Lamplight control method and apparatus, and vehicle and storage medium

Abstract

A lamplight control method, comprising: when a headlamp of a vehicle is turned on, determining a turning radius of the vehicle in response to a steering operation of a steering wheel of the vehicle; on the basis of the turning radius, determining an offset distance by which lamplight irradiated by the headlamp is transversely moved; and controlling the lamplight to move in a target direction by the offset distance, wherein the target direction corresponds to a rotation direction of the steering wheel. Further provided are a lamplight control apparatus, a vehicle capable of executing the lamplight control method, and a computer-readable storage medium capable of implementing the lamplight control method. By means of the lamplight control method, a field-of-view blind area of a driver can be eliminated during turning of a vehicle, thereby ensuring safe traveling of the vehicle.

Description

Lighting control method, device, vehicle and storage medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on December 29, 2023, with application number 202311862214.5 and application name “Method, device, vehicle and storage medium for controlling lights”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicle technology, and in particular to a method, device, vehicle, and storage medium for controlling light in the field of vehicle technology. Background Art

[0003] With the development of vehicle technology, vehicles are becoming more and more involved in our daily lives and work. As people's activities are delayed, the probability of people using vehicle headlights is also increasing.

[0004] In existing technology, headlights installed on vehicles typically have a fixed illumination range. When turning on a curved road at night, the vehicle cannot adjust the illumination angle, resulting in a "blind spot" on the inside of the curve. This poses a significant threat to the driver's driving safety.

[0005] Therefore, there is an urgent need for a method for controlling lights, so as to control the lights of the vehicle's headlights when the vehicle turns on a curved road section at night, eliminate the driver's blind spots, and ensure safe driving of the vehicle. Summary of the Invention

[0006] The present application provides a method, device, vehicle and storage medium for controlling lights, which can eliminate the driver's blind spots and ensure safe driving of the vehicle.

[0007] In a first aspect, the present application provides a method for controlling lights, the method comprising: determining a turning radius of the vehicle in response to a steering operation of a steering wheel of the vehicle when the vehicle's headlights are turned on; determining an offset distance for lateral movement of light emitted by the headlights based on the turning radius; and controlling the light to move in a target direction by the offset distance, where the target direction corresponds to a rotation direction of the steering wheel.

[0008] In the above technical solution, when the vehicle's headlights are turned on and the driver turns the steering wheel, the present application determines the turning radius of the vehicle when turning, that is, the turning amplitude of the vehicle. Normally, the degree of deviation of the light emitted by the headlights when turning is different at different turning amplitudes, and the range of the "blind spot" that appears on the inside of the curve is also different. Therefore, based on the turning radius, the present application can determine the offset distance when the light is moved laterally, that is, determine the offset distance that can be used to correct the light by eliminating the blind spot. Then, the light is controlled to move the offset distance toward the target direction corresponding to the direction of rotation of the steering wheel, so that the light moves toward the "blind spot" range by the offset distance. Therefore, the solution of the present application can eliminate the driver's blind spot and ensure the safe driving of the vehicle.

[0009] In combination with the first aspect, in some possible implementations, the turning radius of the vehicle is determined in response to a steering operation on the steering wheel of the vehicle, including: determining the rotation angle of the wheel based on the rotation angle of the steering wheel and the transmission ratio between the steering wheel and the wheel in response to the steering operation on the steering wheel; and determining the turning radius based on the wheelbase of the vehicle and the rotation angle of the wheel.

[0010] In the above technical solution, when a vehicle turns, the ratio of the turning radius to the vehicle's wheelbase is the same as the tangent of the wheel's rotation angle. Furthermore, the wheel's rotation angle is related to the steering wheel's rotation angle and the transmission ratio between the steering wheel and the wheel. Therefore, the wheel's rotation angle can be determined based on the steering wheel's rotation angle and the transmission ratio between the steering wheel and the wheel; the turning radius can then be determined based on the vehicle's wheelbase and the wheel's rotation angle.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the turning radius, determining the offset distance of the light emitted by the headlamp when it moves laterally includes: determining the offset distance based on the turning radius and a first corresponding relationship, where the first corresponding relationship is a correspondence between a sample turning radius and a sample offset distance when the light moves; or determining the offset distance as the product of the turning radius and a preset coefficient.

[0012] In the above technical solution, the offset distance when the light emitted by the headlamp is laterally moved is determined by two methods, which can enrich the methods for obtaining the offset distance. Among them, the first correspondence can be obtained through simulation and verified through the simulated actual vehicle scene. Therefore, the solution of this application can accurately obtain the offset distance.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the headlamp is composed of multiple lamp beads, and before the light moves laterally, some of the multiple lamp beads are lit, and the light is controlled to move the offset distance toward the target direction, including: determining the adjustment distance of the lit part of the lamp beads based on the illumination distance of the headlamp, the offset distance and the focal length of the headlamp; determining the target lamp bead from the multiple lamp beads based on the part of the lamp beads, the target direction and the adjustment distance; controlling the part of the lamp beads to extinguish, and controlling the target lamp bead to light up, so that the light illuminated by the headlamp moves the offset distance toward the target direction.

