CN117429342A - Light control method, control device, storage medium and vehicle - Google Patents
Light control method, control device, storage medium and vehicle Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers
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- Mechanical Engineering (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The application provides a light control method, a control device, a storage medium and a vehicle, wherein the light control method comprises the following steps: when detecting that a target object exists in the irradiation range of the car lamp, acquiring characteristic information and the current position of the target object; determining a predicted track of the target object according to the characteristic information and the current position of the target object; and determining a target adjustment area according to the predicted track of the target object, and sending a brightness control command to the car lamp, wherein the brightness control command is used for controlling the car lamp to adjust the brightness of the target adjustment area.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a light control method, a control device, a storage medium and a vehicle.
Background
With the development of the vehicle industry, higher requirements are put on the safety of night driving, and the development of a vehicle lighting system is promoted. The head lamps of the vehicle generally adopt a high-brightness light emitting diode (Light Emitting Diode, LED) array to form the head lamps, and when the vehicle runs at night, a driver controls the head lamps of the vehicle to switch into a high beam mode or a low beam mode according to the illumination requirements of different road environments, so that a proper view is provided for the driver. However, the high brightness of the head lamps may cause glare to other traffic participants, resulting in traffic accidents.
In the related art, when detecting that another traffic participant is on the road, the head lamp is automatically switched from the high beam mode to the low beam mode, thereby reducing the brightness of the head lamp as a whole. Alternatively, the irradiation range of the head lamp is greatly reduced by changing the irradiation angle of the head lamp. However, the above-mentioned method can reduce the influence of the head lamp on other traffic participants, and simultaneously can greatly influence the visual field of the driver, thereby affecting the driving safety.
Disclosure of Invention
The application mainly provides a light control method, a control device, a storage medium and a vehicle, which can adjust brightness according to a target adjustment area where a target object is located, not only can prevent dazzling of the target object, but also can reduce the probability of traffic accidents, and further improve the night driving safety of the vehicle.
The technical scheme of the application is realized as follows:
in a first aspect, an embodiment of the present application provides a light control method, including:
when detecting that a target object exists in the irradiation range of the car lamp, acquiring characteristic information and the current position of the target object;
determining a predicted track of the target object according to the characteristic information and the current position of the target object;
And determining a target adjustment area according to the predicted track of the target object, and sending a brightness control command to the car lamp, wherein the brightness control command is used for controlling the car lamp to adjust the brightness of the target adjustment area.
In a second aspect, an embodiment of the present application provides a control device, including:
the acquisition unit is configured to acquire the characteristic information and the current position of the target object when the existence of the target object in the irradiation range of the car lamp is detected;
the prediction unit is configured to determine a predicted track of the target object according to the characteristic information and the current position of the target object;
and the brightness adjusting unit is configured to determine a target adjusting area of the target object according to the predicted track of the target object and send a brightness control command to the car lamp, wherein the brightness control command is used for controlling the car lamp to adjust the brightness of the target adjusting area.
In a third aspect, an embodiment of the present application provides a control device, where the control device includes a memory and a processor, and where:
a memory for storing a computer program capable of running on the processor;
a processor for executing a computer program in a memory for implementing the steps of the light control method as described in the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the light control method according to the first aspect.
In a fifth aspect, embodiments of the present application provide a vehicle, comprising: the acquisition device, the car lamp and the control device according to the third aspect or the fourth aspect, wherein the control device is respectively connected with the acquisition device and the car lamp;
the acquisition device is used for acquiring the environment information of the current environment and sending the environment information to the control device;
control means for performing the light control method as described in the first aspect to send a brightness control command to the lamp;
and the car lamp is used for adjusting the brightness of the target adjustment area according to the brightness control command.
Drawings
Fig. 1 is a schematic step flow diagram of a light control method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a target adjustment area according to an embodiment of the present disclosure;
fig. 3 is a second schematic step flow chart of a light control method according to an embodiment of the present application;
fig. 4 is a step flow diagram of a light control method according to an embodiment of the present application;
fig. 5 is a schematic step flow diagram of a light control method according to an embodiment of the present application;
fig. 6 is a schematic diagram of a composition structure of a control device according to an embodiment of the present application;
fig. 7 is a schematic hardware structure of a control device according to an embodiment of the present application;
Fig. 8 is a schematic view of a composition structure of a vehicle according to an embodiment of the present application.
Detailed Description
For a more complete understanding of the features and technical content of the embodiments of the present application, reference should be made to the following detailed description of the embodiments of the present application, taken in conjunction with the accompanying drawings, which are for purposes of illustration only and not intended to limit the embodiments of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.
It should also be noted that the term "first/second/third" in reference to the embodiments of the present application is used merely to distinguish similar objects and does not represent a specific ordering for the objects, it being understood that the "first/second/third" may be interchanged with a specific order or sequence, if allowed, to enable the embodiments of the present application described herein to be implemented in an order other than that illustrated or described herein.
