CN105291959A - Two-dimensional self-adaptive headlamp control system and control method - Google Patents
Two-dimensional self-adaptive headlamp control system and control method Download PDFInfo
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Abstract
The invention discloses a two-dimensional self-adaptive headlamp control system and a control method. The two-dimensional self-adaptive headlamp control system comprises a sensor module, a conditioning circuit module, a CAN (Controller Area Network) bus module, a microprocessor control module, a stepping motor module and a two-degree-of-freedom headlamp mechanism. Through the adoption of the method, the two-dimensional self-adaptive headlamp control system and the control method, disclosed by the invention, are advantaged in that automobile running conditions are sensed by using a sensor technology to adjust both a horizontal optical axis radiation angle or a vertical optical axis radiation angle of an automobile headlamp so as to improve front environment lighting effects of automobiles at nights or under conditions with insufficient lights; therefore, the invention exerts good social application values and economic benefits.
Description
Technical field
The present invention relates to sensor, electric machine control, signal transacting and transmission and Vehicle Engineering, particularly relate to a kind of two-dimensional adaptive headlamp control system and control method thereof.
Background technology
Each automobile has at least 2 head lamps, and head lamp is head light again, is loaded on automobile head both sides, and for the illumination of night travel road, the illuminating effect of head lamp directly affects operation and the safety traffic of driving at night.
But, the forward lighting systems of current domestic and international most of vehicle generally still adopts fixed type head lamp system, the head lamp of this structure cannot deacclimatize environment and the needs of surrounding automatically, also adopts binary two-dimensional adaptive head lamp system there are no considering traveling state of vehicle.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of two-dimensional adaptive headlamp control system and control method thereof, have that unfailing performance is high, self adaptation be strong, safety advantages of higher, simultaneously sensor, electric machine control, signal transacting and transmission and Vehicle Engineering application and popularize and have market outlook widely.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is:
There is provided a kind of two-dimensional adaptive headlamp control system, it comprises: sensor assembly, conditioning circuit module, CAN module, microprocessor control module, stepping motor module and two degrees of freedom head lamp mechanism,
Described sensor assembly comprises the car speed sensor for collection vehicle moving velocity signal, the steering wheel angle sensor for the horizontal steering angle signal of collection vehicle and several pitch angle signals for collection vehicle vertical direction and the body mounting height sensor of angle of roll signal
Described two degrees of freedom head lamp mechanism comprises head lamp lamp group and the rotation link transmission device for adjusting the horizontal optical axis of head lamp lamp group and vertical optical axis irradiating angle,
Described sensor assembly is connected with described CAN module by described conditioning circuit module, described stepping motor module is connected with described CAN module with described two degrees of freedom head lamp mechanism respectively, and described CAN module is connected with described microprocessor control module.
In a preferred embodiment of the present invention, described body mounting height sensor comprises left front sensor, right front sensor, left back sensor and right back sensor.
In a preferred embodiment of the present invention, described conditioning circuit module comprises the signal conversion unit output signal of each sensor being converted to unified electrical signal types and the Standardisation Cell unified electric signal being converted to the data type that applicable CAN transmits.
In a preferred embodiment of the present invention, described stepping motor module comprises horizontal direction stepping motor, vertical direction stepping motor and the driver module supporting with stepping motor.
In a preferred embodiment of the present invention, a described two degrees of freedom head lamp mechanism is connected with a vertical direction stepping motor with a horizontal direction stepping motor respectively.
