CN-122016263-A - Method for detecting light irradiation range of motor vehicle lamp based on laser radar

CN122016263ACN 122016263 ACN122016263 ACN 122016263ACN-122016263-A

Abstract

The invention discloses a laser radar-based motor vehicle light irradiation range detection method, which relates to the technical field of intelligent lighting of motor vehicles and comprises the steps of acquiring initial environment perception reference information through a perception unit of a vehicle, inputting the initial environment perception reference information into a reinforcement learning decision engine, outputting a high-value detection point set based on an information gain maximization strategy, controlling a laser radar to execute directional scanning according to the high-value detection point set, controlling a to-be-detected vehicle lamp unit to perform concurrent modulation and luminescence according to a pre-allocated quasi-orthogonal pseudo-random spread spectrum code sequence, acquiring a mixed echo signal sequence of coding characteristics of each vehicle lamp unit, and separating independent light signal components corresponding to the quasi-orthogonal pseudo-random spread spectrum code sequence from the mixed echo signal sequence based on a code pattern coherent resonance principle. The invention realizes the accurate decoupling and real-time evaluation of the spatial energy distribution of each independent light source under the complex scene of multiple light sources, and provides the light source level fine control capability for the vehicle light unit.

Inventors

JIANG DONG
ZHAO JUN
LONG BO
ZHONG SHOUJUN
CHEN ZHENG
CHEN XU

Assignees

中国测试技术研究院声学研究所

Dates

Publication Date: 20260512
Application Date: 20260316

Claims (10)

