CN102721533A - Method, device and system for detecting radiating angle of vehicle head lamp based on vertical face - Google Patents

Abstract

The invention discloses a method, a device and a system for detecting a radiating angle of a vehicle head lamp based on a vertical face. According to the method, the device and the system disclosed by the invention, a radiation image of the vehicle head lamp on the vertical face is obtained by using a vehicle-mounted front view angle camera; the detection result of coordinates radiating on the image containing the characteristics of head lamp beams is obtained; a direction vector from an original point to a light spot formed by radiating on the vertical face through the head lamp beam characteristics in a head lamp world coordinate system is calculated by using the detection result; and the detection of the radiating angle of the head lamp is automatically finished according to the direction vector from the original point to the light spot formed by radiating on the vertical face through the head lamp beam characteristics in the head lamp world coordinate system. Compared with the prior art, the method is not limited to the requirement on specific environment and equipment of a vehicle detection station; and in addition, compared with a manual naked eye adjusting method, the method disclosed by the invention has the advantage that the accuracy of the radiating angle detection of the vehicle head lamp is improved.

Description

Vehicle headlamp illumination angle detection method, device and system based on vertical face

Technical Field

The invention relates to the field of vehicle headlamp detection, in particular to a method, a device and a system for detecting the illumination angle of a vehicle headlamp.

Background

The vehicle headlamps function to provide illumination to the driver of the vehicle at night or other low visibility conditions, and to prevent the headlamps from blinding the driver and passersby. In order to meet the above requirements, the vehicle headlamps are provided with two operating modes of low beam and high beam, and the high beam illumination is used when no vehicle is coming in front or other vehicles are trailing, and the low beam illumination is used when the vehicle meets or trails other vehicles. In the daily driving process, the headlamp deviates from the original installation position due to the vibration action, so that the illumination direction is changed. The improper irradiation direction of the light beam of the vehicle headlamp becomes one of the main hidden dangers affecting the safe driving of the vehicle at night. Therefore, the correct irradiation direction of the headlamp is ensured, and the driver can see the road ahead clearly, thereby avoiding the occurrence of traffic accidents.

The method for detecting the irradiation angle of the irradiation direction of the beam of the existing headlamp mainly comprises the following steps: 1) provided is a screen-based method for detecting the artificial irradiation angle of a headlamp. Namely, the headlamp beam is projected on a preset screen, and then whether the position of the beam on the screen meets the standard requirement or not is observed by naked eyes, so that the near light and the far light can be measured. The method has the characteristics of simple equipment, no need of a software processing system, low efficiency, high degree of dependence on subjective judgment of people and large error of an irradiation angle detection result. Therefore, such an irradiation angle detection method is rarely used in a large flow detection line. 2) An irradiation angle detection method adopting a camera and special detector equipment. Two frames of irradiation images of automobile headlamp light beams at different measurement positions on a screen plate of the detector are shot by a camera twice, the spatial positions of characteristic points, light shape centers or turning points of a near light and dark boundary line in the two images are found out through computer identification, and a headlamp light beam irradiation azimuth angle is measured according to the principle that two points are positioned to determine a straight line. The method has the technical level of intellectualization and automatic detection, but needs auxiliary facilities of a special detector screen plate, thereby increasing the detection cost of the headlamp.

Disclosure of Invention

Aiming at the problems that the number of vehicles is greatly increased at present, the existing method needs a large amount of labor cost, is limited to a specific environment and detection equipment, and is difficult to meet the increasing requirements of vehicle headlamp detection, the invention provides a vehicle headlamp illumination angle detection method, device and system based on a vertical surface, so as to reduce the requirements of the detection process on the environment and personnel.

The invention provides a vehicle headlamp illumination angle detection method based on a vertical surface, which specifically comprises the following steps:

obtaining an irradiation image of a vehicle headlamp on a vertical surface, wherein the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp;

detecting the position of the headlight beam feature in the irradiation image by using an image processing algorithm to obtain a detection result containing the coordinates of the headlight beam feature on the irradiation image;

calculating a direction vector from an original point in a world coordinate system of the headlamp to a light spot irradiated on a vertical surface by the characteristics of a headlamp beam according to the imaging principle of a camera by using the detection result;

and calculating the horizontal and/or vertical deflection angle of the light beam direction of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to the light spot on the vertical surface irradiated by the light beam characteristic of the headlamp.

A device for realizing the detection of the irradiation angle of a vehicle headlamp specifically comprises:

an acquisition unit: the device comprises a detection unit, a control unit and a control unit, wherein the detection unit is used for obtaining an irradiation image of a vehicle headlamp on a vertical surface, and the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp, and sending the irradiation image to the detection unit;

a detection unit: the system comprises a calculation unit, a position detection unit and a position detection unit, wherein the position detection unit is used for detecting the position of the headlight beam characteristic in an irradiation image by using an image processing algorithm, obtaining a detection result containing the coordinates of the headlight beam characteristic on the irradiation image, and sending the detection result to the calculation unit;

a calculation unit: the direction vector from the origin in the world coordinate system of the headlamp to a light spot irradiated on the vertical surface by the headlamp beam characteristic is calculated according to the camera imaging principle by utilizing the detection result; and calculating the horizontal and/or vertical deflection angle of the light beam direction of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to the light spot on the vertical surface irradiated by the light beam characteristic of the headlamp.

A system for realizing the detection of the irradiation angle of a vehicle headlamp specifically comprises:

vehicle-mounted forward view camera: the device is used for irradiating the image of the vehicle headlamp on the vertical surface and sending the image to the vehicle headlamp irradiation angle detection device;

vehicle headlamp illumination angle detection device: the device comprises a detection module, a control module and a display module, wherein the detection module is used for obtaining an irradiation image of the vehicle headlamp on a vertical surface, the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp, detecting the position of a headlamp beam feature in the irradiation image by using an image processing algorithm, and obtaining a detection result containing the coordinate of the headlamp beam feature on the irradiation image; calculating a direction vector from an original point in a world coordinate system of the headlamp to a light spot irradiated on a vertical surface by the characteristics of a headlamp beam according to the imaging principle of a camera by using the detection result; and calculating the horizontal and/or vertical deflection angle of the light beam direction of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to the light spot on the vertical surface irradiated by the light beam characteristic of the headlamp.

Therefore, the invention has the following beneficial effects:

the method comprises the steps of obtaining an irradiation image of a vehicle headlamp on a vertical surface when a vehicle parks by using a vehicle-mounted forward visual angle camera, detecting headlamp characteristics in the image through an image processing algorithm to obtain a detection result containing coordinates of headlamp beam characteristics on the irradiation image, and calculating a direction vector from an original point in a headlamp world coordinate system to a light spot irradiated on the vertical surface by the headlamp beam characteristics according to a camera imaging principle; and calculating the horizontal and/or vertical deflection angle of the light beam direction of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to the light spot on the vertical surface irradiated by the light beam characteristic of the headlamp, and automatically detecting the irradiation angle of the headlamp. Compared with the prior art, the method is not limited by the specific environment and equipment requirements of the vehicle detection station, can save the detection cost of the headlamp, can detect the irradiation direction of the headlamp based on image information, does not depend on subjective judgment of people, has high accuracy, saves a large amount of cost, achieves the intelligent and automatic level, can meet the increasing requirements of vehicle headlamp detection, and improves the accuracy of the vehicle headlamp detection.