[0014] In the above technical solution, the headlamp is composed of multiple lamp beads. The light emitted by the headlamp is achieved by illuminating at least one of the multiple lamp beads. Before the light moves laterally, some of the multiple lamp beads are illuminated. Therefore, in order to achieve the effect of shifting the light by the offset distance in the target direction, this solution requires determining the adjustment distance for offsetting the illuminated portion of the lamp beads; then, based on the portion of the lamp beads, the target direction, and the adjustment distance, determining the target lamp bead from the multiple lamp beads; finally, controlling the extinguishing of some of the lamp beads and the illuminating of the target lamp bead to achieve the offset of the light emitted by the headlamp. In other words, some of the lamp beads are illuminated when not turning, and some of the lamp beads are extinguished when turning, while the target lamp bead is illuminated, to achieve the lateral shift of the light emitted by the headlamp. In addition, since there is a corresponding proportional relationship between the illumination distance of the headlamp, the offset distance, the focal length of the headlamp, and the adjustment distance of the partially lit lamp beads, the adjustment distance of the partially lit lamp beads can be determined based on the illumination distance of the headlamp, the offset distance, and the focal length of the headlamp.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the adjustment distance of the lit part of the lamp beads is determined based on the illumination distance of the headlight, the offset distance and the focal length of the headlight, including: determining a first ratio between the focal length and the illumination distance; and determining the product of the first ratio and the offset distance as the adjustment distance.

[0016] In the above technical solution, the focal length of the headlamp and the adjustment distance are proportional to the illumination distance of the headlamp and the offset distance. Therefore, a first ratio between the focal length and the illumination distance can be determined; the product of the first ratio and the offset distance is determined as the adjustment distance.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, controlling the target lamp beads to light up includes: determining a first portion of lamp beads from the target lamp beads for illuminating a first lane and a second portion of lamp beads for illuminating a second lane in which the vehicle is traveling, the first lane being located on the inner side of the second lane; controlling the first portion of lamp beads to light up at a first brightness, and controlling the second portion of lamp beads to light up at a second brightness, the first brightness being greater than the second brightness.

[0018] In the above technical solution, the first portion of the target lamps illuminates the vehicle's inner lane (the first lane), while the second portion illuminates the vehicle's second lane. Typically, when turning, drivers are more concerned with the dynamics of the inner lane, requiring a clearer view of the inner lane. Therefore, the first portion of the lamps can illuminate the first lane at a higher brightness. This reduces the chance of collision with obstacles in the inner lane when turning.

[0019] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, determining a first portion of lamp beads for illuminating the first lane and a second portion of lamp beads for illuminating the second lane in which the vehicle is traveling from the target lamp beads includes: determining a second ratio between the number of lamp beads for illuminating the first lane and the number of lamp beads for illuminating the second lane based on the turning radius; and determining the first portion of lamp beads and the second portion of lamp beads from the target lamp beads based on the second ratio, the number of target lamp beads, and the position of the first lane relative to the second lane.

[0020] In the above technical solution, when the vehicle turns, the degree to which the front of the vehicle deviates from different lanes is different when the turning amplitude is different. If the front of the vehicle is more inclined toward the second lane, the blind spot of the inner lane (first lane) is relatively large, and therefore, more lamp beads are needed to illuminate the inner lane. Therefore, based on the turning radius, the second ratio between the number of lamp beads used to illuminate the first lane and the number of lamp beads used to illuminate the second lane can be determined. Then, based on the second ratio, the number of target lamp beads, and the position of the first lane relative to the second lane, the first part of the lamp beads and the second part of the lamp beads are determined from the target lamp beads. This solution can accurately determine the first part of the lamp beads used to illuminate the first lane and the second part of the lamp beads used to illuminate the second lane.

[0021] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, based on the second ratio, the number of the target lamp beads, and the position of the first lane relative to the second lane, the first part of the lamp beads and the second part of the lamp beads are determined from the target lamp beads, including: based on the second ratio and the number of the target lamp beads, the first number of the lamp beads in the first part and the second number of the lamp beads in the second part are determined; when the first lane is located on the left side of the second lane, the lamp beads on the left side of the target lamp beads and the number of which is the first number are determined as the first part of the lamp beads, and the remaining lamp beads are determined as the second part of the lamp beads; when the first lane is located on the right side of the second lane, the lamp beads on the left side of the target lamp beads and the number of which is the second number are determined as the second part of the lamp beads, and the remaining lamp beads are determined as the first part of the lamp beads.

[0022] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, controlling the light to move the offset distance toward the target direction includes: determining the target duration when the light illuminated by the headlight is moved laterally based on a second correspondence between the vehicle's driving speed, the sample speed, and the sample duration when the light moves; and controlling the light to move the offset distance toward the target direction within the target duration.

[0023] In the above technical solution, the target duration (the time it takes for the lights to shift) is controlled by the vehicle's speed when turning. This allows the lights to shift left in a shorter time when turning left at a faster speed, and in a longer time when turning left at a slower speed. In other words, the time it takes for the lights to shift left adapts to the vehicle's speed. This solution can prevent dizziness caused by slow shifting at high speeds, and also avoid potential safety hazards caused by fast shifting at slow speeds.

[0024] In a second aspect, the present application provides a device for controlling lights, which includes: a determination module for: when the vehicle's headlights are turned on, in response to the steering operation of the vehicle's steering wheel, determining the turning radius of the vehicle; based on the turning radius, determining the offset distance when the light illuminated by the headlight is moved laterally; and a control module for controlling the light to move in a target direction by the offset distance, where the target direction corresponds to the rotation direction of the steering wheel.

[0025] In combination with the second aspect, in some possible implementations, the determination module is specifically used to: determine the rotation angle of the wheel based on the rotation angle of the steering wheel and the transmission ratio between the steering wheel and the wheel in response to the steering operation of the steering wheel; determine the turning radius based on the wheelbase of the vehicle and the rotation angle of the wheel.

[0026] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is further specifically used to: determine the offset distance based on the turning radius and a first corresponding relationship, where the first corresponding relationship is the correspondence between the sample turning radius and the sample offset distance when the light moves; or, determine the product of the turning radius and a preset coefficient as the offset distance.

[0027] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the headlamp is composed of multiple lamp beads, and some of the multiple lamp beads are lit before the light moves laterally. The control module is specifically used to: determine the adjustment distance of the lit part of the lamp beads based on the illumination distance of the headlamp, the offset distance and the focal length of the headlamp; determine the target lamp beads from the multiple lamp beads based on the part of the lamp beads, the target direction and the adjustment distance; control the part of the lamp beads to extinguish, and control the target lamp beads to light up, so that the light illuminated by the headlamp moves the offset distance toward the target direction.