A control method for two-dimensional adaptive headlamp control system, its step comprises:
1) in data knowledge storehouse, input the reference threshold of car lighting operating mode, the model structure of car lighting and the parking of automobile sighting distance corresponding with the speed of a motor vehicle, wherein, described model structure comprises horizontal direction stepping motor model, vertical direction stepping motor model and rotates link transmission device model;
2) steering wheel angle sensor obtains steering wheel angle signal, and car speed sensor obtains vehicle speed signal, and body mounting height sensor obtains pitch angle signal and the angle of roll signal of vehicle respectively;
3) microcontroller is sent into after the steering wheel angle signal of collection, vehicle speed signal, pitch angle signal and angle of roll signal being carried out normalisation respectively;
4) reference threshold in the incoming signal collected and data knowledge storehouse is compared by microcontroller, judge car lighting operating mode, and then perform different control policies, wherein, vehicle head lamp comprises left car light and right car light, car lighting operating mode comprises: normal illumination mode, turning illumination pattern and special lighting pattern, and described special lighting comprises pitching light illumination mode and rolls light illumination mode; Normal illumination mode comprises the low-angle turning illumination pattern that craspedodrome light illumination mode and turn radius are greater than 500 meters;
5) microcontroller is according to the car lighting operating mode judging to obtain, and the model structure parameter according to data knowledge storehouse carries out the calculating of the control signal of car light;
6) microcontroller sends the pulse count of the control signal calculated and stepping motor to stepping motor module, realizes the control at the vertical and horizontal deflection angle of head lamp, namely realizes the two-dimensional adaptive control of head lamp.
In a preferred embodiment of the present invention, when car lighting operating mode is normal illumination mode, in parking of automobile sighting distance, select the Linear illumination distance of vehicle head lamp, the control signal of left car light and right car light only comprises vertical direction angle of inclination, and namely horizontal direction angle of inclination are 0 °; The angle of car light axle and track is calculated according to the altimeter of parking of automobile sighting distance and left and right car light optical axis top line of centers separately; Angular transposition and the pulse count of the stepping motor corresponding to left car light and the control of right car light vertical direction angle of inclination is calculated according to rotation link transmission device and vertical direction stepping motor model.
In a preferred embodiment of the present invention, when car lighting operating mode is turning illumination pattern, the bend line of centers illumination distances of vehicle head lamp takes from corresponding parking of automobile sighting distance, and left car light and the control signal of right car light comprise the angle of inclination of vertical and horizontal both direction; Altimeter according to the axial length of automobile cornering illumination, axial length width, steering wheel angle and left and right car light optical axis top line of centers separately calculates the optical axis of left car light and right car light and the angle of inclination of track vertical direction and horizontal direction; Angular transposition and the pulse count of the stepping motor corresponding to left car light and the control of right car light two-dimensional deflection angle is calculated according to rotation link transmission device and model structure.
In a preferred embodiment of the present invention, when car lighting operating mode is special lighting pattern, namely when vehicle generation pitching and roll condition, then controlling the angle of inclination in the horizontal and vertical direction of headlight optical axis, is on the basis of normal illumination mode or turning illumination pattern, increase by one revise and supplement; If during pitch attitude, vehicle body axis and track itself have the angle of inclination of the vertical direction of front and back; If during rolling condition, vehicle body laterally has the angle of inclination of about one vertical direction with track itself, so cause the optical axis top line of centers of left car light and right car light have a high variable quantity respectively; Draw the correction of left and right car light horizontal and vertical direction angle of inclination separately according to pitch attitude and rolling condition, so calculate car light two-dimensional deflection angle, left and right control corresponding to the correction angle displacement of stepping motor and corrected impulse number.
In a preferred embodiment of the present invention, the control of head lamp angle of inclination is closed loop controls, need gather these 4 parameter amounts of actual deflection angle in the respective horizontal and vertical direction of left car light and right car light and feed back to microcontroller, thus carrying out deviation control.
The invention has the beneficial effects as follows: utilize sensor technology perception running car vehicle condition, the adjustment horizontal optical axis irradiating angle of car headlamp and vertical optical axis irradiating angle, improve a kind of control setup of the front ambient lighting effects in Vehicular night or insufficient light situation, there is good social application and be worth and economic benefit.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the structural representation of a kind of two-dimensional adaptive headlamp control system of the present invention;
Fig. 2 is the fundamental diagram of a kind of two-dimensional adaptive headlamp control system of the present invention;
Fig. 3 is the reference value of the parking of automobile sighting distance of a kind of two-dimensional adaptive headlamp control system of the present invention
Schematic diagram.
Detailed description of the invention
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1-3, the embodiment of the present invention comprises:
A kind of two-dimensional adaptive headlamp control system, it comprises: sensor assembly, conditioning circuit module, CAN module, microprocessor control module, stepping motor module and two degrees of freedom head lamp mechanism.