Drawings

FIG. 1 is a schematic illustration of a method for detecting an illumination angle of a vehicle headlamp based on a vertical plane according to the present invention;

FIG. 2 is an illustration of the camera coordinate system and the headlamp world coordinate system of the present invention;

FIG. 3-1 is an illustration of the detection effect of the present invention headlamp beam characterized by a centroid pattern;

FIG. 3-2 is a graphical illustration of the detection effect of the present invention with a characteristic inflection point type headlight beam;

3-3 are illustrations of the detection effect of the present invention for a headlamp beam characterized by a bright-dark boundary line pattern;

FIG. 4 is an illustration of the projection of the characteristic center of light or inflection point of a headlamp beam in two coordinate systems according to the present invention;

FIG. 4-1 is a schematic illustration of the horizontal and vertical deflection angles of the beam direction of the headlamp of the present invention;

FIG. 5 is a diagram of the projection of the bright and dark boundary lines of the light beam characteristics of the head lamp in two coordinate systems;

FIG. 5-1 is a schematic illustration of the horizontal and vertical deflection angles of the beam direction of the headlamp of the present invention;

FIG. 6 is a diagram of a step of calculating a direction vector from an origin to a light spot of a headlight beam feature on a vertical surface in a headlight world coordinate system according to a camera imaging principle and a distance between the headlight and the vertical surface when the vertical surface is perpendicular to the ground according to the present invention;

FIG. 7 is a diagram of the illumination image coordinate axes and the front image plane coordinate axes of the camera coordinate system of the present invention;

FIG. 8 is an illustration of the projection of the front and rear beam characteristics of the headlamp of the present invention in two coordinate systems;

FIG. 9 is a schematic illustration of a step of calculating a direction vector from an origin to a light spot on a front elevation adjusted by the headlamp and/or a direction vector from an origin to a light spot on a rear elevation adjusted by the headlamp in a world coordinate system of the headlamp according to the imaging principle of the camera and an adjustment angle of the headlamp in the present invention;

FIG. 10 is an illustration of the projection of the features of the headlight beam in two coordinate systems when the vertical plane of the present invention is not perpendicular to the ground;

FIG. 11 is a schematic view of a vehicle headlamp illumination angle detection apparatus according to the present invention;

fig. 12 is a schematic diagram illustrating a system for detecting an illumination angle of a vehicle headlamp based on a vertical surface according to the present invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

The invention provides a vehicle headlamp illumination angle detection method based on a vertical surface, which utilizes a vehicle-mounted forward visual angle camera to automatically complete the detection of a headlamp when a vehicle parks. The method comprises the following implementation steps as shown in figure 1:

11. obtaining an irradiation image of a vehicle headlamp on a vertical surface, wherein the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp;

12. detecting the position of the headlight beam feature in the irradiation image by using an image processing algorithm to obtain a detection result containing the coordinates of the headlight beam feature on the irradiation image;

13. calculating a direction vector from an original point in a world coordinate system of the headlamp to a light spot irradiated on a vertical surface by the characteristics of a headlamp beam according to the imaging principle of a camera by using the detection result;

14. and calculating the horizontal and/or vertical deflection angle of the light beam direction of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to the light spot on the vertical surface irradiated by the light beam characteristic of the headlamp.

In the implementation of the present invention, the method may be performed multiple times when preset irradiation angle detection conditions are met to obtain horizontal and/or vertical deflection angles of multiple groups of headlamp beam directions, where the preset irradiation angle detection conditions may specifically include: according to the modes of preset time, preset mileage, preset period and/or preset times and the like, the horizontal deflection angles and/or the vertical deflection angles of the multiple groups of headlamp beam directions can be subjected to statistical processing, the median values of the horizontal deflection angles and the vertical deflection angles of the headlamp beam directions are calculated, the average horizontal deflection angle and the average vertical deflection angle of the headlamp beam directions are obtained, a reliable angle calculation range is obtained, and finally a stable average headlamp angle detection result is obtained.

It should be noted that, in the present invention, for detecting the irradiation angle of the vehicle headlamp based on the light beam characteristics of the headlamp, a camera coordinate system needs to be established at the camera position, and a world coordinate system needs to be established at the headlamp position, and the coordinate system establishing method refers to fig. 2, which specifically includes:

establishing camera coordinate systems at camera position, e.g. O_{Camera with a camera module}-xyz, where the y-axis is directed to the ground and the z-axis is horizontally forward coincident with the camera principal optical axis, being the horizontal ordinate of the camera coordinate system;

establishing a world coordinate system at the position of the headlight, e.g. O_{World of things}XYZ, where the Y axis is directed vertically to the ground and the Z axis is forward along the horizontal longitudinal direction of the vehicle body, which is the horizontal longitudinal coordinate of the world coordinate system of the headlamp;

and the coordinate axis of the camera coordinate system is parallel to the coordinate axis of the world coordinate system, when the coordinate axis of the camera coordinate system is not parallel to the coordinate axis of the world coordinate system, the image correction can be carried out by utilizing the prior art, so that the coordinate axis of the camera coordinate system is parallel to the coordinate axis of the world coordinate system, therefore, in the step 11, the irradiation image of the vehicle headlamp on the vertical surface is obtained, the shooting direction of the irradiation image, namely the Z-axis direction of the camera coordinate system is consistent with the irradiation direction of the vehicle headlamp, namely the Z-axis direction of the world coordinate system of the headlamp, the step can also comprise a judging step of judging whether the obtained shooting direction of the irradiation image is consistent with the irradiation direction of the vehicle headlamp, and if the directions are not consistent, the irradiation image is corrected to.

In the present invention, the headlight irradiation angle is detected based on the irradiation image of the vehicle headlight on the vertical surface, which is either perpendicular to the ground or not perpendicular to the ground, and in the case where the vertical surface is perpendicular to the ground, the headlight irradiation angle may be calculated from the distance between the vehicle and the vertical surface, or the headlight irradiation angle may be calculated from the vehicle headlight adjustment angle. For the case that the vertical surface is not perpendicular to the ground, the headlamp irradiation angle can be calculated according to the distance between the vehicle and the vertical surface and the complementary angle of the included angle between the vertical surface and the ground, and can also be calculated according to the vehicle headlamp adjustment angle.

For the headlamp with the vertical surface vertical to the ground and the irradiation angle not adjustable, the horizontal and/or vertical deflection angle of the beam direction of the headlamp is detected according to the imaging principle of a video camera and the distance between the camera and the vertical surface, and the method specifically comprises the following steps:

the irradiation images of different types of headlamps have different forms, so that a corresponding image processing algorithm can be selected for detection according to preset feature types of the headlamps of the vehicle to obtain detection results of the positions of the light beam features of the headlamps in the irradiation images, and the detection results are specifically as follows:

the characteristic types of the headlamp are as follows: light heart type

The characteristic point of the high beam is the geometric center of the bright area of the irradiation image, and is in a light heart shape, the detection effect graph is shown in fig. 3-1, and the position of the characteristic of the high beam in the irradiation image detected by the light heart shape image processing algorithm is specifically as follows: determining the position of the characteristic optical center of the headlamp beam in an illumination image by adopting a limited neighborhood maximum method;

accordingly, the number of the first and second electrodes,

coordinates of headlight beam features on the illumination image: specifically, coordinates of a characteristic optical center of a headlamp beam on an irradiation image are obtained through the position of the optical center in the irradiation image;

the light spot: in particular the center of the light of the headlight beam characteristic on the elevation of the world coordinate system of the headlight, see for example point a in fig. 4.

(II) the characteristic types of the headlamp are as follows: inflection point type

The low beam light beam is characterized in that the illumination image often has an inflection point feature, and is of an inflection point type, the detection effect graph is shown in fig. 3-2, and the inflection point type image processing algorithm detects the position of the headlight light beam feature in the illumination image specifically as follows:

obtaining edge points of the light beam irradiation image through an edge detection operator;

performing least square fitting on the edge points to obtain two boundary lines;

and solving the intersection point of the two boundary lines to determine the position of the inflection point.

Accordingly, the number of the first and second electrodes,

coordinates of headlight beam features on the illumination image: specifically, the coordinates of the characteristic inflection point of the headlight beam on the irradiation image are obtained through the position of the inflection point in the irradiation image;

the light spots are in particular: the headlight beam feature impinges on an inflection point on the facade of the headlight world coordinate system, see for example point a in fig. 4.

(III) the characteristic types of the headlamp are as follows: bright and dark boundary line type

Sometimes, the inflection point feature of the low beam light beam is not obvious, it is necessary to detect the bright and dark boundary lines of the illumination image as the headlight features, the detection result is shown in fig. 3-3, and the detection of the position of the headlight light beam feature in the illumination image by the bright and dark boundary line type image processing algorithm is specifically:

carrying out neural network learning on a pre-selected area with a bright and dark boundary line and an area without the bright and dark boundary line to obtain a bright and dark boundary line classifier;

and analyzing the illumination image through a bright and dark boundary line classifier to obtain the positions of the bright and dark boundary lines of the illumination image.