[0028] In combination with the second aspect and the above-mentioned implementation, in some possible implementations, the determination module is further specifically used to: determine a first ratio between the focal length and the irradiation distance; and determine the product of the first ratio and the offset distance as the adjustment distance.

[0029] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is further specifically used to: determine from the target lamp beads a first portion of lamp beads for illuminating a first lane and a second portion of lamp beads for illuminating a second lane in which the vehicle is traveling, the first lane being located on the inner side of the second lane; control the first portion of lamp beads to light up with a first brightness, and control the second portion of lamp beads to light up with a second brightness, the first brightness being greater than the second brightness.

[0030] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is further specifically used to: determine a second ratio between the number of lamp beads used to illuminate the first lane and the number of lamp beads used to illuminate the second lane based on the turning radius; and determine the first part of the lamp beads and the second part of the lamp beads from the target lamp beads based on the second ratio, the number of the target lamp beads, and the position of the first lane relative to the second lane.

[0031] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the determination module is further specifically used to: determine the first number of the first part of the lamp beads and the second number of the second part of the lamp beads based on the second ratio and the number of the target lamp beads; when the first lane is located on the left side of the second lane, the lamp beads on the left side of the target lamp beads and the number of which is the first number are determined as the first part of the lamp beads, and the remaining lamp beads are determined as the second part of the lamp beads; when the first lane is located on the right side of the second lane, the lamp beads on the left side of the target lamp beads and the number of which is the second number are determined as the second part of the lamp beads, and the remaining lamp beads are determined as the first part of the lamp beads.

[0032] In combination with the second aspect and the above-mentioned implementation methods, in some possible implementation methods, the control module is further specifically used to: determine the target duration of the lateral movement of the light illuminated by the headlight based on a second correspondence between the vehicle's driving speed, the sample speed and the sample duration of the light movement; and control the light to move the offset distance in the target direction within the target duration.

[0033] In a third aspect, the present application provides a vehicle comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the method of the first aspect or any possible implementation of the first aspect.

[0034] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a diagram of a vehicle turning scene in the prior art provided by an embodiment of the present application;

[0036] FIG2 is a schematic flow chart of a method for controlling light provided in an embodiment of the present application;

[0037] FIG3 is a schematic diagram of a turning radius provided in an embodiment of the present application;

[0038] FIG4 is a schematic structural diagram of a headlamp provided in an embodiment of the present application;

[0039] FIG5 is a schematic diagram of determining a target lamp bead provided in an embodiment of the present application;

[0040] FIG6 is a schematic diagram of a method of horizontally moving a light provided by an embodiment of the present application;

[0041] FIG7 is a schematic structural diagram of a light control device provided in an embodiment of the present application;

[0042] FIG8 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following will clearly and thoroughly describe the technical solutions in this application in conjunction with the accompanying drawings. In the description of the embodiments of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more than two.

[0044] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0045] It's understandable that we often encounter curves in our daily driving. Besides terrain factors, curves also ensure driver safety. Driving on straight roads for extended periods can become monotonous, leading to distraction and even fatigue, potentially causing accidents.

[0046] It should also be understood that in driving scenarios with poor visibility, drivers will turn on their vehicle's headlights to see the road ahead clearly and ensure driving safety. In existing technology, vehicle-mounted headlights typically have a fixed illumination range. This prevents vehicles from adjusting the illumination angle when turning on curved roads at night, resulting in a "blind spot" on the inside of the curve. This poses a significant threat to driver safety.

[0047] Figure 1 is a diagram of a vehicle turning scenario in the prior art, provided by an embodiment of the present application. For example, Figure 1 shows a schematic diagram of vehicle A turning on a two-lane, two-way curved road at night. As can be seen from Figure 1 , the headlights of vehicle A cannot illuminate the adjacent inner lane of vehicle A, leaving the driver of vehicle A with a "blind spot." In this situation, if an oncoming vehicle approaches vehicle A within the blind spot, vehicle A will not have time to avoid it, potentially leading to a collision between vehicle A and the oncoming vehicle.

[0048] In order to solve the above problems, the present application proposes a method for controlling lights. Please refer to FIG2 for details. FIG2 is a schematic flowchart of a method for controlling lights provided in an embodiment of the present application.

[0049] It should be understood that the lighting control method provided in the embodiments of the present application can be applied to the vehicle shown in Figure 1. Specifically, the lighting control method can be applied to a target controller in the vehicle, which can be either a vehicle controller or a body domain controller. The body domain controller is used to control vehicle components in the vehicle. When the target controller is a body domain controller, the vehicle component is a headlight.

[0050] Exemplarily, as shown in FIG2 , the method 200 includes:

[0051] In step 201 , when the headlights of a vehicle are turned on, the vehicle controller determines a turning radius of the vehicle in response to a steering operation of the steering wheel of the vehicle.

[0052] It should be understood that the "headlights" in step 201 above include the high-beam and low-beam lights on both sides of the vehicle's head. The "turning radius" in step 201 above refers to the radius of the trajectory circle formed by the center plane of the vehicle's outer steering wheel on the vehicle's support plane during the vehicle's turning process.

[0053] Next, please refer to Figure 3, which is a schematic diagram of a turning radius provided in an embodiment of the present application. For example, as shown in Figure 3, when the steering wheel of vehicle B turns right, the outer steering wheel (left front wheel) and the right front wheel also turn right to achieve the vehicle's right turn requirement. The right rear wheel's driving trajectory is route l1, the right front wheel's driving trajectory is route l2, and the left front wheel's driving trajectory is route l3. The radius of the trajectory circle corresponding to route l3 is the turning radius, the distance between routes l1 and l2 is the inner wheel difference, and the distance between routes l1 and l3 is the turning width.

