Headlamp calibration method and apparatus, vehicle, and computer-readable storage medium

Abstract

The present application provides a headlamp calibration method and apparatus, a vehicle, and a computer-readable storage medium. The headlamp calibration method comprises: controlling a headlamp of a vehicle to emit light, so that the light emitted by the headlamp forms a calibration pattern on a projection plane; and, on the basis of the position of the calibration pattern on the projection plane, calibrating an illumination position of the headlamp. The illumination position of the headlamp can be calibrated on the basis of a projected pattern, therefore, the requirements for a site are not high. The calibration pattern is obtained by projection by the headlamp and corresponds to a position of the headlamp, therefore, the illumination position of the headlamp can be accurately calibrated by means of the calibration pattern.

Description

Headlight calibration method, device, vehicle and computer-readable storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 20, 2023, with application number 202311766193.7 and invention name “Headlight calibration method, device, vehicle and computer-readable storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicle calibration, and in particular to a headlight calibration method, device, vehicle, and computer-readable storage medium. Background Art

[0003] To ensure nighttime driving safety, the headlights' illumination position must meet regulatory requirements. Therefore, the headlights' illumination position must be calibrated before each vehicle leaves the factory. Existing calibration methods typically require specific equipment and a specific location. If the location or equipment doesn't meet these requirements, the calibration results can be inaccurate. Technical issues

[0004] One of the purposes of the embodiments of the present application is to provide a headlight calibration method, device, vehicle and computer-readable storage medium, which can accurately calibrate the headlight illumination position without the need for specific equipment and without high site requirements. Technical Solutions

[0005] To solve the above technical problems, the technical solutions adopted in the embodiments of the present application are:

[0006] In a first aspect, a headlight calibration method is provided, comprising:

[0007] Controlling the headlights of the vehicle to emit light so that the light emitted by the headlights forms a calibration pattern on the projection plane;

[0008] The illumination position of the headlight is calibrated according to the position of the calibration pattern on the projection plane.

[0009] In one embodiment, calibrating the illumination position of the headlight according to the position of the calibration pattern on the projection plane includes:

[0010] The illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the reference object on the projection plane.

[0011] In one embodiment, the reference object includes a vertical reference object and a horizontal reference object, and calibrating the illumination position of the headlight according to the relative position of the calibration pattern and the reference object on the projection plane includes:

[0012] calibrating the vertical illumination position of the headlight according to the relative position of the calibration pattern and the vertical reference object;

[0013] The horizontal illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the horizontal reference object.

[0014] In one embodiment, the vertical reference object includes a boundary line between the projection plane and the ground.

[0015] In one embodiment, the calibration pattern includes two mutually parallel first marks, and calibrating the vertical illumination position of the headlight according to the relative position of the calibration pattern and the vertical reference object includes:

[0016] If the dividing line is located between the two first marks, it is determined that the vertical illumination position of the headlight meets the preset requirement.

[0017] In one embodiment, the horizontal reference object includes a laser line emitted by a laser level.

[0018] In one embodiment, the headlight includes a first headlight and a second headlight, and calibrating the horizontal illumination position of the headlight according to the relative position of the calibration pattern and the horizontal reference object includes:

[0019] The horizontal illumination position of the first headlight is calibrated according to the distance between the calibration pattern corresponding to the first headlight and the laser line.

[0020] In one embodiment, calibrating the horizontal illumination position of the headlight according to the relative position of the calibration pattern and the horizontal reference object further includes:

[0021] The horizontal illumination position of the second headlight is calibrated according to the relative position between the calibration pattern corresponding to the second headlight and the calibrated calibration pattern corresponding to the first headlight.

[0022] In one embodiment, the calibration pattern corresponding to the first headlight includes a second mark, and the calibration pattern corresponding to the second headlight includes two mutually parallel third marks. Calibrating the horizontal illumination position of the second headlight based on the relative position between the calibration pattern corresponding to the second headlight and the calibrated calibration pattern corresponding to the first headlight includes:

[0023] If the second mark is located between the two third marks, it is determined that the horizontal illumination position of the second headlight meets the preset requirement.

