Headlight up-down parallax correction method and high-definition matrix headlight control systemTechnical Field
The invention relates to a headlight up-down parallax correction method and a high-definition matrix headlight control system, and belongs to the technical field of headlight control.
Background
An adaptive high Beam system (ADAPTIVE DRIVING Beam, ADB for short) is an advanced vehicle lighting technology, aiming at improving the safety and comfort of night driving. The ADB system accurately closes the light illumination within the range of the front vehicle through intelligent control of the light beam distribution of the high beam, and forms an illumination dark area so as to avoid glare to other road users, and meanwhile, the illumination range is maximized, so that the driver is ensured to have a good visual field.
At present, a general self-adaptive high-beam lamp system can only realize self-adaptive dark space shielding in a transverse space, and a high-definition matrix headlamp can realize self-adaptive dark space shielding in a longitudinal space due to more pixels of LEDs, which are generally tens of thousands or even millions, so that the high-definition matrix headlamp system can realize transverse and longitudinal bidirectional dynamic dark space shielding. High definition matrix headlamp systems have been able to reduce the glare effect on oncoming vehicles to a great extent by adjusting the illumination direction and intensity of the vehicle lamps. However, when the anti-glare measure is implemented, due to deviation of the installation position of the camera and the irradiation of the vehicle lamp in the direction, the light of the vehicle lamp may not be accurately irradiated to the expected area, and the lighting effect and the driving safety are affected.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art, and provide a headlight up-down parallax correction method and a high-definition matrix headlight control system, which can ensure the illumination precision and the anti-dazzling effect of the headlight, provide the optimal night illumination range and ensure the safety and the comfort of the driver driving at night.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention provides a headlight up-down parallax correction method, which comprises the following steps:
s1, detecting angles and distances of a front vehicle;
s2, calculating a corrected car light irradiation angle value according to the obtained distance between the camera sensing module and the tail part of the front car in the X direction and the Z-direction angle value of the front car relative to the camera sensing module and by combining known parameters;
s3, generating a lamp adjusting instruction according to the corrected lamp irradiation angle value;
and S4, executing a correction instruction, and dynamically adjusting the upper and lower irradiation angles of the car lamp.
Further, in the step S1, the detection of the angle and the distance of the front vehicle specifically includes the following steps:
collecting an image of a road ahead;
according to the position of the front vehicle, the distance information of the front vehicle and the Z-direction angle value of the front vehicle relative to the camera are determined.
Further, in the step S2, the corrected lamp irradiation angle value is calculated, and the method specifically includes the following steps:
;
Wherein, theta2 is the irradiation angle after lamp compensation;
θ is the Z-direction angle value of the front vehicle relative to the camera sensing module;
offset is the interval between the camera sensing module and the lamp in the X direction;
h is the interval distance between the camera sensing module and the lamp in the Z direction;
l is the distance between the camera sensing module and the tail of the front vehicle in the X direction;
Δθpose is the angular deviation caused by the vehicle attitude change;
Δh road is the vehicle height variation caused by road surface irregularities;
Δlpose is the change in distance between the camera perception module and the vehicle tail in the X direction caused by the change in vehicle attitude;
Δθoptical is the angular deviation caused by the optical characteristics of the camera perception module;
The X direction refers to the vehicle forward direction, the Y direction refers to the left-right direction of the vehicle, and the Z direction refers to the up-down direction of the vehicle.
The invention further provides a high-definition matrix headlight control system applying the headlight up-down parallax correction method, which comprises a camera sensing module, a headlight control driving module and a high-definition matrix headlight module;
the camera sensing module is connected with the input end of the headlight control driving module, and the output end of the headlight control driving module is connected with the high-definition matrix headlight module.
Further, the high definition matrix headlight module comprises a right high definition matrix headlight and a left high definition matrix headlight.
Further, the camera sensing module is an ADAS intelligent front view all-in-one machine with the L2 level or more.
Further, the camera sensing module is arranged on the inner side of the front windshield of the vehicle and is positioned on the central axis of the vehicle.
Further, the right high-definition matrix headlight is an LED light source with ten thousand pixels or a DMD micro-vibration reflection unit with millions pixels, and the left high-definition matrix headlight is an LED light source with ten thousand pixels or a DMD micro-vibration reflection unit with millions pixels.
By adopting the technical scheme, the invention can monitor and adjust the up-down irradiation angle of the car lamp in real time according to the dynamic state and the surrounding environment of the car, intelligently adjust the irradiation range and the brightness distribution of the car lamp, effectively correct the difference between the view angle of the camera and the irradiation angle of the car lamp, ensure that a driver obtains balanced sight illumination under different driving situations, and avoid glaring to other road users. According to the invention, through an optimized light control technology, intelligent adjustment of the irradiation angle of the car lamp is realized, and the safety and the comfort of night driving are improved.
Drawings
Fig. 1 is a method for correcting up-down parallax of a headlight according to the present invention;
Fig. 2 is a schematic diagram of a state when the angle detection of the camera and the illumination angle error of the car lamp are not corrected;
FIG. 3 is a schematic diagram of the process of camera angle detection and lamp illumination angle error correction according to the present invention;
FIG. 4 is a schematic block diagram of a high definition matrix headlamp control system of the present invention;
Fig. 5 is a schematic diagram showing the calculation of the angular deviation Δθ pose caused by the change in the vehicle posture according to the present invention.
Detailed Description
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Example 1
As shown in fig. 1, the present embodiment provides a headlight up-down parallax correction method, which includes:
step S1, angle and distance detection is carried out on a front vehicle, and the method specifically comprises the following steps:
collecting an image of a road ahead;
And determining the distance between the camera sensing module and the tail of the front vehicle in the X direction and the Z-direction angle value of the front vehicle relative to the camera sensing module according to the position of the front vehicle.