[0054] In one possible implementation, the vehicle controller in step 201 determines the turning radius of the vehicle in response to the steering operation of the steering wheel of the vehicle, including: in response to the steering operation of the steering wheel, the vehicle controller determines the rotation angle of the wheel based on the rotation angle of the steering wheel and the transmission ratio between the steering wheel and the wheel; the vehicle controller determines the turning radius based on the wheelbase of the vehicle and the rotation angle of the wheel.

[0055] It should be understood that the wheelbase in the above solution is the distance between the center of the front axle and the center of the rear axle of the vehicle. The wheels responsible for steering in a vehicle are the front wheels. Therefore, the wheels in the above solution refer to the front wheels in the vehicle.

[0056] In the above technical solution, when a vehicle turns, the ratio of the turning radius to the vehicle's wheelbase is the same as the tangent of the wheel's rotation angle. Furthermore, the wheel's rotation angle is related to the steering wheel's rotation angle and the transmission ratio between the steering wheel and the wheel. Therefore, the wheel's rotation angle can be determined based on the steering wheel's rotation angle and the transmission ratio between the steering wheel and the wheel; the turning radius can then be determined based on the vehicle's wheelbase and the wheel's rotation angle.

[0057] In some embodiments, the vehicle controller determines the rotation angle of the wheel based on the rotation angle of the steering wheel and the transmission ratio between the steering wheel and the wheel, including: the vehicle controller determines the ratio between the rotation angle of the steering wheel and the transmission ratio as the rotation angle of the wheel.

[0058] In some embodiments, the vehicle controller determines the turning radius based on the wheelbase of the vehicle and the turning angle of the wheel, including: the vehicle controller sets the tangent value of the turning angle of the wheel as a first value; the vehicle controller determines the ratio between the wheelbase and the first value as the turning radius.

[0059] In step 202 , the vehicle controller determines an offset distance for lateral movement of the light emitted by the headlamp based on the turning radius.

[0060] It should be understood that the vehicle's turning direction can be either left or right. In the prior art, when a vehicle turns left, a "blind spot" appears in the left front area of ​​the vehicle for the driver. Therefore, the headlight's light can be horizontally shifted to the left. In this case, lateral shift refers to a horizontal shift to the left. When a vehicle turns right, a "blind spot" appears in the right front area of ​​the vehicle for the driver. Therefore, the headlight's light can be horizontally shifted to the right. In this case, lateral shift refers to a horizontal shift to the right.

[0061] It should also be understood that the "offset distance" in step 202 above refers to the distance by which the light is corrected in the target direction to eliminate the "blind spot" in the field of view. The target direction corresponds to the direction of rotation of the steering wheel. Specifically, when the steering wheel is rotated clockwise, the target direction is right; when the steering wheel is rotated counterclockwise, the target direction is left.

[0062] In one possible implementation, step 202 includes: the vehicle controller determines the offset distance based on the turning radius and a first corresponding relationship, where the first corresponding relationship is the correspondence between the sample turning radius and the sample offset distance when the light moves; or, the vehicle controller determines the offset distance as the product of the turning radius and a preset coefficient.

[0063] It should be understood that the "first correspondence" in the above scheme can be obtained through simulation and verified through the simulated real vehicle scenario. Specifically, in the real vehicle scenario, when a first vehicle makes a left turn in its own lane with a first sample turning radius, the light emitted by the first vehicle's headlights is moved to the left by a first sample offset distance corresponding to the first sample turning radius; it is determined whether there is a blind spot in the adjacent lane (inner lane) to the left of the own lane when the first vehicle turns left; if there is no blind spot in the adjacent lane, the correspondence between the first sample turning radius and the first sample offset distance is determined to be verified.

[0064] It should also be understood that the larger the turning radius, the larger the offset distance; and the smaller the turning radius, the smaller the offset distance.

[0065] It should also be understood that the “preset coefficient” in the above solution can be obtained by averaging multiple ratios between multiple turning radii and corresponding offset distances obtained through multiple actual vehicle tests.

[0066] In the above technical solution, the offset distance when the light emitted by the headlamp is laterally moved is determined by two methods, which can enrich the methods for obtaining the offset distance. Specifically, the first correspondence can be obtained through simulation, and the first correspondence can be verified through the simulated actual vehicle scene. Therefore, the solution of this application can accurately obtain the offset distance.

[0067] Step 203: The vehicle controller controls the light to move the offset distance toward a target direction, where the target direction corresponds to the rotation direction of the steering wheel.

[0068] It should be understood that the "target direction corresponds to the steering wheel rotation direction" in step 203 above means that the target direction can be determined by the steering wheel rotation direction. The steering wheel rotation direction is clockwise or counterclockwise. When the steering wheel rotation direction is clockwise, the target direction is right; when the steering wheel rotation direction is counterclockwise, the target direction is left.

[0069] In some embodiments, the headlights are left and right headlights of the vehicle, and step 203 includes: the vehicle controller controls the light emitted by the left and right headlights to move the offset distance toward the target direction.

[0070] In other embodiments, the steering wheel is rotated in a clockwise direction, and step 203 includes: the vehicle controller controls the light emitted by the right headlight to move the offset distance to the right.

[0071] It should be understood that the above scheme describes: when the vehicle's headlights (the left headlight and the right headlight of the vehicle) are turned on, the vehicle controller determines the turning radius of the vehicle in response to the clockwise steering operation of the vehicle's steering wheel; based on the turning radius, the vehicle controller determines the offset distance when the light illuminated by the right headlight is moved laterally; the vehicle controller controls the light illuminated by the right headlight to move to the right by the offset distance, while the light illuminated by the left headlight does not move laterally.