The head lamp in the vehicle lighting system is critical for safe driving of the vehicle during night driving. The main function of the headlamp is to illuminate a section of area in front of the vehicle, so that a driver can observe the road condition in front. When a driver is traveling on a darker road, the headlight can increase the visibility of the area in front of the vehicle, but the driver needs to frequently switch the high beam and the low beam depending on whether an oncoming vehicle or a pedestrian is present on the opposite side. If the short distance light is turned on directly, the distance cannot be seen clearly, and danger is easy to occur; if a direct-cut high beam is used, when an oncoming vehicle or a pedestrian is on the opposite side, the oncoming vehicle or the pedestrian can be disturbed, and even traffic accidents are caused because the oncoming vehicle cannot see the road.
In recent years, an adaptive high beam (Adaptive Driving Beam, ADB) of a vehicle gradually becomes standard, and compared with a traditional vehicle headlamp, the ADB can adaptively perform overall adjustment on the headlamp in terms of brightness and range when detecting other traffic participants, so as to avoid dazzling injury of the headlamp of the vehicle to the other traffic participants.
Specifically, the early ADB can only switch between a high beam mode and a low beam mode of a headlight of a vehicle, and control to turn on or off the high beam as a whole. The high beam is typically turned off when a front drive is detected, and turned on again after the front drive has disappeared.
With the further development of the vehicle lighting system, the ADB also adjusts the irradiation height of the head lamps of the vehicle in the vertical direction or the irradiation angle in the horizontal direction in a manual or automatic adjustment mode, so that the influence of too high or too low light beams of the head lamps on other traffic participants is avoided.
However, the above-mentioned manner of controlling the headlight to perform the light mode switching cannot control the partial lighting or extinguishing of the high beam according to the actual needs, and the low beam may still have an influence on other traffic participants. In addition, the mode of adjusting the irradiation angle of the head lamp is low in adjustment accuracy and poor in real-time performance, and meanwhile, the irradiation range of the head lamp can be greatly reduced, so that the driving safety is influenced.
Based on the technical problems, the embodiment of the application provides a light control method, in particular to a scheme for determining partial brightness adjustment of a vehicle lamp irradiation range according to the position and the motion state of an opposite vehicle or a pedestrian. The moving track of the target object is predicted, the target adjusting area where the target object is located is determined, and the brightness of the lamp irradiated to the target adjusting area is adjusted in a targeted mode, so that dazzling of the target object is avoided, the visual field influence of light adjustment on a driver is reduced, the probability of traffic accidents is reduced, and the safety of vehicles during night driving is improved.
The present application is further described in detail below with reference to the accompanying drawings and specific examples.
In an embodiment of the present application, fig. 1 is a schematic flow chart of a step of a light control method provided in an embodiment of the present application. As shown in fig. 1, the method includes:
s101, when the existence of a target object in the irradiation range of the car lamp is detected, acquiring the characteristic information and the current position of the target object.
In the embodiment of the present application, the lamp may be a headlight of the host vehicle for illuminating a range in front of the host vehicle. For example, the array-type lamp, which may be an LED, can perform local on-off control according to a brightness control instruction of the control device.
The target may be other traffic participants, such as pedestrians, other vehicles, etc., that are able to move autonomously, or are moving. When these objects are present in the illumination range of the lamp, the lamp may illuminate the eyes of a pedestrian or other driver of the vehicle, making it dazzling and temporarily unable to distinguish the direction and distance the vehicle is traveling from, resulting in the occurrence of a traffic accident.
The vehicle has mounted thereon a collection device, which may be, for example, a camera. The control device can recognize and classify the environmental image in front of the vehicle acquired by the camera in real time through a target detection algorithm, detect a target object in the environmental image, and further mark the characteristic information and the current position of the target object. It should be noted that, the target detection algorithm may be YOLO (You Only Look Once) series algorithm, convolutional neural network (Convolutional Neural Network, CNN) algorithm, single-time polygon detection (Single Shot MultiBox Detector, SSD) algorithm, and the like, and the embodiments of the present application are not limited herein.
It should be noted that, the target detection algorithm may detect a plurality of targets in the environmental image, where each target has corresponding feature information and a current position.
The feature information of the object may be that, after identifying the category of the object, the object is identified by feature, and a plurality of attributes are selected from a predefined attribute list to describe the feature of the object, so as to distinguish the object from other objects. For example, when the object is a pedestrian, the characteristic information may include appearance characteristics such as height, body shape, clothing information, and other characteristics such as carrying information, etc. When the object is another vehicle, the characteristic information may include appearance characteristics such as color, height, size, etc., and other characteristics such as range, brightness, etc. of the lamp.
The current position of the target object can be represented by coordinates, but it should be noted that the coordinates of the target object in the environment image need to be converted by the control device, so as to determine the actual relative position relationship between the target object and the vehicle.
