CN110901514A - Vehicle and control method and device of high beam thereof - Google Patents
Vehicle and control method and device of high beam thereof Download PDFInfo
- Publication number
- CN110901514A CN110901514A CN201911192263.6A CN201911192263A CN110901514A CN 110901514 A CN110901514 A CN 110901514A CN 201911192263 A CN201911192263 A CN 201911192263A CN 110901514 A CN110901514 A CN 110901514A
- Authority
- CN
- China
- Prior art keywords
- azimuth angle
- high beam
- target vehicle
- boundary azimuth
- right boundary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/05—Special features for controlling or switching of the light beam
- B60Q2300/056—Special anti-blinding beams, e.g. a standard beam is chopped or moved in order not to blind
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The invention provides a vehicle and a method and a device for controlling a high beam thereof, wherein the method comprises the following steps: acquiring first position information and motion information of a target vehicle in front of a current vehicle; predicting second position information of the target vehicle after delaying the set time according to the first position information and the motion information; calculating a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle according to the second position information and the width of the target vehicle; and carrying out anti-dazzle control on the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle. The control method of the invention can realize the anti-dazzling function and simultaneously improve the control precision of the far-light area and the dynamic performance of the far-light anti-dazzling.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a control method of a vehicle high beam, a control device of the vehicle high beam and a vehicle with the control device.
Background
When a driver drives at night, the high beam lamp is usually turned on, and the turning on of the high beam lamp can cause dazzling to the drivers of vehicles driving in opposite directions, so that instant blindness is caused, and danger is easily caused in the process of meeting two vehicles. Moreover, turning on the high beam also affects the driver of the vehicle traveling in the same direction ahead, for example, the driver of the vehicle ahead is uncomfortable to make and distracts from the vehicle, resulting in danger.
In the related art, in order to solve the above problems, a matrix-configured intelligent headlamp system is provided, but the system has the problems of low control precision, an excessively large lamp-out area or insufficient dynamic response, so that traffic accidents caused by high beam lamps are still easily generated in the driving process.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present invention is to provide a method for controlling a high beam of a vehicle, which can achieve an anti-glare function and improve the control accuracy of a high beam region and the dynamic performance of the anti-glare function of the high beam.
A second object of the present invention is to provide a control device for a high beam of a vehicle.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for controlling a high beam of a vehicle, including: acquiring first position information and motion information of a target vehicle in front of a current vehicle; predicting second position information of the target vehicle after a set time is delayed according to the first position information and the motion information; calculating a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle according to the second position information and the width of the target vehicle; and carrying out anti-dazzle control on the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
According to the control method of the vehicle high beam, the first position information and the motion information of a target vehicle in front of the current vehicle are acquired; predicting second position information of the target vehicle after delaying the set time according to the first position information and the motion information; calculating a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle according to the second position information and the width of the target vehicle; and carrying out anti-dazzle control on the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle. Therefore, the method can realize the anti-dazzling function, and simultaneously improves the control precision of the far-light area and the dynamic performance of the far-light anti-dazzling.
In addition, the control method for the high beam of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the invention, the first location information comprises: a first azimuth and a first relative distance of the target vehicle relative to the current vehicle, the motion information being an azimuth velocity of the target vehicle relative to the current vehicle, the second position information comprising: a second azimuth angle and a second relative distance of the target vehicle relative to the current vehicle, and the predicting of the second position information of the target vehicle after delaying a set time according to the first position information and the motion information, includes: predicting the second azimuth angle according to the first azimuth angle, the azimuth speed and the set time; and predicting the second relative distance according to the first relative distance and the set time.
According to an embodiment of the present invention, said calculating a first left boundary azimuth and a first right boundary azimuth of said target vehicle according to said second location information and a width of said target vehicle comprises: calculating the longitudinal distance, the left boundary transverse distance and the right boundary transverse distance of the target vehicle relative to the current vehicle according to the second position information and the width of the target vehicle; calculating the first left boundary azimuth angle according to the left boundary lateral distance and the longitudinal distance; and calculating the first right boundary azimuth angle according to the right boundary transverse distance and the longitudinal distance.
According to an embodiment of the present invention, the control method of the high beam for the vehicle further includes: screening the target vehicle according to the longitudinal distance, the left boundary transverse distance, the right boundary transverse distance, a preset longitudinal response distance threshold value and a preset transverse response distance threshold value; and performing anti-dazzle control on the high beam module of the current vehicle according to the left boundary azimuth angle and the right boundary azimuth angle of the screened target vehicle.
According to an embodiment of the present invention, the anti-glare control of the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle includes: and turning off a high beam light source in the high beam light module which dazzles the target vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
According to an embodiment of the present invention, the method for controlling a high beam of a vehicle further includes: and determining a high beam light source capable of dazzling the target vehicle according to the first left boundary azimuth angle, the first right boundary azimuth angle, a second left boundary azimuth angle irradiated by the high beam light source and a second right boundary azimuth angle irradiated by the high beam light source.