[0072] In other embodiments, the steering wheel is rotated counterclockwise, and step 203 includes: the vehicle controller controls the light emitted by the left headlamp to move the offset distance to the left.

[0073] It should be understood that the above scheme describes: when the vehicle's headlights (the left headlight and the right headlight of the vehicle) are turned on, the vehicle controller determines the turning radius of the vehicle in response to the counterclockwise steering operation of the vehicle's steering wheel; based on the turning radius, the vehicle controller determines the offset distance when the light illuminated by the left headlight is moved laterally; the vehicle controller controls the light illuminated by the left headlight to move to the left by the offset distance, while the light illuminated by the right headlight does not move laterally.

[0074] In one possible implementation, the headlamp is composed of a plurality of lamp beads, and some of the plurality of lamp beads are lit before the light moves laterally. Step 203 includes: the vehicle controller determines the adjustment distance of the lit portion of the lamp beads based on the illumination distance of the headlamp, the offset distance and the focal length of the headlamp; the vehicle controller determines the target lamp beads from the plurality of lamp beads based on the portion of the lamp beads, the target direction and the adjustment distance; the vehicle controller controls the portion of the lamp beads to extinguish, and controls the target lamp beads to light up, so that the light illuminated by the headlamp moves the offset distance toward the target direction.

[0075] It should be understood that the headlamp in the above solution is composed of a plurality of lamp beads arranged in a target array. In some embodiments, the target array is a trapezoidal array.

[0076] It should also be understood that the headlamp includes a high beam and a low beam, and the irradiation distance of the high beam is different from the irradiation distance of the low beam. The irradiation distance of the high beam is greater than the irradiation distance of the low beam.

[0077] In some embodiments, the illumination distance of the high beam headlights in the vehicle is 100 meters, and the illumination distance of the low beam headlights in the vehicle is 20 meters.

[0078] It should be understood that the vehicle controller determines the target lamp beads from the plurality of lamp beads based on the portion of lamp beads, the target direction, and the adjustment distance. Specifically, the vehicle controller determines the target lamp beads from the plurality of lamp beads based on the position of the portion of lamp beads among the plurality of lamp beads, the target direction, and the adjustment distance. Once the portion of lamp beads is determined, the position of the portion of lamp beads among the plurality of lamp beads can be determined.

[0079] In some embodiments, the sizes of the multiple lamp beads are the same, and the unit of the adjustment distance is the number of lamp beads.

[0080] In the above technical solution, the headlamp is composed of multiple lamp beads. The light emitted by the headlamp is achieved by illuminating at least one of the multiple lamp beads. Before the light moves laterally, some of the multiple lamp beads are illuminated. Therefore, in order to achieve the effect of shifting the light by the offset distance in the target direction, this solution requires determining the adjustment distance for offsetting the illuminated portion of the lamp beads; then, based on the portion of the lamp beads, the target direction, and the adjustment distance, determining the target lamp bead from the multiple lamp beads; finally, controlling the extinguishing of some of the lamp beads and the illuminating of the target lamp bead to achieve the offset of the light emitted by the headlamp. In other words, some of the lamp beads are illuminated when not turning, and some of the lamp beads are extinguished when turning, while the target lamp bead is illuminated, to achieve the lateral shift of the light emitted by the headlamp. In addition, since there is a corresponding proportional relationship between the illumination distance of the headlamp, the offset distance, the focal length of the headlamp, and the adjustment distance of the partially lit lamp beads, the adjustment distance of the partially lit lamp beads can be determined based on the illumination distance of the headlamp, the offset distance, and the focal length of the headlamp.

[0081] Next, please refer to Figure 4, which is a schematic diagram of the structure of a headlamp provided in an embodiment of the present application. For example, the structure of the headlamp is described using a trapezoidal array as the target array and 39 lamp beads. As shown in Figure 4, the headlamp is composed of 39 lamp beads arranged in a trapezoidal array. Lighting up the lamp beads in different positions produces light of different shapes.

[0082] In some possible implementations, the vehicle controller determines the adjustment distance of some of the illuminated lamp beads based on the illumination distance of the headlight, the offset distance and the focal length of the headlight, including: the vehicle controller determines a first ratio between the focal length and the illumination distance; the vehicle controller determines the product of the first ratio and the offset distance as the adjustment distance.

[0083] In the above technical solution, the focal length of the headlamp and the adjustment distance are proportional to the illumination distance of the headlamp and the offset distance. Therefore, a first ratio between the focal length and the illumination distance can be determined; the product of the first ratio and the offset distance is determined as the adjustment distance.

[0084] Next, please refer to Figure 5, which is a schematic diagram of a method for determining target lamp beads according to an embodiment of the present application. For example, the process of determining target lamp beads is described using the example of lamp beads 18 through 23 and 32 through 39, the target direction being leftward, and the adjustment distance being five lamp beads.

[0085] Specifically, the vehicle controller uses each of lamps 18-23 and 32-39 as a reference, shifts five lamps horizontally to the left, and identifies lamps 13-18 and 27-34. The vehicle controller then identifies lamps 13-18 and 27-34 as target lamps. As shown in Figure 5, some lamps are indicated by a solid black frame, while the target lamps are indicated by a dashed gray frame. The solid black line with an arrow indicates the adjustment distance.

[0086] Next, please refer to Figure 6, which is a schematic diagram of a method of lateral movement of light provided in an embodiment of the present application. For example, as shown in Figure 6, the area illuminated by the headlight before movement is the light gray area in Figure 1, and the area illuminated by the headlight after movement is the dark gray area in Figure 6. It should be understood that the light in the light gray area is generated by illumination from some lamp beads, while the light in the dark gray area is generated by illumination from target lamp beads. When driving at night, the driver can clearly observe the road conditions ahead under the light in the light gray area, reasonably control the vehicle, and thus ensure safe driving of the vehicle.

