CN112129497A - Predictive headlamp deflection angle detection method, device and system - Google Patents
Predictive headlamp deflection angle detection method, device and system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/06—Testing the alignment of vehicle headlight devices
- G01M11/067—Details of the vehicle positioning system, e.g. by using a laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/06—Testing the alignment of vehicle headlight devices
- G01M11/064—Testing the alignment of vehicle headlight devices by using camera or other imaging system for the light analysis
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Abstract
The invention relates to a method, a device and a system for detecting a predictive headlamp deflection angle and a computer storage medium, wherein the method for detecting the predictive headlamp deflection angle comprises the following steps: acquiring virtual driving information, and calculating a theoretical deflection angle of the headlamp according to the virtual driving information; respectively acquiring cut-off line images of the front lamp and the back lamp which are irradiated on a light distribution screen before and after virtual driving information is executed; calculating the displacement of the cut-off line according to the cut-off line images before and after the virtual driving information is executed; acquiring the distance between the headlamp and the light distribution screen, and calculating the actual deflection angle of the headlamp by combining the displacement and the distance; and calculating a deflection error value of the headlamp by combining the actual deflection angle and the theoretical deflection angle. The invention has the technical effects of high detection precision of the predictive headlamp deflection angle and low cost, and solves the problem that the current inspection of the road driving lighting effect of the predictive headlamp cannot be carried out in a fixed field.
Description
Technical Field
The invention relates to the technical field of automobile headlamp detection, in particular to a method, a device and a system for detecting a predictive headlamp deflection angle and a computer storage medium.
Background
In order to improve the night illumination effect of the automobile when the automobile runs on a curve, the self-adaptive headlamp system is started, and when the automobile runs on the curve, the self-adaptive headlamp system can automatically deflect a certain angle according to parameters such as the wheel turning angle and the like so as to obtain a farther illumination route. However, the conventional adaptive headlamp system cannot deflect at an angle when the vehicle is about to enter a curve but is still on a straight road, so that the road in a to-be-turned area cannot be effectively illuminated in advance, road condition information of the curve cannot be acquired in advance, and similar problems exist when the vehicle drives out of the curve, which indicates that the system has a hysteresis phenomenon. In order to alleviate such a hysteresis, it is necessary to predict the yaw angle of the headlight in advance, and then to cause the headlight to yaw before the headlight enters a curve.
For automobile manufacturers, ensuring the quality of the installed headlamp is an important link in the design, production and after-sale processes of the automobile, and the light distribution test of the headlamp for the automobile is required to be carried out on a light distribution screen 25 meters away from the reference center of the headlamp in the national standard GB 4599-2007. The method for measuring the deflection angle of the self-adaptive headlamp mainly comprises a photoelectric encoder and a photoelectric displacement sensor, wherein the photoelectric encoder cannot detect the change of the attitude angle of a rotating shaft in the rotating process, and the photoelectric displacement sensor is limited by the size of the sensor and has a small measuring range. Meanwhile, the two measurement methods are used for measuring the deflection amount of the lamp body instead of measuring the deflection angle based on the actual imaging effect, so that whether the deflection illumination reaches the expected effect during actual road driving cannot be ensured. For the predictive adaptive headlamp, because the deflection angle is also related to different road conditions and positioning, the actual road is required to test the prediction effect and the illumination effect of the deflection angle.
However, in practice, it is difficult for automobile manufacturers to provide such a test road environment to test the effect of the deflection of all the lamps. Therefore, it is necessary to design and develop a small-sized predictive headlamp deflection angle detection system to meet the detection requirement of the predictive headlamp.
Disclosure of Invention
In view of the above, it is desirable to provide a predictive headlamp deflection angle detection method, device, system and computer storage medium, which are used to solve the problems of the predictive headlamp deflection angle detection and the actual deflection effect having a difference and the detection precision being low.
The invention provides a predictive headlamp deflection angle detection method, which comprises the following steps:
acquiring virtual driving information, and calculating a theoretical deflection angle of the headlamp according to the virtual driving information;
respectively acquiring cut-off line images of the front lamp and the back lamp which are irradiated on a light distribution screen before and after the virtual driving information is executed;
calculating the displacement of the cut-off line according to the cut-off line images before and after the virtual driving information is executed;
acquiring the distance between the headlamp and the light distribution screen, and calculating the actual deflection angle of the headlamp by combining the displacement and the distance;
and calculating a deflection error value of the headlamp by combining the actual deflection angle and the theoretical deflection angle.
