CN103954437B - Based on the vehicle headlamp irradiation angle detection method of facade, Apparatus and system - Google Patents

Abstract

The invention discloses a kind of based on the vehicle headlamp irradiation angle detection method of facade, Apparatus and system, the present invention utilizes visual angle, vehicle-mounted front camera, obtain vehicle head lamp irradiation image on facade, pass through image processing algorithm, obtain the testing result comprising headlight beam feature at the coordinate irradiated on image, utilize testing result to calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system；Direction vector according to the luminous point that initial point in described headlamp world coordinate system is radiated on facade to headlight beam feature, is automatically performed the irradiating angle detection of headlamp.Compared with the conventional method, this method is not limited to the specific environment of vehicle inspection station and equipment requirements, and the method regulated with artificial naked eyes is compared, and improves the accuracy of vehicle headlamp irradiation angle detection.

Description

Based on the vehicle headlamp irradiation angle detection method of facade, Apparatus and system

Present patent application is the applying date is on 06 20th, 2012, application number is 201210206203.7, name is called the divisional application of Chinese invention patent application of " based on the vehicle headlamp irradiation angle detection method of facade, Apparatus and system ".

Technical field

The present invention relates to vehicle head lamp detection field, realize vehicle headlamp irradiation angle detection method, Apparatus and system particularly to one.

Background technology

The effect of vehicle head lamp is under night or other blind situation, provides illumination for vehicle driver, and prevents from headlamp from driver and passerby being caused dazzling the eyes.For reaching above-mentioned requirements, vehicle head lamp arranges dipped beam and two kinds of working methods of distance light, in front without using far lighting when sending a car or do not trail other vehicle, uses lower beam illumination when vehicle intersection or when trailing other vehicle.In daily driving process, due to effect vibrated so that the installation site that headlamp deviation is original, thus changing direction of illumination.Vehicle headlight beam direction of illumination is improper, it has also become affect one of main hidden danger of Vehicular night safety traffic.Thus it is guaranteed that correct headlamp direction of illumination, driver can be made to see road ahead clearly thus the generation that avoids traffic accident.

The irradiating angle detection method of existing headlight beam direction of illumination mainly has: 1) based on head lamp artificial radiation's angle detecting method of screen.Projecting to by headlight beam on the screen pre-set, then detect by an unaided eye the whether conformance with standard requirement of this light beam position on screen, can survey dipped beam and distance light.The feature of this method is that equipment is simple, it is not necessary to software processing system, but inefficient, and the degree relying on the subjective judgment of people is relatively larger, and irradiating angle testing result error is big.Therefore, on the detection line of big flow, it is rarely employed this irradiating angle detection method.2) the irradiating angle detection method of photographic head and special detector equipment is adopted.Image is irradiated by the vapour upper beam light beam of twice different measuring position two frames on detector screen board before and after photographic head shooting, through computer identification, find out the locus of the turning point of the characteristic point in two images, Guang Xing center or dipped beam light and shade boundary line, determine the principle of a straight line according to 2 positions, record headlight beam and irradiate azimuth.The method possesses intellectuality, Automatic Measurement Technique level, however it is necessary that special detector screen version auxiliary equipment, and then increases detection of headlight cost.

Summary of the invention

Increase severely for current number of vehicles, existing method needs substantial amounts of cost of labor, is confined to specific environment, detection equipment, it is difficult to meet the demand of increasing vehicle head lamp detection, the present invention proposes a kind of based on the vehicle headlamp irradiation angle detection method of facade, Apparatus and system, to reduce the requirement to environment and personnel of the detection process.

The invention provides a kind of vehicle headlamp irradiation angle detection method based on facade, the method specifically includes:

Obtaining vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination；

Utilize image processing algorithm, detection headlight beam feature position in irradiating image, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image；

Utilize described testing result, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle；

The direction vector of the luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction.

A kind of device realizing vehicle headlamp irradiation angle detection, this device specifically includes:

Acquiring unit: for obtaining vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, sends described irradiation image to detecting unit；

Detection unit: be used for utilizing image processing algorithm, detection headlight beam feature position in irradiating image, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image, send described testing result to computing unit；

Computing unit: be used for utilizing described testing result, calculates the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle;The direction vector of the luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction.

A kind of system realizing vehicle headlamp irradiation angle detection, this system specifically includes:

Visual angle, vehicle-mounted front camera: for irradiating vehicle head lamp image on facade, sends to vehicle headlamp irradiation angle detecting device；

Vehicle headlamp irradiation angle detecting device: for obtaining vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, utilize image processing algorithm, detection headlight beam feature position in irradiating image, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image；Utilize described testing result, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle；The direction vector of the luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction.

Visible there is advantages that

The present invention utilizes visual angle, vehicle-mounted front camera, when stopping from car, obtain vehicle head lamp irradiation image on facade, pass through image processing algorithm, headlamp feature in detection image obtains the testing result comprising headlight beam feature at the coordinate irradiated on image, calculates the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle；The direction vector of the luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction, is automatically performed the detection of headlamp irradiating angle.Compared with the conventional method, this method is not limited to the specific environment of vehicle inspection station and equipment requirements, detection of headlight cost can be saved, and, the present invention carries out headlamp direction of illumination detection based on image information, do not rely on the subjective judgment of people, accuracy is high, saves great amount of cost simultaneously, reaches intellectuality, automatization level, disclosure satisfy that the demand of increasing vehicle head lamp detection, improve the accuracy of vehicle head lamp detection.