1. A method for detecting the light irradiation range of a motor vehicle lamp based on a laser radar is characterized by comprising the following steps of, Acquiring initial environment sensing reference information through a sensing unit of a vehicle; Inputting initial environment perception reference information into a reinforcement learning decision engine, and outputting a high-value detection point set based on an information gain maximization strategy; Controlling a laser radar to execute directional scanning according to the high-value detection point set, controlling a car lamp unit to be detected to perform concurrent modulation and luminescence according to the pre-allocated quasi-orthogonal pseudo-random spread spectrum code sequence, and collecting a mixed echo signal sequence of the coding characteristics of each car lamp unit; Separating independent optical signal components corresponding to the quasi-orthogonal pseudo-random spread spectrum code sequence from the mixed echo signal sequence based on a code pattern coherent resonance principle, and generating separated optical contribution point cloud; based on the separated light contribution point cloud, generating comprehensive three-dimensional light field distribution through spatial interpolation and superposition reconstruction; And comparing the three-dimensional light field distribution with prestored legal light type parameters and dynamic target space information, and outputting a vehicle light self-adaptive control instruction.
2. The method for detecting a light irradiation range of a laser radar-based motor vehicle lamp according to claim 1, wherein the initial environmental perception reference is obtained by a perception unit of the vehicle, comprising the steps of: scanning a front area of a vehicle through a laser radar, generating initial point cloud data of three-dimensional coordinates and reflection intensity, and acquiring visible light image data of a front environment by utilizing a vehicle-mounted camera; Detecting relative speed and azimuth data of a front moving target through a millimeter wave radar, and measuring pitch angle and yaw angle data of the vehicle in real time by utilizing an inertial measurement unit; And inputting the initial point cloud data, the visible light image data, the relative speed and azimuth data and the pitch angle and yaw angle data into a multi-sensor fusion algorithm, and outputting initial environment perception reference information.
3. The method for detecting the light irradiation range of a motor vehicle lamp based on the laser radar according to claim 2, wherein the step of inputting an initial environmental perception reference to the reinforcement learning decision engine and outputting a high-value detection point set based on an information gain maximization strategy comprises the following steps: The initial environment perception reference is used for extracting uncertainty characteristics of a multi-dimensional space light field through a space-time attention encoder to form a state representation vector; Inputting the state representation vector into a light field exploration network of a reinforcement learning decision engine, performing Monte Carlo tree search in a potential detection point space based on an information gain maximization strategy to obtain an expected information gain value, and selecting potential detection points of which the expected information gain value accords with a dynamic pareto front edge to form a candidate detection point set; And performing spatial coverage optimization based on the Voronoi diagram on the candidate detection point set to form a high-value detection point set.
4. The method for detecting the light irradiation range of the motor vehicle lamp based on the laser radar according to claim 3, wherein the method for detecting the light irradiation range of the motor vehicle lamp based on the laser radar is characterized by controlling the laser radar to execute directional scanning according to a high-value detection point set and controlling a vehicle lamp unit to be detected to perform concurrent modulation and luminescence according to a pre-allocated quasi-orthogonal pseudo-random spread spectrum code sequence, and comprises the following steps: Converting the high-value detection point set into a laser radar scanning control instruction, wherein the laser radar scanning control instruction drives a laser radar to execute directional scanning; the quasi-orthogonal pseudo-random spread spectrum code sequence is converted into a car light unit modulation control instruction, and the car light unit modulation control instruction drives a car light unit to be tested to conduct concurrent modulation luminescence, and directional scanning and concurrent modulation luminescence are executed in time alignment; the lidar receives the reflected signal from the detection zone to form a sequence of mixed echo signals.
5. The method for detecting the light irradiation range of a motor vehicle lamp based on the laser radar according to claim 4, wherein the step of collecting the mixed echo signal sequence of the coding features of each vehicle lamp unit comprises the following steps: the light signal of concurrent modulation luminescence is reflected with the surface of an object in a detection area, and the reflected light signal and ambient background light form optical superposition in the space propagation process; The optical superposition signal is received by a photoelectric detector of the laser radar and converted into an electric signal, and the electric signal is amplified by a trans-impedance amplifier to form an analog signal; The analog signals are digitized by a high-speed analog-to-digital converter at a sampling rate, and the digitized signals are divided and arranged according to detection points to form a mixed echo signal sequence.
6. The method for detecting the light irradiation range of a laser radar-based motor vehicle lamp according to claim 5, wherein the method for generating the separated light contribution point cloud comprises the following steps of: The mixed echo signal sequence and the quasi-orthogonal pseudo-random spread spectrum code sequence are subjected to chaotic synchronous resonance matching in a multi-scale time-frequency domain to generate a locking signal; the locking signal separates chaotic attractor signal components corresponding to each code sequence through a self-organizing resonance network; The chaotic attractor signal component is subjected to Lyapunov exponent stabilization treatment and recovered to be an independent light signal component of each car light unit; And tensor fusion is carried out on the independent optical signal components and the space coordinates of the corresponding detection points, so that separated optical contribution point clouds are formed.
7. The method for detecting the light irradiation range of the motor vehicle lamp based on the laser radar according to claim 6, wherein the method for generating the comprehensive three-dimensional light field distribution based on the separated light contribution point cloud through spatial interpolation and superposition reconstruction comprises the following steps: the separated light contribution point cloud generates independent three-dimensional light field distribution of each car light unit through a Kriging space interpolation algorithm; The independent three-dimensional light fields of the lamp units are distributed on the three-dimensional space grid to perform algebraic superposition to generate algebraic superposition results; generating preliminary three-dimensional light field distribution based on algebraic superposition results through Gaussian smoothing filtering; And carrying out coordinate transformation correction on the preliminary three-dimensional light field distribution and the vehicle attitude parameters, and carrying out light intensity normalization processing on the result after the coordinate transformation correction to generate comprehensive three-dimensional light field distribution.
8. The method for detecting the light irradiation range of a motor vehicle lamp based on the laser radar according to claim 7, wherein the three-dimensional light field distribution is compared with prestored legal light type parameters and dynamic target space information, and a vehicle light self-adaptive control instruction is output, and the method comprises the following steps: The three-dimensional light field is distributed on a standard test screen for projection, and actual light type parameters are generated; Performing difference calculation on the actual light type parameters and the prestored legal light type parameters to generate a compliance deviation matrix; the three-dimensional light field distribution and the dynamic target space information are subjected to space intersection detection to generate a target illuminated area, Comparing the illumination intensity of the target illuminated area with a glare threshold value to generate a glare risk assessment result; and inputting the compliance deviation matrix and the glare risk assessment result into a fuzzy logic controller, and outputting a vehicle light self-adaptive control instruction.
9. A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is characterized in that the processor executes the computer program to realize the steps of the method for detecting the light irradiation range of the motor vehicle lamp based on the laser radar according to any one of claims 1-8.
10. A computer-readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor realizes the steps of the laser radar-based motor vehicle light irradiation range detection method according to any one of claims 1 to 8.

