CN117549825B - Calibration method and device for car lamp control angle, computer equipment and storage medium - Google Patents
Calibration method and device for car lamp control angle, computer equipment and storage medium 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
- B60Q1/14—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 having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
- G06T2207/30208—Marker matrix
Abstract
The application relates to a calibration method, a calibration device, computer equipment and a storage medium for a car lamp control angle, wherein the method comprises the following steps: acquiring a reference image aiming at a preset checkerboard when the preset checkerboard is not irradiated by the lamp beads and a calibration image aiming at the preset checkerboard when the preset checkerboard is irradiated by the lamp beads through a camera; comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under the pixel coordinate system; converting the position information of the light spots corresponding to the lamp beads under the pixel coordinate system into the lamp coordinate system through a conversion matrix between the pixel coordinate system and the lamp coordinate system; and determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system. By adopting the method, the light angle of the minimum control unit (lamp bead) in the car lamp can be calibrated, so that the obstacle under the camera coordinate system can be accurately mapped to the car lamp coordinate system, and the corresponding lamp bead or light partition can be accurately extinguished.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a calibration method, device, computer equipment, storage medium and computer program product of a car lamp control angle.
Background
In the field of intelligent driving, with the continuous development of new technologies, intelligent car lamps are emerging. Among them, the adaptive high beam system (Adaptive Driving Beam, ADB) is a main function in intelligent car lights. The position of the front vehicle is perceived through a perception system (such as a camera) in the self-adaptive high beam system, 3D information of related obstacles is sent to the control module, and the control module calculates partial LED light sources in the off car lamp, so that the influence on other road users is avoided.
However, in this function, the positions of the lamp system and the sensing system (camera) are often not coincident, and thus the object sensed by the sensing system cannot directly correspond to the smallest control unit (lamp bead or lamp light partition) of the lamp system, so that it is difficult to accurately determine which lamp beads or lamp light partitions of the lamp system need to be extinguished.
Disclosure of Invention
Based on the foregoing, it is necessary to provide a calibration method, device, computer readable storage medium and computer program product for a lamp control angle, aiming at the technical problem that the above-mentioned positions of the lamp system and the perception system are not coincident, so that it is difficult to accurately determine the mapping relationship between the perceived object and the lamp.
In a first aspect, the present application provides a calibration method for a control angle of a vehicle lamp, which is applied to an adaptive high beam system, wherein the adaptive high beam system includes a camera and a vehicle lamp. The method comprises the following steps:
acquiring a reference image and a calibration image corresponding to a lamp bead in the car lamp through the camera; the reference image is an image acquired aiming at a preset checkerboard when the preset checkerboard is not irradiated by the lamp beads, and the calibration image is an image comprising light spots acquired aiming at the preset checkerboard when the preset checkerboard is irradiated by the lamp beads;
comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under a pixel coordinate system;
converting the position information of the light spots corresponding to the lamp beads under the pixel coordinate system through a conversion matrix between the pixel coordinate system and the car lamp coordinate system to obtain the position information of the light spots corresponding to the lamp beads under the car lamp coordinate system;
and determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system.
In one embodiment, comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under the pixel coordinate system includes:
Comparing the calibration image corresponding to the lamp bead with the reference image to obtain a facula image corresponding to the lamp bead;
correcting the facula image to obtain a corrected image corresponding to the lamp bead;
detecting light spots in the corrected image to obtain the position information of the light spots corresponding to the lamp beads under a checkered coordinate system;
and converting the position information of the light spot under the checkered coordinate system into the position information of the light spot under the pixel coordinate system through the mapping relation between the checkered coordinate system and the pixel coordinate system.
In one embodiment, the correcting the light spot image to obtain a corrected image corresponding to the lamp bead includes:
performing corner detection on the facula image to obtain a preset number of corner points;
correcting the preset number of corner points to obtain a preset number of corrected corner points;
determining a homography matrix converted from the facula image to the correction image through the position information of the angular points of the preset number and the position information of the correction angular points of the preset number;
and correcting the rest angular points in the facula image through the homography matrix to obtain the corrected image.
In one embodiment, the method further comprises:
acquiring size information of the corrected image and position information of a target corner in the corrected image; the target corner points are corner points of a homography matrix for determining the facula image;
and establishing a mapping relation between the checkerboard coordinate system and the pixel coordinate system based on the size information and the position information of the target corner.
In one embodiment, the transformation matrix between the pixel coordinate system and the vehicle lamp coordinate system is determined by:
acquiring a first conversion matrix between the pixel coordinate system and a camera coordinate system, and acquiring a second conversion matrix between the camera coordinate system and the car light coordinate system;
and multiplying the first conversion matrix and the second conversion matrix to obtain a conversion matrix between the pixel coordinate system and the car light coordinate system.
In one embodiment, the obtaining the second transformation matrix between the camera coordinate system and the vehicle lamp coordinate system includes:
determining a conversion matrix between the camera coordinate system and the checkerboard coordinate system through a conversion relation between the two-dimensional coordinates and the three-dimensional coordinates; determining a rotation matrix between the camera coordinate system and the vehicle lamp coordinate system based on the transformation matrix;
Acquiring a translation matrix between the camera coordinate system and the car light coordinate system;
and multiplying the rotation matrix and the translation matrix to obtain a second conversion matrix between the camera coordinate system and the car light coordinate system.
