Light control method and device, electronic equipment, storage medium and movable device

Abstract

This disclosure relates to a lighting control method, apparatus, electronic device, storage medium, and mobile device, belonging to the field of vehicle control technology. The method includes: in active lighting mode, obtaining environmental information in the direction of movement of the mobile device; if the environmental information includes a target object, and the target object is located outside the lighting range of the mobile device, controlling the lighting components of the mobile device to project a light beam to illuminate the area where the target object is located. Compared to existing technologies, the embodiments of this disclosure can provide early warning to the driver during nighttime driving. Simultaneously, the visual sensor acquires target images with a higher signal-to-noise ratio, improving the target recognition accuracy and response speed of the intelligent driving system, thereby enhancing nighttime driving safety and the reliability of intelligent driving control.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, and in particular to a lighting control method, apparatus, electronic device, storage medium, and mobile device. Background Technology

[0002] In related technologies, when a vehicle is traveling at night on poorly lit roads, if the high beams are not turned on, or if the Intelligent High-beam Control (IHC) function automatically turns off the high beams due to oncoming traffic, the driver's field of vision will be limited to the coverage area of ​​the low beams. If there are obstacles or other objects requiring attention in the vehicle's path, the driver may not be able to spot them immediately, resulting in missed blind spots and affecting driving safety. Summary of the Invention

[0003] To address the aforementioned technical issues, this disclosure provides a lighting control method, apparatus, electronic device, storage medium, and movable device that can provide early warnings to drivers during nighttime driving. Simultaneously, the visual sensor acquires target images with a higher signal-to-noise ratio, improving the target recognition accuracy and response speed of the intelligent driving system, thereby enhancing nighttime driving safety and the reliability of intelligent driving control.

[0004] In a first aspect, embodiments of this disclosure provide a lighting control method, the method comprising: In active lighting mode, environmental information is obtained in the direction of movement of the mobile device; If the environmental information includes a target object, and the target object is located outside the illumination range of the movable device, the lighting components of the movable device are controlled to project a beam of light to illuminate the area where the target object is located.

[0005] In some embodiments, the method further includes: When the target object is a vehicle, the target object's driving direction is opposite to the moving device's driving direction, and the ambient brightness is below the brightness threshold, adjust the angle of the light beam projected by the light assembly so that the light beam projected by the light assembly towards the target object avoids the target object's cockpit.

[0006] In some embodiments, the method further includes: When the target object is a pedestrian or non-motorized vehicle, adjust the angle of the beam projected by the light assembly so that the beam of light directed at the target object avoids the head of the pedestrian or non-motorized vehicle driver.

[0007] In some embodiments, controlling the lighting assembly of the movable device to project a light beam includes: When the travel speed of the mobile device is greater than or equal to a speed threshold, and at least part of the target object enters the lane in which the mobile device is traveling from outside the lane, the lighting components of the mobile device are controlled to intermittently project a beam of light based on the target flashing frequency.

[0008] In some embodiments, the method further includes: When the environmental information includes the target traffic participant and the target traffic participant is located on the movement path of the mobile device, the distance information between the mobile device and the target traffic participant is obtained. When the distance information is less than a first distance threshold, the light component of the movable device is controlled to intermittently project a beam of light based on the target flashing frequency to illuminate the area where the target traffic participant is located; If the distance information is less than a second distance threshold, the movable device is controlled to perform a braking operation; the second distance threshold is less than a first distance threshold.

[0009] In some embodiments, the method further includes: In active lighting mode, obtain the road object of the road on which the mobile device travels; If a road object is identified as including a target road object, the lighting assembly is controlled to emit a beam of light toward the target road object to illuminate it; the target road object includes at least one of: a road merging point, a road sign, and road markings.

[0010] In some embodiments, before obtaining environmental information about the direction of movement of the movable device, the method further includes: In response to user input indicating that active lighting mode should be enabled, enter active lighting mode.

[0011] Secondly, embodiments of this disclosure provide a lighting control device, comprising: The data acquisition module is used to obtain environmental information in the direction of movement of the mobile device under active lighting mode; The control module is used to control the lighting components of the mobile device to project a beam of light to illuminate the area where the target object is located, when the environmental information includes the target object and the target object is located outside the lighting range of the mobile device.

[0012] Thirdly, embodiments of this disclosure provide an electronic device, including: Memory; Processor; and Computer programs; The computer program is stored in memory and configured to be executed by a processor to implement the method provided in the first aspect.

[0013] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method as provided in the first aspect.

[0014] Fifthly, embodiments of this disclosure provide a movable device, including: Memory; Processor; and Computer programs; The computer program is stored in memory and configured to be executed by a processor to implement the method provided in the first aspect.

[0015] In a sixth aspect, embodiments of this disclosure also provide a computer program product comprising a computer program or instructions that, when executed by a processor, implement the method provided in the first aspect.

[0016] The lighting control method, apparatus, electronic device, storage medium, and movable device provided in this disclosure, by obtaining radar detection data in the direction of movement of the movable device, and when identifying a target object in the radar detection data that is outside the illumination range of the lights, controls the lighting component to emit a beam of light towards the target object to illuminate it. This solves the technical problem that in nighttime or low-light environments, traditional lights can only illuminate a fixed range and cannot cover risky targets detected by radar that are outside the illumination range, resulting in the driver's inability to detect these targets in time and the visual sensor's inability to obtain sufficient image information to support intelligent driving decisions. The radar detection data provides the azimuth angle and relative distance information of the target object. Based on this information, the lighting component accurately emits a beam of light towards the direction of the target object, illuminating the target object that was originally in darkness. The illuminated target object can be directly observed by the driver's naked eye, serving as an early warning to the driver. At the same time, the visual sensor acquires a target image with a higher signal-to-noise ratio, improving the target recognition accuracy and response speed of the intelligent driving system, thereby enhancing nighttime driving safety and the reliability of intelligent driving control. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0018] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A flowchart of a lighting control method according to some embodiments of the present disclosure is shown; Figure 2 Schematic diagrams of lighting control according to some embodiments of the present disclosure are shown; Figure 3 Structural block diagrams of lighting control devices according to some embodiments of the present disclosure are shown; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0020] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions of this disclosure will be described below. It should be noted that, unless otherwise specified, the embodiments of this disclosure and the features thereof can be combined with each other.

[0021] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0022] In some embodiments of this disclosure, a lighting control method is provided, exemplarily, Figure 1 Flowcharts of lighting control methods according to some embodiments of this disclosure are shown, such as Figure 1 As shown, the method includes: S102, in active lighting mode, obtain environmental data in the direction of movement of the movable device.

[0023] In this embodiment of the disclosure, the mobile device, exemplarily, includes a vehicle. The mobile device is equipped with a lighting assembly and a radar assembly.

[0024] The lighting components include an Adaptive Digital Beam (ADB) component, which consists of multiple independently controllable light-emitting units, each corresponding to a lighting zone.

[0025] For example, the adaptive digital lighting assembly includes an active safety camera (FAS-Cam), a main controller (or domain controller), an ADB controller (light source module driver / LDM), a light source module (such as an LED matrix or DLP module), and transmission lines.

[0026] Forward-facing cameras, radar, and other sensors detect the position, distance, and lateral offset of vehicles, pedestrians, and static obstacles ahead in real time, and extract their contour information. The ADB controller filters targets, compensates for delays, and calculates occlusion strategies to generate pixel-level control commands for the glare-free zone (GFZ), which are then sent via the CAN / CAN FD bus. The LED driver module (LDM) or DLP companion module receives the commands and precisely controls the on / off state and brightness of each light source zone through PWM dimming or micromirror deflection.

[0027] Taking the 108-pixel scheme as an example, the light source is divided into nine 12-pixel unit groups, which are controlled by nine LED drivers respectively. The main control chip sends control commands through UART / CAN.