Further, calculating a theoretical deflection angle of the headlamp according to the virtual driving information, specifically:
the virtual driving information comprises real-time positioning information, road conditions within a set distance from a real-time position and road geometric parameter information;
selecting a corresponding theoretical deflection angle calculation formula according to different road conditions;
and substituting the real-time positioning information and the corresponding road geometric parameter information into the theoretical deflection angle calculation formula to calculate and obtain the theoretical deflection angle.
Further, the method for acquiring the bright-dark cut-off line images of the headlamps, which are respectively irradiated on the light distribution screen before and after the virtual driving information is executed, specifically comprises the following steps:
acquiring a cut-off line image of a light distribution screen irradiated by a headlamp before the virtual driving information is executed;
controlling the headlamp to deflect the angle according to the virtual driving information;
and acquiring a cut-off line image of the bright and dark irradiated on the light distribution screen after the virtual driving information is executed by the headlamp.
Further, calculating a displacement of the cutoff line according to the cutoff line images before and after executing the virtual driving information, specifically:
carrying out gray level processing on the cut-off line image;
extracting edge information of the gray-scale processed bright-dark cut-off line image to obtain a cut-off line position;
and calculating the horizontal offset between the cut-off line positions of the bright and dark cut-off line images before and after the virtual driving information to obtain the displacement.
Further, obtaining a distance between the headlamp and the light distribution screen specifically comprises:
acquiring reflected waves of radar waves emitted from a headlamp to a light distribution screen;
and calculating the distance between the headlamp and the light distribution screen according to the reflected wave signals.
Further, a deflection error value of the headlamp is calculated by combining the actual deflection angle and the theoretical deflection angle, specifically:
calculating a corresponding deflection error value when the vehicle runs a set distance;
the average value of the deflection error values of the respective times is calculated as a final deflection error value.
The invention also provides a predictive headlamp deflection angle detection device, which comprises a processor and a memory, wherein the memory is stored with a computer program, and the computer program is executed by the processor to realize the predictive headlamp deflection angle detection method.
The invention also provides a system for detecting the deflection angle of the predictive headlamp, which comprises the device for detecting the deflection angle of the predictive headlamp, a vehicle to be detected, a camera, a distance measuring device and a light distribution screen;
the camera is connected with the predictive headlamp deflection angle detection device and is used for collecting the bright and dark cut-off line image;
the head lamp of the vehicle to be tested is connected with the predictive head lamp deflection angle detection device through a CAN bus interface, and is used for receiving the virtual driving information and then executing the virtual driving information;
the distance measuring device is connected with the predictive headlamp deflection angle detection device, the light distribution screen is installed on an irradiation path of the headlamp, and the distance measuring device is installed towards the light distribution screen and used for detecting the distance between the headlamp and the light distribution screen.
Furthermore, the distance measuring device is a laser radar, the laser radar is installed on the vehicle to be measured, an emission plane of the laser radar and an emission plane of the headlamp are on the same plane, the laser radar is used for emitting radar waves towards the light distribution screen, receiving reflected waves and then sending reflected wave signals to the predictive headlamp deflection angle detecting device.
The present invention also provides a computer storage medium having stored thereon a computer program which, when executed by a processor, implements the predictive headlamp deflection angle detection method.
Has the advantages that: the invention adopts the virtual driving information to virtually drive the vehicle, and can realize the detection of various road conditions of the headlamp in a fixed field; meanwhile, the actual deflection angle is obtained and calculated based on the light and shade cut-off line images before and after the virtual driving information is executed, compared with detection modes such as a photoelectric encoder and a photoelectric displacement sensor, the method is closer to the deflection illumination effect when the actual road is driven, the detection precision is high, the effect is good, the detection cost of an automobile manufacturer is greatly reduced, and the production efficiency is improved.