In step S2, as shown in fig. 2, a is the actual irradiation range of the lamp, and B is the ideal irradiation range. Because the camera perception module is mounted above the front windshield of the vehicle and the light is mounted in front of the vehicle head, there is a distance difference H in the longitudinal direction. The current sensing method aims at the whole vehicle, and the size of the output vehicle is a rectangular anchor frame from the roof to the ground point of the tire. The distance between two vehicles is L through the camera ranging function, the installation height of the camera is obtained, and the Z-direction angle value theta of the front vehicle relative to the camera sensing module can be obtained through the inverse trigonometric function. If the high-definition matrix headlight control driving module directly adopts the angle value theta to carry out light control, the camera mounting position and the lamp mounting position are not at the same point, so that errors in light control exist, and the errors are visually represented as the whole light irradiation range is declined. Therefore, it is necessary to compensate for the error.
As shown in fig. 3, according to the obtained distance L between the camera sensing module and the tail of the front vehicle in the X direction and the Z-direction angle value θ of the front vehicle relative to the camera sensing module, the corrected lamp illumination angle value is calculated by combining with known parameters, and specifically includes the following steps:
;
Wherein, theta2 is the irradiation angle after lamp compensation;
θ is the Z-direction angle value of the front vehicle relative to the camera sensing module;
offset is the interval between the camera sensing module and the lamp in the X direction;
h is the interval distance between the camera sensing module and the lamp in the Z direction;
l is the distance between the camera sensing module and the tail of the front vehicle in the X direction;
Δθpose is the angular deviation caused by the vehicle attitude change;
Δh road is the vehicle height variation caused by road surface irregularities;
Δlpose is the change in distance between the camera perception module and the vehicle tail in the X direction caused by the change in vehicle attitude;
Δθoptical is the angular deviation caused by the optical characteristics of the camera perception module;
The X direction refers to the vehicle forward direction, the Y direction refers to the left-right direction of the vehicle, and the Z direction refers to the up-down direction of the vehicle.
The front and rear suspension parts of the vehicle are respectively provided with a vehicle height sensor, when the vehicle drives into an uneven road surface, the posture of the vehicle body can be changed, for example, the posture of the vehicle with head lifting or nodding appears, and then the difference value between the front and rear vehicle height sensors is the change delta Hroad of the vehicle body height caused by the uneven road surface.
Meanwhile, as the posture of the vehicle body changes, for example, the posture of the vehicle with head lifting or nodding can cause the pitch angle of the vehicle to change, namely, an angle deviation delta thetapose can be caused for the Z-direction angle value theta of the front vehicle relative to the camera sensing module. Knowing the distance S between Δhroad and the front-rear body height sensor, as shown in fig. 5, is the vehicle head-on state, Δθpose=arctan（ΔHroad/S), when the vehicle head-on causes θ to become large, Δθpose is positive, when the vehicle head-on causes θ to become small, Δθpose is negative.
Further, the distance L between the camera sensing module and the tail of the front vehicle in the X direction also generates deviation, namely delta Lpose,。
And S3, generating a car lamp adjusting instruction according to the corrected car lamp irradiation angle value so as to correct the actual car lamp irradiation angle.
And S4, executing a correction instruction, dynamically adjusting the up-down illumination angle of the car lamp, and providing the optimal night illumination while avoiding glare of a driver of the front car.
Example two
As shown in fig. 4, the present embodiment provides a high-definition matrix headlight control system to which the headlight up-down parallax correction method of the first embodiment is applied, which includes a camera sensing module, a headlight control driving module, and a high-definition matrix headlight module.
As shown in fig. 4, the camera sensing module of this embodiment is connected to the input end of the headlight control driving module, and is configured to sense the distance between the tail of the front vehicle in the X direction and the Z-direction angle value of the front vehicle relative to the camera sensing module. The camera sensing module can be an ADAS intelligent front view integrated machine with the level of L2 or more sold in the market, and is arranged on the vehicle central axis on the inner side of the front windshield of the vehicle. The vehicle-mounted high-definition matrix headlamp control driving module is capable of sensing the condition of a front road in real time, identifying the position information of a front vehicle, and sending the distance of the tail of the front vehicle in the X direction and the Z-direction angle value of the front vehicle relative to the camera sensing module to the high-definition matrix headlamp control driving module through a conventional vehicle bus. The bus for the vehicle is usually a CAN bus, and CAN also be an SPI or UART bus.
As shown in fig. 4, the output end of the headlight control driving module of the embodiment is connected with the high-definition matrix headlight module. The high-definition matrix headlight control driving module adopts an MCU chip, the main frequency is at least above 120MHz, and the high-definition matrix headlight control driving module is provided with at least 2 paths of CAN bus communication interfaces, CAN receive and analyze the distance of the tail part of the front vehicle in the X direction and the Z-direction angle value information of the front vehicle relative to the camera sensing module, which are sent by the camera sensing module, in real time through internal software, and convert the distance and the Z-direction angle value information into correction instructions for controlling the illumination of the high-definition matrix headlight through logic calculation, thereby realizing the real-time dynamic angle control of the illumination of the high-definition matrix headlight.
As shown in fig. 4, the high definition matrix headlight module of this embodiment includes a right side high definition matrix headlight and a left side high definition matrix headlight. The right high-definition matrix headlight of the embodiment is an LED light source with ten thousand pixels or a DMD micro-vibration reflection unit with millions of pixels, and the left high-definition matrix headlight of the embodiment is an LED light source with ten thousand pixels or a DMD micro-vibration reflection unit with millions of pixels.
The technical problems, technical solutions and advantageous effects solved by the present invention have been further described in detail in the above-described embodiments, and it should be understood that the above-described embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the scope of protection of the present invention.