Accompanying drawing explanation

Fig. 1 is a kind of vehicle headlamp irradiation angle detection method step legend based on facade of the present invention；

Fig. 2 is camera coordinates system of the present invention and headlamp world coordinate system legend；

Fig. 3-1 is the Detection results legend that headlight beam of the present invention is characterized as light cardioid；

Fig. 3-2 is the Detection results legend that headlight beam of the present invention is characterized as flex point type；

Fig. 3-3 is the Detection results legend that headlight beam of the present invention is characterized as bright dark border line style；

Fig. 4 is headlight beam feature photocentre of the present invention or the flex point projection legend two coordinate systems；

Fig. 4-1 is headlight beam direction of the present invention horizontal and vertical deflection angle Pictorial examples；

Fig. 5 is the headlight beam feature of the present invention bright dark side boundary line projection legend two coordinate systems；

Fig. 5-1 is headlight beam direction of the present invention horizontal and vertical deflection angle Pictorial examples；

Fig. 6 be facade of the present invention perpendicular to the ground time, calculate in headlamp world coordinate system according to the distance between video camera imaging principle and headlamp and facade, the direction vector step legend of the luminous point that initial point is radiated on facade to headlight beam feature；

Fig. 7 is the front plane of delineation coordinate axes legend that the present invention irradiates image coordinate axle and camera coordinates system；

Fig. 8 is that headlamp of the present invention regulates the front and back beam characteristics projection legend two coordinate systems；

Fig. 9 is the present invention to be calculated in headlamp world coordinate system according to video camera imaging principle and headlamp adjusting angle, initial point regulate to headlamp before on facade the direction vector of luminous point and/or initial point regulate to headlamp after the direction vector step legend of luminous point on facade；

When Figure 10 is facade of the present invention and ground out of plumb, headlight beam feature is in the projection legend of two coordinate systems；

Figure 11 is that a kind of vehicle headlamp irradiation angle detecting device based on facade of the present invention forms legend；

Figure 12 is that a kind of vehicle headlamp irradiation angle based on facade of the present invention detects system composition legend.

Detailed description of the invention

Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, below in conjunction with the drawings and specific embodiments, the embodiment of the present invention is described in further detail.

The invention provides a kind of vehicle headlamp irradiation angle detection method based on facade, utilize visual angle, vehicle-mounted front camera, when stopping from car, be automatically performed the detection of headlamp.The method realizes step referring to Fig. 1, particularly as follows:

11, obtaining vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination；

12, image processing algorithm is utilized, detection headlight beam feature position in irradiating image, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image；

13, utilize described testing result, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle；

14, the direction vector of the luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction.

When the present invention is embodied as, the method can perform repeatedly when meeting the irradiating angle testing conditions pre-set, to obtain the level organizing headlight beam direction and/or vertical deflection angle more, the irradiating angle testing conditions that it pre-sets specifically may include that on schedule, predetermined mileage, the mode such as predetermined period and/or pre-determined number, and, the described levels organizing headlight beam direction and/or vertical deflection angle can also be carried out statistical disposition more, calculate the horizontal and vertical deflection angle intermediate value in headlight beam direction, obtain average level and the vertical deflection angle in headlight beam direction, obtain reliable angle calculation scope, the average headlamp angle testing result that final acquisition is stable.

It should be noted that in the present invention headlight beam feature is carried out vehicle headlamp irradiation angle detection, it is necessary to set up camera coordinates system at camera position, set up world coordinate system in headlamp position, establishment of coordinate system method referring to Fig. 2, particularly as follows:

Camera coordinates system is set up, for instance O at camera position_Camera-xyz, wherein, y-axis points to ground, and z-axis is horizontal forward to be overlapped with camera primary optical axis, for the horizontal vertical coordinate of camera coordinates system；

World coordinate system is set up, for instance O in headlamp position_{The world}-XYZ, wherein, Y-axis is perpendicularly oriented to ground, Z axis along vehicle body level longitudinally forward, for the horizontal vertical coordinate of headlamp world coordinate system；

And the coordinate axes of camera coordinates system is parallel with the coordinate axes of world coordinate system, when the coordinate axes of camera coordinates system and the coordinate axes of world coordinate system are not parallel, available prior art carries out image rectification, the coordinate axes making camera coordinates system is parallel with the coordinate axes of world coordinate system, therefore, wherein step 11, described acquisition vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image, i.e. camera coordinates system z-axis direction and vehicle head lamp direction of illumination, namely headlamp world coordinate system Z-direction is consistent, this step can also include the shooting direction irradiating image judging to obtain a judgement step whether consistent with vehicle head lamp direction of illumination, if direction is inconsistent, then to irradiating correct image, so as to it is consistent.

It should be noted that, the present invention is based on and obtains vehicle head lamp irradiation image on facade to carry out headlamp irradiating angle detection, and facade is divided into perpendicular to the ground or two kinds of situations of out of plumb, when facade is perpendicular to the ground, headlamp irradiating angle can be calculated, it is also possible to calculate headlamp irradiating angle according to vehicle head lamp adjusting angle according to the distance between vehicle and facade.For facade and ground off plumb situation, it is possible to calculate headlamp irradiating angle according to the complementary angle angle of the distance between vehicle and facade and the angle on facade and ground, it is also possible to calculate headlamp irradiating angle according to vehicle head lamp adjusting angle.

Perpendicular to the ground for facade, the unadjustable formula headlamp of irradiating angle, take to detect level and/or the vertical deflection angle in headlight beam direction according to the distance between video camera imaging principle and camera and facade, the method for the present invention is specific as follows:

The irradiation image of dissimilar headlamp has different shape, therefore can according to pre-set from Herba Plantaginis illuminator characteristic type, corresponding image processing algorithm is selected to carry out the such testing result in position detecting to obtain headlight beam feature in irradiating image, particularly as follows:

(1) headlamp characteristic type is: light cardioid

The characteristic point of high beam light beam is the geometric center irradiating image light clear zone, for light cardioid, Detection results figure is referring to Fig. 3-1, and this light cardioid image processing algorithm detection headlight beam feature position in irradiating image is particularly as follows: adopt finite neighborhood maximum value process to determine headlight beam feature photocentre position in irradiating image；

Correspondingly,

Headlamp beam of light feature is at the coordinate irradiated on image: be specially headlight beam feature photocentre at the coordinate irradiated on image, obtains especially by photocentre position in irradiating image；

Described luminous point: be specially the photocentre that headlight beam feature is radiated on the facade of headlamp world coordinate system, for instance referring to A point in Fig. 4.

(2) headlamp characteristic type is: flex point type

Dipped headlights light beam is characterized by that irradiating image usually has corner feature, for flex point type, Detection results figure referring to Fig. 3-2, this flex point type image processing algorithm detection headlight beam feature position in irradiating image particularly as follows:

Obtain light beam by edge detection operator and irradiate the marginal point of image；

These marginal points are carried out least square fitting, draws two boundary lines；

Two boundary line intersection points are asked to determine corner position.

Correspondingly,

Headlight beam feature is at the coordinate irradiated on image: specifically headlight beam feature corners is at the coordinate irradiated on image, obtains especially by this flex point position in irradiating image；

Described luminous point is particularly as follows: headlight beam feature is radiated at the flex point on the facade of headlamp world coordinate system, for instance referring to A point in Fig. 4.