In one embodiment, the vehicle lamp comprises a plurality of lamp beads; after determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system, the method further comprises the following steps:
acquiring angle information of an obstacle under the car lamp coordinate system;
based on the angle information, searching a control angle corresponding to each lamp bead, and determining a target lamp bead corresponding to the angle information from each lamp bead;
and determining the target lamp bead as a lamp bead affecting the obstacle.
In a second aspect, the present application further provides a calibration device for a control angle of a vehicle lamp, which is applied to an adaptive high beam system, wherein the adaptive high beam system includes a camera and a vehicle lamp. The device comprises:
the image acquisition module is used for acquiring a reference image and a calibration image corresponding to a lamp bead in the car lamp through the camera; the reference image is an image acquired aiming at a preset checkerboard when the preset checkerboard is not irradiated by the lamp beads, and the calibration image is an image comprising light spots acquired aiming at the preset checkerboard when the preset checkerboard is irradiated by the lamp beads;
The position determining module is used for comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under a pixel coordinate system;
the position conversion module is used for converting the position information of the light spots corresponding to the lamp beads under the pixel coordinate system through a conversion matrix between the pixel coordinate system and the car lamp coordinate system to obtain the position information of the light spots corresponding to the lamp beads under the car lamp coordinate system;
the angle determining module is used for determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring a reference image and a calibration image corresponding to a lamp bead in the car lamp through a camera; the reference image is an image acquired aiming at a preset checkerboard when the preset checkerboard is not irradiated by the lamp beads, and the calibration image is an image comprising light spots acquired aiming at the preset checkerboard when the preset checkerboard is irradiated by the lamp beads;
Comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under a pixel coordinate system;
converting the position information of the light spots corresponding to the lamp beads under the pixel coordinate system through a conversion matrix between the pixel coordinate system and the car lamp coordinate system to obtain the position information of the light spots corresponding to the lamp beads under the car lamp coordinate system;
and determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring a reference image and a calibration image corresponding to a lamp bead in the car lamp through a camera; the reference image is an image acquired aiming at a preset checkerboard when the preset checkerboard is not irradiated by the lamp beads, and the calibration image is an image comprising light spots acquired aiming at the preset checkerboard when the preset checkerboard is irradiated by the lamp beads;
comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under a pixel coordinate system;
Converting the position information of the light spots corresponding to the lamp beads under the pixel coordinate system through a conversion matrix between the pixel coordinate system and the car lamp coordinate system to obtain the position information of the light spots corresponding to the lamp beads under the car lamp coordinate system;
and determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
acquiring a reference image and a calibration image corresponding to a lamp bead in the car lamp through a camera; the reference image is an image acquired aiming at a preset checkerboard when the preset checkerboard is not irradiated by the lamp beads, and the calibration image is an image comprising light spots acquired aiming at the preset checkerboard when the preset checkerboard is irradiated by the lamp beads;
comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under a pixel coordinate system;
converting the position information of the light spots corresponding to the lamp beads under the pixel coordinate system through a conversion matrix between the pixel coordinate system and the car lamp coordinate system to obtain the position information of the light spots corresponding to the lamp beads under the car lamp coordinate system;
And determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system.
The calibration method, the calibration device, the computer equipment, the storage medium and the computer program product for the control angle of the car lamp acquire a reference image when the checkerboard is not irradiated by the lamp beads and a calibration image when the checkerboard is irradiated by the lamp beads through a camera; and comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under the pixel coordinate system, and further converting the position information of the light spot corresponding to the lamp bead under the pixel coordinate system to the lamp coordinate system through a conversion matrix between the pixel coordinate system and the lamp coordinate system, so that the control angle corresponding to the lamp bead can be determined based on the position information of the light spot corresponding to the lamp bead under the lamp coordinate system, and the calibration of the lamp under the ADB scene is realized. The method can calibrate the light angle of the minimum control unit (lamp bead) in the car lamp, so that the obstacle under the camera coordinate system can be accurately mapped to the car lamp coordinate system, and when the lamp beads are needed to be extinguished according to the obstacle, the corresponding lamp beads or light partitions can be accurately extinguished according to the control angles corresponding to the lamp beads.
Drawings
FIG. 1 is a schematic diagram of a calibration method for a control angle of a vehicle lamp according to an embodiment;
FIG. 2 is a schematic diagram of a calibration method for controlling an angle of a vehicle lamp according to another embodiment;
FIG. 3 is a flow chart of a method for calibrating a lamp control angle in an embodiment;
FIG. 4 is a schematic diagram of a principle of calculating a lamp angle in one embodiment;
FIG. 5 is a schematic view of a lamp angle in one embodiment;
FIG. 6 is a schematic diagram of a spot image before correction in one embodiment;
FIG. 7 is a schematic illustration of a corrected image in one embodiment;
FIG. 8 is a flow chart of a method for calibrating a lamp control angle in another embodiment;
FIG. 9 is a block diagram showing a configuration of a device for calibrating a lamp control angle in one embodiment;
fig. 10 is an internal structural view of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein.