[0024] In one embodiment, the calibration pattern is determined according to the vehicle model and / or the current calibration process.

[0025] A second aspect provides a headlight calibration device, comprising:

[0026] a light-emitting module, configured to control the lighting of the vehicle's headlights so that the light emitted by the headlights forms a calibration pattern on a projection plane;

[0027] A calibration module is used to calibrate the illumination position of the headlight according to the position of the calibration pattern on the projection plane.

[0028] In one embodiment, the calibration module is specifically configured to:

[0029] The illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the reference object on the projection plane.

[0030] In one embodiment, the reference object includes a vertical reference object and a horizontal reference object, and the calibration module 82 is specifically configured to:

[0031] calibrating the vertical illumination position of the headlight according to the relative position of the calibration pattern and the vertical reference object;

[0032] The horizontal illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the horizontal reference object.

[0033] In one embodiment, the vertical reference object includes a boundary line between the projection plane and the ground.

[0034] In one embodiment, the calibration pattern includes two first marks parallel to each other, and the calibration module is specifically configured to:

[0035] If the dividing line is located between the two first marks, it is determined that the vertical illumination position of the headlight meets the preset requirement.

[0036] In one embodiment, the horizontal reference object includes a laser line emitted by a laser level.

[0037] In one embodiment, the headlight includes a first headlight and a second headlight, and the calibration module 82 is specifically configured to:

[0038] The horizontal illumination position of the first headlight is calibrated according to the distance between the calibration pattern corresponding to the first headlight and the laser line.

[0039] In one embodiment, the calibration module is further configured to:

[0040] The horizontal illumination position of the second headlight is calibrated according to the relative position between the calibration pattern corresponding to the second headlight and the calibrated calibration pattern corresponding to the first headlight.

[0041] In one embodiment, the calibration pattern corresponding to the first headlight includes a second mark, and the calibration pattern corresponding to the second headlight includes two third marks parallel to each other. The calibration module is specifically configured to:

[0042] If the second mark is located between the two third marks, it is determined that the horizontal illumination position of the second headlight meets the preset requirement.

[0043] In one embodiment, the calibration pattern is determined according to the vehicle model and / or the current calibration process.

[0044] A third aspect provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the headlight calibration method as described in the first aspect above when executing the computer program.

[0045] A fourth aspect provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the headlight calibration method as described in the first aspect.

[0046] A fifth aspect provides a computer program product, which, when executed on a vehicle, enables the vehicle to execute the headlight calibration method described in any one of the first aspects.

[0047] Compared to the prior art, the embodiments of the present application offer the following advantages: by controlling the illumination of the vehicle's headlights, the light emitted by the headlights forms a calibration pattern on a projection plane, and the headlight's illumination position is calibrated based on the position of the calibration pattern on the projection plane. Since the headlight's illumination position can be calibrated based on the projection pattern, the site requirements are minimal. Since the calibration pattern is projected from the headlights and corresponds to the headlight's position, the headlight's illumination position can be accurately calibrated based on the calibration pattern. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or exemplary technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] FIG1 is a schematic diagram of an implementation flow of a headlight calibration method provided in an embodiment of the present application;

[0050] FIG2 is a scene diagram of a calibration pattern formed on a projection plane by light emitted by a headlight according to an embodiment of the present application;

[0051] FIG3 is a schematic diagram of a calibration pattern for calibrating the vertical illumination position of a headlight according to an embodiment of the present application;

[0052] FIG4 is a scene diagram of calibrating the vertical illumination positions of the left and right lights provided by an embodiment of the present application;

[0053] FIG5 is a scene diagram of calibrating the horizontal illumination position of the left light provided by an embodiment of the present application;

[0054] FIG6 is a schematic diagram of a calibration pattern for calibrating the horizontal illumination position of a left lamp according to an embodiment of the present application;

[0055] FIG7 is a scene diagram of calibrating the horizontal illumination position of the right light provided by an embodiment of the present application;

[0056] FIG8 is a schematic diagram of a headlight calibration device provided in one embodiment of the present application;

[0057] FIG9 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. Modes for Carrying Out the Invention

[0058] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit this application.