Description

Method for detecting light irradiation range of motor vehicle lamp based on laser radar Technical Field The invention relates to the technical field of intelligent illumination of motor vehicles, in particular to a detection method for a light irradiation range of a motor vehicle lamp based on a laser radar. Background In the technical field of intelligent illumination of motor vehicles, the prior art mainly relies on a vehicle-mounted camera to collect a front light field image, and an illumination effect is analyzed through an image processing algorithm, for example, a cut-off line is identified through a deep learning model and is compared with a standard light type template, and the scheme is widely applied to a self-adaptive high beam system, can reuse existing vision hardware and has good cost effectiveness. In the prior art, when dealing with a complex illumination scene with multiple light sources, the two-dimensional image acquired by a camera is essentially superposition projection contributed by each light source, the spatial energy distribution of each independent light source is difficult to be accurately decoupled in a dynamic scene, particularly under the condition of vehicle posture change such as curves, slopes and the like, the irradiation angles and the relative positions of each light source unit are continuously changed, the specific contribution of different light sources to a specific area is difficult to distinguish by the traditional method, the evaluation of the overall illumination effect is caused to have deviation, and the data support of sufficient accuracy cannot be provided for light source level fine control. Disclosure of Invention The present invention has been made in view of the above-described problems occurring in the prior art. Therefore, the invention provides a laser radar-based motor vehicle lamp light irradiation range detection method, which solves the technical problem that the spatial energy distribution of each independent light source is difficult to analyze in a multi-light source dynamic scene. In order to solve the technical problems, the invention provides the following technical scheme: In a first aspect, the present invention provides a method for detecting a light irradiation range of a motor vehicle lamp based on a lidar, which includes, acquiring initial environmental perception reference information through a perception unit of the vehicle; Inputting initial environment perception reference information into a reinforcement learning decision engine, and outputting a high-value detection point set based on an information gain maximization strategy; Controlling a laser radar to execute directional scanning according to the high-value detection point set, controlling a car lamp unit to be detected to perform concurrent modulation and luminescence according to the pre-allocated quasi-orthogonal pseudo-random spread spectrum code sequence, and collecting a mixed echo signal sequence of the coding characteristics of each car lamp unit; Separating independent optical signal components corresponding to the quasi-orthogonal pseudo-random spread spectrum code sequence from the mixed echo signal sequence based on a code pattern coherent resonance principle, and generating separated optical contribution point cloud; based on the separated light contribution point cloud, generating comprehensive three-dimensional light field distribution through spatial interpolation and superposition reconstruction; And comparing the three-dimensional light field distribution with prestored legal light type parameters and dynamic target space information, and outputting a vehicle light self-adaptive control instruction. The invention relates to a laser radar-based detection method for the light irradiation range of a motor vehicle lamp, which comprises the following steps of: scanning a front area of a vehicle through a laser radar, generating initial point cloud data of three-dimensional coordinates and reflection intensity, and acquiring visible light image data of a front environment by utilizing a vehicle-mounted camera; Detecting relative speed and azimuth data of a front moving target through a millimeter wave radar, and measuring pitch angle and yaw angle data of the vehicle in real time by utilizing an inertial measurement unit; And inputting the initial point cloud data, the visible light image data, the relative speed and azimuth data and the pitch angle and yaw angle data into a multi-sensor fusion algorithm, and outputting initial environment perception reference information. The invention relates to a laser radar-based detection method for the light irradiation range of a motor vehicle lamp, which comprises the following steps of: The initial environment perception reference is used for extracting uncertainty characteristics of a multi-dimensional space light field through a space-time attention encoder to form a state representation vector; Inputting the state repr