Light control method, storage medium, and vehicle

Abstract

This application provides a lighting control method, storage medium, and vehicle, belonging to the field of vehicle lighting control technology. Using the technical solution provided in this application, the target dark area angle corresponding to the target object is determined by the relative position information between the target object and the vehicle and the vehicle's corresponding calibration parameters. Then, the pixel coordinates of each lighting module are determined using the target dark area angle to reduce the luminous brightness of pixels at those coordinates in each lighting module. This allows for precise dark area shielding of the target object using a multi-dark-area superposition method, improving the accuracy of light shielding, reducing the possibility of glare for other drivers, and thus improving road safety. Simultaneously, using multiple lighting modules provides a wider illumination range for the vehicle. Even if some lighting modules malfunction, other lighting modules can still maintain basic functionality, thus diversifying the risks of the lighting system and improving its reliability.

Description

Technical Field

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

[0002] With the development of vehicle technology, vehicle headlight systems have evolved from traditional manual adjustment to automatic dimming control. Among related technologies, vehicles can be equipped with Adaptive Driving Beam (ADB) functionality. ADB dynamically adjusts the light beam area based on the vehicle's direction of travel and the surrounding environment to avoid dazzling other drivers. However, ADB functionality suffers from problems such as a small illumination range, low masking accuracy, and low reliability.

[0003] Therefore, improving the accuracy of light shading while increasing the illumination range of ADB function is a hot research topic. Summary of the Invention

[0004] This application provides a lighting control method, a storage medium, and a vehicle. This method can improve the illumination range of the ADB (Adaptive Diffuse Detection) function while simultaneously increasing the accuracy of light blocking. The technical solution is as follows: Firstly, a lighting control method is provided for use in a vehicle, the vehicle including multiple lighting modules, the method comprising: Based on the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle, the target dark area angle corresponding to the target object is determined, and the target object is located in front of the vehicle; Based on the target dark area angle, determine the pixel coordinates of each of the light modules; Reduce the luminance of the pixel at the pixel coordinates in each of the light modules.

[0005] In this implementation, the target dark area angle corresponding to the target object is determined by the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle. Then, the pixel coordinates of each light module are determined by the target dark area angle to reduce the luminous brightness of the pixels at the pixel coordinates in each light module. This allows for precise dark area shielding by superimposing multiple dark areas on the target object, improving the accuracy of light shielding, reducing the possibility of glare for other drivers, and thus improving the safety of road driving. At the same time, using multiple light modules provides the vehicle with a larger illumination range. Even if some light modules malfunction, other light modules can still maintain basic functions, which can disperse the risks of the lighting system and improve the reliability of the lighting system.

[0006] In conjunction with the first aspect, in some possible implementations, determining the pixel coordinates of each of the light modules based on the target dark area angle includes: determining the pixel coordinates of a first light module based on the target dark area angle, wherein the first light module is any one of the plurality of light modules; determining the pixel offset of a second light module relative to the first light module, wherein the second light module is any one of the plurality of light modules other than the first light module; and determining the pixel coordinates of the second light module based on the pixel coordinates of the first light module and the pixel offset.

[0007] In this implementation, the pixel coordinates of the first light module among multiple light modules are determined by the angle of the target dark area. Then, the pixel offset between the second light module (excluding the first light module) and the first light module is determined. Finally, the pixel coordinates of the second light module are determined using the pixel coordinates and pixel offset of the first light module. Using the pixel coordinates of one of the light modules determined in advance as a reference, the other light modules are calibrated to obtain the final pixel coordinates. There is no need to add other light modules as references, which reduces the amount of data processing and improves the efficiency of light control.

[0008] In combination with the first aspect and the above implementation methods, in some possible implementation methods, determining the pixel offset between the second light module and the first light module includes: determining the distance offset between the optical center of the second light module and the optical center of the first light module; and determining the pixel offset based on the distance offset and the pixel precision of the second light module.

[0009] In this implementation, the distance offset between the optical center of the second light module and the optical center of the first light module is determined, and then the pixel offset is determined based on the distance offset and the pixel accuracy of the second light module. This can eliminate errors caused by the installation position and hardware configuration of the light modules, ensure that multiple light modules produce the same dark area when emitting light, and improve the accuracy of light control.

[0010] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the distance offset includes a first direction offset and a second direction offset, the pixel precision includes a first direction pixel precision and a second direction pixel precision, the pixel offset includes a first direction pixel offset and a second direction pixel offset, and determining the pixel offset based on the distance offset and the pixel precision of the second light module includes: determining a first ratio between the first direction offset and the first direction pixel precision as the first direction pixel offset; and determining a second ratio between the second direction offset and the second direction pixel precision as the second direction pixel offset.

[0011] In this implementation, the first ratio between the first directional offset and the first directional pixel precision is determined as the first directional pixel offset, and the second ratio between the second directional offset and the second directional pixel precision is determined as the second directional pixel offset. The actual physical displacement is associated with the discrete pixel array, and the pixel offset is determined separately for different directions, thereby improving the specificity and accuracy of the pixel offset.

[0012] In combination with the first aspect and the above implementation, in some possible implementations, determining the pixel coordinates of the second light module based on the pixel coordinates of the first light module and the pixel offset includes: determining the pixel coordinates of the second light module as the sum of the pixel coordinates of the first light module and the pixel offset.

[0013] In this implementation, the sum of the pixel coordinates and pixel offset of the first light module is determined as the pixel coordinates of the second light module. The pixel coordinates of each second light module are corrected by the pixel offset, which improves the accuracy of the pixel coordinates and ensures that the dark area occlusion position of the same target object coincides in multiple light modules.