[0059] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of description and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0060] In order to calibrate the illumination position of a vehicle's headlights, the present application provides a headlight calibration method. By controlling the vehicle's headlights to emit light, the light emitted by the headlights forms a calibration pattern on a projection plane. The illumination position of the headlights is calibrated according to the position of the calibration pattern on the projection plane. Therefore, there is no need to limit the calibration site. Accurate calibration of the headlights can be achieved through simple operations, ensuring that the calibrated headlights comply with regulations and ensure nighttime driving safety.

[0061] In order to illustrate the technical solution described in this application, specific embodiments are provided below.

[0062] The headlights provided in the embodiments of the present application can be headlights of any vehicle, such as a car, train, motor vehicle, high-speed train, or airplane, but are not limited thereto. The car can be, for example, a sedan, truck, passenger bus, pickup truck, multi-purpose vehicle (MPV), or sport utility vehicle (SUV). In addition, the car can be a fuel-powered car, or a new energy vehicle such as a pure electric car, hybrid car, or extended-range car. The car can also be a car with partial or full autonomous driving capabilities. This application does not impose any restrictions on the type or form of the car.

[0063] The headlight calibration method provided in the embodiment of the present application can be executed on the vehicle where the headlight is located, or can be executed on electronic equipment such as calibration equipment and measuring equipment that are communicatively connected to the vehicle.

[0064] The headlight calibration method provided in the embodiment of the present application is described below by taking the headlight calibration method provided in the embodiment of the present application as being executed on a vehicle, where the headlight is a car headlight as an example.

[0065] Referring to FIG. 1 , a headlight calibration method provided in one embodiment of the present application includes:

[0066] S101: Controlling the headlights of the vehicle to emit light so that the light emitted by the headlights forms a calibration pattern on a projection plane.

[0067] Specifically, the light source of the headlight includes a plurality of independently controllable pixel units. By controlling the corresponding pixel units to emit light, a calibration pattern can be formed on the projection plane.

[0068] For example, the light source of the headlights includes 25,600 independently controllable LED pixel units. The light source covers 15 degrees left and right, 2 degrees above, and 4 degrees below. The vehicle motor can also be adjusted up and down by 2 degrees, thereby controlling the illumination of different pixel units in the headlights and adjusting the projection position.

[0069] The vehicle can control the headlights according to the calibration instructions input by the user. For example, when the vehicle receives the calibration instruction to enter the light self-calibration mode, the headlights are controlled to illuminate.

[0070] In one embodiment, the calibration instruction includes the vehicle model and / or the current calibration process. The vehicle controls the corresponding pixel units to emit light according to the vehicle model or calibration process, thereby forming a corresponding calibration pattern. This allows the calibration pattern to be aligned with the vehicle model or calibration process, thereby improving the accuracy of subsequent calibration results. The calibration process may include calibrating the horizontal position or vertical position (height) of the headlights, etc.

[0071] In another embodiment, the calibration patterns corresponding to different calibration processes may also be the same.

[0072] The projection plane can be a wall or the ground.

[0073] In one embodiment, the projection plane is a wall located at a predetermined distance in front of the vehicle. For example, as shown in FIG2 , the distance between vehicle 21 and wall 22 is 10 meters, and the light emitted by the headlights forms a calibration pattern on the projection plane.

[0074] For example, upon receiving the calibration command, the vehicle uses its radar to determine the distance from the wall. When the distance between the vehicle and the wall is determined to be within a predetermined distance, the vehicle is instructed to park or outputs a stop command. The vehicle then controls its headlights to illuminate, so that the light emitted by the headlights forms a calibration pattern on the projection plane.

[0075] In another embodiment, the headlights may be controlled to illuminate according to the position of the vehicle from the projection plane, so that the calibration pattern corresponds to the position of the projection plane, thereby further improving the convenience of the calibration operation.