(3) headlamp characteristic type is: bright dark border line style

Sometimes, the corner feature of dipped headlights light beam is also inconspicuous, detection is needed to irradiate the bright dark side boundary line of image as headlamp feature, for bright dark border line style, Detection results figure referring to Fig. 3-3, this bright dark border line style image processing algorithm detection headlight beam feature position in irradiating image particularly as follows:

To the previously selected region with bright dark side boundary line and the region without bright dark side boundary line, carry out neural network learning, obtain bright dark side boundary line grader；

Irradiate image by the grader analysis of bright dark side boundary line, obtain irradiating the position in the bright dark side boundary line of image.

Correspondingly,

Headlight beam feature is at the coordinate irradiated on image: being specially takes up an official post from the bright dark side boundary line of headlamp beam characteristics anticipates two points chosen at the coordinate irradiated image, is irradiating the linear equation acquisition of position on image with specific reference to bright dark side boundary line；

Described luminous point: be specially two luminous points that described two points chosen the bright dark side boundary line of headlamp beam characteristics are radiated on the facade of headlamp world coordinate system, for instance referring to 2 point of B, C in Fig. 5.

Thus, plant different headlight beam features for above (one), (two), (three), carry out vehicle headlamp irradiation angle detection.

Wherein, utilizing described testing result described in step 13, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle, it calculates process referring to Fig. 6, specifically includes:

601, described testing result is utilized to obtain headlight beam feature at the coordinate figure irradiated on image；

In one embodiment of the invention, headlight beam is characterized as light cardioid or flex point type, and described headlight beam feature is specially headlight beam feature photocentre or flex point at the coordinate irradiated on image at the coordinate figure irradiated on image；

In another embodiment of the present invention, headlight beam is characterized as bright dark border line style, referring to Fig. 5, described headlight beam feature is specially, at the coordinate figure irradiated on image, meaning of taking up an official post from the bright dark side boundary line of headlamp beam characteristics and chooses two points at the coordinate figure irradiated image, and said two point obtains according to bright dark side boundary line linear equation of position on irradiation image at the coordinate figure irradiated on image.

602, utilize the described first kind subpoint coordinate components on the plane of delineation=(headlight beam feature is at this this coordinate axes component of coordinate axes component-irradiation image center irradiated on image) × each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system, obtain described first kind subpoint coordinate figure on the plane of delineation before camera coordinates system, the intersection point of the plane of delineation before the light that described first kind subpoint is the headlight beam feature luminous point that is radiated on headlamp world coordinate system facade to be sent to camera and camera coordinates system:

It should be noted that, the described front plane of delineation is a virtual plane of delineation, this front plane of delineation and realistic objective are positioned at the same side of camera photocentre, distance to camera photocentre is camera focus f, as shown in Figure 5, and the imaging that object is in camera is to become an image stood upside down in photosensitive imaging plane, it is positioned at the side of camera photocentre, because the target imaging on the front plane of delineation is consistent with realistic objective direction, in the present invention, for the ease of describing and understanding, before adopting, the plane of delineation carries out coordinate calculating；

In one embodiment of the invention, assume that headlight beam is characterized as light cardioid or flex point type, referring to Fig. 4, it is A point that headlight beam feature photocentre or flex point are radiated at the luminous point on the facade of headlamp world coordinate system, the light that A point sends to camera is A ' with the intersection point on the front plane of delineation of camera coordinates system, A ' is first kind subpoint, according to video camera imaging principle, headlight beam feature photocentre or flex point A ' are only indicated in the position irradiated in image at the coordinate figure irradiated on image, rather than the coordinate of the physical unit in camera coordinates system, so needing the coordinate the physical unit that Coordinate Conversion is camera coordinates system irradiated in image, the coordinate of described physical unit is generally in units of millimeter, so described first kind subpoint A ' coordinate figure on the plane of delineation before camera coordinates system obtains especially by calculated below:

It is assumed that headlight beam feature photocentre or the flex point A ' coordinate in irradiating image are that (u, v), this coordinate, when the present invention is embodied as, is the concrete coordinate figure obtained by image processing algorithm；

It is assumed that the initial point (0 of the front plane of delineation that certain point (u0, v0) in irradiation image is camera coordinates system, 0), when the present invention is embodied as, the central point of irradiation image is exactly the initial point of the front plane of delineation of camera coordinates system, and the central point irradiating image is available concrete coordinate figure；

Further, according to video camera imaging principle, irradiate image coordinate axle parallel with the coordinate axes of the front plane of delineation of camera coordinates system, and direction is identical, referring to Fig. 7；

It is assumed that the physical size that each pixel is on the x direction of the front plane of delineation of camera coordinates system is dx, physical size in y-direction is dy, and this physical size, when the present invention is embodied as, is determined by concrete camera attribute, is available concrete size；

According to video camera imaging principle, in conjunction with conditions above, coordinate in irradiating image of headlight beam feature photocentre or flex point A ' (u, v) has following transformational relation with the first kind subpoint A ' coordinate (x ', y ') on the front plane of delineation of camera coordinates system:

$\left\{\begin{array}{c}u=\frac{x^{\′}}{\mathrm{dx}}+u_0\\ v=\frac{y^{\′}}{\mathrm{dy}}+v_0\end{array}\right.$

According to above formula transformational relation, it is thus achieved that described first kind subpoint A ' (x ', y ') coordinate on the plane of delineation before camera coordinates system is:

In another embodiment of the present invention, assume that headlight beam is characterized as bright dark border line style, referring to Fig. 5, two luminous points that two points chosen in the bright dark side boundary line of headlight beam feature are radiated on the facade of headlamp world coordinate system are B, C 2 point, the intersection point of the light that B, C 2 sends to camera and the front plane of delineation of camera coordinates system is B ', C ' 2 point, then B ', C ' 2 are first kind subpoint, in like manner, B ', the C ' coordinate on the plane of delineation before camera coordinates system can be obtained, do not repeat them here.

