar detection cycle. Each control cycle includes at least two detection cycles, thereby ensuring that multiple frames of detection results can be analyzed in each control cycle.

[0036] The target statistics window includes multiple consecutive control cycles in time, and the target statistics window is a statistics window with the current control cycle as the last control cycle. This application embodiment does not limit the number of control cycles covered in the target statistics window; those skilled in the art can selectively set it according to actual needs. For example, if the current cycle is T5 and the target statistics window includes 4 control cycles, then the control cycles within the target statistics window are T2, T3, T4, and T5, respectively.

[0037] The illumination range of the lighting device is fixedly divided into multiple illumination zones, and the target illumination candidate dominant region represents the area with the highest expected brightness among these multiple illumination zones. This application embodiment does not limit the number of illumination zones. In some embodiments, the illumination range is divided into three regions: a central region, a left region, and a right region. This application embodiment also does not limit whether the angular range of each illumination region is consistent. In some embodiments, the left and right regions are symmetrically arranged along the central direction of the central region. The illumination zone voting threshold parameter is used to assist in the determination of the target illumination candidate dominant region.

[0038] The target environment model is the actual environment model that takes effect after the severity assessment of environmental disturbances is conducted during the current control cycle.

[0039] Steps S400 and S500 can be used to determine the validity of the detected target object from multiple different dimensions, thereby making the finally determined lighting dominant area the area that actually provides higher brightness.

[0040] The embodiments of this application do not limit the relative positions of the radar, driving components, and lamp heads; those skilled in the art can selectively set these positions according to actual circumstances.

[0041] In some embodiments, smooth severity scoring It is expressed as follows:

[0042] ;

[0043] in, Indicates the first One control cycle, The smoothing coefficient can be selectively set based on practical experience; in some embodiments... The value range is 0.8 to 0.9, meaning that you can choose 0.8, 0.9, or any value between 0.8 and 0.9. Indicates the first Environmental disturbance severity score for each control cycle.

[0044] In some embodiments, the target environment mode can be directly determined based on the smooth severity score of the current control cycle. In other embodiments, to further improve stability, candidate environment modes are first determined based on the smooth severity score of the current control cycle, wherein the candidate environment mode is one of clear mode, medium mode, and severe mode. If the smooth severity score of each control cycle within the preset cycle confirmation window is greater than the rising switching threshold corresponding to the preset environment mode, the candidate environment modes in the current control cycle are upgraded to obtain the target environment mode of the current control cycle, and the actual effective environment mode in the current control cycle is updated to the target environment mode. If the smooth severity score of each control cycle within the cycle confirmation window is less than the falling switching threshold corresponding to the preset environment mode, the candidate environment modes in the current control cycle are downgraded to obtain the target environment mode; otherwise, the actual effective environment mode of the current control cycle is not updated. In some embodiments, the downgrading process can be downgrading to the environment mode corresponding to the falling switching threshold, and the upgrading process can be upgrading to the environment mode corresponding to the rising switching threshold. In some embodiments, the switching can also be done step by step. For example, taking the current control cycle as the first... Each control cycle, the first switching threshold is... The first switching threshold corresponds to the rising switching threshold in clear mode and the falling switching threshold in medium mode; the second switching threshold is... The second switching threshold corresponds to the rising switching threshold in medium mode and the falling switching threshold in severe mode; the length of the periodic confirmation window is... For example, then it satisfies Upgrade the candidate environment mode for the current control cycle when the conditions are met. This involves downgrading the candidate environment modes for the current control cycle. Specifically, [the following is included]. Indicates the first Smooth severity score for each control cycle; ; For example, such as And it lasted If the cycle is 1, then the target environment mode is medium mode; such as And it lasted If a cycle is specified, the target environment mode is set to severe mode. For example... And it lasted If the cycle is 1, then the target environment mode is clear mode; such as And it lasted If there are 1 cycle, the target environment mode is medium mode; when And it lasted If the target environment mode is clear, then the current control cycle's target environment mode is consistent with the actual effective environment mode of the previous control cycle. If none of the above conditions are met, then the target environment mode of the current control cycle is consistent with the actual effective environment mode of the previous control cycle. Taking the first control cycle after system initialization as T1 as an example, suppose T1 obtains a candidate environment mode of M1 (where M1 is greater than the upswing threshold corresponding to N1). However, since the conditions for upgrade and downgrade processing are not met, the actual effective environment mode in T1 remains the default N1. Suppose that in T2 (the second control cycle), a candidate environment mode of M2 is obtained, and M2 is greater than the upswing threshold corresponding to M1. At this time, the candidate environment mode in T2 meets the conditions for upgrade processing, and the actual effective environment mode in T2 is M2. When the candidate environment mode of M2 is obtained in T3, the actual effective environment mode in T3 is M3. If the candidate environment mode obtained in T3 is M1, the upgrade conditions are not met. Therefore, the actual effective environment mode in T3 remains the environment mode actually effective in the previous control cycle, which is still M2.

[0045] Understandably, based on the target motion parameters of the target object, the environmental disturbance severity score of the target statistical window corresponding to the current control cycle is determined, including:

[0046] Based on the target motion parameters of the target object, determine the azimuth jitter index, range jitter index, velocity jitter index, clutter density index, and association lock failure rate index within the target statistics window;

[0047] The severity score of environmental interference is obtained by weighting the azimuth jitter index, distance jitter index, velocity jitter index, clutter density index, and association lock failure rate index.

[0048] Target motion parameters include the target range, target velocity, and target coordinates, all directly acquired and output by the radar. The azimuth of each target can be obtained from its coordinates. Based on these azimuth angles, azimuth jitter can be determined; based on the target range, range jitter; and based on the target velocity, velocity jitter. Finally, the clutter density can be determined based on the number of target objects in each control cycle.

[0049] In some embodiments, the weighted calculation result can be directly used as the environmental disturbance severity score. In other embodiments, the weighted calculation result can be normalized to obtain the environmental disturbance severity score. This application does not limit whether normalization calculation is required; those skilled in the art can selectively set it according to actual conditions.

[0050] For example, taking the environmental disturbance severity score obtained by normalizing the weighted calculation results as an example, in some embodiments, the environmental disturbance severity score satisfies the following relationship:

[0051] ;

[0052] in, Normalized azimuth jitter index The weighting coefficients, Normalized distance jitter index Weighting coefficients Normalized speed jitter index Weighting coefficients Normalized clutter density index Weighting coefficients Normalized association lock failure rate metric The weighting coefficients, and .

[0053] Understandably, the target motion parameters are set in a one-to-one correspondence with the target objects; there is at least one target object.

[0054] The azimuth jitter index characterizes the changing trend of the target reference azimuth in each control cycle within the target statistical window; the azimuth jitter index is determined through the following steps:

[0055] Obtain the target reference azimuth angle for each control cycle within the target statistics window;

[0056] The standard deviation of the reference azimuth angles of each target is processed to obtain the azimuth jitter index.

[0057] In some embodiments, normalization can be performed after standard deviation processing, thereby reducing the error of the azimuth jitter index.