According to an embodiment of the present invention, said determining a high beam light source that dazzles the target vehicle based on the first left boundary azimuth, the first right boundary azimuth, the second left boundary azimuth illuminated by the high beam light source, and the second right boundary azimuth illuminated by the high beam light source comprises: and determining the high beam light source with the overlapped area corresponding to the second left boundary azimuth angle and the second right boundary azimuth angle and the area corresponding to the first left boundary azimuth angle and the first right boundary azimuth angle as the high beam light source capable of glaring the target vehicle.
According to an embodiment of the present invention, the determining the high beam light source that coincides with the area corresponding to the second left boundary azimuth and the second right boundary azimuth and the area corresponding to the first left boundary azimuth and the first right boundary azimuth as the high beam light source that dazzles the target vehicle includes: determining a high beam light source satisfying any one of the following conditions as a high beam light source that dazzles the target vehicle: the first left boundary azimuth angle is equal to or less than the second right boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second right boundary azimuth angle; the first left boundary azimuth angle is equal to or greater than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or less than the second right boundary azimuth angle; the first left boundary azimuth angle is equal to or less than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second left boundary azimuth angle; the first left boundary azimuth angle is equal to or less than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second right boundary azimuth angle.
In order to achieve the above object, a second aspect of the present invention provides a control apparatus for a high beam of a vehicle, including: the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring first position information and motion information of a target vehicle in front of a current vehicle; the prediction module is used for predicting second position information of the target vehicle after a set time is delayed according to the first position information and the motion information; a calculation module, configured to calculate a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle according to the second location information and the width of the target vehicle; and the control module is used for carrying out anti-dazzling control on the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
According to the control device of the vehicle high beam, the first position information and the motion information of the target vehicle in front of the current vehicle are obtained through the obtaining module, the second position information of the target vehicle after the delay setting time is predicted according to the first position information and the motion information through the predicting module, the first left boundary azimuth angle and the first right boundary azimuth angle of the target vehicle are calculated according to the second position information and the width of the target vehicle through the calculating module, and the anti-dazzle control is carried out on the high beam module of the current vehicle through the control module according to the first left boundary azimuth angle and the first right boundary azimuth angle. Therefore, the device can realize the anti-dazzling function, and simultaneously improves the control precision of a far-light area and the dynamic performance of the far-light anti-dazzling.
In addition, the control method for the high beam of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the invention, the first location information comprises: a first azimuth and a first relative distance of the target vehicle relative to the current vehicle, the motion information being an azimuth velocity of the target vehicle relative to the current vehicle, the second position information comprising: the prediction module predicts second position information of the target vehicle after a set time delay according to the first position information and the motion information, and is specifically configured to: predicting the second azimuth angle according to the first azimuth angle, the azimuth speed and the set time; and predicting the second relative distance according to the first relative distance and the set time.
According to an embodiment of the present invention, the calculating module calculates a first left boundary azimuth and a first right boundary azimuth of the target vehicle according to the second location information and the width of the target vehicle, and is specifically configured to: calculating the longitudinal distance, the left boundary transverse distance and the right boundary transverse distance of the target vehicle relative to the current vehicle according to the second position information and the width of the target vehicle; calculating the first left boundary azimuth angle according to the left boundary lateral distance and the longitudinal distance; and calculating the first right boundary azimuth angle according to the right boundary transverse distance and the longitudinal distance.
According to an embodiment of the present invention, the control module is further configured to screen the target vehicle according to the longitudinal distance, the left boundary lateral distance, the right boundary lateral distance, and a preset longitudinal response distance threshold and a preset lateral response distance threshold; and performing anti-dazzle control on the high beam module of the current vehicle according to the left boundary azimuth angle and the right boundary azimuth angle of the screened target vehicle.
According to an embodiment of the present invention, the control module performs anti-glare control on the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle, and is specifically configured to: and turning off a high beam light source in the high beam light module which dazzles the target vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
According to an embodiment of the present invention, the control module is further configured to determine a high beam light source that dazzles the target vehicle according to the first left boundary azimuth, the first right boundary azimuth, the second left boundary azimuth illuminated by the high beam light source, and the second right boundary azimuth illuminated by the high beam light source.
According to an embodiment of the present invention, the control module determines the high beam light source dazzling the target vehicle according to the first left boundary azimuth, the first right boundary azimuth, the second left boundary azimuth illuminated by the high beam light source, and the second right boundary azimuth illuminated by the high beam light source, and is specifically configured to: and determining the high beam light source with the overlapped area corresponding to the second left boundary azimuth angle and the second right boundary azimuth angle and the area corresponding to the first left boundary azimuth angle and the first right boundary azimuth angle as the high beam light source capable of glaring the target vehicle.