[0014] In combination with the first aspect and the above implementation methods, in some possible implementation methods, determining the pixel coordinates of the first light module based on the target dark area angle includes: processing the target dark area angle based on an angle boundary threshold to obtain a constrained dark area angle; and converting the constrained dark area angle into the pixel coordinates of the first light module.

[0015] In this implementation, the target dark area angle is processed by the angle boundary threshold to obtain the constrained dark area angle, and then the constrained dark area angle is converted into the pixel coordinates of the first light module. The target dark area angle is constrained by the pre-set angle boundary threshold, which reduces the impact of abnormalities such as camera detection fluctuations and partial occlusion of the target object on the dark area angle, and enhances the stability and robustness of the light control.

[0016] In combination with the first aspect and the above implementation methods, in some possible implementation methods, controlling the luminous brightness of the pixel at the pixel coordinate in each of the light modules to be less than a preset brightness includes: determining whether the light module is in an on state; if the light module is in an on state, copying the pixel coordinate to a display buffer; and reducing the luminous brightness of the pixel at the pixel coordinate in each of the light modules based on the pixel coordinate in the display buffer.

[0017] In this implementation, when the lighting module is confirmed to be on, the pixel coordinates are copied to the display buffer. Then, the pixel coordinates in the display buffer are used to reduce the brightness of the pixels at the pixel coordinates in each lighting module. This can effectively avoid the phenomenon of false triggering of the lighting module. At the same time, the display buffer is used to realize the complete rendering and display of pixel coordinates, ensuring the data synchronization and integrity of lighting control, and ensuring uniform illumination of the effective lighting area within the driver's field of vision.

[0018] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the relative position information includes target distance and target angle, the calibration parameters include vehicle size, camera position and camera pitch angle, and the step of determining the target dark area angle corresponding to the target object based on the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle includes: compensating the target distance based on the vehicle size to obtain a target compensation distance; compensating the target angle based on the camera pitch angle to obtain a target compensation angle; and determining the target dark area angle from a preset target mapping relationship based on the target compensation distance, the target compensation angle and the camera position.

[0019] In this implementation, the target compensation distance is obtained by compensating the target distance using the vehicle size, and the target compensation angle is obtained by compensating the target angle using the camera pitch angle. Then, based on the target compensation distance, target compensation angle, and camera position, the target dark area angle is determined from a preset target mapping relationship. This allows for the correction of the ranging reference using the vehicle size, eliminating ranging deviations caused by differences in vehicle geometry and installation position, suppressing camera displacement caused by vehicle acceleration and pitch, and quickly determining the target dark area angle using a preset mapping relationship, thereby reducing the delay in lighting control while improving the accuracy of lighting control.

[0020] Secondly, a light control device is provided, the device comprising: The first determining module is used to determine the target dark area angle corresponding to the target object based on the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle, wherein the target object is located in front of the vehicle; The second determining module is used to determine the pixel coordinates of each of the light modules based on the angle of the target dark area; A control module is used to reduce the luminous brightness of the pixel at the pixel coordinates in each of the light modules.

[0021] In conjunction with the second aspect, in some possible implementations, the second determining module is used to determine the pixel coordinates of a first light module based on the target dark area angle, wherein the first light module is any one of the plurality of light modules; determine the pixel offset between a second light module and the first light module, wherein the second light module is any one of the plurality of light modules other than the first light module; and determine the pixel coordinates of the second light module based on the pixel coordinates of the first light module and the pixel offset.

[0022] In combination with the second aspect and the above implementation, in some possible implementations, the second determining module is used to determine the distance offset between the optical center of the second light module and the optical center of the first light module; and to determine the pixel offset based on the distance offset and the pixel accuracy of the second light module.

[0023] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the distance offset includes a first direction offset and a second direction offset, the pixel precision includes a first direction pixel precision and a second direction pixel precision, the pixel offset includes a first direction pixel offset and a second direction pixel offset, and the second determining module is used to determine the first direction pixel offset as the first ratio between the first direction offset and the first direction pixel precision; and to determine the second direction pixel offset as the second ratio between the second direction offset and the second direction pixel precision.

[0024] In combination with the second aspect and the above implementation, in some possible implementations, the second determining module is used to determine the sum of the pixel coordinates of the first light module and the pixel offset as the pixel coordinates of the second light module.

[0025] In combination with the second aspect and the above implementation, in some possible implementations, the second determining module is used to process the target dark area angle based on the angle boundary threshold to obtain the constrained dark area angle; and convert the constrained dark area angle into the pixel coordinates of the first light module.

[0026] In combination with the second aspect and the above implementation, in some possible implementations, the device includes a third determining module, used to determine whether the light module is in an on state; if the light module is determined to be in an on state, the pixel coordinates are copied to a display buffer; the control module is used to reduce the luminous brightness of the pixel at the pixel coordinate in each light module based on the pixel coordinate in the display buffer.

[0027] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the relative position information includes target distance and target angle, the calibration parameters include vehicle size, camera position and camera pitch angle, and the first determining module is used to compensate the target distance based on the vehicle size to obtain a target compensated distance; compensate the target angle based on the camera pitch angle to obtain a target compensated angle; and determine the target dark area angle from a preset target mapping relationship based on the target compensated distance, the target compensated angle and the camera position.

[0028] Thirdly, a vehicle is provided, the vehicle including one or more processors and one or more memories, the one or more memories storing at least one piece of program code, the program code being loaded and executed by the one or more processors to implement the operations performed by the light control method.

[0029] Fourthly, a computer-readable storage medium is provided, wherein at least one piece of program code is stored in the computer-readable storage medium, the program code being loaded and executed by a processor to implement the operations performed by the light control method.