[0058] Understandably, the distance jitter index characterizes the changing trend of the target reference distance in each control period within the target statistical window; the distance jitter index is determined through the following steps:

[0059] Obtain the target reference position parameters for each control cycle within the target statistics window; wherein, the target reference position parameters include at least one position parameter type, namely position coordinates and distance length;

[0060] The standard deviation of each target reference position parameter is calculated to obtain the distance jitter index that corresponds one-to-one with the position parameter type.

[0061] In some embodiments, normalization can be performed after the standard deviation is calculated, thereby reducing the error of the distance jitter index.

[0062] Understandably, the speed jitter index characterizes the speed change trend of the target reference speed in each control cycle within the target statistical window. The speed jitter index is determined through the following steps:

[0063] Obtain the target reference speed for each control cycle within the target statistics window;

[0064] The standard deviation of each target reference speed is calculated to obtain the speed jitter index.

[0065] In some embodiments, the speed measurement values ​​are normalized after the standard deviation is calculated, thereby reducing the error of the speed jitter index.

[0066] Understandably, the clutter density index characterizes the density of the target object within the current control cycle; the clutter density index is determined through the following steps:

[0067] Obtain the target quantity of the target objects in the target statistics window that correspond one-to-one with each control cycle;

[0068] The clutter density index for each control cycle within the target statistical window is obtained by averaging the quantities of each target.

[0069] In some embodiments, normalization can be performed after averaging the target quantity, thereby reducing the error of the clutter density index.

[0070] Understandably, the association lock failure rate metric represents the proportion of target objects locked in the previous control period that fail to be associated within each control period in the target statistical window; the association lock failure rate metric is determined through the following steps:

[0071] For each target object, obtain the target object's azimuth deviation, position deviation, and velocity deviation for each control cycle within the target statistics window, as well as the azimuth deviation, position deviation, and velocity deviation between the target object and the previous control cycle.

[0072] The validity of the azimuth deviation, position deviation and velocity deviation are verified according to the preset correlation threshold conditions, and the correlation status of each control cycle within the target statistics window is determined.

[0073] The success rate of the association status in each control cycle in the target statistics window is statistically analyzed to determine the association lock failure rate index for the current control cycle.

[0074] In some embodiments, success rate statistics on association status can be performed and then normalized to reduce the error of the association lock failure rate indicator.

[0075] For example, refer to Figure 2 As shown, taking millimeter-wave radar detection as an example, the process of confirming the target environment pattern in one embodiment of this application is described. The specific process is as follows:

[0076] S1. Obtain the target motion parameters, as follows:

[0077] Acquire the data acquisition parameters of the millimeter-wave radar for the target objects detected within the illumination range of the lamp head during the current control cycle. ;in, An index representing the control cycle. Represents the target object The coordinates on the x-axis of the target plane, which can be the ground; Represents the target object The coordinates on the y-axis of the target plane. Represents the target object The distance between the radar and the target is the radar's raw output distance information. Represents the target object The radial movement speed is the original speed information output by the radar;

[0078] At this point, the azimuth angle of each target object can be determined:

[0079] ; A function for calculating the arctangent value. Used to calculate an angle from known x and y coordinates;

[0080] At this point, the target motion parameters within the current control cycle can be obtained. ;

[0081] S2. Environmental Disturbance Assessment:

[0082] With the length of the target statistical window as (That is, the target statistics window includes) Taking one control cycle as an example, the specific process is as follows:

[0083] 1) Statistically count the number of target objects in each control cycle within the target statistics window to obtain the clutter density index. ;in, Indicates the first The target quantity within each control cycle;

[0084] The correlation statistics of target objects in each control cycle within the target statistics window are performed to obtain the correlation lock failure rate index, as detailed below:

[0085] 2) For each target object in each control cycle within the target statistics window. Determine the target object Deviation from the previous control cycle:

[0086] ;

[0087] ;

[0088] ;

[0089] in, Represents the target object Speed ​​deviation; Indicates control cycle The target reference speed of the trend reference object; Represents the target object Positional deviation; Indicates control cycle The target reference position parameter of the trend reference object; target object The azimuth deviation; Indicates control cycle The target reference azimuth angle of the trend reference object; wherein, the trend reference object represents the second target locking object determined when the target object is successfully locked in the corresponding control cycle, or the reference object when there is no locked target object (such as when the target object is not successfully locked or when the target object has not been locked yet). In some embodiments, the reference object is one of the collected target objects, such as the reference object representing the target object with the highest similarity to the trend reference object of the corresponding control cycle and its previous control cycle. The highest similarity can be calculated by weighting based on the deviation amount, or it can be obtained by threshold filtering based on the deviation amount. In some embodiments, the reference object can also be a virtual target, such as the target object determined by weighting based on the target objects in each currently divided region. In this application, the embodiments will not be described in detail.

[0090] When at least one target object exists All meet Then the control cycle is obtained. Association status It represents the control cycle. and the previous control cycle Association successful; otherwise, control cycle. Association status It represents the control cycle. and the previous control cycle Association failed;

[0091] At this point, the association status of each control cycle within the statistical target window yields the association lock failure rate index. ;in, , as well as This is the corresponding threshold value; in some embodiments, this value can adaptively change with the environmental mode, such as during the control cycle. Due to changes in environmental patterns, therefore, , as well as An update is performed during the control cycle. This allows for judgment based on the threshold value updated in the previous control cycle, thereby improving the accuracy of associated state judgment.

[0092] At this point, by using sliding statistics on the association lock failure rate index, the continuity and stability of the trend reference object's identity within a continuous detection period can be quantified; when rain, snow clutter, strong reflections, or multi-target interference cause the association threshold to be frequently unmet, The increase in the number of associated locking failure indicators provides a reliable basis for subsequent adaptive parameter adjustment.

[0093] 3) Conduct a stability assessment of the currently illuminated main lighting area to obtain azimuth jitter, distance jitter, and velocity jitter indices, as detailed below:

[0094] The average locking speed is determined based on the target reference speed for each control cycle within the target statistics window. The azimuth jitter index is obtained by calculating the standard deviation of the average lock-on speed and the reference speed of each target. ;in, Indicates control cycle The target reference azimuth angle of the trend reference object, where, in the control period If no target object is locked, Indicates control cycle The azimuth angle of the reference object; after the target object has been re-locked. Indicates control cycle The azimuth of the target object has been relocked. For example, for the current control cycle... Since we are currently in the evaluation phase of the target environment mode and the target object has not been re-locked, the data acquired at the current moment is... Indicates the azimuth angle of the reference object;

[0095] Based on the target reference position parameters of each control cycle within the target statistics window Determine the average distance Based on the average distance and the target reference position parameters, the distance jitter index is determined. In the embodiments of this application, the target reference position parameters are all based on the distance measurement value output by the radar. In other application scenarios, the radial distance can also be calculated directly by taking the coordinates output by the radar. In this regard, the embodiments of this application do not limit this, and those skilled in the art can selectively set it according to the actual situation.