S102, determining a predicted track of the target object according to the characteristic information and the current position of the target object.
In the embodiment of the application, the control device may determine the next position of the target object based on the characteristic information and the current position of the target object through a trajectory prediction algorithm. The feature information of the target object can provide reference information in the process of determining the next position so as to improve the accuracy of prediction. In addition, the next position of the target object may be a position coordinate of the target object in an image frame of the next frame of the environmental image, or may be a position coordinate after a preset time interval.
The trajectory prediction algorithm may be a traditional social force model (social force model), or may be a neural network algorithm, such as Long Short-Term Memory (LSTM) algorithm, CNN algorithm, etc., which are not specifically limited herein.
Further, a predicted trajectory of the target object is formed from the current position of the target object and the next position of the target object. It should be noted that, for the object with a slower moving speed, the control device may also be capable of predicting a further next position of the object based on the current position, the next position and the feature information, and forming a predicted track by the further next position, the next position and the current position together. It will be appreciated that the more locations are known, the closer the predicted trajectory is to the real trajectory.
S103, determining a target adjustment area according to the predicted track of the target object, and sending a brightness control command to the car lamp.
The brightness control command is used for controlling the car lamp to adjust the brightness of the target adjustment area.
The brightness control command is used for controlling the car lamp to adjust the brightness of the target adjustment area.
As shown in fig. 2, the target adjustment area 202 is an area corresponding to a predicted track of the target object, and may be determined by determining a possible passing width of the target object according to the predicted track of the target object and the characteristic information of the target object, and then expanding the predicted track based on the passing width. It will be appreciated that for the same predicted trajectory, the corresponding target adjustment area may be larger when the target is a vehicle; when the target object is a pedestrian, the corresponding target adjustment area may be smaller.
In this embodiment of the present application, the predicted trajectory of the target, i.e. the dashed line portion in fig. 2, may be composed of the current position and the next position of the target. In some embodiments, a next position of the target object may also be predicted, and the current position, the next position, and the next position of the target object together form a predicted track of the target object. The current position of the target may be the coordinate where the black rectangle in fig. 2 is located, the next position of the target may be the coordinate where the black triangle in fig. 2 is located, and the next position of the target may be the coordinate where the black circle in fig. 2 is located.
After the control device determines the target adjustment area, according to the corresponding relation between the coordinates of the target adjustment area and the irradiation range of the vehicle 201, determining the part of the array type vehicle lamp, which needs to adjust the brightness, generating a brightness control command, and sending the brightness control command to the vehicle lamp, so that the vehicle lamp adjusts the brightness of the part.
It should be noted that fig. 2 only illustrates an example in which a pedestrian is a target object. When a plurality of targets are detected in the irradiation range of the car lamp, the control device can determine the target adjustment area corresponding to each target, and enable the car lamp to adjust the brightness of each target adjustment area according to the brightness control command.
In addition, the brightness control command may be used to control the brightness of the vehicle lamp in the target adjustment area to decrease, or may be used to control the brightness of the vehicle lamp in the target adjustment area to turn off, or may be used to control the brightness of the vehicle lamp in the target adjustment area to increase, where the specific situation is determined according to the user setting.
It can be understood that in the embodiment of the present application, the driver of the vehicle only needs to turn on the high beam, and after identifying the target object, the control device can automatically adjust the brightness of the target adjustment area corresponding to the target object according to the motion state of the target object, such as the line, the speed light, and the like.
The embodiment of the application provides a light control method, through predicting the moving track of a target object, determining a target adjustment area where the target object is located, and then carrying out targeted adjustment on the brightness of the illumination of a car lamp to the target adjustment area without frequently switching the far-beam and near-beam lamps of a car, so that the dazzling of the target object is avoided, the visual field influence of light adjustment on a driver is reduced, the probability of traffic accidents is reduced, and the safety of the running and pedestrians is ensured while the driving is facilitated.
In yet another embodiment of the present application, fig. 3 is a second schematic step flow diagram of a light control method provided in the embodiment of the present application. For sending a brightness control command to a vehicle lamp, as shown in fig. 3, the method may include:
S301, when the type of the object is a pedestrian, a first brightness control command is sent to the car lamp.
The first brightness control command is used for controlling the brightness of the car lamp to be adjusted to the first brightness in the target adjustment area.
As in the previous embodiments, the target adjustment region may have different region positions and sizes when the predicted trajectories or targets are different.
The control device can identify and classify the environmental image in front of the vehicle acquired by the camera in real time through a target detection algorithm, and determine the category of the target object. When the category of the object is a pedestrian, the corresponding target adjustment area may be smaller in range, and since the speed of the pedestrian is slower, it may not be necessary to reduce more brightness by the lamp. In addition, under the condition that some car lamps do not directly irradiate eyes of the pedestrians, the control device can lighten the target adjustment area of the pedestrians according to the needs of the users, and the pedestrians can be illuminated forward.