Sensor assembly comprises car speed sensor, steering wheel angle sensor and multiple body mounting height sensor, and described body mounting height sensor comprises left front sensor, right front sensor, left back sensor and right back sensor.Car speed sensor is responsible for collection vehicle moving velocity signal; The horizontal steering angle signal of steering wheel angle sensor collection vehicle; The pitch angle signal of body mounting height sensor collection vehicle vertical direction and angle of roll signal.
Described conditioning circuit module comprises signal conversion unit and Standardisation Cell.The output signal of each sensor is converted to unified electrical signal types by signal conversion unit, and electric signal unified is above converted to the data type that applicable CAN transmits by Standardisation Cell again.
The reception of described CAN module in charge sensing data also passes to described microprocessor control module, receive the control output signal of described microprocessor control module simultaneously and pass to the stepping motor module controlling head lamp, ensureing the rapidity that data are transmitted and reliability.
Described microprocessor control module mainly completes the realization of the control algorithm of whole system, and the coordination of all parts work, ensures the sustainability of whole system work.
Described stepping motor module formed primarily of the driver module of 4 stepping motors and correspondence, comprise further: be responsible for realizing head lamp horizontal deflection angle, left and right the horizontal direction stepping motor controlled and the vertical direction stepping motor realizing controlling left and right head lamp vertical direction angle of inclination, described horizontal direction stepping motor and each 2 of described vertical direction stepping motor, the motor control signal that described driver module is responsible for CAN being sent converts the drive singal of working control stepping motor angular transposition to.
A head lamp lamp group and rotation link transmission device are connected with a vertical direction stepping motor with a horizontal direction stepping motor respectively.
Described two degrees of freedom head lamp mechanism comprises head lamp lamp group and rotates link transmission device, performs the actual task of Microprocessor S3C44B0X instruction, completes the adjustment of the horizontal optical axis of head lamp and vertical optical axis irradiating angle.
The specific works flow process of two-dimensional adaptive headlamp control system is as follows:
1) in data knowledge storehouse, input the reference threshold of car lighting operating mode, the model structure of car lighting and the parking of automobile sighting distance corresponding with the speed of a motor vehicle, wherein, described model structure comprises horizontal direction stepping motor model, vertical direction stepping motor model and rotates link transmission device model.
Steering wheel angle sensor obtains steering wheel angle signal, and car speed sensor obtains vehicle speed signal, and four vehicle height sensors obtain pitch angle signal and the angle of roll signal of vehicle respectively.
2) microcontroller is sent into after the steering wheel angle signal of collection, vehicle speed signal, pitch angle signal and angle of roll signal being carried out normalisation respectively.
3) comparing in data knowledge storehouse followed by microcontroller according to the incoming signal gathered, carry out the judgement of vehicle working condition, and then perform different control policies, and the car lighting operating mode wherein related to comprises 4.1) normal illumination mode, 4.2) turning illumination pattern and 4.3) special lighting pattern (comprise pitching light illumination mode and roll light illumination mode).
4) microcontroller is according to the illumination operating mode of vehicle, and the model structure parameter according to knowledge base carries out the calculating of car light control signal:
4.1) under normal illumination mode, the Linear illumination distance of vehicle head lamp is taken as parking of automobile sighting distance (relevant to the speed of a motor vehicle), left and right car light control signal only comprises vertical direction angle of inclination (horizontal direction angle of inclination are 0 degree), specifically calculates the vertical direction angle (γ of car light optical axis and track according to the height (H) of parking of automobile sighting distance (S) and left and right car light optical axis top line of centers separately
1), and then control according to car light transmission device and vertical direction the angular transposition (α that motor model tries to achieve the stepping motor corresponding to the car light vertical direction angle of inclination control of left and right
left, α
right) and pulse count (n
left, n
right).