[0096] The average speed is determined based on the target reference speed for each control cycle within the target statistics window. Based on the average speed and the target reference speed, the speed fluctuation index is obtained. In the environmental disturbance severity assessment stage, Indicates the first The mean value of the target reference position parameter of the trend reference object within the target statistical window corresponding to each control cycle; Indicates the first The average value of the target reference speed of the trend reference object within the target statistical window corresponding to each control cycle;

[0097] 4) The azimuth jitter, distance jitter, velocity jitter, and association lock failure rate indices are uniformized to ensure their values ​​are within the range of 0 to 1, thereby eliminating the influence of differences in the dimensions of different physical quantities. A value of 0 indicates almost no interference, while 1 indicates strong interference / high noise (e.g., heavy rain, snow, strong clutter).

[0098] Normalized azimuth jitter index ,in, This indicates the azimuth jitter index after unnormalization. The preset azimuth reference jitter threshold, This means restricting the value to the interval [0,1].

[0099] Normalized distance jitter index ,in, This represents the distance jitter index after unnormalization. The preset distance reference jitter threshold;

[0100] Normalized speed jitter index ,in, This indicates the speed jitter index after unnormalization. The preset speed reference jitter threshold;

[0101] Normalized clutter density index ;in, This represents the baseline value of the target quantity under clean environmental conditions; This is a reference value for the maximum possible number of targets; and All are pre-configured values; This represents the clutter density index after unnormalization.

[0102] Normalized association lock failure rate metric ; This metric represents the failure rate of associated locking after unnormalized processing. This represents a preset reference threshold for association failure rate, used to indicate the critical level at which lock continuity significantly decreases;

[0103] 5) Integration of comprehensive environmental disturbance severity scores:

[0104] At this point, the severity score of environmental disturbance ;

[0105] At this point, by setting the weights, the influence of various interfering factors on the overall score can be adjusted according to the actual application needs.

[0106] S3, Severity Smoothing Estimation:

[0107] Smooth Severity Score ;

[0108] At this point, by normalizing and weighting different types of environmental interference indicators to a unified scale, a single comprehensive severity score can be formed to fully reflect the level of interference intensity in the millimeter-wave radar detection and target tracking process under the current environmental conditions; and by smoothing the process, the stability of the evaluation results can be improved, thereby providing a reliable real-time basis for subsequent adaptive adjustment of target tracking parameters.

[0109] S4. Environment Mode Determination:

[0110] Set the first switching threshold and the second switching threshold ,and ;in, This indicates the threshold for switching between sharp and medium modes, as well as the threshold for switching directly to sharp mode. This indicates the switching threshold between medium and severe modes. The relationship between the environmental interference levels of clear, medium, and severe modes is as follows: Clear mode < Medium mode < Severe mode;

[0111] At this point, by setting either upgrade mode or downgrade mode, it can be determined whether to update the environment mode for the current control cycle. Upgrade mode indicates that only when... Continuously reaching the threshold The mode is switched only after a certain number of cycles (e.g.) Target environment mode The reduced mode indicates that it is only available when... Continuously below the threshold Switching only after a cycle (e.g.) Target environment mode For specific switching instructions, please refer to the aforementioned embodiments; they will not be elaborated upon here. Due to the design of the upgrade and downgrade modes, the smoothing severity score typically requires a certain time window (e.g., approximately 2–4 seconds) to achieve stable convergence (e.g., during startup or during the middle of operation when the system is not yet in a stable locking state). During this period, the system defaults to using... Therefore, in some embodiments, additional pre-takeover conditions are added to address situations where the environment itself is already under severe disturbance (such as rain, multipath reflection, etc.). The inability to support stable locking may result in a higher rate of association failures. In the event of a continued rise in cases, it is permissible to adopt measures based on the current situation ahead of schedule. The parameters are used for control, for example, the early takeover condition is set to... and At this point, when the condition is met... and At that time, directly make the target environment mode ;in, This is the unnormalized associated lock failure rate metric for the current control cycle. This is the threshold for the association failure rate, used to determine whether environmental interference has reached a severe level. The number of continuous control cycles during which the target object is not relocked. The maximum number of continuous control cycles during which the target object is not relocked is allowed during the startup phase; wherein, the conditions for early takeover can be determined and processed during the environmental mode assessment phase, or during the tracking and locking phase of the second target object as described below. In this application, the embodiments will not be described in detail.

[0112] S5, Distribution Control Parameters:

[0113] Based on the target environment pattern, the voting threshold parameters for the lighting area, the target tracking lock threshold parameters, and the driving control parameters are determined to determine the target lighting candidate dominant area, the validity of the target lighting candidate dominant area, and the driving control. This application embodiment does not limit the specific parameters of each type of control parameter; they can be adaptively adjusted according to the decision conditions.

[0114] Understandably, the voting threshold parameters for the lighting area include the angle area buffer threshold, the trend detection window length, and the trend threshold; the target motion parameters are set one-to-one with the target object.

[0115] Based on the voting threshold parameter for the lighting area and the target motion parameters, candidate dominant lighting areas for the target are determined, including:

[0116] Based on the angle region buffer threshold and the reference region boundary value, determine the angle boundary range of multiple preset lighting regions;

[0117] Based on the target motion parameters of each target object, determine the distance weight and velocity confidence weight of each target object;

[0118] The regional score for each lighting area is determined based on the distance weight and velocity confidence weight of each target object within the same lighting area.

[0119] Based on the preset directional movement trend conditions, regional boundary proximity conditions, environmental stability conditions, regional strong dominance conditions, and the scores of each region, candidate dominant regions for target lighting are determined.

[0120] Among them, the directional motion trend condition characterizes the directional motion trend parameters of the trend reference object within the trend statistics time window corresponding to the trend detection window length, which satisfy the trend threshold.

[0121] The proximity condition of the regional boundary characterizes the absolute value of the locked azimuth angle of the current control cycle reference object, which is greater than the angle difference between the angle region buffer threshold and the benchmark region boundary value.

[0122] By setting a dynamically changing angle area buffer threshold based on the target environment mode, the switching buffer range of the intermediate lighting area can be expanded in high-interference environments, while maintaining rapid response capabilities in low-interference environments, thereby improving the accuracy of lamp head steering control. The angle area buffer threshold varies in different environment modes; the more severe the interference, the larger the angle area buffer threshold.

[0123] Understandably, the voting threshold parameters for lighting areas also include a dominance threshold, a tie-breaking threshold, a first continuous control cycle threshold, and a second continuous control cycle threshold. Based on preset directional movement trend conditions, area boundary proximity conditions, environmental stability conditions, and the scores of each area, candidate dominant areas for target lighting are determined, including:

[0124] When the difference in dominant region scores between the two highest-scoring lighting regions in each region score is greater than the dominance threshold, the region is determined to meet the strong dominance condition.

[0125] If the conditions of strong regional dominance are met, or the conditions of directional movement trend, proximity of regional boundaries, and environmental stability are met simultaneously, the lighting area with the highest regional score is selected as the candidate dominant area for the current control cycle and the fast path trigger flag is updated to the first preset value.