603: utilize camera focus, changing described first kind subpoint coordinate on the plane of delineation before camera coordinates system is camera coordinates system homogeneous coordinates；

Such as, in one embodiment of the invention, headlight beam is characterized as light cardioid or flex point type, referring to Fig. 4, by first kind subpoint A ' from the three-dimensional system of coordinate corresponding to camera coordinates system the front plane of delineation of camera coordinates system: the first kind subpoint A ' three-dimensional coordinate on the front plane of delineation is (x ', y ', f), where it is assumed that f is camera focus, being converted to homogeneous coordinates is:

$(x,y,1)=(\frac{x^{\′}}{f},\frac{y^{\′}}{f},1)$

Deriving through above formula, in camera coordinates system, headlight beam Projection Character point A ' in the three-dimensional homogeneous coordinates of the front plane of delineation is:

$\left\{\begin{array}{c}x=\frac{(u-u_0)\·\mathrm{dx}}{f}\\ y=\frac{(v-v_0)\·\mathrm{dy}}{f}\\ z=1\\ \end{array}\right.$

604: described camera coordinates system homogeneous coordinates are multiplied by multiple and obtain described luminous point coordinate in camera coordinates system, described multiple is the distance between camera and facade and world coordinate system initial point horizontal longitudinal axis coordinate sum in camera coordinates system；

Such as, in one embodiment of the invention, assume that headlight beam is characterized as light cardioid or flex point type, referring to Fig. 4, assume that D is the distance between actual the measurement camera and the facade that arrive, when the present invention is embodied as, this distance D actual can measure and obtain, and in the three-dimensional homogeneous coordinates of the front plane of delineation, first kind subpoint A ' is multiplied by D+z₀Times, obtain described luminous point three-dimensional coordinate in camera coordinates system:

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

605: by the difference of described luminous point coordinate in camera coordinates system with headlamp world coordinate system initial point coordinate in camera coordinates system, calculate the described luminous point coordinate at headlamp world coordinate system.

Such as, in one embodiment of the invention, it is assumed that headlight beam is characterized as light cardioid or flex point type, referring to Fig. 4, it is assumed that headlamp world coordinate system initial point position in camera coordinates system is (x₀,y₀,z₀), when the present invention is embodied as, this position coordinates can be obtained relative to the position of camera specifically actual measurement by headlamp；

Therefore, headlight beam feature is radiated at light point coordinates A(X, Y, the Z on the facade of headlamp world coordinate system) can be obtained by following formula:

$\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)=(D+z_0)\left(\begin{array}{c}x\\ y\\ z\end{array}\right)-\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)$

In another embodiment of the present invention, it is assumed that headlight beam is characterized as bright dark border line style, referring to Fig. 5, in like manner can obtain two luminous point B (X selected in bright dark side boundary line, place₁,Y₁,Z₁) and C (X₂,Y₂,Z₂) coordinate.

606: obtained the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system by described luminous point coordinate in headlamp world coordinate system；

Such as: in one embodiment of the invention, it is assumed that headlight beam is characterized as light cardioid or flex point type, O_{The world}The direction vector of A is (abc)=(XYZ)；

In another embodiment of the present invention, it is assumed that headlight beam is characterized as bright dark border line style, O_{The world}The direction vector of B is (a₁b₁c₁)=(X₁Y₁Z₁) and O_{The world}The direction vector of C is (a₂b₂c₂)=(X₂Y₂Z₂)。

Wherein, the direction vector of the luminous point being radiated on facade according to initial point in described headlamp world coordinate system to headlight beam feature described in step 14 calculates level and/or the vertical deflection angle in headlight beam direction, and its described calculating calculates level and/or the vertical deflection angle in headlight beam direction especially by following steps analysis meter:

Such as, in one embodiment of the invention, it is assumed that headlight beam is characterized as light cardioid or flex point type, referring to Fig. 4:

Headlight beam direction is: from headlamp world coordinate system initial point to described luminous point A point line direction, i.e. light beam O_{The world}A；

Horizontal deflection angle, headlight beam direction is: referring to Fig. 4-1, described headlamp world coordinate system initial point and described luminous point line projection line O in the horizontal plane_{The world}Angle β between P and the horizontal axis of ordinates Z axis of headlamp world coordinate system；

Vertical deflection angle, headlight beam direction is: referring to Fig. 4-1, described headlamp world coordinate system initial point and described luminous point line O_{The world}A and described line projection line O in the horizontal plane_{The world}Angle of cut α between P；

Headlight beam direction level and/or vertical deflection angle calculation be: according to Pythagorean theorem and right angled triangle corner relation, calculated by the direction vector of described headlamp world coordinate system initial point to luminous point A and obtain headlight beam direction horizontal and vertical deflection angle, as follows:

$\left\{\begin{array}{c}\mathrm{\α}=\arctan \frac{b}{\sqrt{a^2+c^2}}\\ \mathrm{\β}=\arctan \frac{a}{\sqrt{b^2+c^2}}\end{array}\right.$

Such as, in another embodiment of the present invention, it is assumed that headlight beam is characterized as bright dark border line style, referring to Fig. 5:

Headlight beam direction is: headlamp primary optical axis direction, i.e. light beam O_{The world}A, described headlamp primary optical axis O_{The world}A, from world coordinate system initial point, intersects with bright dark side boundary line, the place of described luminous point B, C 2, and its intersection point A is the point determining headlamp primary optical axis direction vector；

Horizontal deflection angle, headlight beam direction is: described headlamp primary optical axis projection line O in the horizontal plane_{The world}Angle β between P and the horizontal axis of ordinates Z axis of headlamp world coordinate system；

Vertical deflection angle, headlight beam direction is: described headlamp primary optical axis projection line O in the horizontal plane_{The world}P and described headlamp primary optical axis O_{The world}Angle of cut α between A；

Headlight beam direction level and/or vertical deflection angle calculation be: according to Pythagorean theorem and right angled triangle corner relation, by described headlamp primary optical axis direction vector O_{The world}A(X, Y, Z) calculate obtain headlight beam direction horizontal and vertical deflection angle, as follows；

$\left\{\begin{array}{c}\mathrm{\α}=\arctan \frac{Y}{\sqrt{X^2+Z^2}}\\ \mathrm{\β}=\arctan \frac{X}{\sqrt{Y^2+Z^2}}\end{array}\right.$

Wherein, described headlamp primary optical axis direction vector O_{The world}A(X, Y, Z) obtained by below equation:

Equation one: the described some A determining headlamp primary optical axis direction vector and described B, C two luminous point on the same line, therefore, the coordinate of the described A point determining headlamp primary optical axis direction vector is equal to described B, C two equation containing parametric variable λ of coordinate composition of luminous point, wherein said B, C two the direction vector of the coordinate of the luminous point luminous point that is radiated on facade to headlight beam feature by initial point in headlamp world coordinate system calculate and obtain, wherein λ ∈ (-∞, + ∞), as follows:

$\left\{\begin{array}{c}X=X_1+\mathrm{\λ}\frac{X_2-X_1}{\sqrt{{(X_2-X_1)}^2+{(Y_2-Y_1)}^2+{(Z_2-Z_1)}^2}}\\ Y=Y_1+\mathrm{\λ}\frac{Y_2-Y_1}{\sqrt{{(X_2-X_1)}^2+{(Y_2-Y_1)}^2+{(Z_2-Z_1)}^2}}\\ Z=Z_1+\mathrm{\λ}\frac{Z_2-Z_1}{\sqrt{{(X_2-X_1)}^2+{(Y_2-Y_1)}^2+{(Z_2-Z_1)}^2}}\end{array}\right.$

Equation two: described headlamp primary optical axis direction vector O_{The world}The intersection l of A and two plane is vertical, said two plane is the plane that the bright dark side boundary line on headlamp world coordinate system horizontal plane, facade is constituted with headlamp world coordinate system initial point, therefore headlamp primary optical axis direction vector, the direction vector of intersection l, forms the equation that its dot product result is zero as follows:

$\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)\·(\left(\begin{array}{c}0\\ 1\\ 0\end{array}\right)\×(\left(\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right)\×\left(\begin{array}{c}{X}_2\\ Y_2\\ Z_2\end{array}\right)))=0$

Wherein,

$\left(\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right)\×\left(\begin{array}{c}{X}_2\\ Y_2\\ Z_2\end{array}\right)$ For plane O_wThe normal vector of BC；

$\left(\begin{array}{c}0\\ 1\\ 0\end{array}\right)\×(\left(\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right)\×\left(\begin{array}{c}{X}_2\\ Y_2\\ Z_2\end{array}\right))$ For plane O_wBC and horizontal plane O_wThe direction vector of the intersection l of XZ.

According to above equation one or two, parameter lambda can be tried to achieve, it is thus achieved that coordinate A(X, Y, the Z of the described A point determining headlamp primary optical axis direction vector), by headlamp primary optical axis direction vector O_{The world}A(X, Y, Z) calculate obtain headlight beam direction horizontal and vertical deflection angle.

Embodiment for the adjustable headlamp of irradiating angle, no matter whether facade is perpendicular to the ground, all can take to calculate level and/or the vertical deflection angle in headlight beam direction according to video camera imaging principle and vehicle head lamp adjusting angle, wherein said vehicle head lamp adjusting angle specifically shoot respectively headlamp regulate forward and backward twice irradiation image on facade in the vertical direction time, the adjusting angle obtained, specific as follows:

Wherein, vehicle head lamp irradiation image on facade is obtained described in step 11, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, this step is specially the irradiation image one obtained before vehicle head lamp regulates on facade, the shooting direction of described irradiation image one is identical with vehicle head lamp direction of illumination, also obtaining the irradiation image two on facade after vehicle head lamp regulates, the shooting direction of described irradiation image two is identical with vehicle head lamp direction of illumination；

Wherein, image processing algorithm is utilized described in step 12, detection headlight beam feature position in irradiating image, obtain the testing result comprising headlight beam feature at the coordinate irradiated on image, this step is specially and utilizes image processing algorithm, detection headlight beam feature position in irradiation image one and irradiation image two, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image one and irradiation image two；

Wherein, described testing result is utilized described in step 13, the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system is calculated according to video camera imaging principle, this step is specially and utilizes described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, described first kind luminous point is that before headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, described Equations of The Second Kind luminous point is that after headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system.

For example, with reference to Fig. 8, the adjusting angle of described vehicle head lamp is O_{The world}A and O_{The world}Angle between B both direction vector, it is assumed that for θ, described first kind luminous point is A point, and described Equations of The Second Kind luminous point is B point.

Wherein, utilizing described testing result, calculate in headlamp world coordinate system according to the adjusting angle of video camera imaging principle and described vehicle head lamp, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, it calculates process referring to Fig. 9, specifically includes:

901, described testing result is utilized to obtain the headlight beam feature coordinate figure at described irradiation image one and described irradiation image two；

902, utilize the Equations of The Second Kind subpoint coordinate components on the plane of delineation=(headlight beam feature is at this coordinate axes component-this coordinate axes component of adjustment front irradiation image center irradiated on image one) × each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system, obtain described Equations of The Second Kind subpoint coordinate figure on the plane of delineation before camera coordinates system, described Equations of The Second Kind subpoint be light that before headlamp regulates, the beam characteristics luminous point that is radiated on headlamp world coordinate system facade sends to camera with camera coordinates system before the intersection point of the plane of delineation, such as, referring to Fig. 8, A ' is Equations of The Second Kind subpoint；

903, utilize the 3rd class subpoint coordinate components on the plane of delineation=(headlight beam feature irradiates this coordinate axes component of image center after this coordinate axes component-adjustment irradiated on image two) × each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system, obtain described 3rd class subpoint coordinate figure on the plane of delineation before camera coordinates system, described 3rd class subpoint be light that after headlamp regulates, the beam characteristics luminous point that is radiated on headlamp world coordinate system facade sends to camera with camera coordinates system before the intersection point of the plane of delineation, such as, referring to Fig. 8, B ' is the 3rd class subpoint；

904, utilizing camera focus, changing described Equations of The Second Kind subpoint and the 3rd class subpoint coordinate on the plane of delineation before camera coordinates system is camera coordinates system homogeneous coordinates, for instance:

Equations of The Second Kind subpoint A ' in the homogeneous coordinates of camera coordinates system is $\left\{\begin{array}{c}{x}_1=\frac{(u_1-u_0)\·\mathrm{dx}}{f}\\ y_1=\frac{(v_1-v_0)\·\mathrm{dy}}{f}\\ z_1=1\\ \end{array}\right.$

3rd class subpoint B ' in the homogeneous coordinates of camera coordinates system is $\left\{\begin{array}{c}{x}_2=\frac{(u_2-u_0)\·\mathrm{dx}}{f}\\ y_2=\frac{(v_2-v_0)\·\mathrm{dy}}{f}\\ z_2=1\\ \end{array}\right.$

905, by the described Equations of The Second Kind subpoint homogeneous coordinates in camera coordinates system, headlamp world coordinate system initial point coordinate in camera coordinates system, calculate the normal vector obtaining the Equations of The Second Kind plane being made up of first kind luminous point, camera coordinates system initial point and headlamp world coordinate system initial point, for instance:

Plane O_{The world}O_CameraA is Equations of The Second Kind plane, and the computing formula of the normal vector of this Equations of The Second Kind plane is as follows:

O_{The world}O_CameraThe normal vector of A $\left(\begin{array}{c}{A}_1\\ B_1\\ C_1\end{array}\right)=\left(\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right)\×\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)$

906, by the described 3rd class subpoint homogeneous coordinates in camera coordinates system, headlamp world coordinate system initial point coordinate in camera coordinates system, calculate the normal vector obtaining the 3rd class plane being made up of Equations of The Second Kind luminous point, camera coordinates system initial point and headlamp world coordinate system initial point, for instance:

Plane O_{The world}O_CameraB is the 3rd class plane, and the computing formula of the normal vector of the 3rd class plane is as follows:

O_{The world}O_CameraThe normal vector of B $\left(\begin{array}{c}{A}_2\\ B_2\\ C_2\end{array}\right)=\left(\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right)\×\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)$

907, by described first kind luminous point, Equations of The Second Kind luminous point and headlamp world coordinate system initial point constitute the 4th class plane, and the normal vector of the 4th class plane is expressed asSuch as:

Plane O_{The world}AB is the 4th class plane, and the normal vector of the 4th class plane is expressed as: $\left(\begin{array}{c}1\\ 0\\ k\end{array}\right);$

908, by below equation, the direction vector of the headlamp world coordinate system initial point direction vector with first kind luminous point composition and/or headlamp world coordinate system initial point and Equations of The Second Kind luminous point composition is obtained by calculating parameter k to be asked:

The equation of the direction vector that the apposition of the normal vector of the normal vector of described Equations of The Second Kind plane and described 4th class plane is constituted with first kind luminous point equal to headlamp world coordinate system initial point, for instance

O_{The world}Direction vector (the kB of A₁C₁-kA₁-B₁)=(A₁B₁C₁) × (10k)；

The equation of the direction vector that the apposition of the normal vector of described 3rd class plane and the normal vector of described 4th class plane is constituted with Equations of The Second Kind luminous point equal to headlamp world coordinate system initial point, for instance

O_{The world}Direction vector (the kB of B₂C₂-kA₂-B₂)=(A₂B₂C₂) × (10k)；

The dot product inner product of the direction vector that the vector that headlamp world coordinate system initial point and first kind luminous point are constituted is constituted with Equations of The Second Kind luminous point with headlamp world coordinate system initial point is equal to the equation of these two vector field homoemorphism with the product of the cosine of the adjusting angle of described vehicle head lamp, for instance

(kB₁C₁-kA₁-B₁)·(kB₂C₂-kA₂-B₂)=| kB₁C₁-kA₁-B₁||kB₁C₁-kA₁-B₁|cosθ

By above equation, try to achieve the direction vector of the headlamp world coordinate system initial point direction vector with first kind luminous point composition and/or headlamp world coordinate system initial point and Equations of The Second Kind luminous point composition.

Wherein step 14, the direction vector of luminous point that is radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculate level and/or the vertical deflection angle in headlight beam direction, for the adjustable embodiment of this headlamp, specifically it is calculated as follows:

The direction vector of the first kind luminous point A being radiated on facade by initial point in headlamp world coordinate system to headlight beam feature calculates headlight beam direction level and/or vertical deflection angle:

The vectorial O that headlamp world coordinate system initial point is constituted with first kind luminous point_{The world}The direction of A is exactly headlight beam direction, according to Pythagorean theorem and right angled triangle corner relation, calculates and obtains headlight beam direction level and/or vertical deflection angle；

Or, initial point in headlamp world coordinate system to headlight beam feature the direction vector of the Equations of The Second Kind luminous point B being radiated on facade calculates headlight beam direction level and/or vertical deflection angle:

The direction vector O that headlamp world coordinate system initial point is constituted with first kind luminous point_{The world}A is exactly headlight beam direction, by the direction vector of initial point in headlamp world coordinate system to Equations of The Second Kind luminous point B according to Pythagorean theorem and right angled triangle corner relation, calculating obtains beam direction level and/or vertical deflection angle after headlamp regulates, after headlamp regulates, beam direction X deflection angle is exactly headlight beam direction X deflection angle, calculate the difference of vertical deflection angle and headlamp adjusting angle θ after headlamp regulates again, it is thus achieved that headlight beam direction vertical deflection angle.

For facade and ground off plumb situation, referring to Figure 10, it is assumed that facade and upright position angle areFacade in camera coordinates system cross (0, H, D+z₀) point, wherein H is camera heights, and D is the distance measuring the camera photocentre that obtains subpoint on the ground to facade Yu ground intersection, z₀For the headlamp world coordinate system initial point horizontal vertical coordinate in camera coordinates system, facade equation in camera coordinates system can be write as

Wherein,

Wherein, utilizing described testing result described in step 13, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle, its calculating process specifically includes:

Described testing result is utilized to obtain headlight beam feature at the coordinate figure irradiated on image;

Utilize the described first kind subpoint coordinate components on the plane of delineation=(headlight beam feature is at this this coordinate axes component of coordinate axes component-irradiation image center irradiated on image) × each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system, obtain described first kind subpoint coordinate figure on the plane of delineation before camera coordinates system, the intersection point of the plane of delineation before the light that described first kind subpoint is the headlight beam feature luminous point that is radiated on headlamp world coordinate system facade to be sent to camera and camera coordinates system；

Utilizing camera focus, changing described first kind subpoint coordinate on the plane of delineation before camera coordinates system is camera coordinates system homogeneous coordinates；

Headlight beam feature is radiated at the coordinate in camera coordinates system of the luminous point A (X ', Y ', Z ') on facade can be written as the expression formula containing parameter k to be asked: A (X ', Y ', Z ')=k (x₁,y₁,z₁), wherein k is parameter, k > 0, (x₁,y₁,z₁) for the first kind subpoint A ' homogeneous coordinates in camera coordinates system, owing to an A is on facade, meet facade equation, therefore,

K can be obtained

And then obtain luminous point A (X ', Y ', Z ') that headlight beam feature is radiated on the facade coordinate in camera coordinates system；

Luminous point A coordinate (X, Y, Z) in headlamp world coordinate system can be drawn by following formula:

$\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)=\left(\begin{array}{c}{X}^{\′}\\ Y^{\′}\\ Z^{\′}\end{array}\right)-\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)$

The direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system is calculated by luminous point A coordinate (X, Y, Z) in headlamp world coordinate system.