Accordingly, the number of the first and second electrodes,

coordinates of headlight beam features on the illumination image: the method specifically comprises the steps that coordinates of two points randomly selected from a characteristic bright and dark boundary line of a headlight beam on an illumination image are obtained according to a linear equation of the position of the bright and dark boundary line on the illumination image;

the light spot: in particular, two points selected from the bright-dark boundary line of the headlight beam characteristic illuminate two light spots on the vertical face of the world coordinate system of the headlight, for example, see B, C in fig. 5.

Thus, the vehicle headlamp irradiation angle detection is performed for the above (first), (second), and (third) different headlamp beam characteristics.

In step 13, the direction vector from the origin in the world coordinate system of the headlamp to the light spot irradiated on the vertical surface by the headlamp beam feature is calculated according to the camera imaging principle by using the detection result, and the calculation process is as shown in fig. 6, and specifically includes:

601. obtaining coordinate values of the headlight beam characteristics on the irradiation image by using the detection result;

in one embodiment of the invention, the headlight beam characteristic is of an optical center type or an inflection point type, and the coordinate value of the headlight beam characteristic on the irradiation image is specifically the coordinate of the headlight beam characteristic optical center or the inflection point on the irradiation image;

in another embodiment of the present invention, the coordinate values of the headlight beam feature on the illumination image are coordinate values of two points arbitrarily selected from the bright and dark boundary line of the headlight beam feature on the illumination image, and the coordinate values of the two points on the illumination image are obtained according to a linear equation of the positions of the bright and dark boundary line on the illumination image, as shown in fig. 5.

602. Obtaining the coordinate value of the first type of projection point on the front image plane of the camera coordinate system by using the coordinate component of the first type of projection point on the front image plane of the camera coordinate system (the coordinate axis component of the headlight beam feature on the irradiation image-the coordinate axis component of the center point of the irradiation image) x the physical size of each pixel in the direction of the coordinate axis of the front image plane of the camera coordinate system, wherein the first type of projection point is the intersection point of the light rays emitted to the camera by the light spot irradiated on the vertical surface of the headlight beam feature on the world coordinate system and the front image plane of the camera coordinate system:

it should be noted that the front image plane is a virtual image plane, the front image plane and the actual target are located on the same side of the optical center of the camera, the distance from the optical center of the camera is the camera focal length f, as shown in fig. 5, and the imaging of the object in the camera is an inverted image formed on the photosensitive imaging plane and located on one side of the optical center of the camera, because the target imaging on the front image plane is consistent with the direction of the actual target, in the present invention, for convenience of description and understanding, the front image plane is used for coordinate calculation;

in one embodiment of the present invention, assuming that the headlight beam is characterized by a center of light or an inflection point, referring to fig. 4, the light point of the headlight beam characteristic center of light or the inflection point irradiated on the vertical face of the world coordinate system of the headlight is point a, the intersection point of the light emitted from the point a to the camera and the front image plane of the camera coordinate system is point a ', point a' is a first type projection point, according to the camera imaging principle, the coordinate value of the headlight beam characteristic optical center or inflection point A' on the illumination image only represents the position in the illumination image, not the coordinate of the physical unit in the camera coordinate system, so that the coordinates in the illumination image need to be converted into the coordinates of the physical unit of the camera coordinate system, which is usually in millimeters, the coordinate values of the first type of projection point a' on the image plane in front of the camera coordinate system are calculated specifically by:

supposing that the coordinate of the characteristic optical center or inflection point A' of the headlight beam in the irradiation image is (u, v), and the coordinate is a specific coordinate value obtained by an image processing algorithm when the invention is specifically implemented;

assuming that a certain point (u0, v0) in the irradiation image is the origin (0, 0) of the front image plane of the camera coordinate system, in the implementation of the present invention, the center point of the irradiation image is the origin of the front image plane of the camera coordinate system, and the center point of the irradiation image is the available specific coordinate value;

moreover, according to the imaging principle of the camera, the coordinate axes of the illumination image are parallel to the coordinate axes of the front image plane of the camera coordinate system, and the directions are the same, see fig. 7;

assuming that the physical size of each pixel in the x direction of the front image plane of the camera coordinate system is dx and the physical size in the y direction is dy, the physical size is determined by the specific camera attributes when the present invention is implemented, and is a specific size that can be obtained;

according to the camera imaging principle, in combination with the above conditions, the coordinates (u, v) of the characteristic optical center or inflection point A 'of the headlight beam in the illumination image and the coordinates (x', y ') of the first type projection point A' on the front image plane of the camera coordinate system have the following conversion relation:

<math> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <mi>u</mi> <mo>=</mo> <mfrac> <msup> <mi>x</mi> <mo>&prime;</mo> </msup> <mi>dx</mi> </mfrac> <mo>+</mo> <msub> <mi>u</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <mi>v</mi> <mo>=</mo> <mfrac> <msup> <mi>y</mi> <mo>&prime;</mo> </msup> <mi>dy</mi> </mfrac> <mo>+</mo> <msub> <mi>v</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> </math>

according to the above formula conversion relationship, the coordinates of the first type projection point a ' (x ', y ') on the image plane in front of the camera coordinate system are obtained as follows:

in another embodiment of the present invention, assuming that the headlight beam characteristics are a bright-dark boundary line type, referring to fig. 5, two light points, which are selected from two points on the bright-dark boundary line of the headlight beam characteristics and are irradiated on the vertical plane of the world coordinate system of the headlight, are B, C two points, and the intersection points of the light rays emitted from B, C two points to the camera and the front image plane of the camera coordinate system are B 'and C' two points, then the B 'and C' two points are first-type projection points, and in the same way, the coordinates of the B 'and C' on the front image plane of the camera coordinate system can be obtained, which is not described herein again.

603: converting the coordinates of the first type of projection points on the front image plane of the camera coordinate system into homogeneous coordinates of the camera coordinate system by using the focal length of the camera;

for example, in one embodiment of the present invention, the headlight beam is characterized by a light center type or a knee type, see fig. 4, and the first type of proxels a' are mapped from the front image plane of the camera coordinate system into the three-dimensional coordinate system of the camera coordinate system: the three-dimensional coordinates of the first type projection point a ' on the front image plane are (x ', y ', f), where, assuming f is the camera focal length, the conversion to homogeneous coordinates is:

<math> <mrow> <mrow> <mo>(</mo> <mi>x</mi> <mo>,</mo> <mi>y</mi> <mo>,</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>=</mo> <mrow> <mo>(</mo> <mfrac> <msup> <mi>x</mi> <mo>&prime;</mo> </msup> <mi>f</mi> </mfrac> <mo>,</mo> <mfrac> <msup> <mi>y</mi> <mo>&prime;</mo> </msup> <mi>f</mi> </mfrac> <mo>,</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </math>

through the derivation of the formula, the three-dimensional homogeneous coordinate of the headlamp beam characteristic projection point A' in the camera coordinate system on the front image plane is as follows:

<math> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <mi>x</mi> <mo>=</mo> <mfrac> <mrow> <mrow> <mo>(</mo> <mi>u</mi> <mo>-</mo> <msub> <mi>u</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mi>dx</mi> </mrow> <mi>f</mi> </mfrac> </mtd> </mtr> <mtr> <mtd> <mi>y</mi> <mo>=</mo> <mfrac> <mrow> <mrow> <mo>(</mo> <mi>v</mi> <mo>-</mo> <msub> <mi>v</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mi>dy</mi> </mrow> <mi>f</mi> </mfrac> </mtd> </mtr> <mtr> <mtd> <mi>z</mi> <mo>=</mo> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> </math>

604: multiplying the homogeneous coordinates of the camera coordinate system by a multiple to obtain the coordinates of the light spot in the camera coordinate system, wherein the multiple is the sum of the distance between the camera and the vertical face and the horizontal longitudinal axis coordinates of the world coordinate system origin in the camera coordinate system;

for example, in an embodiment of the present invention, assuming that the headlight beam is characterized by a center of light or a knee, see fig. 4, and assuming D as the actually measured distance between the camera and the facade, in the implementation of the present invention, the distance D can be actually measured, and the first type projection point a' is located in the three-dimensional homogeneous order of the front image planeCoordinate multiplied by D + z₀And obtaining the three-dimensional coordinates of the light spot in a camera coordinate system:

$(D+z_0)\left(\begin{array}{c}x\\ y\\ z\end{array}\right)$

605: and calculating the coordinates of the light spot in the world coordinate system of the headlamp according to the difference value of the coordinates of the light spot in the camera coordinate system and the coordinates of the origin of the world coordinate system of the headlamp in the camera coordinate system.