Drawings
FIG. 1 is a flowchart of a method for detecting a predictive headlamp deflection angle according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a theoretical deflection angle calculation during a first road condition;
FIG. 3 is a schematic diagram of a theoretical deflection angle calculation during a second road condition;
FIG. 4 is a schematic diagram of a theoretical deflection angle calculation during a third road condition;
FIG. 5 is a schematic diagram illustrating a theoretical deflection angle calculation for a fourth road condition;
FIG. 6 is a system architecture diagram of a predictive headlamp yaw angle detection system according to a first embodiment of the present invention;
reference numerals:
1. a predictive headlamp deflection angle detection device; 11. an image detection module; 12. a distance measurement module; 13. a high-precision positioning and map data module; 2. a vehicle to be tested; 21. a CAN bus interface; 3. a camera; 4. a distance measuring device; 5. a light distribution screen; 6. a display screen;
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and, together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
The embodiment 1 of the invention provides a predictive headlamp deflection angle detection method, which comprises the following steps:
s1, acquiring virtual driving information, and calculating a theoretical deflection angle of the headlamp according to the virtual driving information;
s2, respectively acquiring cut-off line images of the front lamp and the back lamp which are irradiated on a light distribution screen before and after the virtual driving information is executed;
s3, calculating the displacement of the cutoff line according to the cutoff line images before and after the virtual driving information is executed;
s4, obtaining the distance between the headlamp and the light distribution screen, and calculating the actual deflection angle of the headlamp by combining the displacement and the distance;
and S5, calculating a deflection error value of the headlamp by combining the actual deflection angle and the theoretical deflection angle.
The invention adopts the virtual driving information to virtually drive the vehicle, and can realize the detection of the headlamp in a fixed field; meanwhile, the actual deflection angle is obtained and calculated based on the bright and dark cut-off line images before and after the virtual driving information is executed, compared with detection modes such as a photoelectric encoder and a photoelectric displacement sensor, the method is closer to the deflection illumination effect during actual road driving, and is high in detection precision and good in effect.
Specifically, the predictive headlamp of the present invention is defined as: according to the information such as positioning and electronic maps, the front lamp deflected by the lamp is turned on in advance before or after the vehicle reaches the connection point of roads with different geometric shapes.
Preferably, the calculating the theoretical deflection angle of the headlamp according to the virtual driving information specifically includes:
the virtual driving information comprises real-time positioning information, road conditions within a set distance from a real-time position and road geometric parameter information;
selecting a corresponding theoretical deflection angle calculation formula according to different road conditions;
and substituting the real-time positioning information and the corresponding road geometric parameter information into the theoretical deflection angle calculation formula to calculate and obtain the theoretical deflection angle.
As shown in fig. 2, when the road condition of the road is a road from a straight line to a circular curve, the section AB in fig. 2 is a straight line section, and when the distance from the vehicle to the tangent point of the straight line section and the curve section is less than 100m, the vehicle lamp starts to deflect in advance, and the theoretical deflection angle is as follows:
wherein the content of the first and second substances,
to a theoretical deflection angle, R1Is the radius of a circle curve segment road, and L is the distance of a straight segment road.
As shown in fig. 3, when the road condition is a variable curvature curve road and the driving direction of the car is from a small curvature section to a large curvature section, i.e. from a to B, first, according to the formula 1/R ═ C0L calculates the road radius of the current position, where R is the curve radius, L is the length of the convolution, C0As a coefficient, the theoretical deflection angle is:
wherein the content of the first and second substances,
is a theoretical deflection angle, S is the distance between a vehicle and a tangent point, L is the distance from a small-curvature circle center of a road section starting point to a large-curvature circle center of a road section finishing point, namely O1O2Distance of (A), R1Radius of curve, R, when the vehicle has not yet reached inflection point A2' is the radius of the curve after the inflection point minus 2.25 m.
As shown in fig. 4, when the road condition is a variable curvature curve road and the driving direction of the car is from a large curvature section to a small curvature section, i.e. from B to a, according to the formula 1/R ═ C0L calculates the road radius of the current position, where R is the curve radius, L is the length of the convolution, C0As a coefficient, the theoretical deflection angle is:
wherein the content of the first and second substances,
is a theoretical deflection angle, S is the distance between a vehicle and a tangent point, L is the distance between a large-curvature circle center at a starting point of a road section and a small-curvature circle center at an end point of the road section, and R1Radius of curvature, R, when the vehicle has not yet reached the inflection point2' is the radius of the curve after the inflection point minus a set distance, e.g. 2.25 m.
