CN110979162A - Vehicle headlamp control method and system and vehicle - Google Patents
Vehicle headlamp control method and system and vehicle Download PDFInfo
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- CN110979162A CN110979162A CN201911329422.2A CN201911329422A CN110979162A CN 110979162 A CN110979162 A CN 110979162A CN 201911329422 A CN201911329422 A CN 201911329422A CN 110979162 A CN110979162 A CN 110979162A
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- 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
- B60Q1/06—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 adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—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 adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/12—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 adjustable, e.g. remotely-controlled from inside vehicle automatically due to steering position
- B60Q1/122—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 adjustable, e.g. remotely-controlled from inside vehicle automatically due to steering position with electrical actuating means
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- 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
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- 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
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/32—Road surface or travel path
- B60Q2300/322—Road curvature
Abstract
The application provides a headlamp control method and system of a vehicle and the vehicle. The method comprises the following steps: acquiring an image in front of a vehicle; recognizing a lane line according to the image in front of the vehicle, and determining a blanking point according to the lane line; judging whether a curve exists in front or not and the direction of the curve according to the position change of the blanking point; determining the curvature of the curve according to the offset of the position change of the blanking point; and after the front headlamps are turned on, controlling the turning-off and the turning-on of the plurality of light sources and the brightness adjustment according to the distance between the vehicle and the curve, the curvature of the curve and the direction of the curve. The headlamp control method of the vehicle can judge whether a curve exists in the front or not, and the curvature and the curve direction of the curve in advance, so that the headlamp can be controlled in advance, the curve area is illuminated, and the driving safety is improved.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a headlamp control method and system of a vehicle and the vehicle.
Background
Intelligent headlamp systems are increasingly used in vehicles. The intelligent headlamp can be automatically turned on according to light intensity and the like, and can also perform an anti-dazzling function according to an identified target object, but the intelligent headlamp has the following technical problems:
when the curve appears in the road in the place ahead, the intelligent headlamp can not illuminate the curve, so that the potential safety hazard exists before the vehicle enters the curve, and the driving safety is influenced.
Disclosure of Invention
The present application is directed to solving at least one of the above problems.
To this end, an object of the present application is to propose a headlamp control method of a vehicle. The method can judge whether a curve exists in front or not, and the curvature and the direction of the curve in advance, so that the headlamp can be controlled in advance, the curve area can be illuminated, and the driving safety can be improved.
A second object of the present application is to provide a headlamp control system of a vehicle.
A third object of the present application is to propose a vehicle.
In order to achieve the above object, a first aspect of the present application discloses a headlamp control method of a vehicle, the headlamp including a lamp array composed of a plurality of light sources, the method including: acquiring an image in front of a vehicle; recognizing a lane line according to the image in front of the vehicle, and determining a blanking point according to the lane line; judging whether a curve exists in front or not and the direction of the curve according to the position change of the blanking point; determining the curvature of the curve according to the offset of the position change of the blanking point; and after the front headlamps are turned on, controlling the turning-off and the turning-on of the plurality of light sources and the brightness adjustment according to the distance between the vehicle and the curve, the curvature of the curve and the direction of the curve.
According to the headlamp control method of the vehicle, whether a curve exists in the front or not and the curvature and the direction of the curve can be judged in advance, so that the headlamp can be controlled in advance, the curve area is illuminated, and driving safety is improved.
In some examples, the identifying a lane line from the image ahead of the vehicle and determining a blanking point from the lane line includes: obtaining a gray scale image according to the image in front of the vehicle; identifying the lane line according to the gray level map; and determining the blanking point according to the intersection point of the lane lines.
In some examples, the determining whether there is a curve ahead and a direction of the curve according to the position change of the blank point includes: acquiring the offset of the position change of the blanking point; judging whether the offset is larger than the offset of the position change of a preset straight-road running blanking point or not; if yes, determining that a curve exists in front of the vehicle, and determining the direction of the curve according to the offset direction of the position change of the blanking point.
In some examples, the determining a curve curvature according to the offset of the change in the location of the blanking point includes: according to the offset of the position change of the blanking point, searching the radius of the curve from a preset relation curve corresponding to the offset of the position change of the blanking point and the radius of the curve; and obtaining the curvature of the curve according to the radius of the curve.