[0087] The detailed process of "controlling each lamp bead in the target lamp bead to light up with different brightness" is described as follows.

[0088] In some possible implementations, the vehicle controller controls the target lamp beads to light up, including: the vehicle controller determines, from the target lamp beads, a first portion of lamp beads for illuminating a first lane and a second portion of lamp beads for illuminating a second lane in which the vehicle is traveling, wherein the first lane is located on the inner side of the second lane; the vehicle controller controls the first portion of lamp beads to light up with a first brightness, and controls the second portion of lamp beads to light up with a second brightness, wherein the first brightness is greater than the second brightness.

[0089] It should be understood that “the first lane is located on the inner side of the second lane” in the above solution specifically refers to the inner side of the curve in which the vehicle travels when turning.

[0090] In the above technical solution, the first portion of the target lamps illuminates the vehicle's inner lane (the first lane), while the second portion illuminates the vehicle's second lane. Typically, when turning, drivers are more concerned with the dynamics of the inner lane, requiring a clearer view of the inner lane. Therefore, the first portion of the lamps can illuminate the first lane at a higher brightness. This reduces the chance of collision with obstacles in the inner lane when turning.

[0091] In some possible implementations, the vehicle controller determines a first portion of lamp beads for illuminating a first lane and a second portion of lamp beads for illuminating a second lane in which the vehicle is traveling from the target lamp beads, including: the vehicle controller determines a second ratio between the number of lamp beads for illuminating the first lane and the number of lamp beads for illuminating the second lane based on the turning radius; the vehicle controller determines the first portion of lamp beads and the second portion of lamp beads from the target lamp beads based on the second ratio, the number of target lamp beads, and the position of the first lane relative to the second lane.

[0092] It should be understood that the number of target lamp beads is the same as the number of partial lamp beads. It should also be understood that the position of the first lane relative to the second lane in the above solution includes the first lane being located on the left side of the second lane and the first lane being located on the right side of the second lane.

[0093] In the above technical solution, when the vehicle turns, the degree to which the front of the vehicle deviates from different lanes is different when the turning amplitude is different. If the front of the vehicle is more inclined toward the second lane, the blind spot of the inner lane (first lane) is relatively large, and therefore, more lamp beads are needed to illuminate the inner lane. Therefore, based on the turning radius, the second ratio between the number of lamp beads used to illuminate the first lane and the number of lamp beads used to illuminate the second lane can be determined. Then, based on the second ratio, the number of target lamp beads, and the position of the first lane relative to the second lane, the first part of the lamp beads and the second part of the lamp beads are determined from the target lamp beads. This solution can accurately determine the first part of the lamp beads used to illuminate the first lane and the second part of the lamp beads used to illuminate the second lane.

[0094] In some embodiments, the vehicle controller determines a second ratio between the number of lamp beads used to illuminate the first lane and the number of lamp beads used to illuminate the second lane based on the turning radius, including: the vehicle controller determines the second ratio between the number of lamp beads used to illuminate the first lane and the number of lamp beads used to illuminate the second lane based on the turning radius and a third correspondence between a sample turning radius and a sample ratio, where the sample ratio is the ratio between the sample number of lamp beads used to illuminate the first lane and the sample number of lamp beads used to illuminate the second lane.

[0095] It should be understood that the third correspondence in the above scheme is obtained through simulation and verified through the actual vehicle scene of the simulation. Specifically, in the actual vehicle scene, when the first vehicle is controlled to make a left turn in the self-lane (the second lane mentioned above) with the first sample turning radius, the first sample part of the target lamp beads is controlled to illuminate the first lane, and the second sample part of the target lamp beads is controlled to illuminate the self-lane, wherein the first sample part of the lamp beads is obtained by multiplying the number of target lamp beads by the first sample ratio, the first sample turning radius corresponds to the first sample ratio, and the sum of the number of the second sample part of the lamp beads and the number of the first sample part of the lamp beads is the number of the target lamp beads; determine whether the light illuminated by the first sample part of the lamp beads completely covers the first lane, that is, whether there is a blind spot in the adjacent lane on the left side of the self-lane; when there is no blind spot in the adjacent lane, determine that the correspondence between the first sample turning radius and the first sample ratio is verified.

[0096] In some possible implementations, the vehicle controller determines the first part of the lamp beads and the second part of the lamp beads from the target lamp beads based on the second ratio, the number of the target lamp beads, and the position of the first lane relative to the second lane, including: the vehicle controller determines the first number of the lamp beads in the first part and the second number of the lamp beads in the second part based on the second ratio and the number of the target lamp beads; when the first lane is located on the left side of the second lane, the vehicle controller determines the lamp beads on the left side of the target lamp beads and the number is the first number as the first part of the lamp beads, and determines the remaining lamp beads as the second part of the lamp beads; when the first lane is located on the right side of the second lane, the vehicle controller determines the lamp beads on the left side of the target lamp beads and the number is the second number as the second part of the lamp beads, and determines the remaining lamp beads as the first part of the lamp beads.

[0097] The detailed process of "controlling the light to move horizontally with different completion times" is described below.

[0098] The first one: Based on the vehicle's speed, control the light to move horizontally

[0099] In some possible implementations, step 203 includes: the vehicle controller determines a target duration for the lateral movement of the light emitted by the headlight based on a second correspondence between the vehicle's driving speed, the sample speed, and the sample duration of the light movement; and the vehicle controller controls the light to move the offset distance in the target direction within the target duration.

[0100] It should be understood that the second correspondence in the above scheme is obtained through simulation and verified through the simulated real vehicle scene. Specifically, in the real vehicle scene, when the first vehicle makes a left turn in its own lane (the second lane mentioned above) with a first sample turning radius and a first sample driving speed, the light bead is controlled to move horizontally to the left by an offset distance within the first sample duration; it is determined whether the vehicle has passed the curved road section and whether the driver feels dizzy; if the vehicle has not passed the curved road section and the driver has not felt dizzy, it is determined that the correspondence between the first sample driving speed and the first sample duration is verified.