As shown in fig. 5, when the road condition is from a curve to a straight road, the theoretical deflection angle is:
wherein the content of the first and second substances,
is a theoretical deflection angle, S is a critical starting distance, S' is the distance from the vehicle to the tangent point of the straight line segment and the curve segment, and alpha1Deflection angle, R, for headlight before adjustment1Is the radius of the curve segment.
Preferably, the acquiring of the cut-off line images of the front and rear lights of the headlight executing the virtual driving information on the light distribution screen includes:
acquiring a cut-off line image of a light distribution screen irradiated by a headlamp before the virtual driving information is executed;
controlling the headlamp to deflect the angle according to the virtual driving information;
and acquiring a cut-off line image of the bright and dark irradiated on the light distribution screen after the virtual driving information is executed by the headlamp.
Preferably, the calculating the displacement of the cutoff line according to the cutoff line images before and after the execution of the virtual driving information includes:
carrying out gray level processing on the cut-off line image;
extracting edge information of the gray-scale processed bright-dark cut-off line image to obtain a cut-off line position;
and calculating the horizontal offset between the cut-off line positions of the bright and dark cut-off line images before and after the virtual driving information to obtain the displacement.
And carrying out gray level processing on the cut-off line image, carrying out edge detection by adopting a Prewitt algorithm, and calculating the offset of the cut-off line in the horizontal direction on the light distribution screen after edge extraction to obtain the displacement.
Preferably, the distance from the headlamp to the light distribution screen is acquired, specifically:
acquiring reflected waves of radar waves emitted from a headlamp to a light distribution screen;
and calculating the distance between the headlamp and the light distribution screen according to the reflected wave signals.
Preferably, the calculating the actual deflection angle of the headlamp by combining the displacement amount and the distance specifically includes:
wherein the content of the first and second substances,
in the actual deflection angle, Δ x is a displacement amount of the cutoff line, and d is a distance from the headlamp to the light distribution screen.
Preferably, the calculating of the deflection error value of the headlamp by combining the actual deflection angle and the theoretical deflection angle specifically includes:
calculating a corresponding deflection error value when the vehicle runs a set distance;
the average value of the deflection error values of the respective times is calculated as a final deflection error value.
And acquiring a light and shade cut-off line image and measuring the distance once when the set distance, such as the change amount of 1 meter, of the real-time positioning information occurs, then calculating a theoretical deflection angle and an actual deflection angle, calculating an error value, recording data, and calculating an average error value when all virtual travels contained in the virtual traveling information are finished to obtain a final deflection error value. And finally, displaying all the data records and the error values in a table form. Specifically, the yaw error value is the theoretical yaw angle — the actual yaw angle.
Example 2
An embodiment 2 of the present invention provides a predictive headlamp yaw angle detection device including a processor and a memory, wherein the memory stores a computer program, and the computer program, when executed by the processor, implements the predictive headlamp yaw angle detection method provided in embodiment 1.
The predictive headlamp deflection angle detection device provided by the embodiment of the invention is used for realizing the predictive headlamp deflection angle detection method, so that the predictive headlamp deflection angle detection device has the technical effects of the predictive headlamp deflection angle detection method, and the predictive headlamp deflection angle detection device also has the technical effects, and the details are not repeated herein.
Example 3
As shown in fig. 6, a predictive headlamp deflection angle detection system according to embodiment 3 of the present invention, which is hereinafter referred to as the present system for short, includes the predictive headlamp deflection angle detection device according to embodiment 2, and further includes a vehicle to be detected, a camera, a distance measurement device, and a light distribution screen;
the camera is connected with the predictive headlamp deflection angle detection device and is used for collecting the bright and dark cut-off line image;
the head lamp of the vehicle to be tested is connected with the predictive head lamp deflection angle detection device through a CAN bus interface, and is used for receiving the virtual driving information and then executing the virtual driving information;
the distance measuring device is connected with the predictive headlamp deflection angle detection device, the light distribution screen is installed on an irradiation path of the headlamp, and the distance measuring device is installed towards the light distribution screen and used for detecting the distance between the headlamp and the light distribution screen.
The system prediction type headlamp deflection angle detection device in the system is realized by adopting a central processing unit, and comprises an image detection module, a ranging module, a high-precision positioning and map data module and a deflection angle calculation module. The camera is connected with the image detection module; the distance measuring device is connected with the distance measuring module; the CAN bus plug is connected with the high-precision positioning and map data module.