[0076] S102: Calibrate the illumination position of the headlight according to the position of the calibration pattern on the projection plane.

[0077] Specifically, the calibration pattern corresponds to the pixel units on the headlight, and the position of each pixel unit in the headlight is fixed, so the position of the calibration pattern reflects the illumination position of the headlight. Therefore, the illumination position of the headlight can be determined according to the position of the calibration pattern on the projection plane, and then the illumination position of the headlight can be calibrated.

[0078] Calibrating the headlight's illumination position may involve obtaining the position of a calibration pattern, determining whether the calibration pattern's position meets preset requirements, and then determining whether the headlight's illumination position meets the preset requirements. The vehicle may obtain an image of the projection plane by photographing it, perform image recognition on the image, and obtain the position of the calibration pattern. Based on the position of the calibration pattern, the vehicle may output a prompt indicating whether the headlight's illumination position meets the preset requirements. Alternatively, if the headlight's illumination position does not meet the preset requirements, the vehicle may determine the headlight adjustment distance based on the calibration pattern's position and output a prompt indicating the adjustment distance.

[0079] In one embodiment, the vehicle calibrates the illumination position of the headlights according to the relative positions of the calibration pattern and the reference object on the projection plane. By selecting the reference object for calibration, the consistency of the obtained calibration results can be improved.

[0080] In one embodiment, the reference objects include a vertical reference object and a horizontal reference object. The vehicle calibrates the vertical headlight position based on the relative position of the calibration pattern and the vertical reference object, and calibrates the horizontal headlight position based on the relative position of the calibration pattern and the horizontal reference object. Using different reference objects to calibrate the horizontal and vertical headlight positions allows for more targeted calibration, thereby improving calibration accuracy.

[0081] In one embodiment, the vertical reference object includes a boundary line between the projection plane and the ground. The vehicle calibrates the horizontal illumination position of the headlights based on the relative position of the calibration pattern and the boundary line. After the light emitted by the headlights forms the calibration pattern on the projection plane, the boundary line can be used directly for calibration, thereby simplifying the calibration operation.

[0082] In one embodiment, the calibration pattern includes two parallel first markers, and the electronic device calibrates the vertical illumination position of the headlights based on the relative positions of the two first markers and a dividing line. If the dividing line is located between the two first markers, the vertical illumination position of the headlights is determined to meet preset requirements. If the dividing line is not between the two first markers, the vertical illumination position of the headlights is determined to not meet the preset requirements, and the vertical position of the headlights needs to be adjusted so that the calibration pattern is moved to a position where the dividing line is located between the two first markers. Calibrating the illumination position using the markers specified in the calibration pattern can further improve the accuracy and consistency of the calibration results.

[0083] For example, when calibrating the vertical illumination position of a headlight, the calibration pattern is shown in Figure 3. Two first markings 31 are parallel to each other. The number of pixel units between the low-beam inflection point 32 and one of the first markings 31 is 45, and the length is approximately 592 mm. The number of pixel units between the two first markings 31 is 3, and the length is approximately 40 mm. When the corner line is located between the two first markings 31, it indicates that the headlight illumination position meets the requirements, and therefore the headlight installation height meets the requirements.

[0084] In one embodiment, the vehicle has two headlights, namely a first headlight and a second headlight. The first headlight is the left headlight and the second headlight is the right headlight, or the first headlight is the right headlight and the second headlight is the left headlight. When calibrating the vertical illumination position of the headlights, the calibration patterns of the first and second headlights can be the same. For each headlight, the vertical illumination position of the corresponding headlight is determined based on the relative positions of the two first markings and the dividing line.

[0085] For example, as shown in FIG4 , the calibration patterns of the left and right lights of a vehicle 41 are the same. The heights of the left and right lights are adjusted according to the position of the dividing line 42. When the dividing line 42 is located between the two first marks 43 of the left light and the dividing line 42 is located between the two first marks 43 of the right light, it is determined that the vertical illumination positions of the left and right lights meet the preset requirements.