Wherein, wherein step 14, the direction vector of luminous point that is radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculate the level in headlight beam direction and/or vertical deflection angle is identical with other embodiments above, do not repeat them here.

The invention provides a kind of vehicle headlamp irradiation angle detecting device based on facade, utilize visual angle, vehicle-mounted front camera, be automatically performed the irradiating angle detection of headlamp, this device forms referring to Figure 11, specifically includes:

Acquiring unit: for obtaining vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, sends described irradiation image to detecting unit；

Detection unit: be used for utilizing image processing algorithm, detection headlight beam feature position in irradiating image, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image, send described testing result to computing unit；

Computing unit: be used for utilizing described testing result, calculates the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle;The direction vector of the luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction.

The present invention provides a kind of vehicle headlamp irradiation angle based on facade to detect system, and this system forms referring to Figure 12, specifically includes:

Visual angle, vehicle-mounted front camera: for irradiating vehicle head lamp image on facade, sends to vehicle headlamp irradiation angle detecting device；

Vehicle headlamp irradiation angle detecting device: for obtaining vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image is identical with vehicle head lamp direction of illumination, utilize image processing algorithm, detection headlight beam feature position in irradiating image, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image；Utilize described testing result, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle；The direction vector of the luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction.

It should be noted that, in this article, the relational terms of such as first and second or the like is used merely to separate an entity or operation with another entity or operating space, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " includes ", " comprising " or its any other variant are intended to comprising of nonexcludability, so that include the process of a series of key element, method, article or equipment not only include those key elements, but also include other key elements being not expressly set out, or also include the key element intrinsic for this process, method, article or equipment.When there is no more restriction, statement " including ... " key element limited, it is not excluded that there is also other identical element in including the process of described key element, method, article or equipment.

The foregoing is only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.All make within the spirit and principles in the present invention any amendment, equivalent replacement, improvement etc., be all contained in protection scope of the present invention.

Claims (8)

1. the vehicle headlamp irradiation angle detection method based on facade, it is characterised in that the method specifically includes:

Obtaining vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination；

Utilize image processing algorithm, detection headlight beam feature position in irradiating image, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image；

Utilize described testing result, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle；Wherein, described utilize described testing result, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle to include: utilize described testing result, the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system is calculated according to the distance between video camera imaging principle and camera and facade, or, utilize described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, described first kind luminous point is that before headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, described Equations of The Second Kind luminous point is that after headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system；

The direction vector of the luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction；

Wherein, described headlight beam feature is particularly as follows: flex point type；

The described image processing algorithm that utilizes, detection headlight beam feature position in irradiating image obtains light beam particular by edge detection operator and irradiates the marginal point of image；These marginal points are carried out least square fitting, draws two boundary lines；Two boundary line intersection points are asked to determine flex point position in irradiating image；

Described headlight beam feature, obtains especially by described flex point position in irradiating image at the coordinate irradiated on image in the coordinate specifically headlight beam feature corners irradiated on image；

Described luminous point specifically headlight beam feature is radiated at the flex point on the facade of headlamp world coordinate system.

2. method according to claim 1, it is characterised in that described method performs when meeting the irradiating angle testing conditions pre-set repeatedly to obtain the level organizing headlight beam direction and/or vertical deflection angle more, and also includes:

The described levels organizing headlight beam direction and/or vertical deflection angle are carried out statistical disposition more, it is thus achieved that the level in final headlight beam direction and/or vertical deflection angle.

3. method according to claim 1, it is characterized in that, described utilizing described testing result, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle, it calculates detailed process and includes；

Described testing result is utilized to obtain headlight beam feature at the coordinate figure irradiated on image；

Utilize the first kind subpoint coordinate components on the plane of delineation=(headlight beam feature is at the coordinate axes component-irradiation image center coordinate axes component irradiated on image) × each pixel physical size on plane of delineation change in coordinate axis direction before camera coordinates system before camera coordinates system, obtain described first kind subpoint coordinate figure on the plane of delineation before camera coordinates system, the intersection point of the plane of delineation before the light that described first kind subpoint is the headlight beam feature luminous point that is radiated on headlamp world coordinate system facade to be sent to camera and camera coordinates system:

Utilizing camera focus, changing described first kind subpoint coordinate on the plane of delineation before camera coordinates system is camera coordinates system homogeneous coordinates；

In the homogeneous coordinates of camera coordinates system, described first kind subpoint being multiplied by multiple and obtains described luminous point coordinate in camera coordinates system, described multiple is the distance between camera and facade and world coordinate system initial point horizontal longitudinal axis coordinate sum in camera coordinates system；

By the difference of described luminous point coordinate in camera coordinates system with headlamp world coordinate system initial point coordinate in camera coordinates system, calculate described luminous point coordinate in headlamp world coordinate system；

The direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system is obtained by described luminous point coordinate in headlamp world coordinate system.

4. method according to claim 1, it is characterized in that, the direction vector of the described luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction, and its described calculating specifically includes:

Determine that headlight beam direction is specifically from headlamp world coordinate system initial point to described luminous point line direction；

Determine horizontal deflection angle, headlight beam direction and/or determine vertical deflection angle, headlight beam direction, horizontal deflection angle, described headlight beam direction specifically angle between described headlamp world coordinate system initial point and described luminous point line projection line in the horizontal plane and the horizontal axis of ordinates of headlamp world coordinate system；Vertical deflection angle, described headlight beam direction specifically described headlamp world coordinate system initial point and described luminous point line and the described line angle of cut between projection line in the horizontal plane；

According to Pythagorean theorem and right angled triangle corner relation, described headlamp world coordinate system initial point the direction vector of the luminous point being radiated on facade to headlight beam feature calculates and obtains headlight beam direction level and/or vertical deflection angle.

5. method according to claim 1, it is characterised in that

Described acquisition vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, this step is specially the irradiation image one obtained before vehicle head lamp regulates on facade, the shooting direction of described irradiation image one is identical with vehicle head lamp direction of illumination, also obtaining the irradiation image two on facade after vehicle head lamp regulates, the shooting direction of described irradiation image two is identical with vehicle head lamp direction of illumination；

Described utilize image processing algorithm, detection headlight beam feature position in irradiating image, obtain the testing result comprising headlight beam feature at the coordinate irradiated on image, this step is specially and utilizes image processing algorithm, detection headlight beam feature position in irradiation image one and irradiation image two, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image one and irradiation image two；

Described utilize described testing result, the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system is calculated according to video camera imaging principle, this step is specially and utilizes described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, described first kind luminous point is that before headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, described Equations of The Second Kind luminous point is that after headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system.