The camera is used for collecting a cut-off line image on the light distribution screen; the distance measuring device is used for aligning the light distribution screen to emit and collect detection signals; the CAN bus plug is used for connecting a data interface of the predictive headlamp and transmitting a virtual driving signal to the headlamp; the image detection module is used for analyzing the cut-off line image and calculating the cut-off line displacement; the radar ranging module is used for analyzing radar detection signals and calculating the distance from the headlamp to the light distribution screen; the high-precision positioning and map data module is used for storing map data, simulating the driving process of an automobile on the map and outputting virtual driving information, wherein the virtual driving information comprises real-time positioning information, road conditions of 100m roads in the future and geometric parameter information of the roads.
The central processing unit calculates a theoretical deflection angle according to the virtual driving information and a corresponding algorithm, calculates an actual deflection angle according to the distance from the vehicle lamp to the light distribution screen and the displacement of the cutoff line, calculates an error value, records calculation data, calculates an average error value when all strokes are finished, and converts all recorded data into signal data for the display screen; the light distribution screen is used for enabling the light rays of the headlamp to irradiate the surface of the headlamp to form a light and shade cut-off line.
Preferably, as shown in fig. 6, the distance measuring device is a laser radar, the laser radar is mounted on the vehicle to be measured, an emission plane of the laser radar and a light emission plane of the headlamp are on the same plane, the laser radar is configured to emit radar waves toward the light distribution screen, receive reflected waves, and then send reflected wave signals to the predictive headlamp deflection angle detecting device.
Preferably, as shown in fig. 6, the vehicle headlamp control system further includes a display screen, which is connected to the predictive headlamp deflection angle detection device and is configured to display a detection result.
The embodiment adopts laser radar to realize ranging, and is concrete, and the camera lectotype is max96705, and the internal integrated chip lectotype of central processing unit is the DM3730 singlechip, and the grading screen lectotype is white grading screen, and the laser radar lectotype is Velarry laser radar, and the display screen lectotype is the AOC display screen.
The working flow of the system is as follows:
step 1: the automobile is moved to enable the headlamp to be about 25m away from the light distribution screen until a cut-off line of light and shade can be clearly shown, and the longitudinal axis of the automobile is ensured to be perpendicular to the light distribution screen in the moving process of the automobile.
Step 2: disconnecting a socket used for connecting the predictive headlamp with an automobile ECU (electronic control unit), and connecting a CAN (controller area network) bus plug with the socket; .
And step 3: fixing the laser radar on an automobile engine hood, and ensuring that a laser emitting surface and the front end surface of the headlamp are on the same vertical surface, namely ensuring that the distance from the laser emitting surface of the laser radar to the light distribution screen is equal to the distance from the front end surface of the automobile to the light distribution screen; .
And 4, step 4: the high-precision positioning and map data module simulates positioning information of an automobile at each moment when the automobile runs on a stored map and road condition and geometric parameter information of the road in the advancing direction of 100m of the position, and sends the data to the CAN bus plug and the central processor.
And 5: the predictive headlamp executes a deflection command according to the virtual driving information transmitted by the CAN bus plug, and the headlamp adjusts the deflection of the vehicle lamp according to the virtual driving information so that the cut-off line moves.
Step 6: the radar ranging module calculates the distance from the vehicle lamp to the light distribution screen according to the laser radar signal and sends the distance to the central processing unit.
And 7: the image detection module calculates the displacement of the cut-off line by adopting an image processing algorithm according to the camera signal and sends the displacement to the central processing unit.
And 8: the central processing unit calculates a theoretical deflection angle according to the virtual driving information and a corresponding algorithm, and calculates an actual deflection angle according to the distance from the vehicle lamp to the light distribution screen and the displacement of the cut-off line.
And step 9: the central processing unit records data once when the change amount of the real-time positioning information is 1m, calculates error values, and calculates average error values when all virtual strokes are finished. And finally, presenting all the data records and the error values on a display screen in a table form.
Example 4
Embodiment 4 of the present invention provides a computer storage medium having stored thereon a computer program that, when executed by a processor, implements the predictive headlamp yaw angle detection method provided in embodiment 1.
The computer storage medium provided by the embodiment of the invention is used for realizing the predictive headlamp deflection angle detection method, so that the technical effect of the predictive headlamp deflection angle detection method is also achieved by the computer storage medium, and the description is omitted here.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.