[0086] After the vehicle instructs the headlights to illuminate and form a calibration pattern, the vehicle can determine whether the vertical illumination position of the headlights meets preset requirements based on an image obtained by photographing the projection plane, and output information indicating whether the vertical illumination position meets the preset requirements. Alternatively, if it is determined that the vertical illumination position does not meet the preset requirements, the vehicle can determine the offset distance of the corresponding calibration pattern and output the adjustment distance for the vertical illumination position of the headlights based on the offset distance, or output the adjustment distance for the headlights in the vertical direction. After the vehicle instructs the headlights to illuminate and form a calibration pattern, the user can also determine the adjustment distance for the headlights in the vertical direction based on the calibration pattern. After the vehicle instructs the headlights to illuminate and form a calibration pattern, the vehicle can also obtain the vertical offset distance of the calibration pattern input by the user and determine the adjustment distance for the headlights in the vertical direction based on the offset distance.

[0087] In one embodiment, the horizontal reference object includes a laser line emitted by a laser level. The laser level can be an external device placed at a predetermined location on the vehicle, or it can be mounted on the vehicle. Since the laser level is located at a predetermined location on the vehicle, the laser line can reflect the vehicle's position. Calibrating the horizontal illumination position of the headlights based on the positional relationship between the laser line and the calibration pattern can improve the stability of the calibration results.

[0088] In one embodiment, the vehicle calibrates the horizontal position of the first headlight according to the distance between the calibration pattern corresponding to the first headlight and the laser line.

[0089] Exemplarily, as shown in Figure 5, the first headlight is the left headlight, the laser level 51 is fixed on the vehicle wheel hub, the vehicle wheel hub is reset to zero, and the laser level is controlled to emit a laser line 52. The position of the laser line 52 represents the body boundary of the vehicle. According to the distance between the laser line 52 and the calibration pattern corresponding to the first headlight, it is determined whether the distance between the irradiation position of the first headlight and the body boundary meets the preset requirements, thereby realizing the calibration of the horizontal position of the first headlight.

[0090] For example, as shown in FIG6 , the left boundary 611 of the calibration pattern 61 of the first headlight represents the vehicle width line. If the distance between the vehicle width line and the laser line 62 is a preset value a (a is set according to actual needs), it is determined that the horizontal illumination position of the left lamp meets the preset requirements. Otherwise, the horizontal position of the left lamp is adjusted so that the distance between the vehicle width line and the laser line 62 is the preset value a.

[0091] In one embodiment, after the horizontal illumination position of the first headlight is calibrated, the vehicle uses the calibration pattern corresponding to the calibrated first headlight as a horizontal reference. The vehicle then calibrates the horizontal illumination position of the second headlight based on the relative position of the calibration pattern corresponding to the second headlight and the calibration pattern corresponding to the calibrated first headlight. Using the calibration patterns of the two headlights to calibrate the horizontal illumination position can improve the accuracy of the calibration results.

[0092] In one embodiment, the calibration pattern corresponding to the first headlight includes a second marker, and the calibration pattern corresponding to the second headlight includes two parallel third markers. The vehicle calibrates the horizontal illumination position of the second headlight based on the positional relationship between the second marker and the two third markers. If the second marker is located between the two third markers, the horizontal illumination position of the second headlight is determined to meet preset requirements. If the second marker is not located between the two third markers, the horizontal illumination position of the second headlight is determined to not meet the preset requirements, and the horizontal position of the second headlight needs to be adjusted based on the distance between the second markers to ensure that the horizontal illumination position of the second headlight meets the preset requirements. Using the markers specified in the calibration pattern to calibrate the illumination position can further improve the accuracy and consistency of the calibration results.