[0030] Fifthly, an electronic device is provided, including a memory and a processor, wherein the memory is used to store executable program code; and the processor is used to call and run the executable program code from the memory, causing the electronic device to perform the light control method in the first aspect or any possible implementation thereof.

[0031] By employing the technical solution provided in this application, the target dark area angle corresponding to the target object is determined by the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle. Then, the pixel coordinates of each light module are determined by the target dark area angle to reduce the luminous brightness of the pixels at the pixel coordinates in each light module. This allows for precise dark area shielding of the target object using a multi-dark area superposition method, improving the accuracy of light shielding, reducing the possibility of glare for other drivers, and thus improving road safety. At the same time, using multiple light modules provides the vehicle with a larger illumination range. Even if some light modules malfunction, other light modules can still maintain basic functions, which can disperse the risks of the lighting system and improve the reliability of the lighting system. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of a lighting control process provided in an embodiment of this application; Figure 2 This is a schematic diagram of a pixel offset process provided in an embodiment of this application; Figure 3 This is a schematic diagram of an ADB control process provided in an embodiment of this application; Figure 4 This is a schematic diagram illustrating the result of a lighting control method provided in an embodiment of this application; Figure 5 This is a flowchart of a lighting control method provided in an embodiment of this application; Figure 6 This is a flowchart of another lighting control method provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a lighting control device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0033] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0034] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0035] In order to illustrate the technical solutions provided in the embodiments of this application, some terms involved in the embodiments of this application will be explained below.

[0036] ADB (Adaptive Beam Control) is an intelligent headlight technology that automatically adjusts the beam distribution based on road conditions to avoid dazzling other vehicles or pedestrians, thus improving nighttime driving safety and comfort. It dynamically adjusts the shape and intensity of the high beam by independently controlling the brightness or pixel-level adjustment of the light-emitting diode (LED) particles.

[0037] With the development of vehicle technology, vehicle headlight systems have evolved from traditional manual adjustment to automatic dimming control. Among related technologies, vehicles can be equipped with Adaptive Driving Beam (ADB) functionality. ADB can dynamically adjust the light illumination area according to the vehicle's driving direction and the surrounding environment. It can detect targets such as vehicles and pedestrians ahead through cameras and sensors, and adjust the brightness and illumination angle of the lights in real time to avoid dazzling other drivers.

[0038] However, vehicle ADB (Adaptive Driving Deployment) functions suffer from problems such as small illumination range, low masking accuracy, and low reliability. Specifically: Small illumination range: A single-module ADB system typically contains only 10-20 LEDs, some even in the single digits. This results in a small illumination range, which, with increasingly wider roads, further obstructs the driver's vision and increases the risk of accidents. Low masking accuracy: Due to the limited number of LEDs in a single module, while still maintaining a wide illumination range, each LED has a large beam angle, mostly between 2-4 degrees. When masking a target object, even with fewer LEDs turned off, the dark area can still be quite large. Furthermore, other users on the road, such as cars, trucks, buses, and single-light-source electric vehicles, present different challenges. A single-module ADB system cannot accurately mask different target types, leading to poor masking performance. High reliability risk: If a module in a single-module ADB system malfunctions, the entire system may fail, reducing nighttime driving safety.

[0039] Therefore, improving the accuracy of light shading while increasing the illumination range of ADB function is a hot research topic.

[0040] The application scenarios of the technical solutions provided in the embodiments of this application are described below. The technical solutions provided in the embodiments of this application can be applied to different types of vehicles, such as hybrid vehicles, electric vehicles, and pure fuel vehicles. Of course, with the development of science and technology, other types of vehicles may also emerge, and the technical solutions provided in the embodiments of this application are also applicable to other types of vehicles.

[0041] Figure 1 This is a schematic diagram of a lighting control process provided in an embodiment of this application.

[0042] For example, after starting, the following steps are executed sequentially: S11, inputting the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle; S12, performing compensation processing on the relative position information; S13, target loop processing: i=1 (i represents the number of target objects); S14, checking if i is less than the processing upper limit threshold; if yes in S14, proceeding to S15, checking if the relative position information is valid; if yes in S15, proceeding to S16, determining whether the headlight is the left or right headlight; if the headlight is the left headlight, proceeding to S17, calculating the target dark area angle corresponding to the left headlight; if the headlight is the right headlight, proceeding to S18, calculating the target dark area angle corresponding to the right headlight, further proceeding to S19, obtaining the target dark area angle; S110, determining the pixel coordinates of each light module based on the target dark area angle; S111, i++; after S110, proceeding to S14. If no in S15, proceeding to S112, the relative position information of the target object i is invalid, and then proceeding to S110. If S13 is not true, proceed to S113, the loop completes, outputs all pixel coordinates, and then ends.

[0043] Figure 2 This is a schematic diagram of a pixel offset process provided in an embodiment of this application.

[0044] For example, after starting, the following steps are executed sequentially: S21, obtaining the target dark area angles including the four angles of up, down, left, and right; S22, determining the row pixel coordinates of the first light module using the left and right target dark area angles; S23, determining the column pixel coordinates of the first light module using the up and down target dark area angles; S24, checking if the horizontal distance offset of the second light module is zero; if S24 is negative, proceeding to S25, calculating the horizontal pixel offset; S26, determining the row pixel coordinates of the second light module; if S24 is positive, proceeding to S27, checking if the vertical distance offset of the second light module is zero; if S24 is negative, proceeding to S28, calculating the vertical pixel offset; S29, determining the column pixel coordinates of the second light module, and finally ending.