According to an embodiment of the present invention, the control module determines, as the high beam light source that glares the target vehicle, a high beam light source whose area corresponding to the second left boundary azimuth angle and the second right boundary azimuth angle is coincident with an area corresponding to the first left boundary azimuth angle and the first right boundary azimuth angle, and is specifically configured to: determining a high beam light source satisfying any one of the following conditions as a high beam light source that dazzles the target vehicle: the first left boundary azimuth angle is equal to or less than the second right boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second right boundary azimuth angle; the first left boundary azimuth angle is equal to or greater than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or less than the second right boundary azimuth angle; the first left boundary azimuth angle is equal to or less than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second left boundary azimuth angle; the first left boundary azimuth angle is equal to or less than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second right boundary azimuth angle.
In order to achieve the above object, a third aspect of the present invention provides a vehicle including the above control apparatus for a high beam of the vehicle.
According to the vehicle provided by the embodiment of the invention, the anti-dazzling function can be realized through the control device of the vehicle high beam, and the control precision of a high beam area and the dynamic performance of the anti-dazzling of the high beam are improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a control method of a high beam for a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of target vehicle position prediction according to one embodiment of the present invention;
FIG. 3 is a schematic illustration of the calculation of a target vehicle heading angle according to one embodiment of the invention;
FIG. 4 is a schematic view of the high beam area of the high beam light source according to one embodiment of the present invention;
FIG. 5 is a schematic illustration of an anti-glare function mode switching according to an embodiment of the present invention;
fig. 6 is a flowchart of a control method of a high beam of a vehicle according to one embodiment of the invention;
fig. 7 is a block schematic diagram of a control apparatus of a high beam for a vehicle according to an embodiment of the invention; and
FIG. 8 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A control method of a vehicle high beam, a control device of a vehicle high beam, and a vehicle having the control device of the embodiment of the invention are described below with reference to the drawings.
Fig. 1 is a flowchart of a control method of a high beam of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, a method for controlling a high beam of a vehicle according to an embodiment of the present invention may include the steps of:
s1, first position information and motion information of the target vehicle ahead of the current vehicle are acquired.
In one embodiment of the present invention, the first location information may include: the motion information is the azimuth angle speed of the target vehicle relative to the current vehicle.
Specifically, the method for acquiring the specific position information of the target vehicle by shooting the image information of the front target vehicle through a camera arranged on the vehicle and identifying the image information comprises the following steps: the azimuth angle of the target vehicle relative to the host vehicle is recorded as a first azimuth angle, the distance of the target vehicle relative to the host vehicle is recorded as a first relative distance, and the change speed of the target vehicle relative to the azimuth angle of the host vehicle in a polar coordinate system is recorded as an azimuth angle speed. The target vehicles can be one or more, and can be motor vehicles and non-motor vehicles.
And S2, predicting second position information of the target vehicle after the set time delay according to the first position information and the motion information.
In one embodiment of the present invention, the second location information may include: the second position information of the target vehicle after the delay setting time is predicted according to the first position information and the motion information, and the second azimuth angle and the second relative distance of the target vehicle relative to the current vehicle comprise: predicting a second azimuth angle according to the first azimuth angle, the azimuth speed and the set time; and predicting the second relative distance according to the first relative distance and the set time. The set time is obtained through testing, and is generally a fixed delay time, including camera delay, bus delay and calculation delay.
Specifically, as shown in fig. 2, the current motion and position information of the target vehicle is collected, including a first azimuth α (deg), a first relative distance L (m), an azimuth speed θ (deg/s) and a target vehicle width w (m), a fixed delay time T (camera delay + bus delay + calculation delay) of the system is determined through testing, and second position information of the target vehicle after T time is predicted, including a second relative distance LpAnd a second azimuth αpThe specific calculation formula is as follows: l isp＝L+(dL/dt)*T，αpα + θ T, where dL/dt is the rate of change in the calculated first relative distance, the first relative distance L differential calculation of the previous several cycles may be saved.
And S3, calculating a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle according to the second position information and the width of the target vehicle.
According to one embodiment of the present invention, calculating a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle according to the second location information and the width of the target vehicle includes: calculating the longitudinal distance, the left boundary transverse distance and the right boundary transverse distance of the target vehicle relative to the current vehicle according to the second position information and the width of the target vehicle; calculating a first left boundary azimuth angle according to the left boundary transverse distance and the longitudinal distance; and calculating a first right boundary azimuth angle according to the right boundary transverse distance and the longitudinal distance.
Specifically, taking the target vehicle shown in fig. 3 as an example, the predicted motion information and position information of the target vehicle in the polar coordinate system are converted into a rectangular coordinate system (left negative and right positive), and the longitudinal distance d and left boundary lateral distance L of the target vehicle are calculatedLRight boundary lateral distance LRThe specific algorithm is as follows: d ═ Lp*cos(αp)，LL＝Lp*sin(αp)-W/2，LR＝Lp*sin(αp)+W/2。
Further, according to an embodiment of the present invention, the method for controlling a high beam of a vehicle further includes: screening the target vehicles according to the longitudinal distance, the left boundary transverse distance, the right boundary transverse distance, a preset longitudinal response distance threshold value and a preset transverse response distance threshold value; and performing anti-dazzle control on the high beam module of the current vehicle according to the left boundary azimuth angle and the right boundary azimuth angle of the screened target vehicle. Wherein the preset longitudinal response distance threshold dmaxA maximum vertical response distance, a lateral response distance threshold LmaxMaximum horizontal response distance, dmaxAnd LmaxThe specific size is set by a person skilled in the art according to actual conditions and can be calibrated according to the actual conditions.