For example, in one embodiment of the present invention, assuming that the headlight beam is characterized by a light center type or a knee type, referring to fig. 4, the position of the headlight world coordinate system origin in the camera coordinate system is assumed to be (x)₀，y₀，z₀) In the implementation of the present invention, the position coordinates can be obtained by actually measuring the position of the headlight relative to the camera;

thus, the spot coordinates a (X, Y, Z) of the headlight beam feature impinging on the facade of the headlight world coordinate system can be obtained by:

$\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)=(D+z_0)\left(\begin{array}{c}x\\ y\\ z\end{array}\right)-\left(\begin{array}{c}{x}_0\\ y_0\\ {\mathrm{<figure-callout\; id="0"\; label="z"\; filenames="2012102062037100003DEST\_PATH\_IMAGE003.png,HDA00001791417100042.png"\; state="\{\{state\}\}">z</figure-callout>}}_0\end{array}\right)$

in another embodiment of the present invention, assuming the headlight beam is characterized by a bright-dark boundary line pattern, referring to FIG. 5, two selected light points B (X) on the bright-dark boundary line can be obtained₁,Y₁,Z₁) And C (X)₂，Y₂，Z₂) The coordinates of (a).

606: obtaining a direction vector from an original point in the headlamp world coordinate system to a light spot irradiated on a vertical surface by the headlamp beam characteristics according to the coordinates of the light spot in the headlamp world coordinate system;

for example: in one embodiment of the invention, the headlight beam is assumed to be characterized as being of the center-of-light type or of the inflection type, O_{World of things}The direction vector of a is (a b c) ═ X Y Z;

in yet another embodiment of the present invention, the headlight beam is assumed to be characterized by a bright-dark boundary line type, O_{World of things}B prescriptionThe vector is (a)₁ b₁ c₁)＝(X₁ Y₁ Z₁) And O_{World of things}The direction vector of C is (a)₂ b₂ c₂)＝(X₂ Y₂ Z₂)。

In step 14, the horizontal and/or vertical deflection angle of the headlight beam direction is calculated according to the direction vector from the origin to the light spot on the vertical surface irradiated by the headlight beam feature in the headlight world coordinate system, and the calculation specifically includes the following steps:

for example, in one embodiment of the present invention, assuming that the headlight beam is characterized by a light center type or an inflection point type, see fig. 4:

the headlamp beam direction is: from the origin of the world coordinate system of the headlamp to the point A of the spot, i.e. beam O_{World of things}A；

The horizontal deflection angle of the headlamp beam direction is as follows: referring to fig. 4-1, the projection line O of the origin of the world coordinate system of the headlamp and the line connecting the light spots on the horizontal plane_{World of things}An included angle beta between the P and the horizontal ordinate axis Z axis of the world coordinate system of the headlamp;

the vertical deflection angle of the light beam direction of the headlamp is as follows: referring to fig. 4-1, the origin of the world coordinate system of the headlamp is connected with the light spot by a line O_{World of things}A and the connection line project a line O on a horizontal plane_{World of things}The angle of intersection α between P;

the headlamp beam direction horizontal and/or vertical deflection angle is calculated as: according to the Pythagorean theorem and the relation between the corners of the right triangle, the horizontal deflection angle and the vertical deflection angle of the light beam direction of the headlamp are obtained by calculating the direction vector from the origin of the world coordinate system of the headlamp to the light spot A, and the method comprises the following steps:

<math> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <mi>&alpha;</mi> <mo>=</mo> <mi>arctan</mi> <mfrac> <mi>b</mi> <msqrt> <msup> <mi>a</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>c</mi> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> <mtr> <mtd> <mi>&beta;</mi> <mo>=</mo> <mi>arctan</mi> <mfrac> <mi>a</mi> <msqrt> <msup> <mi>b</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>c</mi> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> </mtable> </mfenced> </math>

for example, in yet another embodiment of the present invention, assuming that the headlamp beam is characterized by a bright-dark boundary line type, see FIG. 5:

the headlamp beam direction is: main direction of main axis of head-light, i.e. beam O_{World of things}A, the main optical axis O of the headlamp_{World of things}Starting from the origin of a world coordinate system, the A intersects with a bright and dark boundary line where the two points of the light point B, C are located, and the intersection point A is a point for determining the direction vector of the main optical axis of the headlamp;

the horizontal deflection angle of the headlamp beam direction is as follows: projection line O of main optical axis of headlamp on horizontal plane_{World of things}An included angle beta between the P and the horizontal ordinate axis Z axis of the world coordinate system of the headlamp;

the vertical deflection angle of the light beam direction of the headlamp is as follows: projection line O of main optical axis of headlamp on horizontal plane_{World of things}P and the main optical axis O of the headlamp_{World of things}The angle of intersection α between A;

the headlamp beam direction horizontal and/or vertical deflection angle is calculated as: according to the Pythagorean theorem and the right triangle cornerRelation formed by the main optical axis direction vector O of said headlight_{World of things}A (X, Y, Z) calculates to obtain the horizontal and vertical deflection angles of the light beam direction of the headlamp as follows;

<math> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <mi>&alpha;</mi> <mo>=</mo> <mi>arctan</mi> <mfrac> <mi>Y</mi> <msqrt> <msup> <mi>X</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>Z</mi> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> <mtr> <mtd> <mi>&beta;</mi> <mo>=</mo> <mi>arctan</mi> <mfrac> <mi>X</mi> <msqrt> <msup> <mi>Y</mi> <mn>2</mn> </msup> <mo>+</mo> <msup> <mi>Z</mi> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> </mtable> </mfenced> </math>

wherein, the main optical axis direction vector O of the head lamp_{World of things}A (X, Y, Z) is obtained by the following equation:

equation one: the point a for determining the main optical axis direction vector of the headlamp is collinear with the two light points B, C, so that the coordinate of the point a for determining the main optical axis direction vector of the headlamp is equal to an equation containing a parameter variable λ consisting of the coordinates of the two light points B, C, wherein the coordinates of the two light points B, C are obtained by calculating the direction vector from the origin in the world coordinate system of the headlamp to the light point on the vertical surface irradiated by the headlamp beam feature, wherein λ ∈ -infinity, + ∞) is as follows:

<math> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <mi>X</mi> <mo>=</mo> <msub> <mi>X</mi> <mn>1</mn> </msub> <mo>+</mo> <mi>&lambda;</mi> <mfrac> <mrow> <msub> <mi>X</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>X</mi> <mn>1</mn> </msub> </mrow> <msqrt> <msup> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>X</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>Z</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> <mtr> <mtd> <mi>Y</mi> <mo>=</mo> <msub> <mi>Y</mi> <mn>1</mn> </msub> <mo>+</mo> <mi>&lambda;</mi> <mfrac> <mrow> <msub> <mi>Y</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mn>1</mn> </msub> </mrow> <msqrt> <msup> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>X</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>Z</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> <mtr> <mtd> <mi>Z</mi> <mo>=</mo> <msub> <mi>Z</mi> <mn>1</mn> </msub> <mo>+</mo> <mi>&lambda;</mi> <mfrac> <mrow> <msub> <mi>Z</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>Z</mi> <mn>1</mn> </msub> </mrow> <msqrt> <msup> <mrow> <mo>(</mo> <msub> <mi>X</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>X</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Y</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>Y</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>Z</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </msqrt> </mfrac> </mtd> </mtr> </mtable> </mfenced> </math>

equation two: direction vector O of main optical axis of the headlamp_{World of things}A is vertical to the intersection line l of two planes, the two planes are planes formed by the horizontal plane of the world coordinate system of the headlamp, the bright and dark boundary line on the vertical plane and the origin of the world coordinate system of the headlamp, thereforeThe direction vector of the main optical axis of the headlamp and the direction vector of the intersection line l form an equation with a zero dot product result, and the equation comprises the following components:

<math> <mrow> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <mi>X</mi> </mtd> </mtr> <mtr> <mtd> <mi>Y</mi> </mtd> </mtr> <mtr> <mtd> <mi>Z</mi> </mtd> </mtr> </mtable> </mfenced> <mo>&CenterDot;</mo> <mrow> <mo>(</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>&times;</mo> <mrow> <mo>(</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mn>1</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>&times;</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mn>2</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>)</mo> </mrow> <mo>)</mo> </mrow> <mo>=</mo> <mn>0</mn> </mrow> </math>

wherein,

<math> <mrow> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mn>1</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>&times;</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mn>2</mn> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </math> is a plane O_wA normal vector for BC;

<math> <mrow> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <mn>1</mn> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> </mtr> </mtable> </mfenced> <mo>&times;</mo> <mrow> <mo>(</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mn>1</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>&times;</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>X</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Y</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>Z</mi> <mn>2</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>)</mo> </mrow> </mrow> </math> is a plane O_wBC and level O_wThe direction vector of the intersection l of XZ.