Accordingly, the control device may generate a first brightness control command for causing the lamp to adjust the brightness of the lamp light irradiated to the range of the target adjustment area to the brightness required by the user based on the lamp brightness required by the user and the range of the target adjustment area.
S202, when the type of the target object is a vehicle, a second brightness control command is sent to the vehicle lamp.
The second brightness control command is used for controlling the brightness of the car lamp to be adjusted to the second brightness in the target adjustment area.
The control device can identify and classify the environmental images in front of the vehicle acquired by the camera in real time through a target detection algorithm, and determine the category of the target object. When the type of the object is a vehicle, the corresponding target adjustment area may have a larger range, and since the vehicle speed is faster than the pedestrian, it may be necessary to reduce the brightness of the vehicle lamp more to avoid the accident caused by dazzling the driver of the opposite side. In addition, the eye position of the driver of the vehicle may be different from the eye position of the pedestrian such that the target adjustment area corresponding to the vehicle is slightly larger than the target adjustment area corresponding to the pedestrian.
Accordingly, the control device may generate a second brightness control command for adjusting the brightness of the lamp light irradiated to the target adjustment area range to the desired brightness based on the desired lamp brightness and the target adjustment area range.
In some embodiments, fig. 4 is a schematic step flow chart of a light control method according to an embodiment of the present application. The method may include, as shown in fig. 4, sending a brightness control command to the vehicle lamp:
s401, when the type of the target object is a vehicle running in the same direction, determining a third brightness corresponding to the first brightness adjustment strategy, and sending a third brightness control command to the vehicle lamp.
The third brightness control command is used for controlling the brightness of the car lamp to be adjusted to the third brightness in the target adjustment area.
The control device determines whether the type of the target object is a vehicle running in the same direction or a vehicle running in opposite directions, and can determine according to the characteristic information of the target object; the distance between the object and the vehicle can be determined by judging, for example, when the distance between the object and the vehicle is close, the object is indicated to be a vehicle running in opposite directions, and when the distance between the object and the vehicle is further and further, the object is indicated to be a vehicle running in the same direction.
After determining that the object type is a vehicle traveling in the same direction, the control device may determine the corresponding third luminance based on the first luminance adjustment strategy. The target adjustment area determined through the steps can be arranged at a position near a rearview mirror or an endoscope of the vehicle running in the same direction, so that the glare caused by the fact that the light of the vehicle is reflected into eyes of a driver in the vehicle running in the same direction through a mirror surface is avoided. The third luminance may be determined based on the distance from the vehicle traveling in the same direction, the height of the lamp of the vehicle, the irradiation range, and the like.
After the control device determines the target adjustment area and the third brightness, a third brightness control command is generated and sent to the car lamp, so that the car lamp adjusts the brightness of the target adjustment area to the third brightness.
S402, when the type of the object is a vehicle running oppositely, determining fourth brightness corresponding to the second brightness adjustment strategy, and sending a fourth brightness control command to the vehicle lamp.
The fourth brightness control command is used for controlling the brightness of the car lamp to be adjusted to the fourth brightness in the target adjustment area.
After determining that the type of the object is the vehicle traveling in the opposite direction, the control device may determine the corresponding fourth luminance based on the second luminance adjustment policy. The target adjustment area determined through the steps can be arranged at a position near eyes of a driver of the opposite-running vehicle, so that glare caused in eyes of the driver of the opposite-running vehicle due to direct light of the vehicle is avoided. The fourth luminance may be determined based on the distance from the vehicle traveling in the opposite direction, the height of the lamp of the vehicle, the irradiation range, and the like.
After the control device determines the fourth brightness, a fourth brightness control command is generated and sent to the car lamp, so that the car lamp adjusts the brightness of the target adjusting area to the fourth brightness.
Wherein the first brightness adjustment strategy is different from the second brightness adjustment strategy.
It will be appreciated that when the types of the objects are different, the positions of the drivers of the vehicles travelling in the same direction are different from the positions of the drivers of the vehicles travelling in opposite directions, which may cause that the brightness of the lights of the dazzling lights of the drivers of the objects may be different, and the control device needs to adopt different brightness adjustment strategies.
The embodiment of the application provides a lamplight control method, wherein when the types of target objects are different, a control device generates and sends different brightness control commands to a car lamp. Therefore, the automobile lamp is adaptively and automatically adjusted according to the type of the target object, the potential safety hazard of the automobile lamp to the target object is eliminated, and the driving safety of the automobile is improved.
In yet another embodiment of the present application, the detection signal of the target object includes a visible signal and an invisible signal.
The detection signal of the target is a signal for acquiring information about the target in the irradiation range of the lamp when the vehicle detects whether the target is present in the irradiation range of the lamp.