In some examples, the controlling of the turning off and on, and the brightness adjustment of the plurality of light sources according to a distance of the vehicle from the curve, the curvature of the curve, and the direction of the curve after the headlights are turned on includes: and obtaining a light source corresponding to the curve area according to the distance between the vehicle and the curve, the curvature of the curve and the direction of the curve, and improving the brightness of the light source corresponding to the curve area.
A second aspect of the present application discloses a headlamp control system of a vehicle, the headlamp including a lamp array composed of a plurality of light sources, the system including: the acquisition module is used for acquiring an image in front of the vehicle; the identification module is used for identifying a lane line according to the image in front of the vehicle, determining a blanking point according to the lane line, judging whether a curve and the direction of the curve exist in front or not according to the position change of the blanking point, and determining the curvature of the curve according to the offset of the position change of the blanking point; and the control module is used for controlling the turning-off and the turning-on of the plurality of light sources and the brightness adjustment according to the distance between the vehicle and the curve, the curvature of the curve and the direction of the curve after the front headlights are turned on.
According to the headlamp control system of the vehicle, whether there is a curve in the place ahead and the curvature and the curve direction of the curve can be judged in advance, so that the headlamp can be controlled in advance, the curve area is illuminated, and the driving safety is improved.
In some examples, the identification module is configured to obtain a gray scale map from the image in front of the vehicle, identify the lane lines from the gray scale map, and determine the blanking points according to intersection points of the lane lines.
In some examples, the identification module is configured to obtain an offset of a position change of the blanking point, determine whether the offset is greater than an offset of a position change of a preset straight-driving blanking point, and if so, determine that a curve exists in front of the vehicle and determine a curve direction according to the offset direction of the position change of the blanking point.
In some examples, the identification module is configured to search a curve radius from a relationship curve corresponding to a preset offset of the position change of the blanking point and the curve radius according to the offset of the position change of the blanking point, and obtain the curve curvature according to the curve radius.
A third aspect of the present application discloses a vehicle comprising: the headlamp control system for a vehicle according to the second aspect described above. The vehicle can judge whether a curve exists in the front or not, and the curvature and the curve direction of the curve in advance, so that the headlamp can be controlled in advance, the curve area is illuminated, and the driving safety is improved.
Additional aspects and advantages of the present application 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 present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application 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 flow chart of a method for controlling a headlamp of a vehicle according to one embodiment of the present application;
FIG. 2 is a schematic illustration of lane lines and blanking points identified in a method of controlling a headlamp of a vehicle according to one embodiment of the present application;
FIG. 3 is a diagram illustrating a relationship between an offset of a position change of a preset blanking point and a curve radius according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a distribution of a plurality of light sources in a headlamp control method for a vehicle according to an embodiment of the present application;
fig. 5 is a distribution diagram of light patterns at 25 meters in a headlamp control method of a vehicle according to an embodiment of the present application.
Fig. 6 is a block diagram of a headlamp control system of a vehicle according to another embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, 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 exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
A headlamp control method and system of a vehicle and the vehicle according to the embodiments of the present application are described below with reference to the accompanying drawings.
The headlamp includes a lamp array composed of a plurality of light sources, for example, LED light sources, each of which can be independently turned on and off, or a plurality of light sources are divided into a plurality of groups, each of which can be independently turned on and off. In addition, the headlamp is typically a headlamp of a vehicle. Each light source illuminates a range of angles, so that the angles of illumination of the plurality of light sources may constitute the entire illumination range of the headlamp.
Fig. 1 is a flowchart of a headlamp control method of a vehicle according to an embodiment of the present application. As shown in fig. 1, a headlamp control method according to an embodiment of the present application includes the steps of:
s101: an image of the front of the vehicle is acquired.
For example: and acquiring an image in front of the vehicle through the camera.
S102: and recognizing a lane line according to the image in front of the vehicle, and determining a blanking point according to the lane line.
In one embodiment of the present application, identifying a lane line from the image ahead of the vehicle and determining a blanking point from the lane line includes: obtaining a gray scale image according to the image in front of the vehicle; identifying the lane line according to the gray level map; and determining the blanking point according to the intersection point of the lane lines.