For the purposes of facilitating an understanding of the present application by those skilled in the art, a brief description of the calibration purposes of the present application will be provided first. As shown in fig. 1, the schematic diagram of the principle of calibrating the car light in the ADB scene is shown, the ADB, i.e. the adaptive high beam system, includes a camera and a car light, and in fig. 1, the obstacle represents the obstacle perceived by the camera, and the position of the obstacle is the position under the camera coordinate system.
The purpose of this scheme is: and turning off the corresponding lamp beads in the car lamp system according to the angle information of the obstacle under the car lamp coordinate system.
The solution scheme is as follows: (1) A conversion matrix tc_l for converting the camera coordinate system into the light coordinate system is obtained to convert the position information of the obstacle from the camera coordinate system into the light coordinate system.
(2) And determining the control angle of each lamp bead in the car lamp system under the lamplight coordinate system, determining the angle range according to the position range of the obstacle, and further selecting the lamp beads with the control angles in the angle range for closing.
Referring to fig. 2, a schematic diagram of a calibration method for a control angle of a vehicle lamp according to another embodiment of the present application is provided, where the vehicle lamp is a vehicle lamp in a matrix form, the camera is a camera in a self-adaptive high beam system, the calibration plate is movable, and is used for posting a checkerboard and transmitting light spots of all light beads, the checkerboard is used for ranging and measuring 3-dimensional positions of the light spots, the light spot area is an area where light spots formed by light rays of the vehicle lamp on the checkerboard of the calibration plate are located, and the light spot area formed when a single light bead is lighted is shown in fig. 2. When the car lamp is calibrated, each lamp bead is lighted in sequence, so that light rays emitted by the lamp beads irradiate on a checkerboard of a calibration plate to form a light spot area on the checkerboard, then position information of the light spot area under a car lamp coordinate system is determined, the position information is processed through an inverse trigonometric function, and the angle of the irradiation range of each lamp bead is obtained and used as a control angle corresponding to each lamp bead.
In one embodiment, as shown in fig. 3, there is provided a calibration method of a control angle of a vehicle lamp, which is applied to an adaptive high beam system including a camera and a vehicle lamp, and the embodiment includes the following steps:
step S310, acquiring a reference image and a calibration image corresponding to a lamp bead in a car lamp through a camera; the reference image is an image acquired when the preset checkerboard is not irradiated by the lamp beads, and the calibration image is an image which contains light spots and is acquired when the preset checkerboard is irradiated by the lamp beads.
Specifically, when the car lamp is calibrated, the environment is accurately calibrated firstly: the car lamp and the camera are horizontally placed and fixed, as shown in fig. 2, the calibration plate is placed right in front of the car lamp and the camera, and a checkerboard is posted on the calibration plate. After preparation is completed, the car lamp is lightened, and whether the car lamp is correctly placed can be judged through the shape of light spots formed on the checkerboard by the car lamp. After the correct placement of the car lights is determined, the camera is turned on, an image is collected through the camera, and whether the placement of the camera is correct or not is judged through the collected image. And after the camera is determined to be correctly placed, entering a calibration flow.
First, an image of a checkerboard without light is acquired by a camera as a reference image. And then, sequentially lighting each lamp bead in the car lamp, enabling each lamp bead to sequentially form light spots on the checkerboard posted by the calibration plate, and collecting images of the light spots formed by each lamp bead through the camera to serve as calibration images of each lamp bead.
It should be noted that, the vehicle lamp in the adaptive high beam system generally includes a plurality of lamp beads, and for each lamp bead, the determination of the control angle is performed respectively, and the calibration method of the control angle corresponding to each lamp bead is the same, so, for convenience in description and illustration, the vehicle lamp calibration method provided in the present application is described in detail by taking the calibration of the control angle of one of the lamp beads as an example.
And step S320, comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under the pixel coordinate system.
The pixel coordinate system is a pixel coordinate system corresponding to the image collected by the camera, and the pixel coordinate system is fixed because the position of the camera is fixed.
In a specific implementation, the reference image is an image without light spots, and the calibration image is an image containing light spots formed by the lamp beads. Therefore, for each lamp bead, the position information of the light spot formed by the lamp bead under the pixel coordinate system can be determined by comparing the calibration image corresponding to the lamp bead with the reference image.
It will be appreciated that the spot is an area and thus the position information of the spot may include the position information of the optical centre and the position information of the edge points of the spot.
Step S330, converting the position information of the light spot corresponding to the lamp bead under the pixel coordinate system through a conversion matrix between the pixel coordinate system and the lamp coordinate system, and obtaining the position information of the light spot corresponding to the lamp bead under the lamp coordinate system.
The car lamp coordinate system is a coordinate system corresponding to a car lamp in the self-adaptive high beam system.