[0101] In the above technical solution, the target duration (the time it takes for the lights to shift) is controlled by the vehicle's speed when turning. This allows the lights to shift left in a shorter time when turning left at a faster speed, and in a longer time when turning left at a slower speed. In other words, the time it takes for the lights to shift left adapts to the vehicle's speed. This solution can prevent dizziness caused by slow shifting at high speeds, and also avoid potential safety hazards caused by fast shifting at slow speeds.

[0102] The second method: Control the light to move laterally based on the turning time

[0103] In some possible implementations, step 203 includes: the vehicle controller determines the driving state of the vehicle based on the visual sensor on the vehicle; when the driving state indicates that the turning behavior of the vehicle is caused by the turning section on which the vehicle is traveling, the vehicle controller determines the shortest time to pass through the turning section; the vehicle controller determines the product of the shortest time and a preset factor as the target time, and the preset factor is positively correlated with the road curvature of the turning section; the vehicle controller controls the light to move the offset distance in the target direction within the target time.

[0104] It should be understood that "the driving state indicates that the turning behavior of the vehicle is caused by the turning section on which the vehicle is traveling" in the above solution means that the vehicle must turn when traveling on the turning section, otherwise it cannot pass through the turning section.

[0105] In the above technical solution, the shortest duration for a vehicle to pass through a turning section and a preset factor are used to control the completion time (target duration) for the light to be shifted. In this way, it can be achieved that: when a vehicle turns left on a turning section with a large road curvature, the light is controlled to complete the left shift within a relatively long duration; when a vehicle turns left on a turning section with a small road curvature, the light is controlled to complete the left shift within a relatively short duration. In other words, the duration for the light to complete the shift adapts to the road curvature of the turning section and the reference duration (the shortest duration for a vehicle to pass through the turning section). This solution can avoid the situation where the light is not completed shifted in a very short duration, and can also avoid the situation where the light is completed shifted in a very short duration after passing through a turning section for a long duration, causing dizziness to the driver.

[0106] In some embodiments, the visual sensor is various types of cameras on the vehicle.

[0107] In some embodiments, the vehicle controller determines the shortest time to pass the turning section, including: the vehicle controller determines the ratio between the length of the turning section and the maximum vehicle speed allowed on the turning section as the shortest time.

[0108] FIG7 is a schematic structural diagram of a device for controlling light provided in an embodiment of the present application.

[0109] Exemplarily, as shown in FIG7 , the apparatus 700 includes:

[0110] Determining module 701: used to:

[0111] determining a turning radius of the vehicle in response to a steering operation of a steering wheel of the vehicle with headlights of the vehicle turned on; and determining an offset distance when light emitted by the headlights is laterally moved based on the turning radius;

[0112] The control module 702 is configured to control the light to move toward a target direction by the offset distance, where the target direction corresponds to the rotation direction of the steering wheel.

[0113] Optionally, the determination module 701 is specifically used to: determine the rotation angle of the wheel based on the rotation angle of the steering wheel and the transmission ratio between the steering wheel and the wheel in response to the steering operation of the steering wheel; determine the turning radius based on the wheelbase of the vehicle and the rotation angle of the wheel.

[0114] Optionally, the determination module 702 is further specifically used to: determine the offset distance based on the turning radius and a first corresponding relationship, where the first corresponding relationship is the corresponding relationship between the sample turning radius and the sample offset distance when the light moves; or, determine the product of the turning radius and a preset coefficient as the offset distance.

[0115] Optionally, the headlamp is composed of a plurality of lamp beads, and some of the plurality of lamp beads are lit before the light moves laterally. The control module 702 is specifically used to: determine the adjustment distance of the lit portion of the lamp beads based on the illumination distance of the headlamp, the offset distance and the focal length of the headlamp; determine the target lamp beads from the plurality of lamp beads based on the portion of the lamp beads, the target direction and the adjustment distance; control the portion of the lamp beads to be extinguished, and control the target lamp beads to be lit, so that the light illuminated by the headlamp moves the offset distance toward the target direction.

[0116] Optionally, the determination module 701 is further configured to: determine a first ratio between the focal length and the irradiation distance; and determine the product of the first ratio and the offset distance as the adjustment distance.

[0117] Optionally, the control module 702 is further specifically used to: determine from the target lamp beads a first portion of lamp beads for illuminating a first lane and a second portion of lamp beads for illuminating a second lane in which the vehicle is traveling, the first lane being located on the inner side of the second lane; control the first portion of lamp beads to light up at a first brightness, and control the second portion of lamp beads to light up at a second brightness, the first brightness being greater than the second brightness.

[0118] Optionally, the determination module 701 is further specifically used to: determine a second ratio between the number of lamp beads used to illuminate the first lane and the number of lamp beads used to illuminate the second lane based on the turning radius; and determine the first part of the lamp beads and the second part of the lamp beads from the target lamp beads based on the second ratio, the number of the target lamp beads, and the position of the first lane relative to the second lane.

[0119] Optionally, the determination module 701 is further specifically used to: determine the first number of the first part of the lamp beads and the second number of the second part of the lamp beads based on the second ratio and the number of the target lamp beads; when the first lane is located on the left side of the second lane, the lamp beads on the left side of the target lamp beads and the number of which is the first number are determined as the first part of the lamp beads, and the remaining lamp beads are determined as the second part of the lamp beads; when the first lane is located on the right side of the second lane, the lamp beads on the left side of the target lamp beads and the number of which is the second number are determined as the second part of the lamp beads, and the remaining lamp beads are determined as the first part of the lamp beads.