As shown in fig. 2, the acquired image in front of the vehicle is subjected to grayscale processing to obtain a grayscale image. And carrying out hopping identification on the gray level image line by line, thereby extracting the characteristics of the lane lines, identifying the lane lines through clustering, denoising the lane lines according to Kalman filtering, and expressing the obtained lane lines by a quadratic equation. Three lane lines are identified in fig. 2, namely: l1, L2 and L3.
After the lane lines are identified, a point is crossed on the image by combining all the parallel lane lines on the lane, namely a blanking point in the perspective relation. And selecting the point with the largest number of intersected lines according to the identified intersected lines, namely the blanking point, wherein the point O in the figure 2 is the blanking point.
S103: and judging whether a curve exists in front or not and the direction of the curve according to the position change of the blanking point. For example: acquiring the offset of the position change of the blanking point; judging whether the offset is larger than the offset of the position change of a preset straight-road running blanking point or not; if yes, determining that a curve exists in front of the vehicle, and determining the direction of the curve according to the offset direction of the position change of the blanking point.
In a specific example, a rectangle can be selected, and the length and width of the rectangle can be adjusted as required. One blanking point is represented by five pixels. Thus, as the identified lane line changes, the blanking point also changes; the blanking point changes as the steering wheel angle of the vehicle changes.
When the steering wheel angle is within +/-5 degrees and the rate of change of the steering wheel angle is less than or equal to 5 degrees/second, it is considered that the change of the steering wheel angle does not affect the selection of the blanking point.
In one embodiment of the present application, determining whether there is a curve in a front lane and determining a direction of the curve according to a position change of a blanking point includes: the position of the blanking point of the current frame, i.e. the coordinates of the pixel, is recorded. Considering that the vehicle changes the running direction of the vehicle according to the left and right turning of the steering wheel, an experimental method can be prepared in advance, for example:
on a long straight track, the variation range of the blanking point at the time of movement of the steering wheel to the left or right below the steering wheel rotation angle variation rate of 5 degrees/second or less is recorded. During the period, the blanking point moves leftwards or rightwards, and the shifted pixel position information, SHOLAnd SHOR。
On a long straight road + a curve (curve radius R is 200 m, 300 m, 400 m, 500 m, 600 m, 700 m, 800 m, 900 m and 1000 m), the change range of the blank point at the time of movement of the steering wheel to the left or the right below the steering wheel angle change rate of 5 degrees/sec or less is recorded, respectively. During which the flow of the molten metal is in the transverse direction,the blanking point will move to left or right, and the position information of the moved pixel is recorded, MHOLR and MHORR。
S104: the curvature of the curve is determined according to the offset of the position change of the blanking point.
In a specific example, according to the offset of the position change of the blanking point, a curve radius may be searched from a preset relationship curve corresponding to the offset of the position change of the blanking point and the curve radius, and the curve curvature may be obtained according to the curve radius.
According to the maximum offset MHO of the blanking point in the transverse direction at different curve radiusesLR and MHORR, for the case that R is continuously changed from 200 m to 1000 m, for the obtained MHOLR and MHORAnd performing linear interpolation on the R to obtain a continuous curve, and as shown in fig. 3, obtaining a corresponding relation curve of the offset of the position change of the preset blanking point and the radius of the curve.
The actual blanking point is shifted to the left and has a lateral value greater than SHOLAnd SHORWhen the current is in the middle, the blanking point moves to the left, so that the situation that a curve is formed in the front of the current is judged, and the direction of the curve is left; the blanking point moves rightwards, so that the curve in front can be judged and the direction is rightwards; according to a preset relation curve corresponding to the offset of the position change of the blanking point and the curve radius, the curve radius R can be judged, and the curvature F is 1/R.
S105: and after the front headlamps are turned on, controlling the turning-off and the turning-on of the plurality of light sources and the brightness adjustment according to the distance between the vehicle and the curve, the curvature of the curve and the direction of the curve. For example: and obtaining a light source corresponding to the curve area according to the distance between the vehicle and the curve, the curvature of the curve and the direction of the curve, and improving the brightness of the light source corresponding to the curve area.