[0045] Figure 3 This is a schematic diagram of an ADB control process provided in an embodiment of this application.

[0046] For example, after starting, the following steps are executed sequentially: S31, obtaining the pixel coordinates of each light module; S32, determining the light control command; S33, determining whether the light module is enabled; if S33 is enabled, proceeding to S34, obtaining the light modules and pixel coordinates that need to be enabled by ADB; S35, copying the pixel coordinates to the display buffer; S36, performing ADB operations; and S37, sending the pixel coordinates from the display buffer to the light modules for display. If S33 is not enabled, proceeding to S38, obtaining the diagnostic ADB light pattern data, and then ending the process. The diagnostic ADB light pattern data refers to the preset standard light pattern used in the ADB system's self-test / diagnostic mode.

[0047] Figure 4 This is a schematic diagram of the result of a lighting control provided in an embodiment of this application.

[0048] For example, vehicle 41 includes headlights composed of multiple light modules. After a target vehicle 42 (corresponding to the target object) appears in front of vehicle 41, the multiple light modules are controlled by the light control method provided in this application, and finally an overlapping dark area 43 is formed on the target vehicle, reducing the possibility of glare for other drivers.

[0049] After introducing the application scenarios of the embodiments of this application, the technical solutions provided by the embodiments of this application will be described below. (See also...) Figure 5 The vehicle includes multiple lighting modules, and the method includes the following steps.

[0050] 501. Based on the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle, determine the target dark area angle corresponding to the target object, which is located in front of the vehicle.

[0051] The target object is the object requiring anti-glare processing. In some embodiments, the target object is located in front of the vehicle. The target object can be any suitable type, such as a car, truck, bus, electric vehicle, pedestrian, etc. Relative position information is used to characterize the information between the target object and the vehicle. In some embodiments, the relative position information is acquired through a camera or radar installed in the vehicle. The relative position information may include, but is not limited to, target distance, target angle, etc. The target distance is the straight-line distance between the target object and the vehicle. The target angle is the boundary angle value of the target object acquired in the vehicle. The target angle may include four angles: up, down, left, and right. Calibration parameters are used to characterize the state of the object installed in the vehicle or the vehicle itself. In some embodiments, calibration parameters may include, but are not limited to, vehicle state, vehicle size, camera position, camera pitch angle, etc. In some embodiments, relative position information and calibration parameters can be acquired in real time from the camera or radar and from the vehicle via the Controller Area Network (CAN) bus. CAN is a serial communication protocol bus for real-time applications that uses twisted-pair cables to transmit signals and is one of the most widely used fieldbuses in the world. The target dark area angle is the angular range within which the target object needs to be dark-masked. In some embodiments, the target dark area angle may include four angles: up, down, left, and right.

[0052] 502. Based on the angle of the target dark area, determine the pixel coordinates of each light module.

[0053] The vehicle includes multiple lighting modules. In some embodiments, each lighting module has multiple LED particles. When a target object appears in front of the vehicle, each lighting module needs to determine its pixel coordinates based on the angle of the target dark area. Pixel coordinates are coordinates in a pixel point coordinate system. Pixel coordinates include row pixel coordinates and column pixel coordinates.

[0054] 503. Reduce the brightness of the pixel at the pixel coordinates in each light module.

[0055] In this system, the pixel coordinates of different light modules can be the same or different. After determining the pixel coordinates of each light module, it is necessary to reduce the luminance of the pixels at those coordinates in each light module, thereby creating dark areas on the target object. In some embodiments, reducing the luminance of the pixels can be done by reducing the luminance until the luminance of the pixels at those coordinates in each light module is less than a preset luminance value, or by reducing the luminance until the luminance of the pixels at those coordinates in each light module is zero, wherein the preset luminance value is greater than zero.

[0056] By employing the technical solution provided in this application, the target dark area angle corresponding to the target object is determined by the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle. Then, the pixel coordinates of each light module are determined by the target dark area angle to reduce the luminous brightness of the pixels at the pixel coordinates in each light module. This allows for precise dark area shielding of the target object using a multi-dark area superposition method, improving the accuracy of light shielding, reducing the possibility of glare for other drivers, and thus improving road safety. At the same time, using multiple light modules provides the vehicle with a larger illumination range. Even if some light modules malfunction, other light modules can still maintain basic functions, which can disperse the risks of the lighting system and improve the reliability of the lighting system.

[0057] It should be noted that steps 501-503 above are a simplified description of the lighting control method provided in the embodiments of this application. The lighting control method provided in the embodiments of this application will be described in more detail below with some examples. See [link to relevant documentation]. Figure 6 The vehicle includes multiple lighting modules, and the method includes the following steps.

[0058] 601. Based on the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle, determine the angle of the target dark area corresponding to the target object, which is located in front of the vehicle.

[0059] The target object is the object requiring anti-glare processing. In some embodiments, the target object is located in front of the vehicle. The target object can be any suitable type, such as a car, truck, bus, electric vehicle, pedestrian, etc. Relative position information is used to characterize the information between the target object and the vehicle. In some embodiments, the relative position information is acquired through a camera or radar installed in the vehicle. The relative position information may include, but is not limited to, target distance, target angle, etc. The target distance is the straight-line distance between the target object and the vehicle. The target angle is the boundary angle value of the target object acquired from the vehicle. The target angle may include four angles: up, down, left, and right. Calibration parameters are used to characterize the state of the object installed in the vehicle or the vehicle itself. In some embodiments, calibration parameters may include, but are not limited to, vehicle state, vehicle size, camera position, camera pitch angle, etc. Vehicle state is used to characterize whether the vehicle is running. In some embodiments, relative position information can be acquired in real time from the camera or radar via CAN, and calibration parameters can be acquired in real time from the vehicle. The target dark area angle is the angle range within which the target object needs to be dark-area shielded. In some embodiments, the target dark area angle may include four angles: up, down, left, and right.