[0126] If any of the following conditions are not met: strong regional dominance, directional movement trend, proximity to regional boundaries, or environmental stability, the fast path trigger flag is updated to the second preset value.

[0127] If the difference in scores of the dominant regions is less than or equal to the tie-breaking threshold, the candidate lighting dominant region of the previous control cycle will be used as the candidate lighting dominant region of the current control cycle. If the strong regional dominance condition is not met and the difference in scores of the dominant regions is greater than the tie-breaking threshold, the lighting region with the highest regional score will be used as the candidate lighting dominant region of the current control cycle.

[0128] Based on the candidate dominant region of the current control cycle and the lighting region where the trend reference object of the current control cycle is located, determine the temporary candidate state of the current control cycle;

[0129] When the number of control cycles in which the fast path trigger flag is set to the first preset value and the temporary candidate state remains unchanged is greater than the first continuous control cycle threshold, the lighting area corresponding to the temporary candidate state is taken as the target lighting candidate dominant area.

[0130] When the fast path trigger flag is set to the second preset value and the number of control cycles in which the temporary candidate state remains unchanged is greater than the second continuous control cycle threshold, the lighting area corresponding to the temporary candidate state is taken as the target lighting candidate dominant area.

[0131] For example, refer to Figure 3 As shown, the process for determining the candidate dominant region of target illumination in another embodiment of this application is described as follows:

[0132] S1, Adaptive Angle Region Boundary Adjustment:

[0133] Given a defined target environment mode for the current control cycle, an adaptive angle boundary range is generated. For example, if the illumination range supported by the lamp head is divided into three lighting zones, assuming the current control cycle... The angle region buffer threshold is Then the effective area boundary can be obtained. ,in, This is the baseline boundary value, a preset value; at this time, according to The angular boundary ranges of each lighting area are determined by the angular size of each area, with the angular boundary range of the left area being... The angular boundary range of the right region is The angular boundary range of the intermediate region is For example, such as Figure 4 Taking a lamp head that supports a 180-degree illumination area as an example, where the normal direction of the radar corresponds to the middle position of the illumination area, then... For the left region, The right region The intermediate area is the lighting range of the lighting device, which is divided into lighting areas that adapt to changes in the environment. It is understood that when more than three lighting areas are involved, multiple reference area boundary values ​​can be set to achieve adaptive control of different numbers of lighting areas. When the angle ranges of the three lighting areas are different, they can be selectively set according to the angle area buffer threshold. This application will not elaborate on these points in the embodiments.

[0134] S2, Angle Region Mapping:

[0135] For each target control parameter within the control cycle, the azimuth angle Perform lighting area attribution determination to obtain area attribution information for each azimuth angle. ;in, Indicates that it is located in the left region. This indicates that it is located in the middle area; Indicates that it is located in the right region;

[0136] S3, Distance-Speed ​​Joint Weighted Sum:

[0137] Get the current control cycle The Middle Distance weight of each target object ;in, Represents the target object The original radar output range information;

[0138] Get the current control cycle The Middle Speed ​​reliability weight of each target object ;in, The minimum movement speed threshold is determined based on the minimum moving speed of the actual object being illuminated (such as a person), and in some embodiments, it is set to 0.1 to 0.2 m / s; A weak weighting factor (e.g., 0.7–0.9) is used to mildly suppress suspected clutter targets that are “nearly stationary and unstable”, thereby avoiding false suppression of stationary human targets.

[0139] At this point, based on the distance weight and the speed confidence weight, the joint weight of the same target object can be obtained:

[0140] ;

[0141] At this point, the area scores for each lighting zone can be obtained:

[0142] For example, taking multiple lighting areas including a left area, a right area, and a middle area, the area score of the left area would be... The regional score of the right region Regional score for the middle area ;

[0143] S4. Determination of candidate dominant regions for target illumination:

[0144] 1) Determine the dominant region score difference based on the regional scores. ;in, This is the highest-rated region among multiple region ratings. The second highest score among multiple regional ratings; such as ,but for , for ;

[0145] 2) When Once the regional strong dominance condition is met, update the fast path trigger flag. ,otherwise ;in, Dominant advantage threshold; Indicates control cycle The target environment model;

[0146] When the directional movement trend condition, the proximity condition to the regional boundary condition, and the environmental stability condition are all met simultaneously, update the fast path trigger flag. ,otherwise Where 1 represents the first preset value and 0 represents the second preset value;

[0147] If the fast path trigger flag is determined to be the first preset value, the current control cycle will be... candidate dominant region ;in, The lighting area with the highest score is selected; if multiple lighting areas have the highest score, then multiple candidate dominant areas are set.

[0148] At this time, the candidate lighting dominance area ;in, To control the cycle The target environment model is The threshold for determining parallelism; The dominant regional score difference; For the previous control cycle Candidate lighting dominant areas;

[0149] The directional movement trend condition includes satisfying at least one of the following conditions: consistency of movement direction and consistency of trend amplitude. The consistency of movement direction means that the movement direction remains unchanged in each control cycle within the preset trend statistical time window; the trend amplitude means that the magnitude of the target movement is stable.

[0150] In some embodiments, the consistency of motion direction can be expressed as: ;in, This is the index for the current control cycle. For the first The length of the trend statistics time window corresponding to each control cycle indicates the number of control cycles it covers. One of the voting threshold parameters for the lighting area; This is a sign function used to represent the direction of angle change. , The value is 1; when , The value is -1; when , The value is 0; This represents the difference in azimuth period between two adjacent target reference azimuth periods, i.e. ;in, Indicates control cycle The target reference azimuth angle of the trend reference object; for any control period If the target object has already been re-locked, Indicates the target azimuth angle of the re-locked target object; if the target object is not re-locked... Indicates the azimuth angle of the reference object;

[0151] In some embodiments, the consistency of trend magnitude can be expressed as: ;in, Threshold for determining the direction region; This represents the mean of the differences in the periodic variation of the azimuth angle. ;

[0152] Therefore, when and Determine if the directional movement trend condition is met;

[0153] Among them, the area boundary proximity condition indicates that when the target reference azimuth angle approaches the boundary position of the area in the current control cycle, it can be determined in advance that the target is about to enter a new area. In some embodiments, when ;in The angle region buffer threshold is determined based on the target environment pattern; This serves as the baseline boundary value.

[0154] Among them, a stable environment indicates that there is no strong interference in the environment, thus avoiding the accidental triggering of fast paths under strong interference conditions; when If so, then the environmental stability conditions are met. The upper limit threshold for moderate interference; For the first The smoothed severity score is calculated in real time over each control cycle.