In the specific implementation, the position information of the light spot determined by the calibration image and the reference image of the lamp bead is the position information under the pixel coordinate system, and the calibration of the control angle of the lamp bead is based on the position information of the light spot under the vehicle lamp coordinate system. Therefore, after obtaining the position information of the spot in the pixel coordinate system, it is also necessary to determine a conversion matrix for converting the pixel coordinate system into the lamp coordinate system. And converting the position information of the light spot under the pixel coordinate system into the car lamp coordinate system through the conversion matrix to obtain the position information of the light spot under the car lamp coordinate system.
Step S340, determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system.
The control angle can be an included angle between the light emitted by the car lamp and a vertical line perpendicular to the ground plane. For example, referring to fig. 4 and 5, the included angle a shown therein may represent a control angle of a vehicle lamp.
In the specific implementation, after the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system is determined, the distance between the lamp bead and the light spot position can be determined, and the control angle corresponding to the lamp bead can be calculated through the distance and the inverse trigonometric function.
As shown in fig. 4, the light spots corresponding to the lamp beads are provided with four edge points, which are respectively midpoints of the left, upper, right and lower sides of the quadrangle in the figure, and the position information of the four edge points under the coordinate system of the vehicle lamp is respectively recorded as follows: (x 1, y1, z), (x 2, y2, z), (x 3, y3, z), (x 4, y4, z). The angles corresponding to the four edge points are respectively:
left_ctr_angle = math.atan(x1/z) / (math.pi)×180；
top_ctr_angle = math.atan(y2/z) / (math.pi)×180；
right_ctr_angle = math.atan(x3/z) / (math.pi)×180；
bot_ctr_angle = math.atan(y4/z) / (math.pi)×180。
the four angles are control angles corresponding to the lamp beads, and the control range of the lamp beads can be determined by the four angles.
In the calibration method of the car light control angle, a reference image when the checkerboard is not irradiated by the lamp beads and a calibration image when the checkerboard is irradiated by the lamp beads are collected through a camera; and comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under the pixel coordinate system, and further converting the position information of the light spot corresponding to the lamp bead under the pixel coordinate system to the lamp coordinate system through a conversion matrix between the pixel coordinate system and the lamp coordinate system, so that the control angle corresponding to the lamp bead can be determined based on the position information of the light spot corresponding to the lamp bead under the lamp coordinate system, and the calibration of the lamp under the ADB scene is realized. The method can calibrate the light angle of the minimum control unit (lamp bead) in the car lamp, so that the obstacle under the camera coordinate system can be accurately mapped to the car lamp coordinate system, and when the lamp beads are needed to be extinguished according to the obstacle, the corresponding lamp beads or light partitions can be accurately extinguished according to the control angles corresponding to the lamp beads.
In an exemplary embodiment, in step S320, the position information of the light spot corresponding to the lamp bead in the pixel coordinate system is obtained by comparing the calibration image corresponding to the lamp bead with the reference image, which specifically includes:
and S321, comparing the calibration image corresponding to the lamp bead with the reference image to obtain a facula image corresponding to the lamp bead.
Specifically, the bright spots of the light spots corresponding to the lamp beads can be determined by subtracting the calibration image from the reference image, so that the light spot image is further obtained.
For example, referring to FIG. 6, which is a schematic diagram of a spot image shown in an embodiment, area 600 in the figure may represent a spot area.
Step S322, correcting the spot image to obtain a corrected image corresponding to the lamp beads.
Specifically, the correction of the flare image can be achieved by determining the homography matrix of the flare image to the correction image, and the correction of the flare image can be achieved through the homography matrix, so that the correction image as shown in fig. 7 is obtained.
Step S323, detecting and correcting the light spots in the image to obtain the position information of the light spots corresponding to the lamp beads under the checkered coordinate system.
Specifically, the detection of the spot position can be performed by a contour extraction algorithm, such as by a contour extraction function (findContours ()) in opencv (cross-platform computer vision library), to obtain coordinates of the edge point of the spot under the checkerboard coordinate system.
In step S324, the positional information of the light spot in the checkered coordinate system is converted into the positional information of the light spot in the pixel coordinate system by the mapping relationship between the checkered coordinate system and the pixel coordinate system.
Specifically, since the position information of the light spot in the checkered coordinate system is obtained by direct detection of the light spot in the corrected image, it is also necessary to convert it into the pixel coordinate system. In specific implementation, the mapping relation between the checkered coordinate system and the pixel coordinate system can be determined first, and then the position information of the light spot under the checkered coordinate system is converted into the position information of the light spot under the pixel coordinate system through the mapping relation.
In this embodiment, after the spot image corresponding to the lamp bead is obtained, the spot image is corrected, and when the position information of the spot is determined, the influence of image deformation on the position information of the spot can be avoided for the position information obtained by performing spot detection on the corrected image, so that the accuracy of the determined position information of the spot under the pixel coordinate system is ensured.
In an exemplary embodiment, the correcting the spot image in step S322 to obtain a corrected image corresponding to the lamp bead includes: performing corner detection on the spot images to obtain a preset number of corner points; correcting the preset number of corner points to obtain the preset number of corrected corner points; determining a homography matrix converted from the facula image to the correction image through the position information of the preset number of corner points and the position information of the preset number of correction corner points; and correcting the rest angular points in the speckle image through the homography matrix to obtain a corrected image.
The homography matrix may be represented as a homogeneous coordinate transformation matrix, which is used to describe a mapping relationship between two planes.