The visible signal may be a signal collected by a camera on the host vehicle, and may be, for example, an image or video stream of the current environment in front of the host vehicle. The invisible signal may be a penetrating signal collected by a sensor, and may be, for example, infrared rays, millimeter waves, electromagnetic waves, or the like.
In some embodiments, after sending the brightness control command to the vehicle lamp, the method may further comprise: the intensity of the invisible signal in the target adjustment area is enhanced.
After generating and sending a brightness control command to the car lamp, the control device enables the car lamp to adjust the brightness of the lamplight in the target adjustment area. To avoid glare on the target, the adjustment is typically performed to reduce the brightness of the light. However, when the brightness of the target adjustment area is reduced, the visual field of the driver of the vehicle in the target adjustment area is affected, and the driving safety is affected.
In this embodiment of the present application, after the light brightness of the target adjustment area is reduced, the control device may increase the intensity of the invisible signal in the target adjustment area at the same time, and after the condition of the target object in the target adjustment area fed back by the invisible signal is visualized, display the visual field influence of brightness adjustment on the driver is reduced as much as possible to the driver on the screen of the vehicle.
The embodiment of the application provides a light control method, after the light brightness of a target adjustment area is reduced, the intensity of invisible signals in the target adjustment area is increased, so that the visual field of a driver of the vehicle can be fully ensured while no interference is caused to an oncoming vehicle or a pedestrian, and the safety of night driving is improved.
In yet another embodiment of the present application, after obtaining the feature information and the current position of the target object, the method may further include: and storing the characteristic information of the target object into a database.
In this embodiment of the present application, after the feature information and the current position of the target object are obtained, the control device may store the feature information of the target object as historical data in the database.
The preservation time of the characteristic information of the target object can be 5min, 10min and the like, can be set according to actual needs, and can be uploaded to the cloud for permanent preservation. When the characteristic information of the object is required to be used, the object is read in a database.
In some embodiments, fig. 5 is a schematic diagram of a step flow chart of a light control method according to an embodiment of the present application. After determining the target adjustment region according to the predicted trajectory of the target object, as shown in fig. 5, the method may further include:
s501, when an object to be identified exists in the irradiation range of the car lamp, performing image matching on the object to be identified and at least one target object in a database, and determining a matching target object corresponding to the object to be identified.
The object to be identified may contain only a local feature of a pedestrian or a vehicle, and it is difficult to determine whether it is the object by object detection.
In this embodiment of the present application, the control device may select the region frame in which the target object to be identified is located, and generate the candidate region. And then, sequentially carrying out image matching on the object to be identified in the candidate area and the object to be identified which is stored in the database and identified before. If a certain object in the database is successfully matched with the object to be identified, the object to be identified is taken as a matched object; if the object to be identified is failed to be matched with all the targets in the database, the object to be identified does not have a corresponding matched target, and the following steps are not executed. The image matching may be, for example, feature point alignment.
S502, adjusting the target adjustment area based on the matched target object, and determining a new target adjustment area.
As in the previous embodiment, the control device determines the predicted track of the target object according to the feature information and the current position of the target object before determining the target object successfully matched with the matching target object image in the database, thereby determining the target adjustment area of the target object. After that, if a matching target object that is successfully matched with the target object is acquired, and the position of the matching target object may deviate from the target adjustment area of the target object, the deviation of the target adjustment area of the target object may be adjusted based on the position of the matching target object, so as to determine a new target adjustment area, and the range of the new target adjustment area includes the position of the matching target object.
In some embodiments, the control device may further predict the position of the target object based on the last position of the target object and the position of the corresponding matching target object, and determine the target adjustment area according to the predicted position.
The embodiment of the application provides a lamplight control method, which is characterized in that when only an object to be identified is identified, the image matching is carried out between the lamplight control method and a target object in a database, the matched target object is determined, and a target adjustment area is adjusted according to the matched target object. Therefore, the recognition range of the target object is enlarged, the potential risk is reduced, and the driving safety of the vehicle is improved.
In still another embodiment of the present application, in the step S102, determining the predicted trajectory of the target object according to the feature information and the current position of the target object may include: and inputting the characteristic information and the current position of the target object into a local prediction model, and outputting the predicted track of the target object through the local prediction model.
The local prediction model is obtained by pruning and distilling an initial prediction model and training the model.
In this embodiment of the present application, the control device may predict the trajectory of the target object according to the feature information and the current position of the target object by using a local prediction model provided on the vehicle. The local prediction model can also be called as a vehicle-mounted side light-weight large model, and the optimal balance of power consumption, reasoning speed and generating effect is achieved by adjusting the model structure and the parameter size so that the local prediction model is adapted to the characteristics of a chip on a vehicle in memory and calculation power.