According to the above equation two, the parameter λ can be obtained, and the coordinates A (X, Y, Z) of the point A for determining the main optical axis direction vector of the headlamp is obtained, and the main optical axis direction vector O of the headlamp is obtained_{World of things}And A (X, Y, Z) calculates to obtain the horizontal and vertical deflection angles of the beam direction of the headlamp.

For the embodiment of the headlamp with the adjustable irradiation angle, whether the vertical surface is vertical to the ground or not, the horizontal and/or vertical deflection angle of the light beam direction of the headlamp can be calculated according to the camera imaging principle and the vehicle headlamp adjustment angle, wherein the vehicle headlamp adjustment angle is specifically an adjustment angle obtained when the headlamp is respectively shot on the vertical surface twice before and after the adjustment of the vertical direction, and specifically the adjustment angle is as follows:

the method comprises the following steps that 11, an irradiation image of the vehicle headlamp on a vertical surface is obtained, wherein the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp, the step is specifically to obtain a first irradiation image on the vertical surface before the vehicle headlamp is adjusted, the shooting direction of the first irradiation image is the same as the irradiation direction of the vehicle headlamp, and a second irradiation image on the vertical surface after the vehicle headlamp is adjusted is also obtained, and the shooting direction of the second irradiation image is the same as the irradiation direction of the vehicle headlamp;

the step 12 of detecting the position of the headlight beam feature in the irradiation image by using an image processing algorithm to obtain a detection result including coordinates of the headlight beam feature on the irradiation image is specifically to detect the position of the headlight beam feature in the first irradiation image and the second irradiation image by using the image processing algorithm to obtain a detection result including coordinates of the headlight beam feature on the first irradiation image and the second irradiation image;

in step 13, the direction vector from the origin to the light spot irradiated on the vertical surface by the headlight beam feature in the headlight world coordinate system is calculated according to the camera imaging principle by using the detection result, and the direction vector from the origin to the first light spot and/or the direction vector from the origin to the second light spot in the headlight world coordinate system is calculated according to the camera imaging principle and the adjustment angle of the vehicle headlight by using the detection result, wherein the first light spot is a light spot irradiated on the vertical surface of the headlight world coordinate system by the headlight adjustment front beam feature, and the second light spot is a light spot irradiated on the vertical surface of the headlight world coordinate system by the headlight adjustment rear beam feature.

For example, referring to fig. 8, the adjusting angle of the vehicle headlamp is O_{World of things}A and O_{World of things}And B, assuming that an included angle between the two direction vectors is theta, the first type of light spot is a point A, and the second type of light spot is a point B.

Wherein, using the detection result, calculating a direction vector from an origin to a first type of light spot and/or a direction vector from the origin to a second type of light spot in a world coordinate system of the headlamp according to a camera imaging principle and an adjustment angle of the vehicle headlamp, and the calculation process is as shown in fig. 9, which specifically comprises:

901. obtaining coordinate values of the headlight beam characteristics in the first illumination image and the second illumination image by using the detection result;

902. obtaining coordinate values of the second type of projection points on the camera coordinate system front image plane by using coordinate components of the second type of projection points on the camera coordinate system front image plane (the coordinate axis component of the headlamp beam feature on the illumination image one-the coordinate axis component of the center point of the adjusted front illumination image) x physical dimensions of each pixel in the coordinate axis direction of the camera coordinate system front image plane, wherein the second type of projection points are intersection points of light rays emitted by a vertical face light point of the headlamp adjusted front beam feature on the headlamp world coordinate system to the camera and the camera coordinate system front image plane, for example, referring to fig. 8, a' is the second type of projection points;

903. obtaining a coordinate value of a third type of projection point on the camera coordinate system front image plane by using a coordinate component of the third type of projection point on the camera coordinate system front image plane (the coordinate axis component of the headlight beam feature on the irradiation image two-the coordinate axis component of the center point of the irradiation image after adjustment) x a physical size of each pixel in the coordinate axis direction of the camera coordinate system front image plane, wherein the third type of projection point is an intersection point of a light ray emitted by a vertical face light point of the headlight beam feature irradiated on the headlight world coordinate system to the camera and the camera coordinate system front image plane, for example, see fig. 8, and B' is the third type of projection point;

904. and converting the coordinates of the second type of projection point and the third type of projection point on the image plane in front of the camera coordinate system into homogeneous coordinates of the camera coordinate system by using the focal length of the camera, for example:

the homogeneous coordinate of the second kind of projection point A' in the camera coordinate system is <math> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>1</mn> </msub> <mo>=</mo> <mfrac> <mrow> <mrow> <mo>(</mo> <msub> <mi>u</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>u</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mi>dx</mi> </mrow> <mi>f</mi> </mfrac> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>1</mn> </msub> <mo>=</mo> <mfrac> <mrow> <mrow> <mo>(</mo> <msub> <mi>v</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>v</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mi>dy</mi> </mrow> <mi>f</mi> </mfrac> </mtd> </mtr> <mtr> <mtd> <mi>z</mi> <mo>=</mo> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> </math>

Homogeneous seating of the third type of proxels B' in the camera coordinate systemIs marked as <math> <mfenced open='{' close=''> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>2</mn> </msub> <mo>=</mo> <mfrac> <mrow> <mrow> <mo>(</mo> <msub> <mi>u</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>u</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mi>dx</mi> </mrow> <mi>f</mi> </mfrac> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>2</mn> </msub> <mo>=</mo> <mfrac> <mrow> <mrow> <mo>(</mo> <msub> <mi>v</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>v</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>&CenterDot;</mo> <mi>dy</mi> </mrow> <mi>f</mi> </mfrac> </mtd> </mtr> <mtr> <mtd> <msub> <mi>z</mi> <mn>2</mn> </msub> <mo>=</mo> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> </math>

905. Calculating a normal vector of a second plane formed by the first light spot, the origin of the camera coordinate system and the origin of the headlamp world coordinate system according to the homogeneous coordinates of the second projection point in the camera coordinate system and the coordinates of the origin of the headlamp world coordinate system in the camera coordinate system, for example:

plane O_{World of things}O_{Camera with a camera module}A is a second plane, and the calculation formula of the normal vector of the second plane is as follows:

O_{world of things}O_{Camera with a camera module}Normal vector of A <math> <mrow> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>A</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>B</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>C</mi> <mn>1</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>1</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>z</mi> <mn>1</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>&times;</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>z</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </math>

906. Calculating a normal vector of a third plane formed by the second light spot, the origin of the camera coordinate system and the origin of the headlamp world coordinate system according to the homogeneous coordinates of the third projection point in the camera coordinate system and the coordinates of the origin of the headlamp world coordinate system in the camera coordinate system, for example:

plane O_{World of things}O_{Camera with a camera module}B is a third plane, and the calculation formula of the normal vector of the third plane is as follows:

O_{world of things}O_{Camera with a camera module}Normal vector of B <math> <mrow> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>A</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>B</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>C</mi> <mn>2</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>2</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>z</mi> <mn>2</mn> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>&times;</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>z</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </math>

907. A fourth plane is formed by the first light spots, the second light spots and the origin of the world coordinate system of the headlamp, and the normal vector of the fourth plane is expressed as