In specific implementation, a detection checkerboard corner algorithm can be used for detecting corners of the light spot image, so that a preset number (at least four) of corners are obtained. For example, taking four corner points as an example, four corner points at the most corner points of the detection checkerboard are respectively marked as (u 0, v 0), (u 1, v 1), (u 2, v 2) and (u 3, v 3), and the four corner points are sequentially connected in sequence to form a rectangle. Correcting the four detected corner points to obtain four corrected corner points: (u_l, v_l), (W-u_l, v_l), (u_l, H-v_l), (W-u_l, H-v_l). Wherein W and H are the width and height of the image, and the value range of l is 0-4. And calculating to obtain a homography matrix for converting the facula image into the correction image by combining the position information of the four groups of angular points and a least square method. Further, the correction image is obtained by correcting the whole Zhang Guangban image by the homography matrix, and the center of the checkerboard is corrected to the exact center of the image.
For example, referring to fig. 6 and 7, schematic diagrams of a spot image before correction and a corrected image after correction are respectively shown. 60, 61, 62, 63 in the figure are respectively four corner points obtained by detection.
In this embodiment, by correcting at least four corner points in advance, the position information of four groups of corner points is obtained to determine a homography matrix, and correction of the whole light spot image is realized by the homography matrix, so that correction is not required to be sequentially performed for each corner point, and correction efficiency can be improved.
In an exemplary embodiment, the mapping relationship between the checkerboard coordinate system and the pixel coordinate system in the step S324 may be established by: acquiring size information of a correction image and position information of a target corner in the correction image; the target corner points are corner points of homography matrixes for determining the light spot images; and establishing a mapping relation between the checkerboard coordinate system and the pixel coordinate system based on the size information and the position information of the target corner points.
Wherein the size information of the corrected image includes the width and height of the corrected image, denoted as W and H.
The location information of the target corner may include: the distance between two adjacent corner points, the distance of the target corner point to the boundary of the correction image (which can be represented by pixel values).
Specifically, taking fig. 7 as an example, let us sayFor the actual distance between the corner point 60 and the corner point 61,for the actual distance between corner 60 and corner 63, ，The pixel values of the corner 60 from the two borders of the correction image, respectively. Let X, Y be the position to be solved in the checkerboard coordinate system, u, v be the corresponding position of X, Y under the pixel coordinate system of the corrected image, then the mapping relationship between the checkerboard coordinate system and the pixel coordinate system can be established as follows:
in this embodiment, a mapping relationship between the checkered coordinate system and the pixel coordinate system is established by correcting the size information of the image and the position information of the target corner in the corrected image, so that the position information of the light spot in the checkered coordinate system can be conveniently and subsequently detected, and the position information of the light spot in the checkered coordinate system can be converted into the position information of the light spot in the pixel coordinate system based on the mapping relationship.
In an exemplary embodiment, the conversion matrix between the pixel coordinate system and the lamp coordinate system in step S330 is determined by: acquiring a first conversion matrix between a pixel coordinate system and a camera coordinate system, and acquiring a second conversion matrix between the camera coordinate system and a car light coordinate system; and multiplying the first conversion matrix and the second conversion matrix to obtain a conversion matrix between the pixel coordinate system and the car light coordinate system.
Specifically, when determining a conversion matrix between a pixel coordinate system and a vehicle lamp coordinate system, a first conversion matrix between the pixel coordinate system and a camera coordinate system can be acquired first, and a second conversion matrix between the camera coordinate system and the vehicle lamp coordinate system can be acquired; and multiplying the first conversion matrix and the second conversion matrix to obtain a conversion matrix between the pixel coordinate system and the car light coordinate system.
More specifically, a first transformation matrix between the pixel coordinate system and the camera coordinate system may be determined by the camera internal reference matrix. The camera reference matrix contains optical characteristics of the camera, such as focal length, principal point position, and distortion parameters, and can be used to map points in the pixel coordinate system into the camera coordinate system.
In this embodiment, the conversion matrix between the pixel coordinate system and the vehicle lamp coordinate system is obtained by obtaining the first conversion matrix between the pixel coordinate system and the camera coordinate system, obtaining the second conversion matrix between the camera coordinate system and the vehicle lamp coordinate system, and then multiplying the first conversion matrix and the second conversion matrix to obtain the conversion matrix between the pixel coordinate system and the vehicle lamp coordinate system, so that the conversion of the spot coordinates can be realized according to the conversion matrix between the pixel coordinate system and the vehicle lamp coordinate system, and the calibration of the vehicle lamp is performed.
In an exemplary embodiment, obtaining a second transformation matrix between the camera coordinate system and the vehicle lamp coordinate system includes: determining a conversion matrix between a camera coordinate system and a checkerboard coordinate system through a conversion relation between two-dimensional coordinates and three-dimensional coordinates; determining a rotation matrix between the camera coordinate system and the car light coordinate system based on the conversion matrix; acquiring a translation matrix between a camera coordinate system and a car light coordinate system; and multiplying the rotation matrix and the translation matrix to obtain a second conversion matrix between the camera coordinate system and the car light coordinate system.