Specifically, according to the specific position signal of the target vehicle, the method comprises the following steps: longitudinal distance d, left boundary transverse distance LLRight boundary lateral distance LRPreset longitudinal response distance threshold dmaxAnd a transverse response distance threshold LmaxScreening the target vehicle, e.g. when d < dmaxAnd abs ((L)L+LR)/2)＜LmaxWhen the target vehicle satisfies the condition, the position information data (d [ i ] of the target vehicle satisfying the condition is created]，LL[i]，LR[i]) Wherein i is a positive integer. Then, based on the position information data of the screened target vehicleThe corresponding left boundary azimuth angle and the right boundary azimuth angle are calculated in groups, and the specific algorithm is as follows αL[i]＝arctan(LL[i]/d[i])，αR[i]＝arctan(LR[i]/d[i]). And finally, performing anti-dazzle control on the high beam module of the current vehicle according to the left boundary azimuth angle and the right boundary azimuth angle of the screened target vehicle.
And S4, performing anti-dazzle control on the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
According to one embodiment of the invention, the anti-glare control of the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle comprises the following steps: and turning off a high beam light source in the high beam light module which dazzles the target vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
Specifically, the vehicle comprises a left high beam module and a right high beam module, each high beam module is composed of a plurality of linearly arranged LED light sources, and each LED light source can be independently controlled to be in a light-on/off state and light source brightness. Numbering the LED light sources of the left and right high beam modules (LED)L1，LEDL2，…，LEDR1，LEDR2…), testing the high beam light shape area of each LED light source by a simulation and test method, and determining the left and right boundary azimuth angles (gamma) of the light shape areaL，γR) For example, simulation and test methods are used to determine the left and right boundary azimuth angle γ of the high beam profile of each LED light sourceL、γRAs shown in fig. 4 and table 1, the subscript Lx represents the x-th LED light source of the left high beam module, the subscript Ry represents the y-th LED light source of the right high beam module, γRLxIndicating LEDLxLeft boundary azimuth angle, gamma, of light source high beam regionLLxIndicating LEDLxRight boundary azimuth angle, gamma, of light source high beam regionLRyIndicating LEDRyLeft boundary azimuth angle, gamma, of light source high beam regionRRyIndicating LEDRyAnd the right boundary azimuth angle of the high beam area of the light source.
TABLE 1
Then, determining an anti-dazzling function mode according to the external environment brightness and the position information of the target vehicle in the front high beam area, switching the anti-dazzling function mode to a standby mode when the external environment brightness reaches the condition of turning on the high beam and the high beam is in an automatic mode, activating the anti-dazzling function mode when a camera on the vehicle shoots the target vehicle, acquiring first position information and running information of the target vehicle, predicting second position information (a second relative distance and a second azimuth angle) of the target vehicle after a delay time is set according to the first position information and the running information of the target vehicle, and predicting the second relative distance L of the target vehicle according to the predicted second relative distance L of the target vehiclepAnd a second azimuth αpCalculate the left boundary azimuth α of the target vehicleLAnd right boundary azimuth angle αR. And the left boundary azimuth angle and the right boundary azimuth angle of the target vehicle and each LED light source azimuth angle are subjected to position judgment to obtain the LED light sources of the high beam area occupied by the target vehicle, the corresponding state requests of the LED light sources are set to be in an off state, the off state requests are sent to the high beam module controller through the CAN network, and the corresponding LED light sources are turned off, so that a shadow area is formed around the front target object, and the dazzling of the driver of the opposite side is reduced.
It should be noted that, referring to fig. 5 and table 2, switching of the anti-glare function mode is determined, where the anti-glare function mode includes: the system comprises an off mode, a standby mode and an active mode, wherein the three modes are mutually switched when certain conditions are met, and the switching conditions can be the conditions shown in table 2.
TABLE 2
According to an embodiment of the present invention, the control method of the vehicle high beam further includes: and determining the high beam light source which generates dazzling on the target vehicle according to the first left boundary azimuth, the first right boundary azimuth, the second left boundary azimuth irradiated by the high beam light source and the second right boundary azimuth irradiated by the high beam light source.
Further, according to an embodiment of the present invention, a method for determining a high beam light source generating glare on a target vehicle according to a first left boundary azimuth, a first right boundary azimuth, a second left boundary azimuth illuminated by a high beam light source, and a second right boundary azimuth illuminated by a high beam light source, includes: and determining the high beam light source with the overlapped area corresponding to the second left boundary azimuth angle and the second right boundary azimuth angle and the area corresponding to the first left boundary azimuth angle and the first right boundary azimuth angle as the high beam light source for generating glary to the target vehicle.