For example:

plane O_{World of things}AB is a fourth plane of class whose normal vector is expressed as: $\left(\begin{array}{c}1\\ 0\\ k\end{array}\right);$

908. obtaining a direction vector formed by the origin of the world coordinate system of the headlamp and the first type of light spots and/or a direction vector formed by the origin of the world coordinate system of the headlamp and the second type of light spots by calculating a parameter k to be solved according to the following equation:

the outer product of the normal vector of the second plane type and the normal vector of the fourth plane type is equal to the equation of the direction vector formed by the origin of the world coordinate system of the headlamp and the first light spot type, for example

O_{World of things}Direction vector of A (kB)₁ C₁-kA₁ -B₁)＝(A₁ B₁ C₁)×(1 0 k)；

The outer product of the normal vector of the third plane type and the normal vector of the fourth plane type is equal to the equation of the direction vector formed by the origin of the world coordinate system of the headlamp and the light spot of the second plane type, for example

O_{World of things}Direction vector of B (kB)₂ C₂-kA₂ -B₂)＝(A₂ B₂ C₂)×(1 0 k)；

An equation in which the dot-product of the vector formed by the origin of the world coordinate system of the headlamp and the first type of light spot and the direction vector formed by the origin of the world coordinate system of the headlamp and the second type of light spot is equal to the product of the modulus of the two vectors and the cosine of the adjustment angle of the vehicle headlamp, for example

(kB₁ C₁-kA₁ -B₁)·(kB₂ C₂-kA₂ -B₂)＝|kB₁ C₁-kA₁ -B₁||KB₁ C₁-KA₁ -B₁|cosθ

By the above equation, a direction vector formed by the origin of the headlight world coordinate system and the first type of light spot and/or a direction vector formed by the origin of the headlight world coordinate system and the second type of light spot are obtained.

Step 14, calculating a horizontal and/or vertical deflection angle of the headlight beam direction according to the direction vector from the origin in the headlight world coordinate system to the light spot on the vertical surface irradiated by the headlight beam feature, specifically calculating the following for the embodiment that the headlight can be adjusted:

calculating the horizontal and/or vertical deflection angle of the direction of the light beam of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to a first type light spot A on the vertical surface irradiated by the light beam characteristics of the headlamp:

vector O formed by origin of world coordinate system of headlamp and first type light spot_{World of things}The direction of A is the light beam direction of the headlamp, and the horizontal and/or vertical deflection angle of the light beam direction of the headlamp is calculated according to the Pythagorean theorem and the corner relation of the right triangle;

or calculating the horizontal and/or vertical deflection angle of the direction of the headlamp beam from the origin in the world coordinate system of the headlamp to the direction vector of a second type of light spot B irradiated on the vertical surface by the headlamp beam characteristic:

direction vector O formed by origin of world coordinate system of headlamp and first type light spot_{World of things}A is the light beam direction of the headlamp, the horizontal deflection angle and/or the vertical deflection angle of the light beam direction after the headlamp is adjusted are calculated according to the Pythagorean theorem and the corner relation of a right triangle from the direction vector from the original point in the world coordinate system of the headlamp to the second type light spot B, the horizontal deflection angle of the light beam direction after the headlamp is adjusted is the horizontal deflection angle of the light beam direction of the headlamp, and then the difference value between the vertical deflection angle after the headlamp is adjusted and the adjustment angle theta of the headlamp is calculated to obtain the vertical deflection angle of the light beam direction of the headlamp.

For the case that the vertical surface is not perpendicular to the ground, see fig. 10, it is assumed that the vertical surface is perpendicular to the groundFacade is crossed by (0, H, D + z) in camera coordinate system₀) Point, where H is the height of the camera, D is the distance from the measured projected point of the camera's optical center on the ground to the intersection line of the elevation and the ground, and z₀For the horizontal ordinate and the vertical ordinate of the origin of the world coordinate system of the headlamp in the camera coordinate system, the equation of the vertical face in the camera coordinate system can be written as

Wherein,

in step 13, the direction vector from the origin in the world coordinate system of the headlamp to the light spot irradiated on the vertical surface by the headlamp beam feature is calculated according to the camera imaging principle by using the detection result, and the calculation process specifically includes:

obtaining coordinate values of the headlight beam characteristics on the irradiation image by using the detection result;

obtaining a coordinate value of the first type of projection point on the front image plane of the camera coordinate system by using a coordinate component of the first type of projection point on the front image plane of the camera coordinate system (a coordinate axis component of the headlamp beam feature on the irradiation image-a coordinate axis component of a central point of the irradiation image) x a physical size of each pixel in the direction of the coordinate axis of the front image plane of the camera coordinate system, wherein the first type of projection point is an intersection point of light rays emitted to the camera by a light spot irradiated on a vertical surface of the headlamp beam world coordinate system and the front image plane of the camera coordinate system;

converting the coordinates of the first type of projection points on the front image plane of the camera coordinate system into homogeneous coordinates of the camera coordinate system by using the focal length of the camera;

the coordinates of the spot a (X ', Y ', Z ') of the headlight beam feature on the facade in the camera coordinate system can be written as an expression containing the parameter k to be solved: a (X ', Y ', Z ') ═ k · (X)₁，y₁，z₁) Wherein k is a parameter, k > 0, (x)₁，y₁，z₁) Is the homogeneous coordinate of the first kind of projection point a' in the camera coordinate system, since point a is on the elevation, which conforms to the elevation equation, therefore,

can find k

Further, the coordinates of light points A (X ', Y ', Z ') of the headlight beam characteristics irradiated on the vertical surface in a camera coordinate system are obtained;

the coordinates (X, Y, Z) of spot a in the headlight world coordinate system can be given by:

<math> <mrow> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <mi>X</mi> </mtd> </mtr> <mtr> <mtd> <mi>Y</mi> </mtd> </mtr> <mtr> <mtd> <mi>Z</mi> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msup> <mi>X</mi> <mo>&prime;</mo> </msup> </mtd> </mtr> <mtr> <mtd> <msup> <mi>Y</mi> <mo>&prime;</mo> </msup> </mtd> </mtr> <mtr> <mtd> <msup> <mi>Z</mi> <mo>&prime;</mo> </msup> </mtd> </mtr> </mtable> </mfenced> <mo>-</mo> <mfenced open='(' close=')'> <mtable> <mtr> <mtd> <msub> <mi>x</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>y</mi> <mn>0</mn> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>z</mi> <mn>0</mn> </msub> </mtd> </mtr> </mtable> </mfenced> </mrow> </math>

and calculating a direction vector from an original point in the headlamp world coordinate system to a light spot irradiated on the vertical surface by the headlamp beam characteristic according to the coordinates (X, Y, Z) of the light spot A in the headlamp world coordinate system.

Wherein, in step 14, calculating the horizontal and/or vertical deflection angle of the headlight beam direction according to the direction vector from the origin in the headlight world coordinate system to the light spot irradiated on the vertical surface by the headlight beam feature is the same as that in the above other embodiments, and is not described herein again.

The invention provides a vehicle headlamp irradiation angle detection device based on a vertical surface, which utilizes a vehicle-mounted front visual angle camera to automatically complete the irradiation angle detection of a headlamp, and the device is shown in a figure 11, and specifically comprises the following steps:

an acquisition unit: the device comprises a detection unit, a control unit and a control unit, wherein the detection unit is used for obtaining an irradiation image of a vehicle headlamp on a vertical surface, and the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp, and sending the irradiation image to the detection unit;

a detection unit: the system comprises a calculation unit, a position detection unit and a position detection unit, wherein the position detection unit is used for detecting the position of the headlight beam characteristic in an irradiation image by using an image processing algorithm, obtaining a detection result containing the coordinates of the headlight beam characteristic on the irradiation image, and sending the detection result to the calculation unit;

a calculation unit: the direction vector from the origin in the world coordinate system of the headlamp to a light spot irradiated on the vertical surface by the headlamp beam characteristic is calculated according to the camera imaging principle by utilizing the detection result; and calculating the horizontal and/or vertical deflection angle of the light beam direction of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to the light spot on the vertical surface irradiated by the light beam characteristic of the headlamp.