[0028] For example, when an oncoming vehicle is detected in the area 30° above and to the left of the beam, the controller immediately issues a command to "turn off the pixels in rows 1-3 and columns 1-4". The corresponding driver cuts off the power supply to that area while maintaining about 80% light intensity output in other areas.

[0029] For example, in a nighttime oncoming traffic scenario, the camera detects a vehicle traveling in the same direction 80 meters ahead, extracts its distance and lateral offset, and the ADB controller determines that the activation conditions are met. Based on the target position, it calculates the high beam area that needs to be blocked, generates an LED driving signal, controls the corresponding pixels to turn off, and forms the initial dark area.

[0030] For example, adaptive digital lighting components can also achieve pixel headlight functionality. This involves breaking down images or symbols into pixels, with each micro-light source corresponding to one pixel, and adjusting the brightness and color of the light source to form the desired pattern.

[0031] The radar component includes at least one of lidar, millimeter-wave radar, and ultrasonic radar, and is installed on the front, side, or top of the mobile device to detect obstacle information in the direction of movement of the mobile device.

[0032] The mobile device is also equipped with a lighting control module, which is communicatively connected to the radar component and the lighting component, respectively, and is used to receive radar detection data and control the working status of the lighting component.

[0033] The lighting control module acquires environmental data in the direction of movement of the movable device in active lighting mode. For example, the environmental data includes at least one of radar detection data, point cloud data, and acoustic detection data.

[0034] For example, active lighting mode is a working state of the lighting control module, in which the lighting control module actively controls the lighting behavior of the lighting components based on radar detection data.

[0035] The radar module continuously transmits a detection beam at a fixed frequency in the direction of movement of the movable device and receives the echo signal reflected after the detection beam encounters an obstacle. The radar module generates radar detection data based on the time difference and frequency variation between the transmitted beam and the received echo signal.

[0036] For example, the radar detection data includes the relative distance, relative velocity, azimuth, and size information of the target object. The lighting control module acquires the radar detection data from the radar component via a communication bus.

[0037] S104, if the environmental information includes a target object and the target object is located outside the illumination range of the movable device, the lighting component of the movable device is controlled to project a beam of light to illuminate the area where the target object is located.

[0038] In this embodiment, the lighting control module identifies whether the radar detection data includes a target object. The lighting control module performs clustering processing on the echo signals in the radar detection data, aggregating reflection points belonging to the same physical entity into a single target object.

[0039] For example, the lighting control module determines the category of the target object based on its size information, relative distance, and azimuth angle. The target object includes one or more of the following: pedestrians, cyclists, non-motorized vehicles, motorized vehicles, and road obstacles.

[0040] When the lighting control module detects a target object in the radar detection data, it determines whether the target object is outside the illumination range of the movable device. The lighting control module acquires the current illumination parameters of the movable device's lighting components, including the low beam angle and distance, the current illumination zone status of the high beam, and the high beam angle and distance. Based on these current illumination parameters, the lighting control module calculates the current illumination coverage area of ​​the lighting components.

[0041] The lighting control module compares the azimuth and relative distance of the target object with the current illumination coverage of the lighting components. When the azimuth of the target object exceeds the horizontal boundary angle of the current illumination coverage, or when the relative distance of the target object exceeds the illumination distance of the current illumination coverage, the lighting control module determines that the target object is outside the illumination range of the movable device.

[0042] If the target object is detected to be outside the illumination range of the movable device, the lighting control module controls the lighting components of the movable device to emit a beam of light toward the target object to illuminate it.

[0043] For example, the lighting control module determines the light-emitting units that need to be activated in the lighting assembly based on the azimuth angle and relative distance of the target object. The lighting control module selects at least one light-emitting unit from a plurality of independently controllable light-emitting units using adaptive digital lighting technology, whose illumination direction is directed towards the azimuth angle of the target object, as the target light-emitting unit.

[0044] The lighting control module calculates the drive current required for the target emitting unit to switch from the current illumination state to emitting a beam of light towards the target object. The lighting control module sends this drive current value to the driving circuit of the lighting assembly. In response to this drive current value, the driving circuit controls the target emitting unit to emit light at that specified drive current. The beam of light emitted by the target emitting unit propagates along the azimuth direction of the target object and illuminates it.

[0045] The visual sensor and lighting assembly of the mobile device are positioned at the same orientation as the device. The field of view of the visual sensor covers the illumination range of the lighting assembly and the adjacent area beyond its coverage. When the lighting assembly emits a beam of light towards a target object, the illuminance in the target object's area increases, and the signal-to-noise ratio of the target object image captured by the visual sensor improves accordingly. The visual sensor sends the improved image data to the mobile device's driving assistance system. Based on this image data, the driving assistance system identifies and classifies the target object and executes corresponding driving decisions.

[0046] For example, taking a vehicle as an example of a movable device, Figure 2 Schematic diagrams of lighting control according to some embodiments of this disclosure are shown, such as Figure 2 As shown, vehicle 200 turns on its low beam headlights, illuminating the first area 202. When a target object 204 is detected outside the first area 202, the vehicle's headlight assembly is controlled to emit a beam of light towards the target object 204, thereby illuminating the second area 206 where the target object 204 is located.

[0047] In a specific application scenario, a mobile device is traveling at night on poorly lit urban roads. The device's low beam headlights have a forward illumination range of 50 meters and a horizontal illumination angle of 30 degrees to the left and right. The device's lidar detects a pedestrian 60 meters away at a 45-degree angle to the right of the device's direction of movement. The pedestrian's azimuth angle of 45 degrees exceeds the coverage of the low beam's 30-degree horizontal illumination angle, and the distance of 60 meters exceeds the low beam's 50-meter illumination range. The pedestrian is outside the device's illumination range. After recognizing the pedestrian outside the illumination range, the lighting control module selects three light-emitting units from the adaptive digital high beam headlights, pointing towards the right at a 45-degree angle, as target light-emitting units. The lighting control module controls these three light-emitting units to emit a beam of light in the right-hand 45-degree direction. The beam propagates along this direction and illuminates the pedestrian, thus illuminating the pedestrian who was originally outside the low beam's illumination range.

[0048] In one alternative embodiment, before controlling the lighting component to emit a light beam towards the target object, the lighting control module also determines whether the current ambient light intensity is lower than a preset ambient light threshold. The lighting control module obtains the current ambient light intensity value through a light sensor mounted on the movable device and compares the current ambient light intensity value with the preset ambient light threshold. When the current ambient light intensity value is lower than the preset ambient light threshold, the lighting control module determines that the current environment is insufficiently lit and executes the operation of controlling the lighting component to emit a light beam towards the target object. When the current ambient light intensity value is higher than or equal to the preset ambient light threshold, the lighting control module determines that the current ambient light is sufficient and the target object is visible under ambient light, and does not execute the operation of emitting a light beam towards the target object. Therefore, the operation of the lighting component emitting a light beam towards the target object is only triggered when the ambient light is insufficient, avoiding unnecessary lighting operations during the day or in well-lit environments, reducing the energy consumption of the lighting component and the wear of the light-emitting unit.

[0049] This embodiment of the disclosure obtains radar detection data along the direction of movement of the mobile device. When the radar detection data includes a target object located outside the illumination range, the lighting assembly is controlled to emit a beam of light towards the target object to illuminate it. This solves the technical problem that, in nighttime or low-light environments, traditional lights can only illuminate a fixed area and cannot cover risky targets detected by radar that are outside the illumination range. This results in the driver being unable to detect these targets in time, and the visual sensor not obtaining sufficient image information to support intelligent driving decisions. The radar detection data provides the azimuth and relative distance information of the target object. Based on this information, the lighting assembly accurately emits a beam of light towards the direction of the target object, illuminating the target object that was originally in darkness. The illuminated target object can be directly observed by the driver's naked eye, serving as an early warning to the driver. At the same time, the visual sensor acquires a target image with a higher signal-to-noise ratio, improving the target recognition accuracy and response speed of the intelligent driving system, thereby enhancing nighttime driving safety and the reliability of intelligent driving control.