In a specific application, the zones in the field of view of the vehicle lamp can be divided according to the number and the layout arrangement of the LED lamps. According to different requirements, N kinds of LED light sources and light source distribution modes can be provided. Examples are as follows, as shown in FIG. 4: a4 by 12 LED matrix has 48 LED light sources, and different LEDs can be combined to be responsible for a certain light area. 36 optical regions can be formed as shown in fig. 5. The curve is obtained at D m ahead, and is the curvature F, the direction: left or right.
Further, as shown in table 1, the following operations are performed based on the predicted curvature value and direction and the distance of the curve from the host vehicle:
TABLE 1
Further, for energy saving, all LEDs operate at 80% brightness.
According to the headlamp control method of the vehicle, whether a curve exists in the front or not and the curvature and the direction of the curve can be judged in advance, so that the headlamp can be controlled in advance, the curve area is illuminated, and driving safety is improved.
Fig. 6 is a block diagram of a headlamp control system of a vehicle according to an embodiment of the present application. As shown in fig. 5, a headlamp control system 600 of a vehicle according to an embodiment of the present application includes: an acquisition module 610, an identification module 620, and a control module 630.
The obtaining module 610 is configured to obtain an image in front of the vehicle; the identification module 620 is configured to identify a lane line according to the image in front of the vehicle, determine a blanking point according to the lane line, determine whether a curve and a curve direction exist in front of the vehicle according to a position change of the blanking point, and determine a curve curvature according to an offset of the position change of the blanking point; the control module 630 is configured to control the turning off and on of the plurality of light sources and the brightness adjustment according to a distance between the vehicle and the curve, the curvature of the curve and the direction of the curve after the headlights are turned on.
In an embodiment of the application, the identification module 620 is configured to obtain a gray scale map according to the image in front of the vehicle, identify the lane lines according to the gray scale map, and determine the blanking points according to intersection points of the lane lines.
In an embodiment of the application, the identifying module 620 is configured to obtain an offset of a position change of the blanking point, determine whether the offset is greater than an offset of a position change of a preset straight-driving blanking point, and if so, determine that a curve exists in front of the straight-driving blanking point, and determine a direction of the curve according to the offset direction of the position change of the blanking point.
In an embodiment of the application, the identifying module 620 is configured to search a curve radius from a relationship curve corresponding to a preset offset of the position change of the blanking point and the curve radius according to the offset of the position change of the blanking point, and obtain the curvature of the curve according to the curve radius.
According to the headlamp control system of the vehicle, whether there is a curve in the place ahead and the curvature and the curve direction of the curve can be judged in advance, therefore, the headlamp can be controlled in advance, the curve area is illuminated, and the driving safety is improved.
It should be noted that the specific implementation manner of the headlamp control system of the vehicle according to the embodiment of the present application is similar to the specific implementation manner of the headlamp control method of the vehicle according to the embodiment of the present application, and please refer to the description of the method portion specifically, which is not described herein again.
Further, an embodiment of the present application discloses a vehicle, including: the headlamp control system of the vehicle according to any one of the above embodiments. The vehicle can judge whether a curve exists in the front or not, and the curvature and the curve direction of the curve in advance, so that the headlamp can be controlled in advance, the curve area is illuminated, and the driving safety is improved.
In addition, other configurations and functions of the vehicle according to the embodiment of the present application are known to those skilled in the art, and are not described herein.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A method of controlling a headlamp of a vehicle, the headlamp including a lamp array composed of a plurality of light sources, the method comprising:
acquiring an image in front of a vehicle;
recognizing a lane line according to the image in front of the vehicle, and determining a blanking point according to the lane line;
judging whether a curve exists in front or not and the direction of the curve according to the position change of the blanking point;
determining the curvature of the curve according to the offset of the position change of the blanking point;
and after the front headlamps are turned on, controlling the turning-off and the turning-on of the plurality of light sources and the brightness adjustment according to the distance between the vehicle and the curve, the curvature of the curve and the direction of the curve.
2. The method for controlling a headlight of a vehicle according to claim 1, wherein the identifying a lane line from the image ahead of the vehicle and determining a blanking point from the lane line comprises:
obtaining a gray scale image according to the image in front of the vehicle;
identifying the lane line according to the gray level map;
and determining the blanking point according to the intersection point of the lane lines.