[0155] 3) Generate temporary candidate states based on the candidate dominant lighting regions generated in 2), and perform a secondary validity assessment on the candidate dominant lighting regions based on the temporary candidate states; wherein, the candidate dominant lighting region is represented as... For example, in Indicates the right-hand area and A temporary candidate state for switching to the right region is generated at that time. Indicates the left area and A temporary candidate state for switching to the left region is generated at that time. Indicates the central area and Temporary candidate states for switching to the central region are generated periodically; among them, ; Indicates the current control cycle Angle region buffer threshold; ; Indicates the baseline region boundary value; where, , as well as Both are used to indicate the lighting area where the trend reference object of the current control cycle is located;

[0156] 4) Based on the temporary candidate states in 3), the candidate lighting dominance regions are verified to obtain the target lighting candidate dominance regions, as follows:

[0157] Among them, when continuous Each control cycle represents a temporary candidate state, i.e., the current control cycle. Continuity confirmation count Then update the current control cycle. dominant regional status Update the temporary candidate status. At this time, the candidate dominant region for target illumination is the state of the dominant region. The corresponding lighting area; if not continuous If each control cycle represents a temporary candidate state, then... = To maintain the dominant region from the previous control cycle unchanged; When the fast path trigger flag is set to the second preset value, it represents the second continuous control cycle threshold; when the fast path trigger flag is set to the first preset value, it represents the first continuous control cycle threshold.

[0158] Understandably, target objects within the candidate dominant region of target illumination are locked and tracked based on the target tracking lock threshold parameter to determine the validity of the candidate dominant region, including:

[0159] If the first target target in the previous control cycle is not in the target illumination candidate dominance area based on the target motion parameters of the target object in the target illumination candidate dominance area, the second target target is determined from the target objects in the target illumination candidate dominance area in the current control cycle; and the second target target is subjected to stability processing based on the target tracking lock threshold to obtain the lock tracking processing result.

[0160] Based on the target motion parameters of the target object within the target illumination candidate dominance area, if the first target lock object of the previous control cycle is determined to be within the target illumination candidate dominance area, the first target lock object is subjected to continuous association determination processing to obtain the second target lock object, and the second target lock object is subjected to stability processing based on the target tracking lock threshold to obtain the lock tracking processing result.

[0161] The tracking results indicate that the second target is in a stable state, and the candidate dominant region for target illumination is valid.

[0162] The first target lock object is used to indicate the target object used in the previous control cycle for determining the validity of the corresponding target illumination candidate dominance area. Determining whether the first target lock object of the previous control cycle is in the target illumination candidate dominance area indicates that there is a target object in the target illumination candidate dominance area of ​​the current control cycle with the same azimuth angle as the target lock object of the previous control cycle.

[0163] The second target locking object is the target object used to determine the effectiveness of the corresponding target lighting candidate dominant area within the current control cycle, that is, the target object that is re-locked.

[0164] Understandably, the target tracking and locking threshold includes a motion jitter threshold, a locking confirmation window length, and a stability judgment threshold; a continuity association judgment is performed on the first target locked object to obtain the second target locked object, including:

[0165] Obtain motion deviation indices for each target object within the candidate dominant area of ​​target lighting between the current control cycle and the previous control cycle;

[0166] Based on the motion jitter threshold and motion deviation index, candidate target locking objects that meet the stability conditions with the first target locking object are selected from each target object in the candidate dominant area of ​​target illumination.

[0167] When there are multiple candidate target locking objects, for each candidate target locking object, cost processing is performed according to the corresponding motion deviation index to obtain the cost value of each candidate target locking object;

[0168] The candidate target with the lowest cost is selected as the second target target.

[0169] Understandably, in some embodiments, stability processing is performed on the second target object based on a target tracking and locking threshold to obtain the locking and tracking processing result, including:

[0170] Determine the angular fluctuation value of the second target locked object within the lock window corresponding to the length of the lock confirmation window;

[0171] If the angle fluctuation value is less than or equal to the stability determination threshold, the second target object is determined to be in a stable state.

[0172] For example, see Figure 5 The diagram illustrates a target object tracking and locking process within a target illumination candidate dominant region according to one embodiment of this application. The specific process is as follows:

[0173] S1. Determine the target motion parameters of all target objects within the candidate dominant area of ​​target illumination. ;in, This indicates the total number of target objects within the dominant area of ​​the target lighting candidate; Indicates the first candidate in the dominant region of the target lighting The target motion parameters of each target object; where... ;

[0174] S2. Determine if a locked target from the previous control cycle exists within the candidate dominant area for target lighting; otherwise, proceed to S3; otherwise, proceed to S4. exist If the data is within this set, then jump to S4; otherwise, jump to S3.

[0175] S3. Perform initial locking of the second target object:

[0176] Get Startup Lock Parameter Set ;in, The threshold for distance association during the startup phase; Assign a threshold for the azimuth angle during the startup phase; A threshold is associated with the speed during the startup phase; This is a stability threshold for the distance-to-angle distance during the startup phase;

[0177] exist Selecting continuous Each control cycle is in Target objects within the threshold are designated as the second target locking objects; that is... All are less than their respective threshold values, and the second target locked object is... Within one control cycle, the target object in other control cycles has an azimuth angle difference of less than [value missing]. Then jump to S5 to perform stability processing on the second target locked object; at this time, for the next control cycle, the target motion parameters of the second target locked object are the target motion parameters of the first target locked object in the next control cycle;

[0178] S4. Select the target object with the strongest correlation to the first target target from all target objects within the candidate dominant area of ​​target lighting as the second target target, as follows:

[0179] 1) Obtain the motion deviation index of each target object in the candidate dominant region of the target illumination. The motion deviation index includes spatial displacement deviation. Azimuth deviation and speed deviation ; , , as well as They represent the first The target motion parameters of the target object locked in each control cycle;

[0180] 2) Determine the second target object based on the motion deviation index in 1):

[0181] The target objects whose motion parameters meet the motion jitter threshold are selected as candidate target locking objects, thus obtaining the candidate target locking object set. , that is , and If all conditions are met, the first The target object is the candidate target locking object; The distance jitter threshold, This is the azimuth jitter threshold. The speed jitter threshold;

[0182] when If this indicates a failed association, then the control cycle will continue. Locking the target object failed (i.e., the second target object does not exist); when Then, the candidate target parameter set is filtered to obtain the second target locking object; where, when If there is only one candidate target object, then the candidate target object becomes the second target object; when If there are multiple candidate target objects, the normalized comprehensive cost function is constructed as follows:

[0183] ;

[0184] in, , as well as For pre-configured weighting coefficients, , as well as Determined based on the target environment model of the current control cycle;

[0185] Choose now The corresponding candidate target locking object (i.e., the candidate target locking object with the lowest substitution value) is designated as the second target locking object; at this point, the target locking state vector for the current control cycle is updated. ;in, This indicates the index of the second target locked object. At this time, for the next control cycle, the target locking state vector is the target motion parameter of the first target locked object in the next control cycle.

[0186] In some embodiments, a flag is set to record the association status and store it independently in the locking module. This flag is mainly used for association failure rate statistics and environmental severity assessment. In some embodiments, it can also be used as auxiliary status information for fault location or locking process analysis. However, the determination of locking stability is still based on the angle fluctuation value within the locking window and the corresponding parameters of the environmental mode. The flag can be set to record the association status. This indicates that the association was successful. This indicates that the association failed.