Specifically, the second transformation matrix between the camera coordinate system and the lamp coordinate system includes a translation matrix and a rotation matrix between the camera coordinate system and the lamp coordinate system. The translation matrix between the camera coordinate system and the car light coordinate system can be obtained by measuring the distances from the geometric center of the camera to the geometric center of the car light in the x, y and z directions, namely the translation matrix can be marked as T [ x, y and z ]. For the rotation matrix between the camera coordinate system and the lamp coordinate system, since the lamp is an identity matrix with respect to the checkerboard, the rotation matrix is rotated with respect to the checkerboard, and thus the rotation matrix between the camera coordinate system and the lamp coordinate system can be obtained by the conversion matrix between the camera coordinate system and the checkerboard coordinate system.
More specifically, the transformation matrix between the camera coordinate system and the checkerboard coordinate system can be determined by solving a PNP problem, i.e., transforming a two-dimensional relationship into a three-dimensional relationship. Specifically, PNP (transparent-n-Point) is a transformation matrix used to determine the coordinate system of a camera and the coordinate system of an object (e.g., a checkerboard). This transformation matrix is commonly referred to as a camera outlier matrix. In the PNP algorithm, some feature points, such as corner points of a checkerboard, first need to be detected from the camera image. Then, by the positions of these feature points in the camera image and the positions of the corresponding feature points in the checkerboard coordinate system, the pose (rotation and translation) of the camera can be solved by using a PNP algorithm, thereby obtaining a conversion matrix between the camera coordinate system and the checkerboard coordinate system.
Further, after determining the translation matrix and the rotation matrix between the camera coordinate system and the vehicle lamp coordinate system, the rotation matrix and the translation matrix may be multiplied to obtain a second transformation matrix between the camera coordinate system and the vehicle lamp coordinate system.
In this embodiment, a rotation matrix between a camera coordinate system and a checkerboard coordinate system is determined through a conversion matrix between the camera coordinate system and a car light coordinate system, a translation matrix between the camera coordinate system and the car light coordinate system is further obtained through measurement, and calibration of the conversion matrix between the camera coordinate system and the car light coordinate system is achieved by combining the rotation matrix and the translation matrix, so that conversion between a pixel coordinate system and the car light coordinate system can be achieved according to the conversion matrix.
In an exemplary embodiment, the vehicle lamp includes a plurality of lamp beads; in step S340, after determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead in the vehicle lamp coordinate system, the method further includes: acquiring angle information of an obstacle under a car lamp coordinate system; based on the angle information, searching a control angle corresponding to each lamp bead, and determining a target lamp bead corresponding to the angle information from each lamp bead; the target beads are determined as the beads affecting the obstacle.
Specifically, taking an obstacle as another person on a road, after determining a control angle corresponding to a lamp bead, if a subsequent camera senses another person on the road, the position information of the other person under a pixel coordinate system can be obtained, then the position information is converted into a car lamp coordinate system through a conversion matrix between the pixel coordinate system and the car lamp coordinate system, and the angle information of the other person relative to the car lamp coordinate system is calculated based on the position information of the other person under the car lamp coordinate system. Further, the angle information is compared with the control angle of each lamp bead in the calibrated car lamp, so that target lamp beads matched with the angle information of other people relative to the car lamp coordinate system are determined from each lamp bead, and the target lamp beads can be controlled to be extinguished, so that the influence on other people on the road is avoided.
In this embodiment, through the demarcation to each lamp pearl in the car light for when the camera perception barrier, can confirm the lamp pearl that influences the barrier accurately, thereby can extinguish corresponding lamp pearl accurately.
In an embodiment, as shown in fig. 8, a flow chart of a calibration method for a control angle of a vehicle lamp is further provided, and the embodiment includes the following steps:
step S801, acquiring a reference image and a calibration image corresponding to a lamp bead in a car lamp through a camera; the reference image is an image acquired aiming at the preset checkerboard when the preset checkerboard is not irradiated by the lamp beads, and the calibration image is an image which is acquired aiming at the preset checkerboard when the preset checkerboard is irradiated by the lamp beads and contains light spots;
step S802, comparing a calibration image corresponding to the lamp beads with a reference image to obtain a facula image corresponding to the lamp beads, and performing corner detection on the facula image to obtain a preset number of corner points;
step S803, correcting the preset number of corner points to obtain the preset number of corrected corner points;
step S804, determining homography matrix converted from the facula image to the corrected image through position information of the preset number of corner points and position information of the preset number of corrected corner points;
Step S805, correcting the rest angular points in the spot image through a homography matrix to obtain a corrected image, detecting the light spots in the corrected image, and obtaining the position information of the light spots corresponding to the light beads under a checkered coordinate system;
step S806, based on the size information of the corrected image and the position information of the target corner in the corrected image, establishing a mapping relation between the checkered coordinate system and the pixel coordinate system, and converting the position information of the light spot under the checkered coordinate system into the pixel coordinate system through the mapping relation;
step S807, converting the position information of the light spot corresponding to the lamp bead under the pixel coordinate system through a conversion matrix between the pixel coordinate system and the lamp coordinate system to obtain the position information of the light spot corresponding to the lamp bead under the lamp coordinate system; the conversion matrix is obtained by multiplying a first conversion matrix between a pixel coordinate system and a camera coordinate system and a second conversion matrix between the camera coordinate system and a car light coordinate system;
step S808, determining a control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car light coordinate system;
step S809, obtaining angle information of the obstacle under a car light coordinate system, searching a control angle corresponding to each lamp bead based on the angle information, and determining a target lamp bead corresponding to the angle information from each lamp bead;
Step S810, determining the target bead as a bead affecting the obstacle.