[0060] In one possible implementation, the relative position information includes target distance and target angle, and the calibration parameters include vehicle size, camera position, and camera pitch angle. The target distance is compensated based on the vehicle size to obtain a compensated target distance. The target angle is compensated based on the camera pitch angle to obtain a compensated target angle. Based on the compensated target distance, target compensated target angle, and camera position, the target dark area angle is determined from a preset target mapping relationship.

[0061] The relative position information includes target distance and target angle. Target distance is the straight-line distance between the target object and the vehicle. Target angle is the boundary angle value of the target object captured from within the vehicle. Target angle can include four angles: up, down, left, and right. In some embodiments, the target angle is the angle of the target object's upper, lower, left, and right boundaries in the camera coordinate system. Target angles have positive and negative values; the upper and lower target angles form one set of target angles, and the left and right target angles form another set.

[0062] In some embodiments, the target angle can be determined from the image captured by the camera. In practice, the target pixel coordinates corresponding to the upper, lower, left, and right boundaries of the target object are selected from the image captured by the camera. Then, the target pixel coordinates are converted into horizontal and vertical angles relative to the camera's optical axis by tangent conversion. The horizontal angles are used as the upper and lower target angles, and the vertical angles are used as the left and right target angles.

[0063] Calibration parameters include vehicle dimensions, camera position, and camera pitch angle. Vehicle dimensions characterize the size of the vehicle in actual three-dimensional space. In some embodiments, different types of vehicles (e.g., cars, trucks, etc.) may have the same or different vehicle dimensions. Camera position characterizes the offset of the camera's mounting point relative to the origin of the vehicle coordinate system. Camera pitch angle characterizes the longitudinal angle between the camera's optical axis and the vehicle's horizontal reference plane (e.g., the ground).

[0064] The target compensation distance is the compensated distance between the target object and the vehicle. In some embodiments, the target distance measured by the camera can be converted by a baseline translation using calibrated vehicle dimensions (e.g., the longitudinal and lateral distances from the rear axle center to the camera mounting point). At the same time, the target distance exceeding the physical envelope is constrained and corrected by combining the vehicle's half-length and half-width, thus obtaining the target compensation distance. This eliminates the systematic ranging deviation caused by the camera's mounting position not being at the vehicle's geometric center.

[0065] The target compensation angle is the angular boundary of the target object after compensation. In some embodiments, a rotation compensation matrix around the camera coordinate system can be constructed using the camera pitch angle. The unit direction vector of the target object in the camera coordinate system is rotated to obtain the target compensation angle, thereby offsetting the vertical projection error caused by vehicle load, acceleration pitch, or installation tilt.

[0066] In some embodiments, the target dark area angle can be obtained by looking up a table in the target mapping relationship based on the target compensation distance, target compensation angle, and camera position. This target mapping relationship stores multiple target compensation distances, target compensation angles, and camera positions, as well as the target dark area angles corresponding to each target compensation distance, target compensation angle, and camera position. By looking up the target compensation distance, target compensation angle, and camera position in the target mapping relationship, the target dark area angle can be obtained. This target mapping relationship is calibrated by a technician according to actual conditions, and this application embodiment does not limit this.

[0067] In this implementation, the target compensation distance is obtained by compensating the target distance using the vehicle size, and the target compensation angle is obtained by compensating the target angle using the camera pitch angle. Then, based on the target compensation distance, target compensation angle, and camera position, the target dark area angle is determined from a preset target mapping relationship. This allows for the correction of the ranging reference using the vehicle size, eliminating ranging deviations caused by differences in vehicle geometry and installation position, suppressing camera displacement caused by vehicle acceleration and pitch, and quickly determining the target dark area angle using a preset mapping relationship, thereby reducing the delay in lighting control while improving the accuracy of lighting control.

[0068] 602. Based on the angle of the target dark area, determine the pixel coordinates of the first light module, where the first light module is any one of the multiple light modules.

[0069] The target dark area angle is the angular range within which the target object needs to be masked in the dark area. In some embodiments, the target dark area angle may include four angles: up, down, left, and right. The target dark area angle is the angle of the target object's upper, lower, left, and right boundaries in the left / right headlight coordinate system. The pixel coordinates of the first light module are the coordinates of the first light module in the pixel coordinate system, which can characterize the dark area range of the target object corresponding to the first light module. The first light module can be any one of multiple light modules. For example, the vehicle includes three light modules arranged from left to right, and the middle light module can be used as the first light module.

[0070] In one possible implementation, the target dark area angle is processed based on an angle boundary threshold to obtain a constrained dark area angle. The constrained dark area angle is then converted into pixel coordinates of the first light module.

[0071] The angle boundary threshold is the maximum upper limit angle that the target dark area angle can reach. The constrained dark area angle is the dark area angle that has been constrained. In some embodiments, the angle boundary threshold includes angle thresholds in four directions: up, down, left, and right. The target dark area angle is processed based on the angle boundary threshold to reduce the target dark area angle that exceeds the angle boundary threshold to the angle boundary threshold, thus obtaining the constrained dark area angle.