The invention provides a vehicle headlamp illumination angle detection system based on a vertical surface, which is composed of a reference figure 12 and specifically comprises the following components:

vehicle-mounted forward view camera: the device is used for irradiating the image of the vehicle headlamp on the vertical surface and sending the image to the vehicle headlamp irradiation angle detection device;

vehicle headlamp illumination angle detection device: the device comprises a detection module, a control module and a control module, wherein the detection module is used for obtaining an irradiation image of the vehicle headlamp on a vertical surface, the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp, detecting the position of a headlamp beam feature in the irradiation image by using an image processing algorithm, and obtaining a detection result containing the coordinate of the headlamp beam feature on the irradiation image; calculating a direction vector from an original point in a world coordinate system of the headlamp to a light spot irradiated on a vertical surface by the characteristics of a headlamp beam according to the imaging principle of a camera by using the detection result; and calculating the horizontal and/or vertical deflection angle of the light beam direction of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to the light spot on the vertical surface irradiated by the light beam characteristic of the headlamp.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (12)

1. A vehicle headlamp irradiation angle detection method based on a vertical surface is characterized by specifically comprising the following steps:

obtaining an irradiation image of a vehicle headlamp on a vertical surface, wherein the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp;

detecting the position of the headlight beam feature in the irradiation image by using an image processing algorithm to obtain a detection result containing the coordinates of the headlight beam feature on the irradiation image;

calculating a direction vector from an original point in a world coordinate system of the headlamp to a light spot irradiated on a vertical surface by the characteristics of a headlamp beam according to the imaging principle of a camera by using the detection result;

and calculating the horizontal and/or vertical deflection angle of the light beam direction of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to the light spot on the vertical surface irradiated by the light beam characteristic of the headlamp.

2. The method according to claim 1, wherein the method is performed a plurality of times to obtain a plurality of sets of horizontal and/or vertical deflection angles of headlamp beam directions when a preset irradiation angle detection condition is satisfied, and further comprising:

and carrying out statistical processing on the horizontal and/or vertical deflection angles of the multiple groups of headlamp beam directions to obtain the final horizontal and/or vertical deflection angle of the headlamp beam direction.

3. Method according to claim 1, characterized in that the headlight beam is characterized in particular by: a light heart type;

the method comprises the steps of detecting the position of the light beam characteristics of the headlamp in an illumination image by using an image processing algorithm, namely determining the position of an optical center in the illumination image by using a limited neighborhood maximum method;

the coordinates of the headlamp beam characteristics on the irradiation image are specifically the coordinates of a headlamp beam characteristic optical center on the irradiation image, and are specifically obtained through the position of the optical center in the irradiation image;

the light point is in particular the center of the light of the headlight beam characteristic on the elevation of the world coordinate system of the headlight.

4. Method according to claim 1, characterized in that the headlight beam is characterized in particular by: inflection point type;

the method comprises the steps of utilizing an image processing algorithm to detect the position of the light beam characteristics of the headlamp in an irradiation image, namely obtaining edge points of the light beam irradiation image through an edge detection operator; performing least square fitting on the edge points to obtain two boundary lines; solving the intersection point of the two boundary lines to determine the position of an inflection point in the irradiation image;

the coordinates of the headlight beam feature on the irradiation image are specifically the coordinates of a headlight beam feature inflection point on the irradiation image, and are specifically obtained through the position of the inflection point in the irradiation image;

the light spot is particularly an inflection point of the headlight beam characteristic on the vertical face of the world coordinate system of the headlight.

5. Method according to claim 1, characterized in that the headlight beam is characterized in particular by: bright and dark boundary line types;

the method comprises the steps that the position of the characteristic of the light beam of the headlamp in an irradiation image is detected by using an image processing algorithm, specifically, neural network learning is carried out on a pre-selected area with a bright and dark boundary line and an area without the bright and dark boundary line, and a bright and dark boundary line classifier is obtained; analyzing the irradiation image through a bright and dark boundary line classifier to obtain a linear equation of the position of the bright and dark boundary line of the characteristic of the headlamp beam in the irradiation image;

the coordinates of the headlight beam characteristics on the irradiation image are specifically the coordinates of two points arbitrarily selected on bright and dark boundary lines of the headlight beam characteristics on the irradiation image, and are specifically obtained through a linear equation of the positions of the bright and dark boundary lines in the irradiation image;

the light spots are two light spots irradiated on the vertical surface of the world coordinate system of the headlamp by two points arbitrarily selected from the characteristic bright and dark boundary line of the light beam of the headlamp.

6. The method according to claim 1, wherein the direction vector from the origin in the world coordinate system of the headlamp to the light spot irradiated on the vertical surface by the headlamp beam feature is calculated according to the camera imaging principle by using the detection result, and the calculation process comprises the following specific steps;

obtaining coordinate values of the headlight beam characteristics on the irradiation image by using the detection result;

obtaining the coordinate value of the first type of projection point on the front image plane of the camera coordinate system by using the coordinate component of the first type of projection point on the front image plane of the camera coordinate system (the coordinate axis component of the headlight beam feature on the irradiation image-the coordinate axis component of the center point of the irradiation image) x the physical size of each pixel in the direction of the coordinate axis of the front image plane of the camera coordinate system, wherein the first type of projection point is the intersection point of the light rays emitted to the camera by the light spot irradiated on the vertical surface of the headlight beam feature on the world coordinate system and the front image plane of the camera coordinate system:

converting the coordinates of the first type of projection points on the front image plane of the camera coordinate system into homogeneous coordinates of the camera coordinate system by using the focal length of the camera;

multiplying the homogeneous coordinates of the first type of projection points in a camera coordinate system by a multiple to obtain the coordinates of the light points in the camera coordinate system, wherein the multiple is the sum of the distance between the camera and the vertical face and the horizontal longitudinal axis coordinates of the world coordinate system origin in the camera coordinate system;

calculating the coordinates of the light spot in a headlight world coordinate system according to the difference value of the coordinates of the light spot in the camera coordinate system and the coordinates of the origin of the headlight world coordinate system in the camera coordinate system;

and obtaining a direction vector from an origin in the world coordinate system of the headlamp to the light spot irradiated on the vertical surface by the beam characteristic of the headlamp from the coordinates of the light spot in the world coordinate system of the headlamp.

7. The method according to claim 3 or 4, wherein the calculation of the horizontal and/or vertical deflection angle of the headlight beam direction from the origin in the headlight world coordinate system to the direction vector of the light spot on the vertical surface illuminated by the headlight beam feature comprises:

determining the beam direction of the headlamp, namely the direction from the origin of the world coordinate system of the headlamp to the light spot connecting line;

determining a horizontal deflection angle of a headlamp beam direction and/or determining a vertical deflection angle of the headlamp beam direction, wherein the horizontal deflection angle of the headlamp beam direction is specifically an included angle between a projection line of an origin of a world coordinate system of the headlamp and a light spot connecting line on a horizontal plane and a horizontal vertical coordinate axis of the world coordinate system of the headlamp; the vertical deflection angle of the light beam direction of the headlamp is specifically an intersection angle between the origin of the world coordinate system of the headlamp and a projection line of the light spot connecting line on a horizontal plane;

and according to the Pythagorean theorem and the corner relation of the right triangle, calculating the direction vector from the origin of the world coordinate system of the headlamp to the light spot of the headlamp beam feature irradiated on the vertical surface to obtain the horizontal and/or vertical deflection angle of the headlamp beam direction.