6. method according to claim 5, it is characterized in that, described utilize described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, and it calculates detailed process and includes:

Described testing result is utilized to obtain the headlight beam feature coordinate figure at described irradiation image one and described irradiation image two；

Utilize the Equations of The Second Kind subpoint coordinate components on the plane of delineation=(headlight beam feature is at the coordinate axes component-adjustment front irradiation image center coordinate axes component irradiated on image one) × each pixel physical size on plane of delineation change in coordinate axis direction before camera coordinates system before camera coordinates system, obtain described Equations of The Second Kind subpoint coordinate figure on the plane of delineation before camera coordinates system, described Equations of The Second Kind subpoint be light that before headlamp regulates, the beam characteristics luminous point that is radiated on headlamp world coordinate system facade sends to camera with camera coordinates system before the intersection point of the plane of delineation；

Utilize the 3rd class subpoint coordinate components on the plane of delineation=(headlight beam feature irradiates image center coordinate axes component after the coordinate axes component-adjustment irradiated on image two) × each pixel physical size on plane of delineation change in coordinate axis direction before camera coordinates system before camera coordinates system, obtain described 3rd class subpoint coordinate figure on the plane of delineation before camera coordinates system, described 3rd class subpoint be light that after headlamp regulates, the beam characteristics luminous point that is radiated on headlamp world coordinate system facade sends to camera with camera coordinates system before the intersection point of the plane of delineation；

Utilizing camera focus, changing described Equations of The Second Kind subpoint and the 3rd class subpoint coordinate on the plane of delineation before camera coordinates system is camera coordinates system homogeneous coordinates；

By the described Equations of The Second Kind subpoint homogeneous coordinates in camera coordinates system, headlamp world coordinate system initial point coordinate in camera coordinates system, calculate the normal vector obtaining the Equations of The Second Kind plane being made up of first kind luminous point, camera coordinates system initial point and headlamp world coordinate system initial point；

By the described 3rd class subpoint homogeneous coordinates in camera coordinates system, headlamp world coordinate system initial point coordinate in camera coordinates system, calculate the normal vector obtaining the 3rd class plane being made up of Equations of The Second Kind luminous point, camera coordinates system initial point and headlamp world coordinate system initial point；

Being constituted the 4th class plane by described first kind luminous point, Equations of The Second Kind luminous point and headlamp world coordinate system initial point, the normal vector of the 4th class plane is expressed as

By below equation, by calculating the direction vector of the gain of parameter headlamp world coordinate system initial point the to be asked direction vector with first kind luminous point composition and/or headlamp world coordinate system initial point and Equations of The Second Kind luminous point composition:

The equation of the direction vector that the apposition of the normal vector of the normal vector of described Equations of The Second Kind plane and described 4th class plane is constituted with first kind luminous point equal to headlamp world coordinate system initial point；

The equation of the direction vector that the apposition of the normal vector of described 3rd class plane and the normal vector of described 4th class plane is constituted with Equations of The Second Kind luminous point equal to headlamp world coordinate system initial point；

The dot product inner product of the direction vector that the direction vector that headlamp world coordinate system initial point and first kind luminous point are constituted is constituted with Equations of The Second Kind luminous point with headlamp world coordinate system initial point is equal to the equation of this both direction vector field homoemorphism with the product of the cosine of the adjusting angle of described vehicle head lamp.

7. the vehicle headlamp irradiation angle detecting device based on facade, it is characterised in that this device specifically includes:

Acquiring unit: for obtaining vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, sends described irradiation image to detecting unit；

Detection unit: be used for utilizing image processing algorithm, detection headlight beam feature position in irradiating image, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image, send described testing result to computing unit；

Computing unit: be used for utilizing described testing result, calculates the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle；Wherein, described utilize described testing result, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle to include: utilize described testing result, the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system is calculated according to the distance between video camera imaging principle and camera and facade, or, utilize described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, described first kind luminous point is that before headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, described Equations of The Second Kind luminous point is that after headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system；The direction vector of the luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction；

Wherein, described headlight beam feature is particularly as follows: flex point type；

The described image processing algorithm that utilizes, detection headlight beam feature position in irradiating image obtains light beam particular by edge detection operator and irradiates the marginal point of image；These marginal points are carried out least square fitting, draws two boundary lines；Two boundary line intersection points are asked to determine flex point position in irradiating image；

Described headlight beam feature, obtains especially by described flex point position in irradiating image at the coordinate irradiated on image in the coordinate specifically headlight beam feature corners irradiated on image；

Described luminous point specifically headlight beam feature is radiated at the flex point on the facade of headlamp world coordinate system.

8. the vehicle headlamp irradiation angle based on facade detects system, it is characterised in that this system specifically includes:

Visual angle, vehicle-mounted front camera: for irradiating vehicle head lamp image on facade, sends to vehicle headlamp irradiation angle detecting device；

Vehicle headlamp irradiation angle detecting device: for obtaining vehicle head lamp irradiation image on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, utilize image processing algorithm, detection headlight beam feature position in irradiating image, it is thus achieved that comprise the headlight beam feature testing result at the coordinate irradiated on image；Utilize described testing result, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle；Wherein, described utilize described testing result, calculate the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle to include: utilize described testing result, the direction vector of the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system is calculated according to the distance between video camera imaging principle and camera and facade, or, utilize described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, described first kind luminous point is that before headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, described Equations of The Second Kind luminous point is that after headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system；The direction vector of the luminous point being radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction；Wherein, described headlight beam feature is particularly as follows: flex point type；The described image processing algorithm that utilizes, detection headlight beam feature position in irradiating image obtains light beam particular by edge detection operator and irradiates the marginal point of image；These marginal points are carried out least square fitting, draws two boundary lines；Two boundary line intersection points are asked to determine flex point position in irradiating image；Described headlight beam feature, obtains especially by described flex point position in irradiating image at the coordinate irradiated on image in the coordinate specifically headlight beam feature corners irradiated on image；Described luminous point specifically headlight beam feature is radiated at the flex point on the facade of headlamp world coordinate system.