Further, according to an embodiment of the present invention, a high beam light source that coincides with an area corresponding to the second left boundary azimuth and the second right boundary azimuth and an area corresponding to the first left boundary azimuth and the first right boundary azimuth is determined as a high beam light source that glares a target vehicle, including: determining a high beam light source satisfying any one of the following conditions as a high beam light source for producing glare on a target vehicle: the first left boundary azimuth angle is equal to or smaller than the second right boundary azimuth angle, and the first right boundary azimuth angle is equal to or larger than the second right boundary azimuth angle; the first left boundary azimuth angle is equal to or greater than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or less than the second right boundary azimuth angle; the first left boundary azimuth angle is equal to or less than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second left boundary azimuth angle; the first left boundary azimuth angle is equal to or less than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second right boundary azimuth angle.
Specifically, the above-mentioned parameters are referred to according to the longitudinal distance, the left boundary lateral distance, the right boundary lateral distance, the preset longitudinal response distance threshold and the lateral directionIn response to a distance threshold, the embodiment of screening target vehicles uses a round-robin algorithm to identify the LED light source in the high beam region where the target vehicle is located and to activate the anti-glare activation indicator when one of the following conditions is met (1) αL[i]≤γR[j]And αR[i]≥γR[j]；(2)αL[i]≥γL[j]And αR[i]≤γR[j]；(3)αL[i]≤γR[j]And αR[i]≥γL[j]；(4)αL[i]≤γL[j]And αR[i]≥γR[j]. Wherein [ i]Indicates the target vehicle number, [ j ]]Indicating the serial number of the LED light source.
And setting the LED light source state in the list as a light-out state and setting the brightness as 0% brightness according to the LED light source anti-dazzling activation mark list, and sending the brightness to the high beam module controller through the CAN bus. Therefore, the control unit can take a single LED light source in the high beam module as a basic area control unit, the control precision of the high beam area is improved, the fixed response delay of the system is solved by adopting a prediction calculation method, and the dynamic performance of the high beam anti-dazzle purpose is improved.
In addition, the control logic of the invention adopts a sampling and calculating period of 10ms, so that the high beam control has the function of following the target object, and the high beam change is ensured to be consistent with the target movement.
As a specific example, as shown in fig. 6, the control method of a high beam of a vehicle may include the steps of:
s101, start.
S102, whether the high beam is in the automatic mode or not and whether the external environment brightness meets the condition of turning on the high beam or not are judged. If yes, go to step S103; if not, step S111 is performed.
And S103, switching the anti-dazzling function mode to a standby mode.
And S104, judging whether the camera collects the target vehicle. If yes, go to step S105; if not, step S111 is performed.
And S105, switching the anti-glare function mode into an activation mode, and collecting specific information (azimuth angle, azimuth angle speed of the target vehicle, distance of the target vehicle, width of the target vehicle and type of the target object) of the target vehicle.
And S106, predicting the position information of the target vehicle after the system fixes the delay time according to the relative distance, the azimuth angle and the azimuth angle speed of the target object.
And S107, converting the predicted position information of the target vehicle into a rectangular coordinate system, and calculating the transverse distance and the longitudinal distance of the left boundary and the right boundary of the target vehicle.
And S108, screening the identified target vehicles according to the maximum transverse corresponding distance and the maximum longitudinal corresponding distance to obtain a target vehicle information array meeting the conditions, and further obtaining the azimuth angles of the left and right boundaries of the screened target vehicle array.
S109, comparing the azimuth angle of the left and right boundaries of the target vehicle [ i ] with the high beam and wide azimuth angles of the LED light sources by adopting a cyclic algorithm, and determining an anti-dazzling activation mark list of the LED light sources.
And S110, setting the corresponding state request to be in a light-out state and setting the brightness request to be 0% brightness according to the anti-dazzling activation mark of the LED light source, and sending the brightness request to the high beam module controller through the CAN bus.
And S111, ending.
In summary, according to the control method of the high beam of the vehicle in the embodiment of the invention, the first position information and the motion information of the target vehicle in front of the current vehicle are acquired; predicting second position information of the target vehicle after delaying the set time according to the first position information and the motion information; calculating a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle according to the second position information and the width of the target vehicle; and carrying out anti-dazzle control on the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle. Therefore, the method can realize the anti-dazzling function, and simultaneously improves the control precision of the far-light area and the dynamic performance of the far-light anti-dazzling.
Fig. 7 is a block schematic diagram of a control apparatus of a high beam for a vehicle according to an embodiment of the present invention.
As shown in fig. 7, the control apparatus for a high beam of a vehicle according to an embodiment of the present invention may include: an acquisition module 10, a prediction module 20, a calculation module 30 and a control module 40.