[0187] S5. Perform a stability assessment on the second target object:

[0188] Determine the angle fluctuation value within the locking window, where the angle fluctuation value can represent the maximum difference in azimuth angle between the second target locked objects within the locking window. ;in, This indicates the maximum azimuth angle among the second target locked objects within the locked window; This represents the smallest azimuth angle among the second target locked objects within the locked window; then... This indicates successful target locking, confirms the current target locking status as stable, and deems the current target illumination candidate dominant region valid. Among these... , All of these are determined in real time based on the target environment mode of the current control cycle; The length of the lock window (i.e., the length of the lock confirmation window); This represents the stability threshold.

[0189] Understandably, the drive control parameters include a switching exit threshold; when the target lighting candidate dominant region is determined to be valid, the drive component of the lighting device is controlled to move the lamp head of the lighting device to the target lighting candidate dominant region according to the drive control parameters, including:

[0190] Acquire the second target locked object in the current control cycle;

[0191] If the target azimuth angle of the second target locking object meets the preset steering control conditions according to the drive control parameters, the target steering angle that is consistent with the drive direction corresponding to the candidate dominant area of ​​target lighting is selected from the preset steering angles.

[0192] The control drive component moves the lamp head toward the target lighting candidate dominant area in the drive direction, and the target steering angle is adjusted accordingly.

[0193] The lamp head stops rotating when one of the following conditions is met during its movement:

[0194] If the target azimuth angle is less than or equal to the switching exit threshold and the lamp head rotation direction is the first direction, it is determined that the angle hysteresis control condition is not met.

[0195] If the target azimuth angle is greater than or equal to a negative number of the switching exit threshold and the lamp head rotates in the second direction, it is determined that the angle hysteresis control condition is not met.

[0196] Understandably, the steering control conditions include: area switching angle offset condition, angle hysteresis control condition, and direction stability cycle continuity condition; the drive control parameters also include switching into protection threshold, angle trend determination threshold, third continuous control cycle threshold, and fourth continuous control cycle threshold; based on the drive control parameters, it is determined that the target azimuth angle of the second target locked object meets the preset steering control conditions, including:

[0197] Based on the target motion parameters of the second target object, determine the target azimuth angle of the second target object in the current control cycle;

[0198] If the target azimuth angle is greater than or equal to the switching into protection threshold and the target illumination candidate dominant area is located in the first direction, it is determined that the area switching angle offset condition is met.

[0199] If the target azimuth angle is less than or equal to a negative number of the switching into protection threshold and the target illumination candidate dominant area is located in the second direction, it is determined that the area switching angle offset condition is met.

[0200] If the absolute value of the angle offset difference between the target azimuth angle of the second target locked object in the current control cycle and the target azimuth angle in the previous control cycle is greater than or equal to the angle trend judgment threshold and the continuous control cycle is greater than the third continuous control cycle threshold, it is determined that the direction stability cycle continuity condition is met.

[0201] If the angle offset difference is less than or equal to the angle trend determination threshold and the continuous control period is greater than the fourth continuous control period threshold, the condition of directional stability period continuity is determined to be met, wherein the third continuous control period threshold is greater than the fourth continuous control period threshold.

[0202] For example, refer to Figure 5 The diagram illustrates the processing flow of drive control in this embodiment of the application when the target lighting candidate area is determined to be valid. The specific flow is as follows:

[0203] First, the stability of the drive control direction is determined. For example, the specific process is as follows:

[0204] Step 1: Obtain the target lock state vector for the current control cycle. ;

[0205] Step 2: Determine the steering angle based on the preset steering control conditions and the target azimuth angle of the second target object being locked:

[0206] 1) Determine if the target azimuth angle meets the area switching angle offset condition. If yes, proceed to the next step; otherwise, maintain the current lamp head angle. For example, if the current control cycle is entered from the right, the area switching angle offset condition should be met. When the current control cycle is determined to enter from the left, the area switching angle offset condition should be met. ;in, For the pre-configured direction entry threshold, The radar detection error angle threshold is used to eliminate false boundary crossings caused by sensor errors;

[0207] 2) Determine the angular offset difference between the second target lock object and the second target lock object in the previous control cycle. :

[0208] when This indicates that the current target direction change has a significant trend, and the length of the periodic stability detection window is determined as the threshold of the third continuous control period. Otherwise, the length of the periodic stability detection window is determined to be the threshold of the fourth continuous control period. ,in, The threshold is determined based on the angle trend of the target environment pattern in the current control cycle; the threshold for the fourth continuous control cycle. Greater than the threshold of the third continuous control cycle ; and All of these are selected from multiple pre-configured sets of control parameters based on the target environment mode of the current control cycle; in some embodiments, Set to 1, meaning detected Then the lamp head direction is controlled;

[0209] 3) Determine whether the target azimuth angle meets the directional stability period continuity condition, that is, whether the absolute value of the azimuth angle deviation between two adjacent control cycles is greater than or equal to the absolute value within the period stability detection window. If yes, proceed to the next step; otherwise, keep the lamp head still.

[0210] 4) Lamp head angle update:

[0211] If steps 1) and 3) in step two above are both satisfied, the target angle of the lamp head in the current control cycle can be updated as follows:

[0212] ;

[0213] in, For the detection cycle The target angle of the lamp head; This indicates the angle of the lamp head when the right-side region is the candidate dominant area for target lighting. 0 indicates the angle of the lamp head when the target candidate's dominant region is the left region; 0 indicates the angle of the lamp head when the target candidate's dominant region corresponds to the middle region.

[0214] Step 3: Determine the angle hysteresis:

[0215] For example, taking multiple preset lighting areas as the left area, right area, and middle area, when the lamp head rotates to the left (that is, the first direction mentioned above, which means that the azimuth angle of the current second target locked object is on the left) and Or the light head is pointing to the right (i.e., the second direction, meaning the azimuth of the currently locked second target is on the right) and If the angle hysteresis control condition is not met, the lamp head is allowed to turn. The first direction and the second direction can be determined based on the target azimuth of the second target object and the angle boundary range of multiple preset lighting areas determined based on the target environment mode. For example, if the second target object is in the left area, the rotation direction is the first direction. If the second target object is in the right area, the rotation direction is the second direction.

[0216] At this time, refer to Figure 6 As shown, the superposition of the angle hysteresis control condition and the area switching angle offset condition can be used to target... and The resulting absolute angular domain hysteresis interval is protected, thus forming a Schmitt-triggered dual-threshold direction control structure. This reduces the probability of boundary jitter and repeated direction switching during lamp head rotation, ensuring lamp head stability and improving user experience. For example, the threshold for entering the right side... The threshold for exiting the right side is When a person stands near the right side, the second target locked object slightly fluctuates back and forth at the boundary within multiple control cycles: 48°->51°->47°->52°->49° respectively. Without setting angle hysteresis control conditions, this will cause a right turn at 51°, a return to the middle at 47°, another entry to the right side at 52°, and an exit at 49°. Step S3 can be set before or after steps S2, S4, and the lamp head angle update; this embodiment does not impose any restrictions on this.

[0217] This application does not limit how the driving component drives the lamp head to rotate at the corresponding angle. Those skilled in the art can control it according to the existing methods of driving the lamp head to rotate at a fixed angle. This application will not elaborate on each of these methods.