Claims (10)
1. A predictive headlamp deflection angle detection method is characterized by comprising the following steps:
acquiring virtual driving information, and calculating a theoretical deflection angle of the headlamp according to the virtual driving information;
respectively acquiring cut-off line images of the front lamp and the back lamp which are irradiated on a light distribution screen before and after the virtual driving information is executed;
calculating the displacement of the cut-off line according to the cut-off line images before and after the virtual driving information is executed;
acquiring the distance between the headlamp and the light distribution screen, and calculating the actual deflection angle of the headlamp by combining the displacement and the distance;
and calculating a deflection error value of the headlamp by combining the actual deflection angle and the theoretical deflection angle.
2. The predictive headlamp yaw angle detection method according to claim 1, wherein a theoretical yaw angle of the headlamp is calculated from the virtual driving information, specifically:
the virtual driving information comprises real-time positioning information, road conditions within a set distance from a real-time position and road geometric parameter information;
selecting a corresponding theoretical deflection angle calculation formula according to different road conditions;
and substituting the real-time positioning information and the corresponding road geometric parameter information into the theoretical deflection angle calculation formula to calculate and obtain the theoretical deflection angle.
3. The predictive headlamp deflection angle detection method according to claim 1, wherein cut-off line images of the headlamps irradiated on the light distribution screen before and after the virtual driving information is executed are respectively obtained, specifically:
acquiring a cut-off line image of a light distribution screen irradiated by a headlamp before the virtual driving information is executed;
controlling the headlamp to deflect the angle according to the virtual driving information;
and acquiring a cut-off line image of the bright and dark irradiated on the light distribution screen after the virtual driving information is executed by the headlamp.
4. The predictive headlamp yaw angle detection method according to claim 1, wherein the displacement amount of the cutoff line is calculated from the cutoff line images before and after execution of the virtual travel information, specifically:
carrying out gray level processing on the cut-off line image;
extracting edge information of the gray-scale processed bright-dark cut-off line image to obtain a cut-off line position;
and calculating the horizontal offset between the cut-off line positions of the bright and dark cut-off line images before and after the virtual driving information to obtain the displacement.
5. The predictive headlamp deflection angle detection method according to claim 1, wherein the distance from the headlamp to the light distribution screen is obtained, specifically:
acquiring reflected waves of radar waves emitted from a headlamp to a light distribution screen;
and calculating the distance between the headlamp and the light distribution screen according to the reflected wave signals.
6. The predictive headlamp yaw angle detection method according to claim 1, wherein a yaw error value of the headlamp is calculated in combination with the actual yaw angle and the theoretical yaw angle, specifically:
calculating a corresponding deflection error value when the vehicle runs a set distance;
the average value of the deflection error values of the respective times is calculated as a final deflection error value.
7. A predictive headlamp yaw angle detection device comprising a processor and a memory, wherein the memory stores a computer program, and the computer program, when executed by the processor, implements the predictive headlamp yaw angle detection method according to any one of claims 1 to 6.
8. A predictive headlamp deflection angle detection system, which is characterized by comprising the predictive headlamp deflection angle detection device as claimed in claim 7, and further comprising a vehicle to be detected, a camera, a distance measuring device and a light distribution screen;
the camera is connected with the predictive headlamp deflection angle detection device and is used for collecting the bright and dark cut-off line image;
the head lamp of the vehicle to be tested is connected with the predictive head lamp deflection angle detection device through a CAN bus interface, and is used for receiving the virtual driving information and then executing the virtual driving information;
the distance measuring device is connected with the predictive headlamp deflection angle detection device, the light distribution screen is installed on an irradiation path of the headlamp, and the distance measuring device is installed towards the light distribution screen and used for detecting the distance between the headlamp and the light distribution screen.
9. The system according to claim 8, wherein the distance measuring device is a laser radar, the laser radar is mounted on the vehicle to be tested, and a transmitting plane of the laser radar is on the same plane as a light emitting surface of the headlamp, the laser radar is configured to transmit a radar wave toward the light distribution screen, receive a reflected wave, and transmit a reflected wave signal to the device for detecting the deflection angle of the headlamp.
10. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the predictive headlamp yaw angle detection method according to any one of claims 1 to 6.
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