[0050] In some embodiments, the method further includes: Obtain image information of the target object; The image information is identified to determine the object type of the target object.

[0051] In this embodiment of the disclosure, after the lighting control module controls the lighting components to emit a light beam toward the target object to illuminate the target object, the visual sensor of the movable device acquires image information of the target object.

[0052] For example, the visual sensor includes a camera or a fusion sensing module combining a camera and a LiDAR. The visual sensor is mounted on the front of the movable device, and its field of view covers the illumination coverage area of ​​the lighting assembly and the adjacent area outside the illumination coverage area.

[0053] When the lighting component emits a beam of light towards the target object, the illuminance in the area where the target object is located is increased, and the surface details of the target object are projected more clearly onto the imaging plane of the vision sensor. The vision sensor continuously acquires image information of the target object at a fixed frame rate, including the target object's outline shape, texture features, and color features. The vision sensor transmits the acquired image information to the lighting control module or the recognition module of the movable device via a communication bus.

[0054] The lighting control module or recognition module identifies the image information to determine the object type of the target object. For example, the object type includes pedestrian type, cyclist type, non-motorized vehicle type, motorized vehicle type, and road obstacle type.

[0055] In some implementations, the lighting control module or recognition module performs preprocessing operations on the image information, including one or more of image denoising, contrast enhancement, and size normalization. The preprocessed image information is then input into an object classification model. This model is a pre-trained convolutional neural network or support vector machine classifier, which takes the image features of the target object as input and the object type label as output. The object classification model extracts features from the image information to obtain the contour feature vector and texture feature vector of the target object. It then compares these vectors with template features stored internally for each object category, calculating a confidence score for the target object's classification category. Finally, the object classification model selects the category with the highest confidence score as the object type recognition result.

[0056] In another implementation, the lighting control module or recognition module performs object detection processing on the image information to obtain the bounding box and category label of the target object. The object detection processing employs a region-proposal-based object detection network or a single-step object detection network. The object detection network performs multi-scale feature extraction on the image information, generates candidate bounding boxes for the target object, and outputs a corresponding category probability distribution for each candidate bounding box. The object detection network selects the category corresponding to the highest probability value in the category probability distribution as the object type of the target object.

[0057] For example, the lighting control module directs the adaptive digital high beams to emit a beam at a 45-degree angle to the right, illuminating pedestrians who were originally outside the range of the low beams. Once the pedestrian is illuminated, the visual sensor captures a clear image, in which details such as the pedestrian's outline, clothing color, and body posture are clearly discernible.

[0058] The lighting control module or recognition module inputs image information into the object classification model. After extracting and classifying features from the image information, the object classification model outputs that the object type of the target object is pedestrian. Based on the identified pedestrian type, the lighting control module or recognition module determines subsequent lighting control strategies or driving decision strategies. For example, it may maintain directional lighting for the pedestrian until the mobile device passes through the area where the pedestrian is located, or send the pedestrian type information to the mobile device's automatic emergency braking system to trigger the corresponding braking strategy.

[0059] When the target object is a cyclist, the lighting control module, upon recognizing the cyclist, increases the illumination brightness of the area where the cyclist is located and flashes the lights at a preset frequency to alert the cyclist. When the target object is a motor vehicle, the lighting control module, upon recognizing the motor vehicle, reduces the illumination brightness of the area where the motor vehicle is located to avoid glare for the driver, while maintaining illumination coverage of the area around the motor vehicle. When the target object is a road obstacle, the lighting control module, upon recognizing the road obstacle, illuminates the obstacle brightly and generates a warning signal to be displayed or broadcast in the driver's cockpit of the mobile device.

[0060] In one alternative embodiment, after obtaining the object type of the target object, the lighting control module or recognition module further determines the hazard level of the target object based on the object type. The lighting control module or recognition module matches the object type with a preset hazard level mapping table, where each object type corresponds to a hazard level value. Alternatively, the lighting control module or recognition module extracts the corresponding hazard level for the identified object type from a preset database. Or, the lighting control module or recognition module directly identifies the hazard level corresponding to the object type using a pre-trained hazard level recognition model.

[0061] For example, pedestrians and cyclists correspond to the first hazard level, non-motorized vehicles to the second hazard level, motorized vehicles to the third hazard level, and road obstacles to the fourth hazard level. The first hazard level is greater than the second hazard level, the second hazard level is greater than the third hazard level, and the third hazard level is greater than the fourth hazard level.

[0062] The lighting control module controls the lighting components to emit beams of light towards the target object with a duration and brightness corresponding to the hazard level. When the hazard level is Level 1, the lighting control module controls the lighting components to emit beams of light towards the target object continuously until the movable device passes the target object's location. When the hazard level is Level 3 or Level 4, the lighting control module controls the lighting components to emit beams of light towards the target object intermittently, stopping the illumination after a preset time. Thus, the lighting behavior of the lighting components for different types of target objects is matched to the hazard level of the target object; higher-hazard-level target objects receive longer durations and higher brightness directional illumination, achieving differentiated configuration of the lighting strategy.

[0063] This embodiment of the disclosure obtains image information of a target object after it is illuminated, and identifies the object type of the target object by analyzing the image information. This enables the lighting control module to execute differentiated subsequent lighting control strategies or driving decision strategies based on the specific type of the target object. This solves the technical problem that relying solely on radar detection data cannot accurately identify the category of the target object, thus preventing the lighting control system from executing differentiated control strategies for different types of target objects. The image information is obtained after the target object is illuminated. After being illuminated by the beam, the surface details of the target object are clearly presented in the image information. The object classification model can accurately distinguish different types of target objects, such as pedestrians, cyclists, non-motorized vehicles, motorized vehicles, and road obstacles, based on the contour and texture features in the image information. Therefore, the lighting control system obtains the category information of the target object after illuminating it, providing accurate input for subsequent execution of differentiated lighting control strategies or driving decisions, thereby improving the intelligence level of the lighting control system and its ability to accurately control different types of targets.

[0064] In some embodiments, the method further includes: When the target object is a vehicle, the target object's driving direction is opposite to the moving device's driving direction, and the ambient brightness is below the brightness threshold, adjust the angle of the light beam projected by the light assembly so that the light beam projected by the light assembly towards the target object avoids the target object's cockpit.

[0065] In this embodiment of the disclosure, after obtaining the object type of the target object, the lighting control module or the recognition module obtains the driving direction of the target object.

[0066] For example, a brightness threshold is used to measure whether the ambient brightness is in a poorly lit scenario. When the ambient brightness is below the brightness threshold, it is determined that the road lighting conditions are poor and the ambient brightness is dim. In this case, if the light shines into the vehicle's cab, it may interfere with the driver's vision.

[0067] For example, the lighting control module acquires the relative velocity vector of the target object through a radar component. This relative velocity vector includes the velocity components of the target object relative to the movable device in the longitudinal and lateral directions. Based on the relative velocity vector of the target object and the velocity vector of the movable device itself, the lighting control module calculates the actual velocity vector and actual travel direction of the target object in the absolute coordinate system. When the actual travel direction of the target object is opposite to the travel direction of the movable device, the lighting control module determines that the travel direction of the target object is opposite to the travel direction of the movable device.

[0068] When the target object is a vehicle and its direction of travel is opposite to that of the movable device, the lighting control module acquires image information corresponding to the target object. For example, this image information is acquired by a vision sensor after the lighting assembly emits a beam of light towards the target object. The lighting control module or recognition module performs target detection processing on the image information to obtain the outline bounding box of the target object, and determines the location of the cockpit area within the target object based on this outline bounding box. The lighting control module or recognition module identifies the cockpit area in the upper region of the outline bounding box based on its size proportions and positional relationship. For standard passenger vehicles, the cockpit area is located in the upper half of the outline bounding box of the target object and is close to the longitudinal centerline of the target object.