[0093] For example, as shown in Figure 7 , the calibration pattern 71 corresponding to the first headlight includes a second marker 711 and a first vehicle width line 712. The calibration pattern 72 corresponding to the second headlight includes two third markers 721 and a second vehicle width line 722. The number of pixels between the two third markers is three, and the length is approximately 40 mm. The area between the two third markers 721 constitutes a qualified region. When the second marker 711 is located between the two third markers 721, the horizontal illumination position of the second headlight is determined to meet the preset requirements. For example, if the two calibration patterns are positioned in scene A, the second marker 711 is determined to be between the two third markers 721. If the two calibration patterns are positioned in scene B, the second marker 711 contacts the left third marker 721, which is a critical condition. If the two calibration patterns are positioned in scene C, the second marker 711 contacts the left third marker 721, which is another critical condition. If the second marker 711 is not between the two third markers 721, the horizontal illumination position of the second headlight is determined to be insufficient for the preset requirements, and the horizontal position of the second headlight needs to be adjusted to meet the preset requirements.

[0094] In another embodiment, when calibrating the horizontal illumination position of the second headlight, the calibration pattern corresponding to the first headlight includes two third marks, and the calibration pattern corresponding to the second headlight includes the second mark.

[0095] In other embodiments, the horizontal irradiation position of the first headlight and the second headlight may be calibrated respectively according to the relative positions of the laser line emitted by the laser level and the calibration pattern corresponding to the first headlight and the calibration pattern corresponding to the second headlight.

[0096] After the vehicle instructs the headlights to illuminate and form a calibration pattern, the vehicle can determine whether the horizontal illumination position of the headlights meets preset requirements based on an image obtained by photographing the projection plane, and output information indicating whether the horizontal illumination position meets the preset requirements. Alternatively, if it is determined that the horizontal illumination position does not meet the preset requirements, the corresponding offset distance of the calibration pattern can be determined, and based on the offset distance, the adjustment distance for the horizontal illumination position of the headlights can be output, or the adjustment distance for the headlights in the horizontal direction can be output. After the vehicle instructs the headlights to illuminate and form a calibration pattern, the user can also determine the adjustment distance for the headlights in the horizontal direction based on the pattern. After the vehicle instructs the headlights to illuminate and form a calibration pattern, the vehicle can also obtain the horizontal offset distance of the calibration pattern input by the user and determine the adjustment distance for the headlights in the horizontal direction based on the offset distance.

[0097] In a specific example, the calibration process of the vehicle headlight illumination position is as follows.

[0098] When the vehicle is parked at a preset distance from a wall, the headlights are instructed to enter the vertical illumination position calibration process. This involves controlling the light emitted by the left and right headlights to form the calibration pattern shown in Figure 4. The offset distance of the left and right headlights is determined based on the calibration pattern, and the height of the left or right headlight can be adjusted accordingly. After the vertical illumination position calibration is completed, the headlights are instructed to enter the horizontal illumination position calibration process. The vehicle's laser level is controlled to emit a laser line, and the light emitted by the left and right headlights is controlled to form the calibration pattern shown in Figure 6. The vehicle then determines the distance between the calibration pattern corresponding to the left headlight and the laser line. Based on this distance, the horizontal offset distance of the left headlight is determined, and the horizontal position of the left headlight is adjusted accordingly. Next, the distance between the calibration pattern corresponding to the right headlight and the calibration pattern corresponding to the calibrated left headlight is determined. Based on this distance, the horizontal offset distance of the right headlight is determined, and the horizontal position of the right headlight is adjusted accordingly.

[0099] In the above embodiment, the vehicle's headlights are controlled to emit light, causing the light emitted by the headlights to form a calibration pattern on a projection plane. The headlight's illumination position is then calibrated based on the position of the calibration pattern on the projection plane. Since the headlight's illumination position can be calibrated based on the projection pattern, the site requirements are minimal. Since the calibration pattern is projected from the headlights and corresponds to their position, the headlight's illumination position can be accurately calibrated based on the calibration pattern.

[0100] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0101] Corresponding to the headlight calibration method described in the above embodiment, FIG8 shows a structural block diagram of a headlight calibration device provided in an embodiment of the present application. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0102] As shown in Figure 8, the headlight calibration device includes:

[0103] a light emitting module 81 for controlling the headlights of the vehicle to emit light so that the light emitted by the headlights forms a calibration pattern on the projection plane;

[0104] The calibration module 82 is configured to calibrate the illumination position of the headlight according to the position of the calibration pattern on the projection plane.