Compared with a cloud track prediction model, the local prediction model is improved as follows, so that the calculation force requirement of the track prediction model is reduced on the premise of reducing performance influence as much as possible. Firstly, model pruning is performed, a track prediction model is of a model structure of an encoder-decoder (encoder-decoder), and the deeper the network is, the larger the feeling is, so that the deep network is more concerned with local characteristics such as textures. Since shallow layers are more sensitive to pruning than deep layers, the influence of the shallow layers on the performance is more obvious under the condition that the pruning proportion is the same. Therefore, when model pruning is performed, more proportion of pruning is performed on the deep layer of the track prediction model. Secondly, distilling the track prediction model, and improving the distilling efficiency of the track prediction model by adopting a training strategy of distilling only the decoder part and automatically updating the decoder. Meanwhile, the track prediction model is used as a teacher model, the track prediction model after pruning and distillation is used as a student model, and the local prediction model is determined by restraining the consistency of output images. Through the steps, the capability expression that the local prediction model is almost consistent with the cloud track prediction model is realized.
The embodiment of the application provides a lamplight control method, which solves the problems that a network signal is weak, communication with a cloud end cannot be performed normally and a predicted track of a target object is difficult to determine by using a track prediction model of the cloud end by using a local prediction model.
In yet another embodiment of the present application, fig. 6 is a schematic structural diagram of a control device according to an embodiment of the present application. As shown in fig. 6, the control device 60 may include:
an obtaining unit 601 configured to obtain feature information and a current position of a target object when the presence of the target object in an irradiation range of the vehicle lamp is detected;
a prediction unit 602 configured to determine a predicted trajectory of the target object according to the feature information and the current position of the target object;
the brightness adjustment unit 603 is configured to determine a target adjustment area of the target object according to the predicted track of the target object, and send a brightness control command to the vehicle lamp, where the brightness control command is used to control the vehicle lamp to adjust the brightness of the target adjustment area.
In some embodiments, the brightness adjustment unit 603 is further configured to send a first brightness control command to the vehicle lamp when the type of the target object is a pedestrian, where the first brightness control command is used to control the vehicle lamp to adjust the brightness of the target adjustment area to the first brightness; and when the type of the target object is a vehicle, sending a second brightness control command to the vehicle lamp, wherein the second brightness control command is used for controlling the vehicle lamp to adjust the brightness of the target adjustment area to a second brightness.
In some embodiments, the luminance adjustment unit 603 is further configured to determine a third luminance corresponding to the first luminance adjustment policy when the type of the target object is a vehicle running in the same direction, and send a third luminance control command to the vehicle lamp, where the third luminance control command is used to control the vehicle lamp to adjust the luminance of the target adjustment area to the third luminance; when the type of the target object is a vehicle running oppositely, determining fourth brightness corresponding to the second brightness adjustment strategy, and sending a fourth brightness control command to the vehicle lamp, wherein the fourth brightness control command is used for controlling the vehicle lamp to adjust the brightness of the target adjustment area to the fourth brightness; wherein the first brightness adjustment strategy is different from the second brightness adjustment strategy.
In some embodiments, the brightness adjustment unit 603 is further configured to detect that the signal of the object includes a visible signal and an invisible signal; the intensity of the invisible signal in the target adjustment area is enhanced.
In some embodiments, the obtaining unit 601 is further configured to store the feature information of the object into a database;
in some embodiments, the brightness adjustment unit 603 is further configured to, when the object to be identified exists in the illumination range of the vehicle lamp, perform image matching on the object to be identified and at least one target object in the database, and determine a matching target object corresponding to the object to be identified; and adjusting the target adjustment area of the matched target object based on the object to be identified, and determining a new target adjustment area.
In some embodiments, the prediction unit 602 is further configured to input the feature information and the current position of the target object into a local prediction model, and output a predicted trajectory of the target object through the local prediction model; the local prediction model is obtained by pruning and distilling an initial prediction model and training the model.
It will be appreciated that in this embodiment, the "unit" may be a part of a circuit, a part of a processor, a part of a program or software, etc., and may of course be a module, or may be non-modular. Furthermore, the components in the present embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional modules.
The integrated units, if implemented in the form of software functional modules, may be stored in a computer-readable storage medium, if not sold or used as separate products, and based on such understanding, the technical solution of the present embodiment may be embodied essentially or partly in the form of a software product, which is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or processor to perform all or part of the steps of the method described in the present embodiment. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Accordingly, the present embodiment provides a computer readable storage medium storing a computer program which, when executed by at least one processor, implements the steps of the method of any of the preceding embodiments.
In some embodiments, fig. 7 is a schematic hardware structure of a control device according to an embodiment of the present application. As shown in fig. 7, the control device 60 may include: a communication interface 604, a memory 605 and a processor 606; the various components are coupled together by a bus system 607. It is understood that the bus system 607 is used to enable connected communication between these components. The bus system 607 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration, the various buses are labeled as bus system 607 in fig. 7. Wherein:
the communication interface 604 is used for receiving and transmitting signals in the process of receiving and transmitting information with the power supply equipment;
a memory 605 for storing a computer program capable of running on the processor 606;
a processor 606 for executing, when running the computer program:
when detecting that a target object exists in the irradiation range of the car lamp, acquiring characteristic information and the current position of the target object;
Determining a predicted track of the target object according to the characteristic information and the current position of the target object;
and determining a target adjustment area according to the predicted track of the target object, and sending a brightness control command to the car lamp, wherein the brightness control command is used for controlling the car lamp to adjust the brightness of the target adjustment area.