In this embodiment, a vehicle lamp automatic calibration method in an ADB scene is provided, which can accurately calibrate the position between a vehicle lamp and a sensing system (camera), and can also calibrate the light angle of a minimum control unit of the vehicle lamp, so that an obstacle under a camera coordinate system can be accurately mapped to the vehicle lamp coordinate system, and at the same time, a corresponding lamp bead or a light partition can be accurately extinguished according to the calibrated light angle.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a calibration device for the car lamp control angle, which is used for realizing the calibration method for the car lamp control angle. The implementation scheme of the device for solving the problem is similar to that described in the above method, so the specific limitation in the embodiments of the calibration device for the control angle of the vehicle lamp provided below can be referred to the limitation of the calibration method for the control angle of the vehicle lamp hereinabove, and will not be repeated here.
In one embodiment, as shown in fig. 9, there is provided a calibration device for a control angle of a vehicle lamp, including:
the image acquisition module 910 is configured to acquire, by using a camera, a reference image and a calibration image corresponding to a lamp bead in the vehicle lamp; the reference image is an image acquired aiming at the preset checkerboard when the preset checkerboard is not irradiated by the lamp beads, and the calibration image is an image which is acquired aiming at the preset checkerboard when the preset checkerboard is irradiated by the lamp beads and contains light spots;
the position determining module 920 is configured to compare the calibration image corresponding to the lamp bead with the reference image to obtain position information of the light spot corresponding to the lamp bead under the pixel coordinate system;
the position conversion module 930 is configured to convert, by using a conversion matrix between the pixel coordinate system and the vehicle lamp coordinate system, position information of the light spot corresponding to the lamp bead in the pixel coordinate system, so as to obtain position information of the light spot corresponding to the lamp bead in the vehicle lamp coordinate system;
The angle determining module 940 is configured to determine a control angle corresponding to the lamp bead based on position information of a light spot corresponding to the lamp bead in a vehicle lamp coordinate system.
In one embodiment, the position determining module 920 is further configured to compare the calibration image corresponding to the lamp bead with the reference image to obtain a spot image corresponding to the lamp bead; correcting the facula image to obtain a corrected image corresponding to the lamp bead; detecting light spots in the corrected image to obtain the position information of the light spots corresponding to the lamp beads under a checkered coordinate system; and converting the position information of the light spot under the checkered coordinate system into the position information of the light spot under the pixel coordinate system through the mapping relation between the checkered coordinate system and the pixel coordinate system.
In one embodiment, the position determining module 920 is further configured to perform corner detection on the spot image to obtain a preset number of corners; correcting the preset number of corner points to obtain the preset number of corrected corner points; determining a homography matrix converted from the facula image to the correction image through the position information of the preset number of corner points and the position information of the preset number of correction corner points; and correcting the rest angular points in the speckle image through the homography matrix to obtain a corrected image.
In one embodiment, the location determining module 920 is further configured to obtain size information of the corrected image, and location information of the target corner in the corrected image; the target corner points are corner points of homography matrixes for determining the light spot images; and establishing a mapping relation between the checkerboard coordinate system and the pixel coordinate system based on the size information and the position information of the target corner points.
In one embodiment, the position conversion module 930 is further configured to obtain a first conversion matrix between the pixel coordinate system and the camera coordinate system, and obtain a second conversion matrix between the camera coordinate system and the vehicle lamp coordinate system; and multiplying the first conversion matrix and the second conversion matrix to obtain a conversion matrix between the pixel coordinate system and the car light coordinate system.
In one embodiment, the position conversion module 930 is further configured to determine a conversion matrix between the camera coordinate system and the checkerboard coordinate system through a conversion relationship between two-dimensional coordinates and three-dimensional coordinates; determining a rotation matrix between the camera coordinate system and the car light coordinate system based on the conversion matrix; acquiring a translation matrix between a camera coordinate system and a car light coordinate system; and multiplying the rotation matrix and the translation matrix to obtain a second conversion matrix between the camera coordinate system and the car light coordinate system.
In one embodiment, the lamp comprises a plurality of beads; the device also comprises a positioning module which is used for acquiring the angle information of the obstacle under the car light coordinate system; based on the angle information, searching a control angle corresponding to each lamp bead, and determining a target lamp bead corresponding to the angle information from each lamp bead; the target beads are determined as the beads affecting the obstacle.
All or part of the modules in the calibration device for the control angle of the car lamp can be realized by software, hardware and a combination of the software and the hardware. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 10. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer equipment is used for storing data in the calibration process of the control angle of the car lamp. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by the processor is used for realizing a calibration method of the control angle of the car lamp.