3. The method for controlling a headlight of a vehicle according to claim 1, wherein the determining whether there is a curve ahead and a direction of the curve based on the change in the position of the blanking point includes:
acquiring the offset of the position change of the blanking point;
judging whether the offset is larger than the offset of the position change of a preset straight-road running blanking point or not;
if yes, determining that a curve exists in front of the vehicle, and determining the direction of the curve according to the offset direction of the position change of the blanking point.
4. The vehicle headlamp control method according to claim 3, wherein the determining of the curve curvature according to the offset amount of the change in the position of the blanking point includes:
according to the offset of the position change of the blanking point, searching the radius of the curve from a preset relation curve corresponding to the offset of the position change of the blanking point and the radius of the curve;
and obtaining the curvature of the curve according to the radius of the curve.
5. The method for controlling a headlamp of a vehicle according to any one of claims 1 to 4, wherein the controlling of the turning off and on of the plurality of light sources and the adjustment of the brightness according to the distance from the vehicle to the curve, the curvature of the curve, and the direction of the curve after the headlamp is turned on includes:
and obtaining a light source corresponding to the curve area according to the distance between the vehicle and the curve, the curvature of the curve and the direction of the curve, and improving the brightness of the light source corresponding to the curve area.
6. A headlamp control system for a vehicle, said headlamp comprising an array of lamps comprised of a plurality of light sources, said system comprising:
the acquisition module is used for acquiring an image in front of the vehicle;
the identification module is used for identifying a lane line according to the image in front of the vehicle, determining a blanking point according to the lane line, judging whether a curve and the direction of the curve exist in front or not according to the position change of the blanking point, and determining the curvature of the curve according to the offset of the position change of the blanking point;
and the control module is used for controlling the turning-off and the turning-on of the plurality of light sources and the brightness adjustment according to the distance between the vehicle and the curve, the curvature of the curve and the direction of the curve after the front headlights are turned on.
7. The vehicle headlamp control system according to claim 6, wherein the recognition module is configured to obtain a gray scale map from the image in front of the vehicle, recognize the lane lines from the gray scale map, and determine the blanking points according to intersection points of the lane lines.
8. The vehicle headlamp control system according to claim 6, wherein the identification module is configured to acquire an offset amount of the position change of the blanking point, and determine whether the offset amount is larger than an offset amount of a position change of a preset straight-driving blanking point, and if so, determine that a curve exists ahead, and determine a curve direction according to the offset direction of the position change of the blanking point.
9. The vehicle headlamp control system according to claim 8, wherein the identification module is configured to search a curve radius from a relationship curve corresponding to a preset offset of the position change of the blanking point and the curve radius according to the offset of the position change of the blanking point, and obtain the curve curvature according to the curve radius.
10. A vehicle, characterized by comprising: the headlamp control system of the vehicle according to any one of claims 6 to 9.
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| WO2021237754A1 (en) * | 2020-05-29 | 2021-12-02 | 华为技术有限公司 | Road condition detection method and apparatus |
| CN112639814B (en) * | 2020-05-29 | 2022-02-11 | 华为技术有限公司 | Road condition detection method and device |
| CN113879205A (en) * | 2020-07-01 | 2022-01-04 | 马自达汽车株式会社 | Headlamp control system |
| CN113879205B (en) * | 2020-07-01 | 2023-09-05 | 马自达汽车株式会社 | Headlamp control system |
| CN113183999A (en) * | 2021-04-30 | 2021-07-30 | 株洲田龙铁道电气股份有限公司 | Rail vehicle and headlamp illumination dynamic deflection method and system thereof |
| CN113183999B (en) * | 2021-04-30 | 2022-10-04 | 株洲田龙铁道电气股份有限公司 | Rail vehicle and headlamp illumination dynamic deflection method and system thereof |
| CN115805862A (en) * | 2022-12-29 | 2023-03-17 | 苏州市欧冶半导体有限公司 | Self-adaptive headlamp adjusting method and related equipment |
| CN115805862B (en) * | 2022-12-29 | 2024-01-23 | 苏州市欧冶半导体有限公司 | Self-adaptive headlamp adjusting method and related equipment |
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Application publication date: 20200410 |