It is to be appreciated that the memory 605 in embodiments of the present application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (Double Data Rate SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and Direct memory bus RAM (DRRAM). The memory 605 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
And processor 606 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the methods described above may be performed by integrated logic circuitry in hardware or instructions in software in processor 606. The processor 606 may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 605 and the processor 606 reads the information in the memory 605 and in combination with its hardware performs the steps of the method described above.
It is to be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For a hardware implementation, the processing units may be implemented within one or more application specific integrated circuits (Application Specific Integrated Circuits, ASIC), digital signal processors (Digital Signal Processing, DSP), digital signal processing devices (DSP devices, DSPD), programmable logic devices (Programmable Logic Device, PLD), field programmable gate arrays (Field-Programmable Gate Array, FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units configured to perform the functions described herein, or a combination thereof.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Optionally, as another embodiment, the processor 606 is further configured to perform the steps of the method according to any of the preceding embodiments when the computer program is run.
In yet another embodiment of the present application, fig. 8 is a schematic diagram of a composition structure of a vehicle according to an embodiment of the present application. As shown in fig. 8, the vehicle 80 includes: the acquisition device 801, the vehicle lamp 802, and the control device 60 is connected to the acquisition device 801 and the vehicle lamp 802, respectively.
The acquisition device 801 is configured to acquire environmental information of a current environment, and send the environmental information to the control device 60.
In the embodiment of the present application, the environmental information of the current environment may include a visible signal and an invisible signal acquired by the acquisition device 801. The acquisition device 801 may be a device such as a camera, and is configured to acquire a visible signal of a current environment; the acquisition device 801 may also be an infrared sensor, radar or other sensor for acquiring invisible signals of the current environment.
The control device 60 is used for executing the light control method in the previous embodiment to send the brightness control command to the vehicle lamp 802.
In the embodiment of the present application, the control device 60 executes the foregoing light control method, which may include the following processing flows:
step 1, when driving at night, the vehicle starts a high beam, and whether a vehicle or a pedestrian exists in the irradiation range of the vehicle lamp 802 is captured by the acquisition device 801.
And 2, dynamically planning the track and the position of the vehicle or the pedestrian according to the motion state of the vehicle or the pedestrian when the vehicle or the pedestrian is detected.
And 3, adjusting the brightness of the car lamp 802 irradiated to the position according to the track and the position of the car or the pedestrian through a brightness control command. Illustratively, the adjustment may be a fade.
And a lamp 802 for adjusting the brightness of the target adjustment area according to the brightness control command.
In this embodiment of the present application, the lamp 802 may be an LED array lamp, and may perform brightness adjustment of a local lamp according to a brightness control command sent by the control device 60 and a correspondence between a target adjustment area and the lamp, so that brightness of the lamp irradiated to the target adjustment area is changed accordingly.
The embodiment of the application provides a vehicle, according to the environmental information of the current environment collected by a collecting device, a control device sends a brightness control command to a vehicle lamp, so that the vehicle lamp can be adjusted according to the brightness control command. Therefore, the influence of the lamp of the vehicle on the target object is reduced, and the safety of the vehicle during driving at night is improved.
The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the present application, but is intended to cover any modifications, equivalents, and alternatives falling within the spirit and principles of the present application.
The present application also provides a computer program product containing instructions, which when run on a computer, cause the computer to perform the steps in the light control method provided in the above method embodiment.
It should be appreciated that the description of the storage medium and apparatus embodiments above is similar to that of the method embodiments described above, with similar benefits as the method embodiments. For technical details not disclosed in the storage medium, storage medium and device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.
It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" or "some embodiments" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" or "in some embodiments" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments. The foregoing description of various embodiments is intended to highlight differences between the various embodiments, which may be the same or similar to each other by reference, and is not repeated herein for the sake of brevity.
It should also be noted that, in this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
The methods disclosed in the several method embodiments provided in the present application may be arbitrarily combined without collision to obtain a new method embodiment.
The features disclosed in the several product embodiments provided in the present application may be combined arbitrarily without conflict to obtain new product embodiments.
The features disclosed in the several method or apparatus embodiments provided in the present application may be arbitrarily combined without conflict to obtain new method embodiments or apparatus embodiments.
The foregoing description of the preferred embodiments of the present application is not intended to limit the scope of the present application, but is intended to cover any modifications, equivalents, and alternatives falling within the spirit and principles of the present application.