4.2) under turning illumination pattern, the bend line of centers illumination distances of vehicle head lamp is taken as parking of automobile sighting distance (relevant to the speed of a motor vehicle), left and right car light control signal comprises the angle of inclination of vertical and horizontal both direction, specifically (comprise axial length and the width of illumination according to automobile cornering lighting demand, axial length gets non-passing sight distance, width is got turning medial light area and is not less than 1.5 lane widths), the height (H) of the turn radius (steering wheel angle) of automobile and left and right car light optical axis top line of centers separately calculates the angle of inclination (γ of left and right car light optical axis and track vertical direction and horizontal direction
1, γ
2), moreover the angular transposition (α of the stepping motor corresponding to the control of car light two-dimensional deflection angle, left and right is tried to achieve according to car light transmission device and control motor model
left, α
right, β
left, β
right) and pulse count (n
left, n
right, m
left, m
right).
In normal illumination mode and turning illumination pattern, the angular transposition of stepping motor is calculated as follows:
The angular transposition arranging the stepping motor of vertical direction is: α
left, α
right,
（1）
（2）
（3）
The angular transposition arranging the stepping motor of horizontal direction is: β
left, β
right,
（4）
（5）
（6）
（7）
（8）
（9）
In normal illumination mode and turning illumination pattern, the pulse count of stepping motor is calculated as follows:
（10）
（11）
（12）
（13）
（14）
（15）
Wherein: K
1represent that (stepping motor that left and right car light is corresponding and transmission device model are got consistent, are thus all use K in formula 1 and formula 2 for the ratio of the angular transposition of stepping motor in stepping motor and transmission device model and car light vertical direction angular transposition
1), H
leftrepresent the height of left car light optical axis top line of centers, H
rightrepresent the height of right car light optical axis top line of centers, H represents that the height S of car light optical axis top line of centers represents that the non-passing sight distance of automobile is (with the speed of a motor vehicle
relevant), in formula 3, the relation of non-passing sight distance and the speed of a motor vehicle gets broken line type model is example, certainly also other relational models desirable (as hyperbola, parabola, index and equal percentage model etc.), K
2represent that (stepping motor that left and right car light is corresponding and transmission device model are got consistent, are thus all use K in formula 3 and formula 4 for the ratio of the angular transposition of stepping motor in stepping motor and transmission device model and car light horizontal direction angular transposition
2),
represent the comprehensive angle of inclination of vehicle front-wheel (before the equivalence in turn inside diameter model wheel angle),
with
represent respectively vehicle left side and right side front wheel angle of inclination and the comprehensive angle of inclination of vehicle front-wheel deviate (size of this deviate is determined by front-wheel steering system model, and
with
symbol is contrary), K
3represent the ratio of the comprehensive angle of inclination of vehicle front-wheel and steering wheel angle, w represents steering wheel angle,
the comprehensive angle of inclination maximum permissible value of vehicle front-wheel represented, R represents vehicle turn radius, L auto body wheelbase,
represent the step size of horizontal direction stepping motor,
represent the step size (left and right stepping motor is got unanimously) of vertical direction stepping motor;
represent the umber of beats of horizontal direction stepping motor,
represent the umber of beats of vertical direction stepping motor,
represent the number of teeth of horizontal direction stepping motor,
represent the number of teeth of vertical direction stepping motor.
In addition, H
left, H
right, S, L, R, H unit be rice (m), speed
unit be thousand ms/h (km/h), angular transposition (α
left, α
right, β
left, β
right), step size (
,
), the comprehensive angle of inclination of steering wheel angle (w), front-wheel
, deviate (
with
) unit be radian (rad).
4.3) under special lighting pattern, when vehicle generation pitching and roll condition, the angle of inclination in the horizontal and vertical direction of headlight optical axis control to need to increase to revise on the basis of normal illumination mode or turning illumination pattern to supplement, if during pitch attitude, due to vehicle body axis and track itself have vertical direction before and after angle of inclination (
left,
right), if during rolling condition, because vehicle body laterally has the angle of inclination (Ф of about one vertical direction with track itself
left, Ф
right), and then cause the height of car light optical axis top, left and right line of centers have respectively a variable quantity (
left,
right), car light horizontal and vertical direction, actual left and right angle of inclination should eliminate angle of inclination
left,
rightwith car light high variable quantity
left,
rightimpact, comprehensive above can obtain revised angular transposition (the α * that car light two-dimensional deflection angle, left and right controls corresponding stepping motor
left, α *
right, β *
left, β *
right) and revised pulse count (n*
left, n*
right, m*
left, m*
right).