[0105] In one embodiment, the calibration module 82 is specifically configured to:

[0106] The illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the reference object on the projection plane.

[0107] In one embodiment, the reference object includes a vertical reference object and a horizontal reference object, and the calibration module 82 is specifically configured to:

[0108] calibrating the vertical illumination position of the headlight according to the relative position of the calibration pattern and the vertical reference object;

[0109] The horizontal illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the horizontal reference object.

[0110] In one embodiment, the vertical reference object includes a boundary line between the projection plane and the ground.

[0111] In one embodiment, the calibration pattern includes two first marks parallel to each other, and the calibration module 82 is specifically configured to:

[0112] If the dividing line is located between the two first marks, it is determined that the vertical illumination position of the headlight meets the preset requirement.

[0113] In one embodiment, the horizontal reference object includes a laser line emitted by a laser level.

[0114] In one embodiment, the headlight includes a first headlight and a second headlight, and the calibration module 82 is specifically configured to:

[0115] The horizontal illumination position of the first headlight is calibrated according to the distance between the calibration pattern corresponding to the first headlight and the laser line.

[0116] In one embodiment, the calibration module 82 is further configured to:

[0117] The horizontal illumination position of the second headlight is calibrated according to the relative position between the calibration pattern corresponding to the second headlight and the calibrated calibration pattern corresponding to the first headlight.

[0118] In one embodiment, the calibration pattern corresponding to the first headlight includes a second mark, and the calibration pattern corresponding to the second headlight includes two third marks parallel to each other. The calibration module 82 is specifically configured to:

[0119] If the second mark is located between the two third marks, it is determined that the horizontal illumination position of the second headlight meets the preset requirement.

[0120] In one embodiment, the calibration pattern is determined according to the vehicle model and / or the current calibration process.

[0121] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0122] FIG9 is a schematic structural diagram of a vehicle provided in an embodiment of the present application.

[0123] As shown in FIG9 , the vehicle of this embodiment includes: a processor 91, a memory 92, and a computer program 93 stored in the memory 92 and executable on the processor 91. When the processor 91 executes the computer program 93, the steps of the headlight calibration method described above are implemented, such as steps S101 to S102 shown in FIG1 . Alternatively, when the processor 91 executes the computer program 93, the functions of the modules / units in the device embodiments described above are implemented, such as the functions of the lighting module 81 to the calibration module 82 shown in FIG8 .

[0124] For example, the computer program 93 may be divided into one or more modules / units, which are stored in the memory 92 and executed by the processor 91 to implement the present application. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program 93 in the vehicle.

[0125] Those skilled in the art will understand that Figure 9 is merely an example of a vehicle and does not constitute a limitation on the vehicle. The vehicle may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the vehicle may also include input and output devices, network access devices, buses, etc.

[0126] The processor 91 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0127] The memory 92 may be an internal storage unit of the vehicle, such as a hard drive or memory in the vehicle. The memory 92 may also be an external storage device in the vehicle, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, the memory 92 may include both an internal storage unit and an external storage device in the vehicle. The memory 92 is used to store the computer program and other programs and data required by the vehicle. The memory 92 may also be used to temporarily store data that has been output or is about to be output.

[0128] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0129] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0130] In the embodiments provided in this application, it should be understood that the disclosed devices / vehicles and methods can be implemented in other ways. For example, the device / vehicle embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0131] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0132] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program, when executed by the processor, can implement the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0133] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0134] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A headlight calibration method, characterized in that: include: Controlling the headlights of the vehicle to emit light so that the light emitted by the headlights forms a calibration pattern on the projection plane; The illumination position of the headlight is calibrated according to the position of the calibration pattern on the projection plane.

2. The method according to claim 1, characterized in that The step of calibrating the illumination position of the headlight according to the position of the calibration pattern on the projection plane comprises: The illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the reference object on the projection plane.