[0218] It is understood that a lighting device provided according to an embodiment of this application includes a control chip, a driving component, and a lamp head. The driving end of the driving component is connected to the lamp head, and the control chip is communicatively connected to the driving component. The control chip is used to execute any of the methods described in the first aspect above.

[0219] The embodiments of this application can stably identify the overall activity trend in situations where the lighting area supported by the lighting device includes outdoor environments, such as multi-person activities, rainy or snowy weather, and complex outdoor environments. This avoids being misled by a single target or instantaneous noise, thereby providing a stable and reliable directional decision-making basis for subsequent continuous target tracking and lamp head direction control, and improving the lighting effect.

[0220] Understandably, referring to Figure 7 As shown, one embodiment of this application also provides a control chip, including: at least one processor 601; and at least one memory 602 for storing at least one program, which implements the above-described method when executed by the at least one processor 601. The memory 602, as a non-transitory network system, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, the memory 602 may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 602 may optionally include remotely located memories 602 relative to the processor 601, which can be connected to the processor 601 via a network. Examples of such networks include, but are not limited to, the Internet, enterprise intranets, local area networks, mobile communication networks, and combinations thereof.

[0221] The memory 602 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 602 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 602 and is called and executed by the processor 601.

[0222] The processor 601 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0223] In some embodiments, the control chip further includes: an input / output interface 603 for implementing information input and output; a communication interface 604 for enabling communication and interaction between the device and other devices, which can be implemented via wired means (e.g., USB, Ethernet cable, etc.) or wireless means (e.g., mobile network, WIFI, Bluetooth, etc.); and a bus 605 for transmitting information between various components of the device (e.g., processor 601, memory 602, input / output interface 603, and communication interface 604); wherein the processor 601, memory 602, input / output interface 603, and communication interface 604 can achieve internal communication connection between each other through the bus 605.

[0224] An embodiment of this application also provides a computer-readable storage medium storing computer-executable instructions for performing the above-described adaptive control method for a lighting device.

[0225] An embodiment of this application also provides a computer program product, including a computer program or computer instructions stored in a computer-readable storage medium. The processor of the detection device reads the computer program or computer instructions from the computer-readable storage medium, and the processor of the control chip executes the computer program or computer instructions, causing the computer device to perform the above-described adaptive control method for the lighting device.

[0226] The system architecture and application scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application. Those skilled in the art will understand that as system architectures evolve and new application scenarios emerge, the technical solutions provided in this application are also applicable to similar technical problems.

[0227] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0228] The above description, with reference to the accompanying drawings, illustrates some embodiments of this application, but does not limit the scope of the invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and spirit of this invention should be considered within the scope of this application.

Claims

1. An adaptive control method for a lighting device, characterized in that, The method includes: Based on the target motion parameters of the target object, the environmental interference severity score of the target statistical window corresponding to the current control cycle is determined, wherein the environmental interference severity score characterizes the degree of interference of the environment on the radar detection results within the current control cycle; Based on the environmental disturbance severity score of the current control period and the smoothing severity score of the previous control period, the target environmental mode for the current control period is determined. Based on the target environment mode of the current control cycle, the control parameters for the current control cycle are determined. The control parameters include the lighting area voting threshold parameter, the target tracking lock threshold parameter, and the drive control parameters. Based on the voting threshold parameter of the lighting area and the target motion parameter, the candidate dominant area of ​​target lighting is determined; Based on the target tracking lock threshold parameter, target objects within the target illumination candidate dominance region are locked and tracked to determine the validity of the target illumination candidate dominance region; When the target lighting candidate dominant area is determined to be valid, the driving component of the lighting device is controlled to drive the lamp head of the lighting device to move in order to provide illumination to the target object within the target lighting candidate dominant area, according to the driving control parameters.

2. The adaptive control method for the lighting device according to claim 1, characterized in that, The step of determining the environmental interference severity score of the target statistical window corresponding to the current control cycle based on the target motion parameters of the target object includes: Based on the target motion parameters of the target object, determine the azimuth jitter index, range jitter index, velocity jitter index, clutter density index, and association lock failure rate index within the target statistics window; The environmental interference severity score is obtained by weighting the azimuth jitter index, the distance jitter index, the velocity jitter index, the clutter density index, and the association lock failure rate index.

3. The adaptive control method for the lighting device according to claim 2, characterized in that, The target motion parameters are set in a one-to-one correspondence with the target objects; at least one target object is specified. The azimuth jitter index characterizes the changing trend of the target reference azimuth angle in each control cycle within the target statistical window; the azimuth jitter index is determined through the following steps: Obtain the target reference azimuth angle for each control cycle within the target statistics window; The standard deviation of each target reference azimuth is processed to obtain the azimuth jitter index; The distance jitter index characterizes the changing trend of the target reference distance in each control cycle within the target statistical window; the distance jitter index is determined through the following steps: Obtain the target reference position parameters for each control cycle within the target statistics window; wherein, the target reference position parameters include at least one position parameter type, namely position coordinates and distance length; The standard deviation of each of the target reference position parameters is calculated to obtain the distance jitter index that corresponds one-to-one with the position parameter type. The speed jitter index characterizes the speed change trend of the target reference speed in each control cycle within the target statistical window. The speed jitter index is determined through the following steps: Obtain the target reference speed for each control cycle within the target statistics window; The standard deviation of each target reference speed is calculated to obtain the speed jitter index; The clutter density index characterizes the density of the target object within the current control cycle; the clutter density index is determined through the following steps: Obtain the target quantity of the target object that corresponds to each control cycle within the target statistics window; The average value of each of the aforementioned targets is calculated to obtain the clutter density index for each control cycle within the target statistical window; The association lock failure rate metric represents the proportion of failed associations with the target object locked in the previous control period within each control period of the target statistics window; the association lock failure rate metric is determined through the following steps: For each target object, obtain the target object's azimuth deviation, position deviation, and velocity deviation for each control cycle within the target statistics window and between the target object and its previous control cycle; The azimuth deviation, position deviation, and velocity deviation are validated according to preset association threshold conditions to determine the association status of each control cycle within the target statistics window. The success rate of the associated status in each control cycle of the target statistics window is statistically analyzed to determine the associated lock failure rate index of the current control cycle.

4. The adaptive control method for the lighting device according to claim 1, characterized in that, The voting threshold parameters for the lighting area include the angle area buffer threshold, the trend detection window length, and the trend threshold; the target motion parameters are set in a one-to-one correspondence with the target object. The step of determining the candidate dominant region of target lighting based on the voting threshold parameter of the lighting area and the target motion parameters includes: Based on the angle region buffer threshold and the reference region boundary value, the angle boundary range of multiple preset lighting regions is determined; Based on the target motion parameters of each target object, determine the distance weight and velocity confidence weight of each target object; Based on the distance weight and velocity confidence weight of each target object within the same lighting area, the area score of each lighting area is determined; Based on preset directional movement trend conditions, region boundary proximity conditions, environmental stability conditions, region strong dominance conditions, and the scores of each region, the candidate dominant region for target lighting is determined. Wherein, the directional motion trend condition indicates that the directional motion trend parameters of the trend reference object within the trend statistics time window corresponding to the trend detection window length satisfy the trend threshold; The proximity condition of the regional boundary indicates that the absolute value of the locked azimuth angle of the trend reference object in the current control cycle is greater than the angle difference between the angle region buffer threshold and the benchmark region boundary value.