It will be appreciated by those skilled in the art that the structure shown in fig. 10 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.
It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to comply with the related laws and regulations and standards of the related countries and regions.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A method for calibrating a control angle of a vehicle lamp, the method being applied to an adaptive high beam system, the adaptive high beam system including a camera and a vehicle lamp, the method comprising:
acquiring a reference image and a calibration image corresponding to a lamp bead in the car lamp through the camera; the reference image is an image acquired aiming at a preset checkerboard when the preset checkerboard is not irradiated by the lamp beads, and the calibration image is an image comprising light spots acquired aiming at the preset checkerboard when the preset checkerboard is irradiated by the lamp beads;
Comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under a pixel coordinate system; the pixel coordinate system is a pixel coordinate system corresponding to the image acquired by the camera;
converting the position information of the light spots corresponding to the lamp beads under the pixel coordinate system through a conversion matrix between the pixel coordinate system and the car lamp coordinate system to obtain the position information of the light spots corresponding to the lamp beads under the car lamp coordinate system;
and determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system.
2. The method of claim 1, wherein comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead in the pixel coordinate system comprises:
comparing the calibration image corresponding to the lamp bead with the reference image to obtain a facula image corresponding to the lamp bead;
correcting the facula image to obtain a corrected image corresponding to the lamp bead;
detecting light spots in the corrected image to obtain the position information of the light spots corresponding to the lamp beads under a checkered coordinate system;
And converting the position information of the light spot under the checkered coordinate system into the position information of the light spot under the pixel coordinate system through the mapping relation between the checkered coordinate system and the pixel coordinate system.
3. The method according to claim 2, wherein the performing correction processing on the spot image to obtain a corrected image corresponding to the lamp bead includes:
performing corner detection on the facula image to obtain a preset number of corner points;
correcting the preset number of corner points to obtain a preset number of corrected corner points;
determining a homography matrix converted from the facula image to the correction image through the position information of the angular points of the preset number and the position information of the correction angular points of the preset number;
and correcting the rest angular points in the facula image through the homography matrix to obtain the corrected image.
4. The method according to claim 2, wherein the method further comprises:
acquiring size information of the corrected image and position information of a target corner in the corrected image; the target corner points are corner points of a homography matrix for determining the facula image;
And establishing a mapping relation between the checkerboard coordinate system and the pixel coordinate system based on the size information and the position information of the target corner.
5. The method of claim 1, wherein the transformation matrix between the pixel coordinate system and the vehicle lamp coordinate system is determined by:
acquiring a first conversion matrix between the pixel coordinate system and a camera coordinate system, and acquiring a second conversion matrix between the camera coordinate system and the car light coordinate system;
and multiplying the first conversion matrix and the second conversion matrix to obtain a conversion matrix between the pixel coordinate system and the car light coordinate system.
6. The method of claim 5, wherein the obtaining a second transformation matrix between the camera coordinate system and the vehicle lamp coordinate system comprises:
determining a conversion matrix between the camera coordinate system and the checkerboard coordinate system through a conversion relation between the two-dimensional coordinates and the three-dimensional coordinates; determining a rotation matrix between the camera coordinate system and the vehicle lamp coordinate system based on the transformation matrix;
acquiring a translation matrix between the camera coordinate system and the car light coordinate system;
And multiplying the rotation matrix and the translation matrix to obtain a second conversion matrix between the camera coordinate system and the car light coordinate system.
7. The method of claim 1, wherein the vehicle lamp comprises a plurality of lamp beads; after determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system, the method further comprises the following steps:
acquiring angle information of an obstacle under the car lamp coordinate system;
based on the angle information, searching a control angle corresponding to each lamp bead, and determining a target lamp bead corresponding to the angle information from each lamp bead;
and determining the target lamp bead as a lamp bead affecting the obstacle.
8. A calibration device for a control angle of a vehicle lamp, which is applied to an adaptive high beam system, wherein the adaptive high beam system comprises a camera and a vehicle lamp, and the device comprises:
the image acquisition module is used for acquiring a reference image and a calibration image corresponding to a lamp bead in the car lamp through the camera; the reference image is an image acquired aiming at a preset checkerboard when the preset checkerboard is not irradiated by the lamp beads, and the calibration image is an image comprising light spots acquired aiming at the preset checkerboard when the preset checkerboard is irradiated by the lamp beads;
The position determining module is used for comparing the calibration image corresponding to the lamp bead with the reference image to obtain the position information of the light spot corresponding to the lamp bead under a pixel coordinate system; the pixel coordinate system is a pixel coordinate system corresponding to the image acquired by the camera;
the position conversion module is used for converting the position information of the light spots corresponding to the lamp beads under the pixel coordinate system through a conversion matrix between the pixel coordinate system and the car lamp coordinate system to obtain the position information of the light spots corresponding to the lamp beads under the car lamp coordinate system;
the angle determining module is used for determining the control angle corresponding to the lamp bead based on the position information of the light spot corresponding to the lamp bead under the car lamp coordinate system.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the method for calibrating a lamp control angle according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the calibration method of a vehicle lamp control angle according to any one of claims 1 to 7.
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