[0072] In some embodiments, the constrained dark area angle can be converted into pixel coordinates of the first light module by using a binary search table. The binary search method is an efficient algorithm that approximates the zero point of a function or finds a specific value by repeatedly dividing an interval in half; it is widely used in mathematics and computer science. Specifically: a correspondence between the dark area angle value and pixel coordinates is pre-constructed. After obtaining the constrained dark area angle, the binary search method is used to quickly locate the two adjacent index coordinates of the pixel coordinates of the first light module within the correspondence. Then, linear interpolation is performed on these two index coordinates to finally obtain the pixel coordinates of the first light module.

[0073] In this implementation, the target dark area angle is processed by the angle boundary threshold to obtain the constrained dark area angle, and then the constrained dark area angle is converted into the pixel coordinates of the first light module. The target dark area angle is constrained by the pre-set angle boundary threshold, which reduces the impact of abnormalities such as camera detection fluctuations and partial occlusion of the target object on the dark area angle, and enhances the stability and robustness of the light control.

[0074] 603. Determine the pixel offset between the second lighting module and the first lighting module. The second lighting module is any other lighting module among the multiple lighting modules besides the first lighting module.

[0075] The pixel offset is used to characterize the offset of the second lighting module relative to the first lighting module. The second lighting module refers to any of the multiple lighting modules other than the first lighting module. For example, a vehicle may include three lighting modules arranged from left to right, with the middle module designated as the first lighting module. The remaining two lighting modules are considered the second lighting modules. In some embodiments, the pixel offsets of different second lighting modules are different.

[0076] In one possible implementation, the distance offset between the optical center of the second lighting module and the optical center of the first lighting module is determined. Based on the distance offset and the pixel accuracy of the second lighting module, a pixel offset is determined.

[0077] The optical center of the light module is its reference point, which can be the center of its optical axis. In some embodiments, the optical center of the light module is a coordinate in the pixel coordinate system. Since different light modules are installed in different positions, their optical centers are different. The distance offset refers to the pixel offset between the optical center of the second light module and the optical center of the first light module. In some embodiments, each second light module has a corresponding distance offset, and the distance offsets for different second light modules are different. The pixel precision of the light module is used to characterize the physical size and density of the LEDs in the light module. In some embodiments, the pixel precision of different second light modules can be the same or different.

[0078] In this implementation, the distance offset between the optical center of the second light module and the optical center of the first light module is determined, and then the pixel offset is determined based on the distance offset and the pixel accuracy of the second light module. This can eliminate errors caused by the installation position and hardware configuration of the light modules, ensure that multiple light modules produce the same dark area when emitting light, and improve the accuracy of light control.

[0079] In one possible implementation, the distance offset includes a first direction offset and a second direction offset, the pixel precision includes a first direction pixel precision and a second direction pixel precision, and the pixel offset includes a first direction pixel offset and a second direction pixel offset. A first ratio between the first direction offset and the first direction pixel precision is determined as the first direction pixel offset. A second ratio between the second direction offset and the second direction pixel precision is determined as the second direction pixel offset.

[0080] The distance offset includes a first-direction offset and a second-direction offset. The first-direction offset is different from the second-direction offset. The first-direction offset can be a horizontal or vertical distance offset. The second-direction offset can also be a horizontal or vertical distance offset. The horizontal distance offset represents the actual distance the pixel coordinates have shifted horizontally, while the vertical distance offset represents the actual distance the pixel coordinates have shifted vertically.

[0081] Pixel precision includes first-direction pixel precision and second-direction pixel precision. The first-direction pixel precision and the second-direction pixel precision are different. The first-direction pixel precision can be either horizontal or vertical. The second-direction offset can also be either horizontal or vertical pixel precision. Horizontal pixel precision characterizes the physical size and density of the LEDs in the horizontal direction of the lighting module. Vertical pixel precision characterizes the physical size and density of the LEDs in the vertical direction of the lighting module.

[0082] Pixel offsets include first-direction pixel offsets and second-direction pixel offsets. The first-direction pixel offset and the second-direction pixel offset are different. The first-direction pixel offset can be a horizontal or vertical pixel offset. The second-direction pixel offset can also be a horizontal or vertical pixel offset. Pixel coordinates include row pixel coordinates (left and right pixels) and column pixel coordinates (top and bottom pixels). Horizontal pixel offsets are used to offset the row pixel coordinates as a whole, and vertical pixel offsets are used to offset the column pixel coordinates as a whole.

[0083] The first ratio refers to the ratio between the first direction offset and the first direction pixel precision. The second ratio refers to the ratio between the second direction offset and the second direction pixel precision. In some embodiments, the first ratio between the first direction offset and the first direction pixel precision is determined as the first direction pixel offset. The second ratio between the second direction offset and the second direction pixel precision is determined as the second direction pixel offset.

[0084] In this implementation, the first ratio between the first directional offset and the first directional pixel precision is determined as the first directional pixel offset, and the second ratio between the second directional offset and the second directional pixel precision is determined as the second directional pixel offset. The actual physical displacement is associated with the discrete pixel array, and the pixel offset is determined separately for different directions, thereby improving the specificity and accuracy of the pixel offset.

[0085] 604. Determine the pixel coordinates of the second light module based on the pixel coordinates and pixel offset of the first light module.

[0086] The pixel offset represents the offset of the second lighting module relative to the first lighting module. The second lighting module refers to all other lighting modules besides the first. The pixel coordinates of the first lighting module are its coordinates in a pixel coordinate system, representing the dark area of ​​the target object under the first lighting module. The pixel coordinates of the second lighting module are its coordinates in a pixel coordinate system, representing the dark area of ​​the target object under the second lighting module.