[0069] The lighting control module calculates the spatial azimuth angle of the cockpit area relative to the lighting components based on the pixel coordinates of the cockpit area in the image information and the calibration parameters between the lighting components and the vision sensor. For example, the lighting control module uses the installation position of the lighting components as the origin and the center point of the cockpit area as the endpoint to calculate a spatial vector from the origin to the endpoint, and decomposes this spatial vector into horizontal and vertical azimuth angles. The lighting control module compares the calculated spatial azimuth angle of the cockpit area with the overall azimuth angle of the current target object to determine the directional deviation value between the cockpit area and the overall target object.

[0070] The lighting control module adjusts the emission angle of the light beam emitted by the lighting components towards the target object. Based on the spatial azimuth of the cockpit area, the lighting control module excludes lighting units whose illumination direction coincides with or is adjacent to the spatial azimuth of the cockpit area from multiple independently controllable lighting units of the adaptive digital lighting technology. The lighting control module selects at least one lighting unit whose illumination direction faces the entire target object area but avoids the azimuth range of the cockpit area as the target lighting unit.

[0071] The lighting control module sends a drive current value to the target light-emitting unit, controlling the target light-emitting unit to emit light at that drive current value. The light beam emitted by the target light-emitting unit propagates along the overall direction of the target object, but in the propagation path of the light beam, the propagation direction of the light beam avoids the azimuth angle range occupied by the cockpit area. The light beam illuminates the side of the target object's vehicle body, the front bumper area, or the front wheel area, but does not illuminate the cockpit area.

[0072] For a specific example, a mobile device is traveling at night on a two-lane urban road. The device's lidar detects a target object approximately 80 meters ahead. The lighting control module then directs the lighting components to emit a beam of light towards the target object to illuminate it. After the vision sensor acquires the image information of the target object, the recognition module performs target detection processing on the image information, identifies the target object as a vehicle, and determines that the target object's actual travel direction is opposite to the mobile device's travel direction.

[0073] The recognition module determines that the cockpit area is located at the upper center of the bounding box of the target object. The lighting control module, based on the spatial azimuth of the cockpit area, excludes two lighting units from the multiple light-emitting units of the adaptive digital high beam that point towards the azimuth of the cockpit area, and selects four lighting units pointing towards the left side of the vehicle and four lighting units pointing towards the right side of the vehicle as the target lighting units. The lighting control module controls these eight lighting units to emit beams of light towards the target object. The beams illuminate the sides and bumper area of ​​the target vehicle, alerting the driver of the movable vehicle, while avoiding the cockpit area to prevent glare.

[0074] In one alternative embodiment, the lighting control module adjusts the emission angle of the lighting components to avoid the target vehicle's cockpit while simultaneously reducing the output power of the target light-emitting unit to below a preset anti-glare power threshold. The lighting control module obtains the preset anti-glare power threshold, which is the maximum permissible illumination power value calibrated based on human eye safety illuminance standards. The lighting control module limits the drive current value of the target light-emitting unit to the current value corresponding to the anti-glare power threshold, ensuring that the actual output power of the target light-emitting unit does not exceed the anti-glare power threshold. Therefore, even if the beam edge or scattered light may reach the cockpit area, the beam intensity is limited within a safe illuminance range, reducing the risk of glare for oncoming drivers.

[0075] This embodiment of the invention addresses the technical problem that when actively illuminating an oncoming vehicle, the light beam may irradiate the driver's cabin area, causing glare and potentially leading to loss of control or collision risk. This is achieved by adjusting the emission angle of the lighting components when the target object is a vehicle and its driving direction is opposite to that of the mobile device. The light control module accurately locates the spatial azimuth angle of the cabin area based on the outline bounding box in the target object's image information, and accordingly excludes light-emitting units whose illumination direction points towards the cabin area, using only those whose illumination direction points towards the vehicle body area outside the cabin. The illuminated area of ​​the oncoming vehicle allows the driver of the mobile device to clearly observe its position and movement, while the light beam avoids the cabin area, preventing direct glare to the oncoming driver's eyes. Thus, while actively illuminating the target object to improve the driver's perception, it eliminates the safety hazard caused by glare to the oncoming driver, achieving compatibility and balance between lighting warning and anti-glare functions.

[0076] In some embodiments, the method further includes: When the target object is a pedestrian or non-motorized vehicle, adjust the angle of the beam projected by the light assembly so that the beam of light directed at the target object avoids the head of the pedestrian or non-motorized vehicle driver.

[0077] In this embodiment of the disclosure, after obtaining the object type of the target object, the lighting control module or the recognition module acquires the image information corresponding to the target object when the object type is a pedestrian or a non-motorized vehicle.

[0078] For example, image information is acquired by a vision sensor after the lighting assembly emits a beam of light towards the target object. The lighting control module or recognition module performs target detection processing on the image information to obtain the outline bounding box of the target object. For pedestrian-type target objects, the outline bounding box covers the entire outline of the pedestrian, including the head, torso, and legs. For non-motorized vehicle-type target objects, the outline bounding box covers the overall outline of the non-motorized vehicle and the outline of the non-motorized vehicle driver.

[0079] The lighting control module or recognition module identifies the head region in the top area of ​​the bounding box of the target object. For pedestrian-type targets, the head region is located at the top of the bounding box, with a width of approximately 30% to 40% of the bounding box width and a height of approximately 15% to 25% of the bounding box height. The lighting control module or recognition module processes the image information through a keypoint detection network to obtain the coordinates of the target object's skeletal keypoints. The keypoint detection network outputs the pixel coordinates of the head keypoints, which are located at the center of the pedestrian's head or the center of their eyes. The lighting control module or recognition module expands outward from the head keypoints with a preset head region radius to obtain the head region of the pedestrian or non-motorized vehicle driver. The preset head region radius ranges from 80 mm to 150 mm, corresponding to the size of a real human head.

[0080] The lighting control module calculates the spatial azimuth angle of the head region relative to the lighting assembly based on the pixel coordinates of the head region in the image information and the calibration parameters between the lighting assembly and the vision sensor. Using the installation position of the lighting assembly as the origin and the center point of the head region as the endpoint, the lighting control module calculates a spatial vector from the origin to the endpoint, and decomposes this spatial vector into horizontal and vertical azimuth angles. The lighting control module compares the calculated spatial azimuth angle of the head region with the overall azimuth angle of the current target object to determine the directional deviation between the head region and the overall target object.

[0081] The lighting control module adjusts the emission angle of the light beam emitted by the lighting components towards the target object. Based on the spatial azimuth angle of the head region, the lighting control module excludes light-emitting units whose illumination direction coincides with or is adjacent to the spatial azimuth angle of the head region from among multiple independently controllable light-emitting units using adaptive digital lighting technology. The lighting control module selects at least one light-emitting unit whose illumination direction faces the torso, legs, or non-motorized vehicle body area of ​​the target object but avoids the azimuth angle range occupied by the head region as the target light-emitting unit. The lighting control module sends a drive current value to the target light-emitting unit, controlling the target light-emitting unit to emit light at that drive current value. The light beam emitted by the target light-emitting unit propagates along the overall direction of the target object, but in the propagation path, the direction of the beam avoids the azimuth angle range occupied by the head region. The beam illuminates the torso, legs, or non-motorized vehicle body area of ​​the target object, but does not illuminate the head region of the pedestrian or non-motorized vehicle driver.

[0082] For a specific example, a mobile device is traveling at night on poorly lit urban roads. The device's lidar detects a target object approximately 40 meters to the right. The lighting control module then directs the lighting components to emit a beam of light towards the target object. After the visual sensor acquires the image information of the target object, the recognition module performs target detection processing on the image information, identifying the target object as a pedestrian. Based on the pedestrian's outline bounding box, the recognition module determines that the head region is located in the upper center of the bounding box, and the pixel coordinates of the head's key points are located in the upper region of the image. Based on the spatial azimuth angle of the head region, the lighting control module selects four lighting units pointing towards the pedestrian's torso and three lighting units pointing towards the legs from the multiple light-emitting units of the adaptive digital high beam, excluding two units whose illumination direction points towards the head region's azimuth angle. The lighting control module controls the seven light-emitting units to emit beams of light towards pedestrians. The beams illuminate the pedestrians' torsos and legs, alerting the driver of the mobile device. At the same time, the beams avoid the pedestrians' head area, so as not to cause glare or interference to the pedestrians' eyes.