5. The adaptive control method for the lighting device according to claim 4, characterized in that, The voting threshold parameters for the lighting area also include a dominance threshold, a tie-breaking threshold, a first continuous control cycle threshold, and a second continuous control cycle threshold; determining the target lighting candidate dominant area based on preset directional movement trend conditions, area boundary proximity conditions, environmental stability conditions, and the scores of each area includes: When the difference in dominant region score between the two highest-scoring lighting regions in each of the region scores is greater than the dominance threshold, it is determined that the region strong dominance condition is met. If the strong regional dominance condition is met, or if the directional movement trend condition, the regional boundary proximity condition, and the environmental stability condition are all met simultaneously, the lighting area with the highest regional score is selected as the candidate dominant area for the current control cycle and the fast path trigger flag is updated to the first preset value. If any of the following conditions are not met: strong regional dominance, directional movement trend, proximity to regional boundary, and environmental stability, the fast path trigger flag is updated to the second preset value. If the score difference of the dominant region is less than or equal to the tie determination threshold, the candidate lighting dominant region of the previous control cycle is taken as the candidate lighting dominant region of the current control cycle. If the strong regional dominance condition is not met and the score difference of the dominant region is greater than the tie determination threshold, the lighting region with the highest regional score is taken as the candidate lighting dominant region of the current control cycle. Based on the candidate dominant region of the current control cycle and the lighting region where the trend reference object of the current control cycle is located, determine the temporary candidate state of the current control cycle; When the fast path trigger flag is a first preset value and the number of control cycles in which the temporary candidate state remains unchanged is greater than the first continuous control cycle threshold, the lighting area corresponding to the temporary candidate state is taken as the target lighting candidate dominant area. When the fast path trigger flag is a second preset value and the number of control cycles in which the temporary candidate state remains unchanged is greater than the second continuous control cycle threshold, the lighting area corresponding to the temporary candidate state is taken as the target lighting candidate dominant area.

6. The adaptive control method for the lighting device according to claim 1, characterized in that, The step of performing target tracking and locking processing on the target object within the candidate dominant region of target illumination based on the target tracking lock threshold parameter, and determining the validity of the candidate dominant region of target illumination, includes: If, based on the target motion parameters of the target object within the target illumination candidate dominance region, the first target lock object of the previous control cycle is not located within the target illumination candidate dominance region, a second target lock object is determined from the target objects within the target illumination candidate dominance region in the current control cycle; and stability processing is performed on the second target lock object based on the target tracking lock threshold to obtain the lock tracking processing result. If the first target lock object of the previous control cycle is determined to be in the target lighting candidate dominance area based on the target motion parameters of the target object in the target lighting candidate dominance area, the first target lock object is subjected to continuous association determination processing to obtain the second target lock object, and the second target lock object is subjected to stability processing based on the target tracking lock threshold to obtain the lock tracking processing result. The lock tracking processing result indicates that the second target lock object is in a stable state, and the target illumination candidate dominant region is determined to be valid.

7. The adaptive control method for the lighting device according to claim 6, characterized in that, The target tracking and locking threshold includes a motion jitter threshold, a locking confirmation window length, and a stability judgment threshold; the continuous association judgment processing of the first target locked object to obtain the second target locked object includes: Obtain motion deviation indices of each target object within the target illumination candidate dominant region between the current control cycle and the previous control cycle; Based on the motion jitter threshold and the motion deviation index, candidate target locking objects that meet the stability conditions with the first target locking object are selected from each of the target objects in the target illumination candidate dominant area; When there are multiple candidate target locking objects, for each candidate target locking object, cost processing is performed according to the corresponding motion deviation index to obtain the cost value of each candidate target locking object; The candidate target locking object with the lowest substitution value is selected as the second target locking object; The step of performing stability processing on the second target object based on the target tracking and locking threshold to obtain the locking and tracking processing result includes: Determine the angular fluctuation value of the second target locked object within the lock window corresponding to the length of the lock confirmation window; If the angle fluctuation value is less than or equal to the stability determination threshold, the second target locked object is determined to be in a stable state.

8. The adaptive control method for the lighting device according to claim 1, characterized in that, The drive control parameters include a switching exit threshold; when the target lighting candidate dominance region is determined to be valid, controlling the drive component of the lighting device to move the lamp head of the lighting device to the target lighting candidate dominance region according to the drive control parameters includes: Acquire the second target locked object in the current control cycle; If the target azimuth angle of the second target locking object is determined to meet the preset steering control conditions according to the drive control parameters, a target steering angle that is consistent with the drive direction corresponding to the target lighting candidate dominant area is selected from the preset steering angles. The driving component is controlled to drive the lamp head to move the target steering angle in the driving direction corresponding to the target lighting candidate dominant area; The lamp head stops rotating when one of the following conditions is met during its movement: If the target azimuth angle is less than or equal to the switching exit threshold and the rotation direction of the lamp head is the first direction, it is determined that the angle hysteresis control condition is not met. If the target azimuth angle is greater than or equal to a negative number of the switching exit threshold and the rotation direction of the lamp head is the second direction, it is determined that the angle hysteresis control condition is not met.

9. The adaptive control method for a lighting device according to claim 8, characterized in that, The steering control conditions include: area switching angle offset condition and direction stability cycle continuity condition; the drive control parameters also include a switching into protection threshold, an angle trend determination threshold, a third continuous control cycle threshold, and a fourth continuous control cycle threshold; determining that the target azimuth angle of the second target locked object meets the preset steering control conditions based on the drive control parameters includes: Based on the target motion parameters of the second target object, determine the target azimuth angle of the second target object in the current control cycle; If the target azimuth angle is greater than or equal to the switching into protection threshold and the target illumination candidate dominant area is located in the first direction, it is determined that the area switching angle offset condition is met. If the target azimuth angle is less than or equal to a negative number of the switching into protection threshold and the target illumination candidate dominant area is located in the second direction, it is determined that the area switching angle offset condition is met. If the absolute value of the angle offset difference between the target azimuth angle of the second target locked object in the current control cycle and the target azimuth angle in the previous control cycle is greater than or equal to the angle trend determination threshold and the continuous control cycle is greater than the third continuous control cycle threshold, it is determined that the direction stability cycle continuity condition is met. If the angle offset difference is less than or equal to the angle trend determination threshold and the continuous control period is greater than the fourth continuous control period threshold, it is determined that the direction stability period continuity condition is met, wherein the third continuous control period threshold is greater than the fourth continuous control period threshold.

10. A lighting device, characterized in that, The device includes a control chip, a driver component, and a lamp holder. The driver end of the driver component is connected to the lamp holder, and the control chip is communicatively connected to the driver component. The control chip is used to execute the method as described in any one of claims 1 to 9.

Images