[0087] In this implementation, the pixel coordinates of the first light module among multiple light modules are determined by the angle of the target dark area. Then, the pixel offset between the second light module (excluding the first light module) and the first light module is determined. Finally, the pixel coordinates of the second light module are determined using the pixel coordinates and pixel offset of the first light module. Using the pixel coordinates of one of the light modules determined in advance as a reference, the other light modules are calibrated to obtain the final pixel coordinates. There is no need to add other light modules as references, which reduces the amount of data processing and improves the efficiency of light control.

[0088] In one possible implementation, the sum of the pixel coordinates and pixel offset of the first lighting module is used to determine the pixel coordinates of the second lighting module.

[0089] In this system, the pixel coordinates of the first lighting module are its coordinates in a pixel coordinate system, representing the dark area range of the target object under the first lighting module. The actual installation position of the second lighting module differs from that of the first lighting module. If the second lighting module directly uses the pixel coordinates of the first lighting module, the resulting dark area will not accurately cover the target object, potentially causing glare. Therefore, each second lighting module needs to have its corresponding pixel offset added to the pixel coordinates of the first lighting module to obtain its final pixel coordinates.

[0090] In this implementation, the sum of the pixel coordinates and pixel offset of the first light module is determined as the pixel coordinates of the second light module. The pixel coordinates of each second light module are corrected by the pixel offset, which improves the accuracy of the pixel coordinates and ensures that the dark area occlusion position of the same target object coincides in multiple light modules.

[0091] 605. Reduce the brightness of the pixel at the pixel coordinates in each light module.

[0092] In this system, the pixel coordinates of different light modules can be the same or different. After determining the pixel coordinates of each light module, it is necessary to reduce the luminance of the pixels at those coordinates in each light module, thereby creating dark areas on the target object. In some embodiments, reducing the luminance of the pixels can be done by reducing the luminance until the luminance of the pixels at those coordinates in each light module is less than a preset luminance value, or by reducing the luminance until the luminance of the pixels at those coordinates in each light module is zero, wherein the preset luminance value is greater than zero.

[0093] It should be noted that there may be multiple target objects in front of the vehicle. The order of the target objects from closest to furthest from the vehicle can be used as the illumination order of the headlights, and each target object is masked in the dark area in turn. At the same time, since the vehicle is in motion when the lights are controlled, the relative position information between the target objects and the vehicle is also updated in real time. Therefore, the pixel coordinates in each light module are also changing in real time. It is necessary to continuously determine and update the pixel coordinates in each light module to mask the target objects in front of the vehicle in real time.

[0094] In this implementation, In one possible implementation, it is determined whether the lighting module is on. If it is determined that the lighting module is on, the pixel coordinates are copied to the display buffer. Based on the pixel coordinates in the display buffer, the brightness of the pixel at each pixel coordinate in each lighting module is reduced.

[0095] In this system, different light modules within the multiple light modules are controlled independently; that is, light modules that are not turned on and light modules that are turned on can coexist. In some embodiments, the on / off state of a light module can be determined by reading the online identifier of each light module. After determining the pixel coordinates in each light module, it is necessary to first determine whether each light module is turned on, and then for light modules that are turned on, the pixel coordinates are copied to the display buffer.

[0096] The display buffer is a memory area used to temporarily store data to be displayed, decoupling the asynchronous processes of data generation and display. In some embodiments, the light modules corresponding to the pixel coordinates stored in the display buffer are in an on state. After copying the pixel coordinates to the display buffer, an ADB operation is performed based on the pixel coordinates in the display buffer to reduce the brightness of the pixels at the corresponding pixel coordinates in each light module.

[0097] In this implementation, when the lighting module is confirmed to be on, the pixel coordinates are copied to the display buffer. Then, the pixel coordinates in the display buffer are used to reduce the brightness of the pixels at the pixel coordinates in each lighting module. This can effectively avoid the phenomenon of false triggering of the lighting module. At the same time, the display buffer is used to realize the complete rendering and display of pixel coordinates, ensuring the data synchronization and integrity of lighting control, and ensuring uniform illumination of the effective lighting area within the driver's field of vision.

[0098] Figure 7 This is a schematic diagram of the structure of a lighting control device provided in an embodiment of this application. See also... Figure 7 The lighting control device 700 includes: The first determining module 701 is used to determine the target dark area angle corresponding to the target object based on the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle. The target object is located in front of the vehicle. The second determining module 702 is used to determine the pixel coordinates of each light module based on the angle of the target dark area; The control module 703 is used to reduce the luminous brightness of the pixel at the pixel coordinates in each light module.

[0099] In one possible implementation, the second determining module 702 is used to determine the pixel coordinates of the first light module based on the angle of the target dark area, wherein the first light module is any one of a plurality of light modules; determine the pixel offset between the second light module and the first light module, wherein the second light module is any one of the plurality of light modules other than the first light module; and determine the pixel coordinates of the second light module based on the pixel coordinates and pixel offset of the first light module.

[0100] In one possible implementation, the second determining module 702 is used to determine the distance offset between the optical center of the second light module and the optical center of the first light module; and to determine the pixel offset based on the distance offset and the pixel accuracy of the second light module.

[0101] In one possible implementation, the distance offset includes a first direction offset and a second direction offset, the pixel precision includes a first direction pixel precision and a second direction pixel precision, and the pixel offset includes a first direction pixel offset and a second direction pixel offset. The second determining module 702 is used to determine the first direction pixel offset as the first ratio between the first direction offset and the first direction pixel precision; and to determine the second direction pixel offset as the second ratio between the second direction offset and the second direction pixel precision.

[0102] In one possible implementation, the second determining module 702 is used to determine the sum of the pixel coordinates and pixel offset of the first light module as the pixel coordinates of the second light module.