[0083] When the object type is a non-motorized vehicle, the non-motorized vehicle driver also has a head area. The non-motorized vehicle driver is located above the seat of the non-motorized vehicle, and their head area is located at the upper part of the non-motorized vehicle's outline boundary. The lighting control module uses the center point of the non-motorized vehicle driver's head area as a reference, excludes the light-emitting units whose illumination direction points to the non-motorized vehicle driver's head area from multiple light-emitting units, and selects the light-emitting units whose illumination direction points to the non-motorized vehicle body or the non-motorized vehicle driver's torso area to emit a beam of light towards the target object. The beam of light illuminates the non-motorized vehicle body and the driver's torso and legs, illuminating the non-motorized vehicle, while avoiding the non-motorized vehicle driver's head area.

[0084] In one alternative embodiment, the lighting control module adjusts the emission angle of the lighting components to avoid the heads of pedestrians or non-motorized vehicle drivers, while also dynamically adjusting the avoidance area based on the direction the pedestrian's or non-motorized vehicle driver's head is facing. The lighting control module processes image information through a key point detection network to obtain the head posture angle of the pedestrian or non-motorized vehicle driver. When the head posture angle indicates that the pedestrian or non-motorized vehicle driver's face is facing the movable device, the lighting control module expands the avoidance area to a range of 150 mm around the head area, ensuring that the light beam will not illuminate the eyes of the pedestrian or non-motorized vehicle driver when they turn their head or shift their gaze. When the head posture angle indicates that the pedestrian or non-motorized vehicle driver's face is away from the movable device, the lighting control module shrinks the avoidance area to the precise boundary of the head area. Thus, the avoidance area is dynamically adjusted according to the real-time head posture of the pedestrian or non-motorized vehicle driver, ensuring anti-glare effects while reducing unnecessary restrictions on the lighting coverage.

[0085] This embodiment of the disclosure solves the technical problem that when actively illuminating pedestrians or non-motorized vehicles, the light beam may shine on the head area of ​​the pedestrian or non-motorized vehicle driver, causing glare and potentially leading to temporary blindness or distraction, by adjusting the emission angle of the lighting component when the target object is a pedestrian or non-motorized vehicle. The lighting control module accurately locates the spatial azimuth angle of the head area based on the top area of ​​the contour bounding box in the image information or the head key points output by the key point detection network. Based on this, it excludes light-emitting units whose illumination direction points to the head area, using only light-emitting units whose illumination direction points to the torso, legs, or vehicle body area to illuminate the target object. The illuminated torso and legs allow the driver of the mobile device to clearly observe the position and movement of the pedestrian or non-motorized vehicle, while the light beam avoids the head area, preventing direct illumination to the eyes of the pedestrian or non-motorized vehicle driver. Thus, while actively illuminating pedestrians or non-motorized vehicles to enhance the driver's perception, it eliminates glare interference to pedestrians or non-motorized vehicle drivers, achieving compatibility between lighting warning function and friendliness to vulnerable road users.

[0086] In some embodiments, controlling the lighting assembly of the movable device to project a light beam includes: When the travel speed of the mobile device is greater than or equal to a speed threshold, and at least part of the target object enters the lane in which the mobile device is traveling from outside the lane, the lighting components of the mobile device are controlled to intermittently project a beam of light based on the target flashing frequency.

[0087] In this embodiment of the disclosure, after the lighting control module identifies that the radar detection data includes a target object, it obtains the current driving speed of the mobile device.

[0088] For example, the lighting control module obtains the current driving speed value through the vehicle speed sensor of the movable device and compares the current driving speed value with a preset speed threshold. The speed threshold is a pre-calibrated speed value used to distinguish between low-speed driving scenarios and high-speed driving scenarios, and its value ranges from 60 km / h to 80 km / h. When the current driving speed of the movable device is greater than or equal to the speed threshold, the lighting control module determines that it is currently in a high-speed driving scenario.

[0089] After determining that the current driving scenario is at high speed, the lighting control module acquires the motion trajectory information of the target object. For example, the lighting control module acquires the relative position data of the target object through multiple consecutive sampling cycles of the radar component. This relative position data includes the lateral distance, longitudinal distance, and azimuth angle of the target object relative to the movable device.

[0090] The lighting control module calculates the lateral and longitudinal velocity components of the target object based on the relative position data of the target object from multiple consecutive sampling periods, and determines the target object's trajectory accordingly. The lighting control module acquires the lane boundary line position information of the mobile device's current driving lane. This lane boundary line position information is obtained by identifying lane lines through the mobile device's visual sensors or by acquiring high-precision map data. The lighting control module overlays and compares the target object's trajectory with the lane boundary line position information to determine whether the target object is entering the mobile device's driving lane from outside the lane it is currently traveling in.

[0091] When the lateral position of a target object moves from the outside of the lane boundary line to the inside of the lane boundary line, and the lateral velocity component of the target object points in the direction of the inside of the lane in which the movable device is traveling, the lighting control module determines that at least part of the target object has entered the lane in which the movable device is traveling from outside the lane. Target objects include vehicles changing lanes from adjacent lanes to this lane, or non-motorized vehicles or pedestrians entering this lane from the roadside area.

[0092] When the travel speed of the mobile device is greater than or equal to a speed threshold, and at least part of the target object enters the lane in which the mobile device is traveling from outside the lane, the lighting control module controls the lighting components of the mobile device to intermittently emit beams of light towards the target object based on the target flashing frequency.

[0093] For example, the lighting control module reads a preset target flashing frequency from the storage unit. This target flashing frequency is a pre-calibrated frequency value, ranging from 2 Hz to 5 Hz. The lighting control module generates a pulse width modulation signal based on the target flashing frequency, and the frequency of the pulse width modulation signal is consistent with the target flashing frequency.

[0094] The lighting control module sends a pulse width modulation (PWM) signal to the driving circuit of the lighting component. Responding to this PWM signal, the driving circuit controls the light-emitting units in the lighting component that point towards the target object to alternately turn on and off at the target flashing frequency. During the on phase, the light-emitting units emit a beam of light towards the target object, illuminating it. During the off phase, the light-emitting units stop emitting beams, and the target object returns to its unilluminated state. The on and off phases alternate at the target flashing frequency, creating a visual flickering effect of alternating light and dark in the area where the target object is located.

[0095] For a specific example, a mobile device is traveling at 90 km / h in the leftmost lane of a highway at night. The device's lidar detects a car approaching from the adjacent right rear lane at approximately 95 km / h, and the car's lateral position is moving from the center of the adjacent lane towards the lane divider. The lighting control module calculates, based on radar detection data from multiple consecutive sampling cycles, that the car's lateral velocity component is pointing towards the mobile device's lane, and that the car's front wheels have crossed the lane divider and entered the mobile device's lane. The lighting control module determines that the current speed of 90 km / h exceeds the speed threshold of 60 km / h, and that at least part of the target object is entering the lane from outside. The lighting control module then reads a preset target flashing frequency of 3 Hz from its storage unit.

[0096] The lighting control module controls the light-emitting units in the adaptive digital high beams, which point towards the car, to intermittently emit beams at a frequency of 3 Hz. The light-emitting units alternately light up and off three times per second, creating a flashing visual effect in the area where the car is located. The driver of the movable device notices a vehicle changing lanes from an adjacent lane through the flashing lights, while the driver of the changing lane vehicle observes the flashing lights from behind through their rearview mirror, realizing that a vehicle is rapidly approaching from behind.

[0097] While controlling the lighting components to intermittently emit beams of light towards the target object, the lighting control module also outputs visual or audible warning signals through the cockpit display screen or speakers of the mobile device. The cockpit display screen shows the location of the target object and the direction of the lane change, and the speakers output a warning sound to remind the driver of the mobile device to pay attention to the target object's lane change behavior.