Under special lighting pattern, first calculate the angle of inclination of head lamp
left,
rightwith car light high variable quantity
left,
right, calculating revised angular transposition (α * according to the method in normal illumination mode
left, α *
right, β *
left, β *
right) and revised pulse count (n*
left, n*
right, m*
left, m*
right)
4.3.1) revised angular transposition (α *
left, α *
right, β *
left, β *
right)
Vertical direction:
,
remarks: H*
left,h*
rightcar light high variable quantity should be comprised
left,
rightimpact;
Horizontal direction: β *
left, β *
rightwith β
left, β
rightsubstantially identical, remain unchanged, but its maximum permissible value
the value of H of calculating formula should consider car light high variable quantity
left,
rightimpact;
4.3.2) revised pulse count (n*
left, n*
right, m*
left, m*
right)
N*
left, n*
right, m*
left, m*
rightcan analogize according to formula (10)-(13) and obtain.
5) pulse count of the control signal calculated and stepping motor is given actuating motor by microcontroller, realizes the control at the vertical and horizontal deflection angle of head lamp, namely realizes the two-dimensional adaptive control of head lamp.The control of actual car light angle of inclination self is also a closed loop control, requires these 4 parameter amounts of actual deflection angle in collection car light horizontal and vertical two direction, left and right and feeds back to microcontroller to carry out deviation control.
The beneficial effect of a kind of two-dimensional adaptive headlamp control system of the present invention and control method thereof is: utilize sensor technology perception running car vehicle condition, the adjustment horizontal optical axis irradiating angle of car headlamp and vertical optical axis irradiating angle, improve a kind of control setup of the front ambient lighting effects in Vehicular night or insufficient light situation, there is good social application and be worth and economic benefit.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a two-dimensional adaptive headlamp control system, is characterized in that, comprising: sensor assembly, conditioning circuit module, CAN module, microprocessor control module, stepping motor module and two degrees of freedom head lamp mechanism,
Described sensor assembly comprises the car speed sensor for collection vehicle moving velocity signal, the steering wheel angle sensor for the horizontal steering angle signal of collection vehicle and several pitch angle signals for collection vehicle vertical direction and the body mounting height sensor of angle of roll signal
Described two degrees of freedom head lamp mechanism comprises head lamp lamp group and the rotation link transmission device for adjusting the horizontal optical axis of head lamp lamp group and vertical optical axis irradiating angle,
Described sensor assembly is connected with described CAN module by described conditioning circuit module, described stepping motor module is connected with described CAN module with described two degrees of freedom head lamp mechanism respectively, and described CAN module is connected with described microprocessor control module.
2. a kind of two-dimensional adaptive headlamp control system according to claim 1, is characterized in that, described body mounting height sensor comprises left front sensor, right front sensor, left back sensor and right back sensor.
3. a kind of two-dimensional adaptive headlamp control system according to claim 2, it is characterized in that, described conditioning circuit module comprises the signal conversion unit output signal of each sensor being converted to unified electrical signal types and the Standardisation Cell unified electric signal being converted to the data type that applicable CAN transmits.
4. a kind of two-dimensional adaptive headlamp control system according to claim 2, is characterized in that, described stepping motor module comprises horizontal direction stepping motor, vertical direction stepping motor and the driver module supporting with stepping motor.
5. a kind of two-dimensional adaptive headlamp control system according to claim 4, is characterized in that, a described two degrees of freedom head lamp mechanism is connected with a vertical direction stepping motor with a horizontal direction stepping motor respectively.