[0103] In one possible implementation, the second determining module 702 is used to process the target dark area angle based on the angle boundary threshold to obtain the constrained dark area angle; and convert the constrained dark area angle into the pixel coordinates of the first light module.

[0104] In one possible implementation, the device includes a third determining module for determining whether the light module is in an on state; if the light module is determined to be in an on state, copying the pixel coordinates to a display buffer; and a control module 703 for reducing the luminous brightness of the pixel at the pixel coordinate in each light module based on the pixel coordinate in the display buffer.

[0105] In one possible implementation, the relative position information includes target distance and target angle, and the calibration parameters include vehicle size, camera position and camera pitch angle. The first determining module 701 is used to compensate for the target distance based on the vehicle size to obtain the target compensated distance; to compensate for the target angle based on the camera pitch angle to obtain the target compensated angle; and to determine the target dark area angle from a preset target mapping relationship based on the target compensated distance, target compensated angle and camera position.

[0106] It should be noted that the lighting control device provided in the above embodiments is only illustrated by the division of the above functional modules when controlling a vehicle. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device can be divided into different functional modules to complete all or part of the functions described above. In addition, the lighting control device and the lighting control method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0107] By employing the technical solution provided in this application, the target dark area angle corresponding to the target object is determined by the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle. Then, the pixel coordinates of each light module are determined by the target dark area angle to reduce the luminous brightness of the pixels at the pixel coordinates in each light module. This allows for precise dark area shielding of the target object using a multi-dark area superposition method, improving the accuracy of light shielding, reducing the possibility of glare for other drivers, and thus improving road safety. At the same time, using multiple light modules provides the vehicle with a larger illumination range. Even if some light modules malfunction, other light modules can still maintain basic functions, which can disperse the risks of the lighting system and improve the reliability of the lighting system.

[0108] This application also provides a vehicle. Figure 8 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0109] Typically, vehicle 800 includes one or more processors 801 and one or more memories 802.

[0110] Processor 801 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 801 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 801 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 801 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 801 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0111] The memory 802 may include one or more computer-readable storage media, which may be non-transitory. The memory 802 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 802 are used to store at least one computer program, which is executed by the processor 801 to implement the light control method provided in the method embodiments of this application.

[0112] Those skilled in the art will understand that Figure 8 The structure shown does not constitute a limitation on vehicle 800 and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0113] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a light control method provided in the above embodiments.

[0114] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described method steps to implement a method for controlling lights provided in the above embodiment.

[0115] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a method for controlling lights provided in the above embodiment.

[0116] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0117] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0118] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0119] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling light, characterized in that, Applied to a vehicle, the vehicle including multiple lighting modules, the method includes: Based on the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle, the target dark area angle corresponding to the target object is determined, and the target object is located in front of the vehicle; Based on the target dark area angle, determine the pixel coordinates of each of the light modules; Reduce the luminance of the pixel at the pixel coordinates in each of the light modules.

2. The method according to claim 1, characterized in that, Determining the pixel coordinates of each light module based on the target dark area angle includes: Based on the target dark area angle, the pixel coordinates of the first light module are determined, where the first light module is any one of the plurality of light modules; Determine the pixel offset between the second light module and the first light module, wherein the second light module is any other light module among the plurality of light modules besides the first light module; The pixel coordinates of the second light module are determined based on the pixel coordinates of the first light module and the pixel offset.

3. The method according to claim 2, characterized in that, Determining the pixel offset between the second light module and the first light module includes: Determine the distance offset between the optical center of the second lighting module and the optical center of the first lighting module; The pixel offset is determined based on the distance offset and the pixel accuracy of the second light module.

4. The method according to claim 3, characterized in that, The distance offset includes a first direction offset and a second direction offset; the pixel precision includes a first direction pixel precision and a second direction pixel precision; the pixel offset includes a first direction pixel offset and a second direction pixel offset; determining the pixel offset based on the distance offset and the pixel precision of the second light module includes: The first ratio between the first directional offset and the first directional pixel precision is determined as the first directional pixel offset. The second ratio between the second directional offset and the second directional pixel precision is determined as the second directional pixel offset.

5. The method according to claim 2, characterized in that, Determining the pixel coordinates of the second light module based on the pixel coordinates of the first light module and the pixel offset includes: The sum of the pixel coordinates of the first light module and the pixel offset is used to determine the pixel coordinates of the second light module.

6. The method according to claim 2, characterized in that, Determining the pixel coordinates of the first light module based on the angle of the target dark area includes: The angle of the target dark area is processed based on the angle boundary threshold to obtain the constrained dark area angle; The constrained dark area angle is converted into pixel coordinates of the first light module.

7. The method according to claim 1, characterized in that, Controlling the brightness of the pixel at the pixel coordinates in each of the light modules to be less than a preset brightness includes: Determine whether the lighting module is in the on state; If the light module is confirmed to be in the on state, the pixel coordinates are copied to the display buffer; Based on the pixel coordinates in the display buffer, the luminance of the pixel at the pixel coordinates in each of the light modules is reduced.

8. The method according to any one of claims 1 to 7, characterized in that, The relative position information includes target distance and target angle; the calibration parameters include vehicle size, camera position, and camera pitch angle; determining the target dark area angle corresponding to the target object based on the relative position information between the target object and the vehicle and the calibration parameters corresponding to the vehicle includes: The target distance is compensated based on the vehicle size to obtain the target compensated distance; The target angle is compensated based on the camera's pitch angle to obtain the target compensation angle; Based on the target compensation distance, the target compensation angle, and the camera position, the target dark area angle is determined from a preset target mapping relationship.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on an electronic device, cause the electronic device to perform the method as described in any one of claims 1 to 8.

10. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 8.

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