[0098] In one alternative embodiment, the lighting control module, while controlling the lighting components to intermittently emit light beams towards the target object, also adjusts the target flashing frequency based on the degree of lane change completion of the target object. The lighting control module calculates the degree of lane change completion based on the lateral position offset of the target object relative to the lane boundary line.

[0099] When the lane change completion rate is less than 30%, the lighting control module sets the target flashing frequency to the first flashing frequency value. The first flashing frequency value ranges from 1 Hz to 2 Hz and is used to issue a gentle warning signal at the beginning of the lane change.

[0100] When the lane change completion rate is between 30% and 70%, the lighting control module sets the target flashing frequency to the second flashing frequency value, which is greater than the first flashing frequency value and ranges from 3 Hz to 5 Hz. This is used to issue a strong warning signal during the lane change process.

[0101] When the lane change is more than 70% complete, the lighting control module sets the target flashing frequency to the third flashing frequency value. This third flashing frequency value is lower than the second flashing frequency value but higher than the first flashing frequency value, ranging from 2 Hz to 3 Hz. This is used to issue a finishing warning signal when the lane change is about to be completed. Thus, the flashing frequency is adaptively adjusted according to the dynamic changes in the lane change process, with the highest flashing frequency corresponding to the highest risk stage during the lane change, achieving a match between the lighting warning intensity and the risk level of the lane change.

[0102] This embodiment solves the technical problem that traditional lighting systems cannot actively issue warning signals to both the changing vehicle and the driver of the vehicle when a vehicle traveling at a speed greater than or equal to a speed threshold enters the lane from outside the lane. This is achieved by controlling the lighting components to intermittently emit beams of light towards the target object based on the target's flashing frequency. This addresses the issue of collisions caused by the inability of the changing vehicle's driver to detect oncoming traffic and the driver of the vehicle being unable to perceive the risk of lane change in a timely manner when a vehicle in an adjacent lane suddenly changes lanes into the vehicle's lane at high speeds. The lighting control module determines the target object's lane-changing intention and progress in real time based on radar detection data. Upon determining that a lane-changing action has occurred, it immediately initiates intermittent beam emission. The flashing beams directly illuminate the changing vehicle, allowing its driver to perceive the light warning from behind through their rearview mirror and become aware of the risk of the lane change. Simultaneously, the driver of the vehicle being driven can visually locate the position and direction of the changing vehicle through the flashing lights ahead, enabling timely deceleration or evasive action. As a result, the lighting components have transformed from passive illumination tools into active visual communication tools, enabling light interaction and warning between the vehicle and lane-changing vehicles in high-risk scenarios such as high-speed driving at night, thereby improving driving safety in lane-changing scenarios.

[0103] In some embodiments, the method further includes: When the environmental information includes the target traffic participant and the target traffic participant is located on the movement path of the mobile device, the distance information between the mobile device and the target traffic participant is obtained. When the distance information is less than a first distance threshold, the light component of the movable device is controlled to intermittently project a beam of light based on the target flashing frequency to illuminate the area where the target traffic participant is located; If the distance information is less than a second distance threshold, the movable device is controlled to perform a braking operation; the second distance threshold is less than a first distance threshold.

[0104] In this embodiment of the disclosure, the target traffic participants include vehicles, pedestrians, non-motorized vehicles, etc.

[0105] For example, the second distance threshold is the distance threshold that triggers the Automatic Emergency Braking (AEB) system of the mobile device.

[0106] When a target traffic participant is detected on the movement path of the mobile device, the vehicle's driver assistance sensors, such as lidar, ultrasonic radar, millimeter-wave radar, and vision sensors, are invoked to detect the distance information between the mobile device and the target traffic participant.

[0107] If the distance between the mobile device and the target traffic participant is detected to be less than a second distance threshold, the AEB function is triggered, thereby controlling the mobile device to automatically perform braking operations to prevent a collision.

[0108] Based on this, before triggering the AEB function, if the distance information between the mobile device and the target traffic participant is detected to be greater than the second distance threshold but less than the first distance threshold, the lighting component is controlled in advance to control the lighting component of the mobile device to intermittently emit beams towards the target object at a preset target flashing frequency.

[0109] For example, the lighting control module reads a preset target flashing frequency from the storage unit. This target flashing frequency is a pre-calibrated frequency value ranging from 2 Hz to 5 Hz. The lighting control module generates a pulse width modulation signal based on the target flashing frequency, the frequency of which is consistent with the target flashing frequency. During the lighting phase, the light-emitting unit emits a beam of light towards the target object, illuminating the object. During the extinguishing phase, the light-emitting unit stops emitting the beam of light, and the target object returns to its unilluminated state. The lighting and extinguishing phases alternate at the target flashing frequency, creating a visual flickering effect of alternating light and dark in the area where the target object is located.

[0110] In this embodiment of the present disclosure, before AEB (Automatic Emergency Braking) is triggered, the control lighting component flashes a warning to other road users who are rapidly approaching. This serves two purposes: firstly, it alerts the driver to the approaching danger, allowing them to take evasive action in advance; secondly, it proactively warns other road users in the driving path to be aware of vehicles approaching from behind or other objects, thereby ensuring vehicle safety.

[0111] In some embodiments, the method further includes: In active lighting mode, obtain the road object of the road on which the mobile device travels; If a road object is identified as including a target road object, the lighting assembly is controlled to emit a beam of light toward the target road object to illuminate it; the target road object includes at least one of: a road merging point, a road sign, and road markings.

[0112] In this embodiment of the disclosure, the lighting control module obtains road object information of the road on which the mobile device travels in active lighting mode. The lighting control module obtains road object information through multiple means.

[0113] In one implementation, the lighting control module acquires images of the area in front of the road using a vision sensor on a movable device, and performs target detection processing on the acquired road images to identify road objects contained in the road images.

[0114] In another implementation, the lighting control module obtains road object information of the current driving road through the navigation map data of the mobile device. The navigation map data pre-stores the location coordinates of the road merging point, the location coordinates and type information of the road sign, and the location coordinates and type information of the road marking.

[0115] In another implementation, the lighting control module receives road object information broadcast by roadside equipment via a vehicle-to-infrastructure communication system. This road object information includes the location of the road merging point ahead, the content of road signs, and the location of road markings. The lighting control module fuses the road object information obtained through one or more of these methods to obtain a list of road objects within a predetermined distance ahead of the road on which the mobile device travels.

[0116] The lighting control module identifies the acquired road objects and determines whether the target road object is included among them. For example, the target road object includes at least one of the following: road merging points, road signs, and road markings. Road merging points include highway ramp merging points, urban expressway merging points, and intersections. Road signs include yield signs, sharp turn signs, speed limit signs, and road construction signs. Road markings include pedestrian crossing markings, stop line markings, directional arrow markings, and yield markings.

[0117] The lighting control module matches the acquired road objects with preset target road object types. When a match is successful, the lighting control module recognizes that the road object includes the target road object.

[0118] When a road object, including the target road object, is identified, the lighting control module controls the lighting components to emit a beam of light towards the target road object to illuminate it. The lighting control module acquires the location information of the target road object. For target road objects identified by a vision sensor, the lighting control module calculates the spatial azimuth and relative distance of the target road object relative to the movable device based on the pixel coordinates of the target road object in the image information and the calibration parameters of the vision sensor. For target road objects acquired through navigation map data or a vehicle-to-everything (V2X) communication system, the lighting control module calculates the spatial azimuth and relative distance of the target road object relative to the movable device based on the current positioning coordinates of the movable device and the position coordinates of the target road object.