8. The method according to claim 5, wherein the calculation of the horizontal and/or vertical deflection angle of the headlight beam direction from the origin in the headlight world coordinate system to the direction vector of the light spot on the vertical surface illuminated by the headlight beam feature comprises:

determining the light beam direction of the headlamp, specifically the main optical axis direction of the headlamp, wherein the main optical axis of the headlamp starts from the origin of a world coordinate system and is intersected with the bright and dark boundary line where the two light spots are located, and the intersection point is a point for determining the direction vector of the main optical axis of the headlamp;

determining a horizontal deflection angle of a headlamp beam direction and/or determining a vertical deflection angle of the headlamp beam direction, wherein the horizontal deflection angle of the headlamp beam direction is an included angle between a projection line of a main optical axis of the headlamp on a horizontal plane and a horizontal ordinate axis of a world coordinate system of the headlamp; the vertical deflection angle of the beam direction of the headlamp is specifically an included angle between a projection line of a main optical axis of the headlamp on a horizontal plane and the main optical axis of the headlamp;

according to the Pythagorean theorem and the corner relation of the right triangle, the horizontal and/or vertical deflection angle of the light beam direction of the headlamp is obtained through calculation of the direction vector of the main optical axis of the headlamp;

wherein, the main optical axis direction vector of the headlamp is obtained by the following two equations:

the coordinates of the points for determining the direction vector of the main optical axis of the headlamp are equal to an equation which is composed of the coordinates of the two light spots in the world coordinate system of the headlamp and contains parameter variables, and the coordinates of the two light spots in the world coordinate system of the headlamp are obtained from the direction vector from the origin in the world coordinate system of the headlamp to the light spot irradiated on the vertical surface by the light beam characteristic of the headlamp;

the direction vector of the main optical axis of the headlamp and the direction vector of the intersection line of the two planes form an equation with a zero point multiplication result; the two planes are respectively a horizontal plane of a world coordinate system of the headlamp, an origin of the world coordinate system of the headlamp and a plane formed by the two light spots.

9. The method of claim 1,

the method comprises the steps of obtaining an irradiation image of the vehicle headlamp on a vertical surface, wherein the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp, specifically obtaining a first irradiation image on the vertical surface before the vehicle headlamp is adjusted, wherein the shooting direction of the first irradiation image is the same as the irradiation direction of the vehicle headlamp, and obtaining a second irradiation image on the vertical surface after the vehicle headlamp is adjusted, wherein the shooting direction of the second irradiation image is the same as the irradiation direction of the vehicle headlamp;

detecting the position of the headlight beam feature in the irradiation image by using an image processing algorithm to obtain a detection result containing the coordinates of the headlight beam feature on the irradiation image, wherein the step is to detect the positions of the headlight beam feature in the first irradiation image and the second irradiation image by using the image processing algorithm to obtain the detection result containing the coordinates of the headlight beam feature on the first irradiation image and the second irradiation image;

the method comprises the steps of utilizing the detection result to calculate a direction vector from an original point to a light spot irradiated on a vertical surface by a headlamp beam feature in a headlamp world coordinate system according to a camera imaging principle, wherein the direction vector from the original point to a first light spot and/or a direction vector from the original point to a second light spot in the headlamp world coordinate system are calculated according to the camera imaging principle and an adjusting angle of the vehicle headlamp by utilizing the detection result, the first light spot is a light spot irradiated on the vertical surface of the headlamp world coordinate system by the headlamp adjusting front beam feature, and the second light spot is a light spot irradiated on the vertical surface of the headlamp world coordinate system by the adjusting front beam feature of the headlamp.

10. The method according to claim 9, wherein the calculating, by using the detection result, a direction vector from an origin to a first type of light spot and/or a direction vector from the origin to a second type of light spot in a world coordinate system of the headlamp according to a camera imaging principle and an adjustment angle of the vehicle headlamp comprises:

obtaining coordinate values of the headlight beam characteristics in the first illumination image and the second illumination image by using the detection result;

obtaining the coordinate value of the second type of projection point on the front image plane of the camera coordinate system by using the coordinate component of the second type of projection point on the front image plane of the camera coordinate system (the coordinate axis component of the headlamp beam feature on the irradiation image I-the coordinate axis component of the central point of the adjusted front irradiation image) x the physical size of each pixel in the direction of the coordinate axis of the front image plane of the camera coordinate system, wherein the second type of projection point is the intersection point of the light emitted by the camera and the front image plane of the camera coordinate system from the vertical face light point of the headlamp adjusted front beam feature irradiated on the headlamp world coordinate system;

obtaining a coordinate value of a third type of projection point on the front image plane of the camera coordinate system by using a coordinate component of the third type of projection point on the front image plane of the camera coordinate system (the coordinate axis component of the headlight beam feature on the irradiation image II-the coordinate axis component of the center point of the irradiation image after adjustment) x a physical size of each pixel in the direction of the coordinate axis of the front image plane of the camera coordinate system, wherein the third type of projection point is an intersection point of a light ray emitted to the camera by a vertical face light point irradiated on the headlight world coordinate system by the headlight beam feature after adjustment and the front image plane of the camera coordinate system;

converting the coordinates of the second type of projection points and the third type of projection points on the front image plane of the camera coordinate system into homogeneous coordinates of the camera coordinate system by using the focal length of the camera;

calculating a normal vector of a second plane formed by the first light spot, the origin of the camera coordinate system and the origin of the headlamp world coordinate system according to the homogeneous coordinates of the second projection point in the camera coordinate system and the coordinates of the origin of the headlamp world coordinate system in the camera coordinate system;

calculating a normal vector of a third plane formed by the second light spot, the origin of the camera coordinate system and the origin of the headlamp world coordinate system according to the homogeneous coordinates of the third projection point in the camera coordinate system and the coordinates of the origin of the headlamp world coordinate system in the camera coordinate system;

a fourth plane is formed by the first light spots, the second light spots and the origin of the world coordinate system of the headlamp, and the normal vector of the fourth plane is expressed as

Obtaining a direction vector formed by the origin of the world coordinate system of the headlamp and the first type of light spots and/or a direction vector formed by the origin of the world coordinate system of the headlamp and the second type of light spots by calculating parameters to be solved according to the following equations:

the outer product of the normal vector of the second plane and the normal vector of the fourth plane is equal to an equation of a direction vector formed by the origin of the world coordinate system of the headlamp and the first light spot;

the outer product of the normal vector of the third plane and the normal vector of the fourth plane is equal to an equation of a direction vector formed by the origin of the world coordinate system of the headlamp and the second light spot;

and the dot product of the direction vector formed by the origin of the world coordinate system of the headlamp and the first type of light spots and the direction vector formed by the origin of the world coordinate system of the headlamp and the second type of light spots is equal to the equation of the product of the modulus of the two direction vectors and the cosine of the adjusting angle of the vehicle headlamp.

11. A vehicle headlamp irradiation angle detection device based on a vertical surface is characterized by specifically comprising:

an acquisition unit: the device comprises a detection unit, a control unit and a control unit, wherein the detection unit is used for obtaining an irradiation image of a vehicle headlamp on a vertical surface, and the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp, and sending the irradiation image to the detection unit;

a detection unit: the system comprises a calculation unit, a position detection unit and a position detection unit, wherein the position detection unit is used for detecting the position of the headlight beam characteristic in an irradiation image by using an image processing algorithm, obtaining a detection result containing the coordinates of the headlight beam characteristic on the irradiation image, and sending the detection result to the calculation unit;

a calculation unit: the direction vector from the origin in the world coordinate system of the headlamp to a light spot irradiated on the vertical surface by the headlamp beam characteristic is calculated according to the camera imaging principle by utilizing the detection result; and calculating the horizontal and/or vertical deflection angle of the light beam direction of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to the light spot on the vertical surface irradiated by the light beam characteristic of the headlamp.

12. A vehicle headlamp illumination angle detection system based on a vertical surface is characterized by specifically comprising:

vehicle-mounted forward view camera: the device is used for irradiating the image of the vehicle headlamp on the vertical surface and sending the image to the vehicle headlamp irradiation angle detection device;

vehicle headlamp illumination angle detection device: the device comprises a detection module, a control module and a display module, wherein the detection module is used for obtaining an irradiation image of the vehicle headlamp on a vertical surface, the shooting direction of the irradiation image is the same as the irradiation direction of the vehicle headlamp, detecting the position of a headlamp beam feature in the irradiation image by using an image processing algorithm, and obtaining a detection result containing the coordinate of the headlamp beam feature on the irradiation image; calculating a direction vector from an original point in a world coordinate system of the headlamp to a light spot irradiated on a vertical surface by the characteristics of a headlamp beam according to the imaging principle of a camera by using the detection result; and calculating the horizontal and/or vertical deflection angle of the light beam direction of the headlamp according to the direction vector from the origin in the world coordinate system of the headlamp to the light spot on the vertical surface irradiated by the light beam characteristic of the headlamp.

Images