The obtaining module 10 is configured to obtain first position information and motion information of a target vehicle in front of a current vehicle. The prediction module 20 is configured to predict second position information of the target vehicle after a set time delay based on the first position information and the motion information. The calculation module 30 is configured to calculate a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle according to the second position information and the width of the target vehicle. The control module 40 is configured to perform anti-glare control on the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
According to one embodiment of the present invention, the first location information includes: the first azimuth and the first relative distance of the target vehicle relative to the current vehicle, the motion information is the azimuth velocity of the target vehicle relative to the current vehicle, and the second position information comprises: the prediction module 20 predicts second position information of the target vehicle after a set time delay according to the first position information and the motion information, and is specifically configured to: predicting a second azimuth angle according to the first azimuth angle, the azimuth speed and the set time; and predicting the second relative distance according to the first relative distance and the set time.
According to an embodiment of the present invention, the calculating module 30 calculates the first left boundary azimuth and the first right boundary azimuth of the target vehicle according to the second position information and the width of the target vehicle, and is specifically configured to: calculating the longitudinal distance, the left boundary transverse distance and the right boundary transverse distance of the target vehicle relative to the current vehicle according to the second position information and the width of the target vehicle; calculating a first left boundary azimuth angle according to the left boundary transverse distance and the longitudinal distance; and calculating a first right boundary azimuth angle according to the right boundary transverse distance and the longitudinal distance.
According to an embodiment of the present invention, the control module 40 is further configured to screen the target vehicle according to the longitudinal distance, the left boundary lateral distance, the right boundary lateral distance, and a preset longitudinal response distance threshold and a preset lateral response distance threshold; and performing anti-dazzle control on the high beam module of the current vehicle according to the left boundary azimuth angle and the right boundary azimuth angle of the screened target vehicle.
According to an embodiment of the present invention, the control module 40 performs anti-glare control on the high beam module of the current vehicle according to the first left boundary azimuth and the first right boundary azimuth, specifically to: and turning off a high beam light source in the high beam light module which dazzles the target vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
According to an embodiment of the present invention, the control module 40 is further configured to determine a high beam light source that dazzles the target vehicle according to the first left boundary azimuth, the first right boundary azimuth, the second left boundary azimuth illuminated by the high beam light source, and the second right boundary azimuth illuminated by the high beam light source.
According to an embodiment of the present invention, the control module 40 determines the high beam light source that dazzles the target vehicle according to the first left boundary azimuth, the first right boundary azimuth, the second left boundary azimuth irradiated by the high beam light source, and the second right boundary azimuth irradiated by the high beam light source, and is specifically configured to: and determining the high beam light source with the overlapped area corresponding to the second left boundary azimuth angle and the second right boundary azimuth angle and the area corresponding to the first left boundary azimuth angle and the first right boundary azimuth angle as the high beam light source for generating glary to the target vehicle.
According to an embodiment of the present invention, the control module 40 determines the high beam light source, in which the area corresponding to the second left boundary azimuth angle and the second right boundary azimuth angle coincides with the area corresponding to the first left boundary azimuth angle and the first right boundary azimuth angle, as the high beam light source for generating glare for the target vehicle, and is specifically configured to: determining a high beam light source satisfying any one of the following conditions as a high beam light source for producing glare on a target vehicle: the first left boundary azimuth angle is equal to or smaller than the second right boundary azimuth angle, and the first right boundary azimuth angle is equal to or larger than the second right boundary azimuth angle; the first left boundary azimuth angle is equal to or greater than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or less than the second right boundary azimuth angle; the first left boundary azimuth angle is equal to or less than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second left boundary azimuth angle; the first left boundary azimuth angle is equal to or less than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second right boundary azimuth angle.
It should be noted that, for details that are not disclosed in the control device for a high beam of a vehicle according to the embodiment of the present invention, please refer to details that are disclosed in the control method for a high beam of a vehicle according to the embodiment of the present invention, and detailed descriptions thereof are omitted here.
According to the control device of the vehicle high beam, the first position information and the motion information of the target vehicle in front of the current vehicle are obtained through the obtaining module, the second position information of the target vehicle after the delay setting time is predicted according to the first position information and the motion information through the predicting module, the first left boundary azimuth angle and the first right boundary azimuth angle of the target vehicle are calculated according to the second position information and the width of the target vehicle through the calculating module, and the anti-dazzle control is carried out on the high beam module of the current vehicle through the control module according to the first left boundary azimuth angle and the first right boundary azimuth angle. Therefore, the device can realize the anti-dazzling function, and simultaneously improves the control precision of a far-light area and the dynamic performance of the far-light anti-dazzling.
FIG. 8 is a block schematic diagram of a vehicle according to an embodiment of the invention.
As shown in fig. 8, a vehicle 100 of an embodiment of the present invention may include: the control device 110 for a high beam of the vehicle described above.