[0119] Based on the spatial azimuth and relative distance of the target road object, the lighting control module selects at least one light-emitting unit from multiple independently controllable light-emitting units in adaptive digital lighting technology, with the illumination direction pointing towards the target road object, as the target light-emitting unit. The lighting control module sends a drive current value to the target light-emitting unit, controlling the target light-emitting unit to emit light at that drive current value. The beam of light emitted by the target light-emitting unit propagates along the azimuth direction of the target road object, illuminating the target road object.

[0120] For example, a mobile device is traveling on a city road at night. There is a crossroads 200 meters ahead, marked with zebra crossings and yield signs. The lighting control module obtains information about a road merging point 200 meters ahead through navigation map data; this merging point is a crossroads. The lighting control module identifies this crossroads as a road merging point within the target road object. Based on the mobile device's current location coordinates and the crossroads' location coordinates, the lighting control module calculates the spatial azimuth angle of the crossroads relative to the mobile device as 5 degrees to the left of the forward direction, with a relative distance of 200 meters. The lighting control module selects six light-emitting units from the adaptive digital high beams, pointing 5 degrees to the left of the forward direction, as the target light-emitting units. The lighting control module controls these six light-emitting units to emit beams of light towards the crossroads. The beams propagate along the 5-degree left of the forward direction and illuminate the crossroads area, turning the previously dark area into light. The driver of the mobile device can observe the traffic conditions and potential risks at the intersection in advance by looking at the illuminated intersection area.

[0121] For example, a mobile device is driving on a highway at night, and there is a sharp turn sign 150 meters ahead. The lighting control module uses a visual sensor to acquire image information of the road ahead and performs target detection processing on the image information, identifying a sharp turn sign in the image. The lighting control module identifies that the sharp turn sign belongs to the road sign type within the target road object. Based on the pixel coordinates and relative distance of the sharp turn sign in the image information, the lighting control module selects four light-emitting units from the multiple light-emitting units of the adaptive digital high beam that illuminate the direction of the sharp turn sign as target light-emitting units. The lighting control module controls these four light-emitting units to emit beams of light towards the sharp turn sign, illuminating the sign that was originally in darkness. The driver of the mobile device can obtain information about the sharp turn ahead in advance by looking at the illuminated sharp turn sign.

[0122] For example, when a mobile device is driving on a city road at night, there is a pedestrian crossing mark 80 meters ahead. The lighting control module identifies the pedestrian crossing mark in the road image ahead using a visual sensor, or obtains information about the pedestrian crossing mark 80 meters ahead from navigation map data. The lighting control module then controls the lighting components to emit a beam of light in the direction of the pedestrian crossing mark, illuminating the area. The driver of the mobile device can then notice the pedestrian crossing area ahead in advance by observing the illuminated pedestrian crossing mark and slow down to observe.

[0123] When controlling the lighting components to emit beams of light towards the target road object, the lighting control module also determines different lighting strategies based on the type of the target road object. When the target road object is a road merging point, the lighting control module controls the lighting components to emit beams of light towards the merging point area in a continuous lighting manner, and stops the lighting after the movable device passes through the merging point. When the target road object is a road sign, the lighting control module controls the lighting components to emit beams of light towards the surface of the road sign in a focused lighting manner, and continues to illuminate it for a preset duration, which ranges from 3 to 10 seconds. When the target road object is a road marking, the lighting control module controls the lighting components to emit beams of light towards the area where the road marking is located in a wide lighting manner, forming a light band along the extension direction of the road marking.

[0124] In one alternative embodiment, after controlling the lighting components to emit a light beam towards the target road object, the lighting control module dynamically adjusts the illumination intensity of the light beam based on the real-time distance between the movable device and the target road object. The lighting control module continuously acquires the current distance value between the movable device and the target road object. When the current distance value is greater than a first distance threshold, the lighting control module controls the target light-emitting unit to emit a light beam towards the target road object at a first illumination intensity, which is a high-intensity lighting mode used to provide sufficient illuminance at long distances. When the current distance value is less than or equal to the first distance threshold and greater than a second distance threshold, the lighting control module controls the target light-emitting unit to emit a light beam towards the target road object at a second illumination intensity, which is less than the first illumination intensity, used to avoid excessive brightness and glare at medium distances. When the current distance value is less than or equal to the second distance threshold, the lighting control module controls the target light-emitting unit to emit a light beam towards the target road object at a third illumination intensity or to stop lighting, which is less than the second illumination intensity, used to prevent excessive reflected light from affecting the driver's vision at close distances. Thus, the illumination intensity of the beam is dynamically adjusted according to the distance between the movable device and the target road object, providing sufficient illumination at long distances to detect the target in advance, and reducing the illumination intensity at close distances to avoid glare, thereby achieving a balance between illumination effect and visual comfort.

[0125] This disclosure solves the technical problem that traditional lighting systems, when driving at night, can only illuminate the road surface directly in front of the vehicle and cannot actively identify and illuminate key road information such as road merging points, road signs, and road markings. This leads to potential risks such as drivers missing intersections, ignoring sign warnings, or failing to notice pedestrian crossings. The lighting control module acquires road object information through various means, including visual sensor recognition, navigation map data querying, and vehicle-to-infrastructure communication system reception, and executes differentiated lighting strategies for different types of road objects. Illuminated road merging points allow drivers to perceive the existence and direction of intersections in advance; illuminated road signs allow drivers to clearly read the information on the signs; and illuminated road markings allow drivers to identify pedestrian crossings and lane directions in advance. Thus, the illumination range of the lighting components extends from the fixed road surface in front to key information points on the road, achieving active lighting and information enhancement for road infrastructure in nighttime driving scenarios, improving drivers' perception of the road environment and their ability to predict potential risks.

[0126] In some embodiments, before obtaining environmental information regarding the direction of movement of the movable device, the method further includes: In response to user input indicating that active lighting mode should be enabled, enter active lighting mode.

[0127] In this embodiment of the disclosure, a human-machine interface is provided on the mobile device, which is used to receive user input. The human-machine interface includes at least one of a central control display screen, physical buttons on the steering wheel, a voice acquisition module, and a gesture recognition module. The user inputs a command through the human-machine interface to instruct the activation of the active headlight mode.

[0128] In one implementation, the central control display screen shows a control interface for the active lighting mode. The control interface includes an "on" icon and an "off" icon for the active lighting mode. The user inputs a command to activate the active lighting mode by touching the "on" icon on the central control display screen. The lighting control module receives this command via the touch signal from the central control display screen.

[0129] In one embodiment, the steering wheel of the movable device is provided with a physical button for active lighting mode. This physical button can be a push-button or a toggle switch. The user presses or toggles the physical button to the on position, inputting a command to activate the active lighting mode. The lighting control module receives this command via the electrical signal from the physical button.

[0130] In one embodiment, the mobile device is equipped with a voice acquisition module for acquiring user voice commands. The user issues a voice command containing keywords such as "turn on active lights" or "turn on active light mode." The voice acquisition module acquires the user's voice signal, performs voice recognition processing on the voice signal, and sends the recognized text command to the lighting control module. The lighting control module, in response to the text command containing the keywords "turn on active lights" or "turn on active light mode," enters active light mode.

[0131] In one embodiment, the movable device is equipped with a gesture recognition module, which includes a camera or an infrared sensor. The user performs a preset gesture within the detection range of the camera or infrared sensor, such as a forward-pushing gesture. The gesture recognition module recognizes the user's gesture and sends the recognition result to the lighting control module. The lighting control module responds to the command corresponding to the gesture and enters an active lighting mode.

[0132] The lighting control module enters active lighting mode in response to user input instructing the activation of this mode. Upon entering active lighting mode, the module marks its operating state as active lighting mode active. In active lighting mode active state, the module performs the operations described in the preceding embodiments, such as obtaining radar detection data, identifying target objects, and controlling the lighting components to emit beams towards the target objects. When the lighting control module is not in active lighting mode, it does not perform the aforementioned active lighting control operations, and the lighting components operate in the normal lighting mode. In normal lighting mode, the low beam and high beam illuminate based on the driver's manual operation or automatic control based on ambient light sensors, without active directional lighting based on radar detection data.