Claims (10)
1. A light control method, comprising:
when detecting that a target object exists in the irradiation range of the car lamp, acquiring characteristic information and the current position of the target object;
determining a predicted track of the target object according to the characteristic information and the current position of the target object;
and determining a target adjustment area according to the predicted track of the target object, and sending a brightness control command to the car lamp, wherein the brightness control command is used for controlling the car lamp to adjust the brightness of the target adjustment area.
2. The method of claim 1, the sending a brightness control command to the vehicle lamp comprising:
when the type of the target object is a pedestrian, a first brightness control command is sent to the car lamp, and the first brightness control command is used for controlling the car lamp to adjust the brightness of the target adjusting area to a first brightness;
and when the type of the target object is a vehicle, sending a second brightness control command to the vehicle lamp, wherein the second brightness control command is used for controlling the vehicle lamp to adjust the brightness of the target adjustment area to a second brightness.
3. The method of claim 1, the sending a brightness control command to the vehicle lamp comprising:
when the type of the target object is a vehicle running in the same direction, determining a third brightness corresponding to a first brightness adjustment strategy, and sending a third brightness control command to the vehicle lamp, wherein the third brightness control command is used for controlling the vehicle lamp to adjust the brightness of the target adjustment area to the third brightness;
when the type of the target object is a vehicle running oppositely, determining fourth brightness corresponding to a second brightness adjustment strategy, and sending a fourth brightness control command to the vehicle lamp, wherein the fourth brightness control command is used for controlling the vehicle lamp to adjust the brightness of the target adjustment area to the fourth brightness;
wherein the first brightness adjustment strategy is different from the second brightness adjustment strategy.
4. The method of claim 1, the detection signal of the target comprising a visible signal and an invisible signal; after the brightness control command is sent to the car lamp, the method further comprises:
enhancing the intensity of the invisible signal in the target adjustment area.
5. The method of claim 1, after obtaining the characteristic information and the current position of the object, the method further comprising:
Storing the characteristic information of the target object into a database;
after determining the target adjustment area according to the predicted track of the target object, the method further includes:
when an object to be identified exists in the irradiation range of the car lamp, performing image matching on the object to be identified and at least one target object in the database, and determining a matching target object corresponding to the object to be identified;
and adjusting the target adjustment area based on the matched target object, and determining a new target adjustment area.
6. The method of claim 1, wherein determining the predicted trajectory of the target based on the feature information and the current position of the target comprises:
inputting the characteristic information and the current position of the target object into a local prediction model, and outputting the predicted track of the target object through the local prediction model; the local prediction model is obtained by pruning and distilling an initial prediction model and training the model.
7. A control apparatus comprising:
the device comprises an acquisition unit, a detection unit and a control unit, wherein the acquisition unit is configured to acquire characteristic information and a current position of a target object when the target object exists in an irradiation range of a car lamp;
The prediction unit is configured to determine a predicted track of the target object according to the characteristic information and the current position of the target object;
and the brightness adjustment unit is configured to determine a target adjustment area of the target object according to the predicted track of the target object, and send a brightness control command to the car lamp, wherein the brightness control command is used for controlling the car lamp to adjust the brightness of the target adjustment area.
8. A control device comprising a memory and a processor, wherein:
the memory is used for storing a computer program capable of running on the processor;
the processor for executing the computer program in the memory to implement the steps of the light control method of any one of claims 1-6.
9. A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the light control method as claimed in any one of claims 1-6.
10. A vehicle, comprising: acquisition means, a vehicle lamp and a control device according to claim 7 or 8, said control device being connected to said acquisition means and said vehicle lamp, respectively;
The acquisition device is used for acquiring the environmental information of the current environment and sending the environmental information to the control device;
the control device is used for executing the light control method according to any one of claims 1-6 so as to send a brightness control command to the car lamp;
and the car lamp is used for adjusting the brightness of the target adjustment area according to the brightness control command.
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| CN202311625940.5A CN117429342A (en) | 2023-11-30 | 2023-11-30 | Light control method, control device, storage medium and vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119293736A (en) * | 2024-12-12 | 2025-01-10 | 江苏大道新材料有限公司 | Intelligent eye protection lighting sitting posture correction method and system |
| CN120503699A (en) * | 2025-07-22 | 2025-08-19 | 成都赛力斯科技有限公司 | Car lamp control method and device, computer equipment and storage medium |
-
2023
- 2023-11-30 CN CN202311625940.5A patent/CN117429342A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119293736A (en) * | 2024-12-12 | 2025-01-10 | 江苏大道新材料有限公司 | Intelligent eye protection lighting sitting posture correction method and system |
| CN120503699A (en) * | 2025-07-22 | 2025-08-19 | 成都赛力斯科技有限公司 | Car lamp control method and device, computer equipment and storage medium |
| CN120503699B (en) * | 2025-07-22 | 2025-09-23 | 成都赛力斯科技有限公司 | Car lamp control method and device, computer equipment and storage medium |
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