According to the vehicle provided by the embodiment of the invention, the anti-dazzling function can be realized through the control device of the vehicle high beam, and the control precision of a high beam area and the dynamic performance of the anti-dazzling of the high beam are improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method of controlling a high beam for a vehicle, comprising:
acquiring first position information and motion information of a target vehicle in front of a current vehicle;
predicting second position information of the target vehicle after a set time is delayed according to the first position information and the motion information;
calculating a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle according to the second position information and the width of the target vehicle;
and carrying out anti-dazzle control on the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
2. The control method according to claim 1, wherein the first position information includes: a first azimuth and a first relative distance of the target vehicle relative to the current vehicle, the motion information being an azimuth velocity of the target vehicle relative to the current vehicle, the second position information comprising: a second azimuth angle and a second relative distance of the target vehicle relative to the current vehicle, and the predicting of the second position information of the target vehicle after delaying a set time according to the first position information and the motion information, includes:
predicting the second azimuth angle according to the first azimuth angle, the azimuth speed and the set time;
and predicting the second relative distance according to the first relative distance and the set time.
3. The control method of claim 2, wherein said calculating a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle based on the second location information and the width of the target vehicle comprises:
calculating the longitudinal distance, the left boundary transverse distance and the right boundary transverse distance of the target vehicle relative to the current vehicle according to the second position information and the width of the target vehicle;
calculating the first left boundary azimuth angle according to the left boundary lateral distance and the longitudinal distance;
and calculating the first right boundary azimuth angle according to the right boundary transverse distance and the longitudinal distance.
4. The control method according to claim 3, characterized by further comprising:
screening the target vehicle according to the longitudinal distance, the left boundary transverse distance, the right boundary transverse distance, a preset longitudinal response distance threshold value and a preset transverse response distance threshold value;
and performing anti-dazzle control on the high beam module of the current vehicle according to the left boundary azimuth angle and the right boundary azimuth angle of the screened target vehicle.
5. The control method according to claim 1, wherein the anti-glare control of the high-beam light module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle comprises:
and turning off a high beam light source in the high beam light module which dazzles the target vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
6. The control method according to claim 5, characterized by further comprising:
and determining a high beam light source capable of dazzling the target vehicle according to the first left boundary azimuth angle, the first right boundary azimuth angle, a second left boundary azimuth angle irradiated by the high beam light source and a second right boundary azimuth angle irradiated by the high beam light source.
7. The control method of claim 6, wherein said determining a high beam light source that is glaring the target vehicle based on the first left boundary azimuth, the first right boundary azimuth, a second left boundary azimuth illuminated by the high beam light source, and a second right boundary azimuth illuminated by the high beam light source comprises:
and determining the high beam light source with the overlapped area corresponding to the second left boundary azimuth angle and the second right boundary azimuth angle and the area corresponding to the first left boundary azimuth angle and the first right boundary azimuth angle as the high beam light source capable of glaring the target vehicle.
8. The control method according to claim 7, wherein the determining of the high beam light source having the area corresponding to the second left boundary azimuth angle and the second right boundary azimuth angle coincident with the area corresponding to the first left boundary azimuth angle and the first right boundary azimuth angle as the high beam light source that dazzles the target vehicle includes:
determining a high beam light source satisfying any one of the following conditions as a high beam light source that dazzles the target vehicle:
the first left boundary azimuth angle is equal to or less than the second right boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second right boundary azimuth angle;
the first left boundary azimuth angle is equal to or greater than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or less than the second right boundary azimuth angle;
the first left boundary azimuth angle is equal to or less than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second left boundary azimuth angle;
the first left boundary azimuth angle is equal to or less than the second left boundary azimuth angle, and the first right boundary azimuth angle is equal to or greater than the second right boundary azimuth angle.
9. A control device for a high beam of a vehicle, characterized by comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring first position information and motion information of a target vehicle in front of a current vehicle;
the prediction module is used for predicting second position information of the target vehicle after a set time is delayed according to the first position information and the motion information;
a calculation module, configured to calculate a first left boundary azimuth angle and a first right boundary azimuth angle of the target vehicle according to the second location information and the width of the target vehicle;
and the control module is used for carrying out anti-dazzling control on the high beam module of the current vehicle according to the first left boundary azimuth angle and the first right boundary azimuth angle.