[0120] Optionally, the control module 702 is further specifically used to: determine the target duration for the lateral movement of the light emitted by the headlight based on a second correspondence between the vehicle's driving speed, the sample speed and the sample duration of the light movement; and control the light to move the offset distance in the target direction within the target duration.

[0121] FIG8 is a schematic structural diagram of a vehicle provided in an embodiment of the present application.

[0122] Exemplarily, as shown in FIG8 , the vehicle 800 includes a memory 801 and a processor 802 , wherein the memory 801 stores a computer program 803 , and the processor 802 is configured to call and execute the computer program 803 to perform a method for controlling lights.

[0123] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a method for controlling light provided in an embodiment of the present application.

[0124] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0125] In the case of dividing each functional module into corresponding functional modules, the device may further include a determination module, a control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0126] It should be understood that the device provided in this embodiment is used to execute the above-mentioned method of controlling light, and thus can achieve the same effect as the above-mentioned implementation method.

[0127] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements. The storage module may be used to support the vehicle's execution of program codes, etc.

[0128] The processing module may be a processor or controller that implements or executes various exemplary logic blocks, modules, and circuits disclosed herein. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0129] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a method for controlling lights provided in the above embodiment.

[0130] This embodiment further provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a method for controlling light provided in the above embodiment.

[0131] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a method for controlling light provided in the above embodiment.

[0132] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0133] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0134] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only 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 device, 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.

[0135] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for controlling a light, characterized in that, The method includes: When the vehicle's headlight is turned on, in response to a steering operation of the vehicle's steering wheel, determining the turning radius of the vehicle; Based on the turning radius, determining an offset distance when laterally moving the light beam irradiated by the headlight; Controlling the light beam to move the offset distance in a target direction, where the target direction corresponds to the rotation direction of the steering wheel.

2. The method according to claim 1, characterized in that, The determining the turning radius of the vehicle in response to a steering operation of the vehicle's steering wheel includes: In response to the steering operation of the steering wheel, based on the rotation angle of the steering wheel and the transmission ratio between the steering wheel and the wheels, determining the rotation angle of the wheels; Based on the wheelbase of the vehicle and the rotation angle of the wheels, determining the turning radius.

3. The method according to claim 1, wherein The determining the offset distance when laterally moving the light beam irradiated by the headlight based on the turning radius includes: Based on the turning radius and a first correspondence relationship, determining the offset distance, where the first correspondence relationship is the correspondence relationship between the sample turning radius and the sample offset distance when the light moves; or, Determining the product of the turning radius and a preset coefficient as the offset distance.

4. The method according to claim 1, wherein The headlight is composed of multiple lamp beads, and before the light beam is not laterally moved, some of the multiple lamp beads are lit. Controlling the light beam to move the offset distance in the target direction includes: Based on the irradiation distance of the headlight, the offset distance, and the focal length of the headlight, determining the adjustment distance of the lit part of the lamp beads; Based on the part of the lamp beads, the target direction, and the adjustment distance, determining target lamp beads from the multiple lamp beads; Controlling the part of the lamp beads to go out and controlling the target lamp beads to be lit, so that the light beam irradiated by the headlight moves the offset distance in the target direction.

5. The method according to claim 4, wherein The determining the adjustment distance of the lit part of the lamp beads based on the irradiation distance of the headlight, the offset distance, and the focal length of the headlight includes: Determining a first ratio between the focal length and the irradiation distance; Determining the product of the first ratio and the offset distance as the adjustment distance.

6. The method according to claim 4, characterized in that The controlling the target lamp beads to be lit includes: Determining a first part of the lamp beads for irradiating the first lane and a second part of the lamp beads for irradiating the second lane on which the vehicle travels from the target lamp beads, where the first lane is located inside the second lane; Controlling the first part of the lamp beads to be lit with a first brightness and controlling the second part of the lamp beads to be lit with a second brightness, where the first brightness is greater than the second brightness.

7. The method according to claim 6, characterized in that, The determining the first part of the lamp beads for irradiating the first lane and the second part of the lamp beads for irradiating the second lane on which the vehicle travels from the target lamp beads includes: Based on the turning radius, determining a second ratio between the number of lamp beads for irradiating the first lane and the number of lamp beads for irradiating the second lane; Based on the second ratio, the number of the target lamp beads, and the position of the first lane relative to the second lane, determining the first part of the lamp beads and the second part of the lamp beads from the target lamp beads.

8. The method according to claim 7, wherein Determining the first part of the target beads and the second part of the target beads from the target beads based on the second ratio, the number of the target beads, and the position of the first lane relative to the second lane includes: Determining a first quantity of the first part of the target beads and a second quantity of the second part of the target beads based on the second ratio and the number of the target beads; When the first lane is on the left side of the second lane, determining the beads on the left side and having the first quantity among the target beads as the first part of the target beads, and determining the remaining beads as the second part of the target beads; When the first lane is on the right side of the second lane, determining the beads on the left side and having the second quantity among the target beads as the second part of the target beads, and determining the remaining beads as the first part of the target beads.

9. The method according to any one of claims 1-8, characterized in that, Controlling the light to move the offset distance in the target direction includes: Determining a target duration for laterally moving the light irradiated by the headlight based on a second correspondence relationship between the driving speed of the vehicle, a sample speed, and a sample duration when the light moves; Controlling the light to move the offset distance in the target direction within the target duration.

10. A device for controlling a light, characterized in that, The device includes: A determining module, configured to: When the headlight of the vehicle is turned on, determine the turning radius of the vehicle in response to a steering operation of the vehicle's steering wheel; Determine an offset distance for laterally moving the light irradiated by the headlight based on the turning radius; A control module, configured to control the light to move the offset distance in a target direction, where the target direction corresponds to the rotation direction of the steering wheel.

11. A vehicle, characterized in that, The vehicle includes: A memory, configured to store executable program code; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 9 is implemented.

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