6. a control method for two-dimensional adaptive headlamp control system, is characterized in that, step comprises:
1) in data knowledge storehouse, input the reference threshold of car lighting operating mode, the model structure of car lighting and the parking of automobile sighting distance corresponding with the speed of a motor vehicle, wherein, described model structure comprises horizontal direction stepping motor model, vertical direction stepping motor model and rotates link transmission device model;
2) steering wheel angle sensor obtains steering wheel angle signal, and car speed sensor obtains vehicle speed signal, and body mounting height sensor obtains pitch angle signal and the angle of roll signal of vehicle respectively;
3) microcontroller is sent into after the steering wheel angle signal of collection, vehicle speed signal, pitch angle signal and angle of roll signal being carried out normalisation respectively;
4) reference threshold in the incoming signal collected and data knowledge storehouse is compared by microcontroller, judge car lighting operating mode, and then perform different control policies, wherein, vehicle head lamp comprises left car light and right car light, car lighting operating mode comprises: normal illumination mode, turning illumination pattern and special lighting pattern, and described special lighting comprises pitching light illumination mode and rolls light illumination mode; Normal illumination mode comprises the low-angle turning illumination pattern that craspedodrome light illumination mode and turn radius are greater than 500 meters;
5) microcontroller is according to the car lighting operating mode judging to obtain, and the model structure parameter according to data knowledge storehouse carries out the calculating of the control signal of car light;
6) microcontroller sends the pulse count of the control signal calculated and stepping motor to stepping motor module, realizes the control at the vertical and horizontal deflection angle of head lamp, namely realizes the two-dimensional adaptive control of head lamp.
7. the control method of a kind of two-dimensional adaptive headlamp control system according to claim 6, it is characterized in that, when car lighting operating mode is normal illumination mode, the Linear illumination distance of vehicle head lamp is selected in parking of automobile sighting distance, the control signal of left car light and right car light only comprises vertical direction angle of inclination, and namely horizontal direction angle of inclination are 0 °; The angle of car light axle and track is calculated according to the altimeter of parking of automobile sighting distance and left and right car light optical axis top line of centers separately; Angular transposition and the pulse count of the stepping motor corresponding to left car light and the control of right car light vertical direction angle of inclination is calculated according to rotation link transmission device and vertical direction stepping motor model.
8. the control method of a kind of two-dimensional adaptive headlamp control system according to claim 6, it is characterized in that, when car lighting operating mode is turning illumination pattern, the bend line of centers illumination distances of vehicle head lamp takes from corresponding parking of automobile sighting distance, and left car light and the control signal of right car light comprise the angle of inclination of vertical and horizontal both direction; Altimeter according to the axial length of automobile cornering illumination, axial length width, steering wheel angle and left and right car light optical axis top line of centers separately calculates the optical axis of left car light and right car light and the angle of inclination of track vertical direction and horizontal direction; Angular transposition and the pulse count of the stepping motor corresponding to left car light and the control of right car light two-dimensional deflection angle is calculated according to rotation link transmission device and model structure.
9. the control method of a kind of two-dimensional adaptive headlamp control system according to claim 6, it is characterized in that, when car lighting operating mode is special lighting pattern, namely when vehicle generation pitching and roll condition, then controlling the angle of inclination in the horizontal and vertical direction of headlight optical axis, is on the basis of normal illumination mode or turning illumination pattern, increase by one revise and supplement; If during pitch attitude, vehicle body axis and track itself have the angle of inclination of the vertical direction of front and back, if during rolling condition, vehicle body laterally has the angle of inclination of about one vertical direction with track itself, and then cause the optical axis top line of centers of left car light and right car light to have a high variable quantity respectively, draw the correction of left and right car light horizontal and vertical direction angle of inclination separately according to pitch attitude and rolling condition, so calculate car light two-dimensional deflection angle, left and right control corresponding to the correction angle displacement of stepping motor and corrected impulse number.
10. the control method of a kind of two-dimensional adaptive headlamp control system according to claim 6, it is characterized in that, the control of head lamp angle of inclination is closed loop controls, these 4 parameter amounts of actual deflection angle in the respective horizontal and vertical direction of left car light and right car light need be gathered and feed back to microcontroller, thus carrying out deviation control.
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| CN106043106A (en) * | 2016-08-09 | 2016-10-26 | 安徽师范大学 | Self-adaption headlamp system for automobile |
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