10. A vehicle, characterized by comprising: the control device of a high beam for a vehicle according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911192263.6A CN110901514A (en) | 2019-11-28 | 2019-11-28 | Vehicle and control method and device of high beam thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911192263.6A CN110901514A (en) | 2019-11-28 | 2019-11-28 | Vehicle and control method and device of high beam thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110901514A true CN110901514A (en) | 2020-03-24 |
Family
ID=69820170
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911192263.6A Pending CN110901514A (en) | 2019-11-28 | 2019-11-28 | Vehicle and control method and device of high beam thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110901514A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319355A (en) * | 2020-09-28 | 2021-02-05 | 马瑞利汽车零部件(芜湖)有限公司 | ADB headlamp system and control method |
| CN113207206A (en) * | 2021-03-26 | 2021-08-03 | 北京海纳川汽车部件股份有限公司 | Vehicle light control method and device and vehicle |
| CN115416569A (en) * | 2022-08-16 | 2022-12-02 | 阿维塔科技(重庆)有限公司 | Control method, control device, vehicle and computer readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009023093A1 (en) * | 2009-05-12 | 2010-11-18 | Daimler Ag | Running light control process for motor vehicle involves turning main-beam light distributor at preset rate when left and/or right angle is reduced |
| EP2338731A1 (en) * | 2009-12-04 | 2011-06-29 | Hella KGaA Hueck & Co. | Control device for controlling vehicle headlights to generate a light distribution with trackable vertical bright-dark boundaries |
| JP5752552B2 (en) * | 2011-10-05 | 2015-07-22 | スタンレー電気株式会社 | Light distribution control device for vehicle lamp, light distribution control system for vehicle lamp |
| CN105570795A (en) * | 2014-10-31 | 2016-05-11 | 株式会社小糸制作所 | Vehicle Lamp System |
| CN105922928A (en) * | 2015-02-27 | 2016-09-07 | 丰田自动车株式会社 | Vehicle headlight control device |
| CN109624832A (en) * | 2018-12-27 | 2019-04-16 | 侯力宇 | A kind of method and system of the anti-glare headlight of automobile intelligent |
-
2019
- 2019-11-28 CN CN201911192263.6A patent/CN110901514A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009023093A1 (en) * | 2009-05-12 | 2010-11-18 | Daimler Ag | Running light control process for motor vehicle involves turning main-beam light distributor at preset rate when left and/or right angle is reduced |
| EP2338731A1 (en) * | 2009-12-04 | 2011-06-29 | Hella KGaA Hueck & Co. | Control device for controlling vehicle headlights to generate a light distribution with trackable vertical bright-dark boundaries |
| JP5752552B2 (en) * | 2011-10-05 | 2015-07-22 | スタンレー電気株式会社 | Light distribution control device for vehicle lamp, light distribution control system for vehicle lamp |
| CN105570795A (en) * | 2014-10-31 | 2016-05-11 | 株式会社小糸制作所 | Vehicle Lamp System |
| CN105922928A (en) * | 2015-02-27 | 2016-09-07 | 丰田自动车株式会社 | Vehicle headlight control device |
| CN109624832A (en) * | 2018-12-27 | 2019-04-16 | 侯力宇 | A kind of method and system of the anti-glare headlight of automobile intelligent |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112319355A (en) * | 2020-09-28 | 2021-02-05 | 马瑞利汽车零部件(芜湖)有限公司 | ADB headlamp system and control method |
| CN113207206A (en) * | 2021-03-26 | 2021-08-03 | 北京海纳川汽车部件股份有限公司 | Vehicle light control method and device and vehicle |
| CN113207206B (en) * | 2021-03-26 | 2022-08-16 | 北京海纳川汽车部件股份有限公司 | Vehicle light control method and device and vehicle |
| CN115416569A (en) * | 2022-08-16 | 2022-12-02 | 阿维塔科技(重庆)有限公司 | Control method, control device, vehicle and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110901514A (en) | Vehicle and control method and device of high beam thereof | |
| US9956901B2 (en) | Automotive headlamp apparatus having swivel function of lamp unit | |
| CN102635823B (en) | Vehicle headlamp light distribution controller | |
| JP5409929B2 (en) | Control method for headlight device for vehicle and headlight device | |
| US9789809B2 (en) | Method and device for aligning an illuminated area of a headlight of a vehicle as a function of the surroundings of the vehicle | |
| EP2594431B1 (en) | Apparatus and method for controlling a headlamp of vehicle | |
| US10086748B2 (en) | Method for operating a headlamp arrangement, headlamp system and motor vehicle | |
| US10059252B2 (en) | Vehicle headlight control device | |
| CN105377629A (en) | Light distribution control method and light distribution control device for vehicular head lamp | |
| EP2266837B1 (en) | Light distribution control system for automotive headlamp | |
| CN111137206B (en) | Headlamp control apparatus and method | |
| US9193297B2 (en) | Vehicle light distribution control device and vehicle light distribution control method | |
| CN113263975B (en) | Vehicle headlamp control device, control method, and non-transitory storage medium | |
| CN113207206B (en) | Vehicle light control method and device and vehicle | |
| EP2933143B1 (en) | Irradiation apparatus | |
| JP2021088233A (en) | Vehicular light projection control device, vehicular light projection system, and vehicular light projection control method | |
| JP3128613B2 (en) | Illumination direction control device for vehicle lighting | |
| JP5873372B2 (en) | Headlight light distribution control device | |
| JP5667473B2 (en) | Vehicle headlamp control device and vehicle headlamp system | |
| JP7545645B2 (en) | Vehicle headlight control device and method for controlling light distribution pattern | |
| CN115959030A (en) | Method and device for generating high beam control signal | |
| CN110861571B (en) | Vehicle and control method and device of dipped headlight thereof | |
| CN214564940U (en) | Vehicle and headlamp adjusting device thereof | |
| CN114684002A (en) | Vehicle and headlamp adjusting device and method thereof | |
| WO2024069676A1 (en) | Headlight control device and headlight control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200324 |
|
| RJ01 | Rejection of invention patent application after publication |