[0133] In one implementation, after entering active lighting mode, the lighting control module also outputs a notification message indicating that active lighting mode is enabled via the central control display screen or the instrument panel display screen. The notification message includes at least one of text notifications, icon notifications, and voice notifications. For example, the central control display screen displays the text message "Active lighting mode is enabled," while the instrument panel display screen illuminates the active lighting mode status icon.

[0134] The lighting control module continuously monitors user input during active lighting mode. When the user inputs a command to turn off the active lighting mode via the off icon on the central control display, physical buttons, voice commands, or gestures, the lighting control module responds to the command, exits active lighting mode, and returns to normal lighting mode.

[0135] In one alternative embodiment, after entering active lighting mode, the lighting control module also displays a function introduction interface for active lighting mode on the central control display screen. This interface showcases the various functions of active lighting mode in the form of graphics or animations, including blind spot supplemental lighting at intersections, directional illumination of high-risk targets, and flashing alerts for lane-changing targets. The interface also provides a "Don't show again" option; when the user selects this option, the lighting control module will not display the interface again when entering active lighting mode subsequently. Therefore, first-time users of active lighting mode can quickly understand the mode's functions and usage scenarios through the function introduction interface, reducing the learning curve and lowering the barrier to entry.

[0136] This embodiment of the disclosure addresses the technical problem of lighting control systems automatically changing lighting behavior without user confirmation, which could lead to user confusion or discomfort due to such changes. Users can activate the active lighting mode only after the user actively turns it on, responding to user input indicating activation. The active lighting mode can be activated via various interaction methods, such as touchscreen control, physical button presses, voice commands, or gestures, offering flexibility to suit different user habits and preferences. The lighting control module only performs radar data acquisition and active directional lighting operations when the active lighting mode is active; otherwise, it maintains the normal lighting mode. This ensures user control over lighting behavior, allowing users to decide whether to enable the active lighting function based on their driving environment and personal needs. Thus, the activation of the active lighting function is entirely user-controlled, satisfying users' needs for intelligent lighting while respecting their operating habits and choices.

[0137] In some embodiments of this disclosure, a lighting control device is provided, exemplarily, Figure 3 Structural block diagrams of lighting control devices according to various embodiments of the present disclosure are shown, such as... Figure 3 As shown, the lighting control device 300 includes: a data acquisition module 302 and a control module 304.

[0138] The acquisition module 302 is used to obtain environmental information in the direction of movement of the mobile device in active lighting mode; The control module 304 is used to control the lighting components of the mobile device to project a beam of light to illuminate the area where the target object is located when the environmental information includes the target object and the target object is located outside the lighting range of the mobile device.

[0139] This embodiment of the disclosure obtains radar detection data along the direction of movement of the mobile device. When the radar detection data includes a target object located outside the illumination range, the lighting assembly is controlled to emit a beam of light towards the target object to illuminate it. This solves the technical problem that, in nighttime or low-light environments, traditional lights can only illuminate a fixed area and cannot cover risky targets detected by radar that are outside the illumination range. This results in the driver being unable to detect these targets in time, and the visual sensor not obtaining sufficient image information to support intelligent driving decisions. The radar detection data provides the azimuth and relative distance information of the target object. Based on this information, the lighting assembly accurately emits a beam of light towards the direction of the target object, illuminating the target object that was originally in darkness. The illuminated target object can be directly observed by the driver's naked eye, serving as an early warning to the driver. At the same time, the visual sensor acquires a target image with a higher signal-to-noise ratio, improving the target recognition accuracy and response speed of the intelligent driving system, thereby enhancing nighttime driving safety and the reliability of intelligent driving control.

[0140] Figure 3 The lighting control device shown in the embodiment can be used to execute the technical solution of the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0141] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this disclosure. See below for details. Figure 4 It shows a schematic diagram of a structure suitable for implementing the electronic device 400 in the embodiments of this disclosure. Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0142] like Figure 4 As shown, the electronic device 400 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage device 408 into a random access memory (RAM) 403 to implement the lighting control method as described in the embodiments of this disclosure. The RAM 403 also stores various programs and data required for the operation of the electronic device 400. The processing device 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0143] Typically, the following devices can be connected to I / O interface 405: input devices 406 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 408 including, for example, magnetic tapes, hard disks, etc.; and communication devices 409. Communication device 409 allows electronic device 400 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 An electronic device 400 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0144] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts, thereby implementing the lighting control method as described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 409, or installed from a storage device 408, or installed from a ROM 402. When the computer program is executed by the processing device 401, it performs the functions defined in the methods of embodiments of this disclosure.

[0145] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0146] Additionally, this disclosure also provides a vehicle, including: a memory; a processor; and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the lighting control method as described above.

[0147] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0148] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0149] The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: In active lighting mode, radar detection data is obtained in the direction of movement of the mobile device; If the radar detection data identifies a target object that is outside the illumination range of the movable device's lights, the light assembly of the movable device is controlled to emit a beam of light toward the target object to illuminate it.

[0150] Optionally, when one or more of the above-described procedures are executed by the electronic device, the electronic device may also perform other steps described in the above embodiments.

[0151] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0152] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0153] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0154] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0155] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0156] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0157] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0158] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A light control method characterized by, The method includes: In active lighting mode, environmental information is obtained in the direction of movement of the mobile device; If the environmental information includes a target object, and the target object is located outside the illumination range of the movable device, the lighting component of the movable device is controlled to project a light beam to illuminate the area where the target object is located.

2. The method of claim 1, wherein, The method further includes: When the target object is a vehicle, the target object's driving direction is opposite to the mobile device's driving direction, and the ambient brightness is below a brightness threshold, the angle of the light beam projected by the light assembly is adjusted so that the light beam projected by the light assembly towards the target object avoids the target object's cockpit.

3. The method of claim 1, wherein, The method further includes: When the target object is a pedestrian or a non-motorized vehicle, the angle of the light beam projected by the light assembly is adjusted so that the light beam directed at the target object avoids the head of the pedestrian or non-motorized vehicle driver.

4. The method of claim 1, wherein, The light assembly controlling the movable device to project a light beam includes: When the travel speed of the mobile device is greater than or equal to a speed threshold, and at least part of the target object enters the lane in which the mobile device is traveling from outside the lane, the lighting components of the mobile device are controlled to intermittently project a light beam based on the target flashing frequency.

5. The method of claim 4, wherein, The method further includes: If the environmental information includes a target traffic participant, and the target traffic participant is located on the movement path of the mobile device, then the distance information between the mobile device and the target traffic participant is obtained. If the distance information is less than a first distance threshold, the light assembly of the movable device is controlled to intermittently project a light beam based on the target flashing frequency to illuminate the area where the target traffic participant is located; If the distance information is less than a second distance threshold, the movable device is controlled to perform a braking operation; the second distance threshold is less than the first distance threshold.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: In the active lighting mode, the road object of the road on which the mobile device travels is obtained; If the road object is identified as including a target road object, the lighting assembly is controlled to emit a beam of light toward the target road object to illuminate it; the target road object includes at least one of: a road merging point, a road sign, and road markings.

7. The method according to any one of claims 1 to 5, characterized in that, Before obtaining environmental information in the direction of movement of the movable device, the method further includes: In response to user input indicating that the active lighting mode should be turned on, the active lighting mode is entered.

8. A lighting control device, characterized in that, include: The data acquisition module is used to obtain environmental information in the direction of movement of the mobile device under active lighting mode; A control module is configured to control the lighting components of the mobile device to project a light beam to illuminate the area where the target object is located, when the environmental information includes a target object and the target object is located outside the lighting range of the mobile device.

9. An electronic device, characterized in that, include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-7.

11. A computer program product comprising a computer program or instructions that, when executed by a processor, implement the method as described in any one of claims 1-7.

12. A movable device, characterized in that, include: Memory; processor; as well as Computer programs; The computer program is stored in the memory and configured to be executed by the processor to implement the method as described in any one of claims 1-7.

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