3. The method according to claim 2, characterized in that The reference object includes a vertical reference object and a horizontal reference object, and the calibrating the illumination position of the headlight according to the relative position of the calibration pattern and the reference object on the projection plane includes: calibrating the vertical illumination position of the headlight according to the relative position of the calibration pattern and the vertical reference object; The horizontal illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the horizontal reference object.

4. The method according to claim 3, characterized in that The vertical reference object includes a boundary line between the projection plane and the ground.

5. The method according to claim 4, characterized in that The calibration pattern includes two first marks parallel to each other, and the vertical illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the vertical reference object, including: If the dividing line is located between the two first marks, it is determined that the vertical illumination position of the headlight meets the preset requirement.

6. The method according to claim 3, characterized in that The horizontal reference object includes a laser line emitted by a laser level.

7. The method according to claim 6, characterized in that The headlight comprises a first headlight and a second headlight, and the calibrating the horizontal illumination position of the headlight according to the relative position of the calibration pattern and the horizontal reference object comprises: The horizontal irradiation position of the first headlight is calibrated according to the distance between the calibration pattern corresponding to the first headlight and the laser line.

8. The method according to claim 7, characterized in that The step of calibrating the horizontal illumination position of the headlight according to the relative position of the calibration pattern and the horizontal reference object further includes: The horizontal illumination position of the second headlight is calibrated according to the relative position between the calibration pattern corresponding to the second headlight and the calibrated calibration pattern corresponding to the first headlight.

9. The method according to claim 8, characterized in that The calibration pattern corresponding to the first headlight includes a second mark, the calibration pattern corresponding to the second headlight includes two third marks parallel to each other, and calibrating the horizontal illumination position of the second headlight according to the relative position between the calibration pattern corresponding to the second headlight and the calibrated calibration pattern corresponding to the first headlight includes: If the second mark is located between the two third marks, it is determined that the horizontal illumination position of the second headlight meets the preset requirement.

10. The method according to claim 1, characterized in that The calibration pattern is determined according to the vehicle model and / or a current calibration process.

11. A headlight calibration device, characterized in that: include: A light-emitting module, used to control the headlights of the vehicle to emit light so that the light emitted by the headlights forms a calibration pattern on the projection plane; The calibration module is used to calibrate the illumination position of the headlight according to the position of the calibration pattern on the projection plane.

12. The device according to claim 11, characterized in that The calibration module is specifically used for: The illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the reference object on the projection plane.

13. The device according to claim 12, characterized in that The reference objects include vertical reference objects and horizontal reference objects, and the calibration module is specifically used for: calibrating the vertical illumination position of the headlight according to the relative position of the calibration pattern and the vertical reference object; The horizontal illumination position of the headlight is calibrated according to the relative position of the calibration pattern and the horizontal reference object.

14. The device according to claim 13, characterized in that The vertical reference object includes a boundary line between the projection plane and the ground, the calibration pattern includes two first marks parallel to each other, and the calibration module is specifically used for: If the dividing line is located between the two first marks, it is determined that the vertical illumination position of the headlight meets the preset requirement.

15. The device according to claim 13, characterized in that The horizontal reference object includes a laser line emitted by a laser level, the headlight includes a first headlight and a second headlight, and the calibration module is specifically used for: The horizontal irradiation position of the first headlight is calibrated according to the distance between the calibration pattern corresponding to the first headlight and the laser line.

16. The device according to claim 15, characterized in that The calibration module is also used for: The horizontal illumination position of the second headlight is calibrated according to the relative position between the calibration pattern corresponding to the second headlight and the calibrated calibration pattern corresponding to the first headlight.

17. The device according to claim 16, characterized in that The calibration pattern corresponding to the first headlight includes a second mark, the calibration pattern corresponding to the second headlight includes two third marks parallel to each other, and the calibration module is specifically used for: If the second mark is located between the two third marks, it is determined that the horizontal illumination position of the second headlight meets the preset requirement.

18. The device according to claim 11, characterized in that The calibration pattern is determined according to the vehicle model and / or a current calibration process.

19. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the headlight calibration method according to any one of claims 1 to 10 is implemented.

20. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the headlight calibration method according to any one of claims 1 to 10 is implemented.

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