CN112193151A - Lifting type welcome vehicle lamp control system and control method - Google Patents
Lifting type welcome vehicle lamp control system and control method Download PDFInfo
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- CN112193151A CN112193151A CN202010928718.2A CN202010928718A CN112193151A CN 112193151 A CN112193151 A CN 112193151A CN 202010928718 A CN202010928718 A CN 202010928718A CN 112193151 A CN112193151 A CN 112193151A
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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
- B60Q1/24—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 for lighting other areas than only the way ahead
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention provides a lifting type welcome vehicle lamp control system and a control method, and the lifting type welcome vehicle lamp control system comprises an execution mechanism, a planning processor and a perception positioning system, wherein the perception positioning system comprises a binocular structure camera, a speed sensor and a laser radar sensor, the planning processor comprises a path planning system and a central processing unit, the path planning system constructs a grid map of the periphery of the welcome vehicle according to information input by the binocular structure camera and the laser radar sensor, and the path planning system calculates the position information of the welcome at the next moment according to the current position information of the welcome; the central processing unit conveys and calculates the self-rotation angle of the actuating mechanism and the pitch angle of the car light according to the current position information of the welcome, the position information of the welcome at the next moment and the moving speed of the welcome, and the central processing unit controls the movement of the actuating mechanism to realize the path planning of the car light of the welcome. The invention can intelligently plan the path of the welcome and illuminate the road in front of the welcome in advance.
Description
Technical Field
The invention relates to the field of automatic control of welcome lamps or the field of intelligent automobiles, in particular to a lifting type welcome lamp control system and a control method.
Background
With the development of the automobile industry, the requirements of users on the comfort of automobiles and the configuration of the automobiles are higher and higher. At present, besides dynamic performance, cost performance and the like, individuation and intellectualization of the selection standard of the vehicle by a user are also considered factors for purchasing the vehicle by the user. The design of individualized car light and the intelligent control of car light make the vehicle more pleasing to the eye, increase the science and technology of vehicle and feel, can also better serve the car owner simultaneously, improve the travelling comfort and the security of vehicle. At present, the automobile is generally provided with a welcome lamp, the welcome lamp is arranged at the lower side of an automobile door, when the automobile door is opened, the ground is illuminated or a pattern is projected on the ground, and illumination can be provided for passengers to get on or off under the condition of dark light.
The Chinese patent application discloses a welcome lamp control system, and by means of the technical scheme of the welcome lamp control system, when a vehicle owner carries a vehicle key within a range of 1-10 meters away from the front of a vehicle, the function of the welcome lamp is activated, a bright spot is formed at the foot of the vehicle owner and moves along with the movement of the vehicle owner, and when the vehicle owner is close to the vehicle, the distance is smaller than 1 meter, the welcome lamp is turned off. However, in the system, the position information of the vehicle owner is obtained through the radio frequency signal processing module, and then the vehicle lamp is irradiated under the feet of the vehicle owner to form a light spot, so that the vehicle lamp is illuminated along with the position of the vehicle owner, but the system has the defect of delayed illumination, and the position of the vehicle owner obtained through the radio frequency signal processing module is not accurate. The system uses the headlamp as a welcome lamp, the use of the headlamp can be interfered, the irradiation range of the headlamp is limited, only the road in front of a vehicle can be irradiated, and when a vehicle owner approaches the vehicle from the rear of the vehicle, the headlamp cannot provide illumination for the vehicle owner.
Disclosure of Invention
The invention provides a lifting type welcome lamp control system and a control method, aiming at the problems that in the existing welcome lamp control technology, the irradiation direction of a welcome lamp is limited, the positioning of a vehicle owner is not accurate, the welcome lamp cannot illuminate in all directions, and the illumination of a vehicle lamp is delayed.
The present invention achieves the above-described object by the following technical means.
A lifting type welcome lamp control system is provided, the front and the back of a vehicle are provided with liftable welcome lamps, the lifting type welcome lamps comprise an actuating mechanism, a planning processor and a sensing and positioning system,
the actuating mechanism is used for driving the self-rotation of the welcome vehicle lamp and the pitching rotation of the vehicle lamp;
the sensing and positioning system comprises a binocular structure camera, a speed sensor and a laser radar sensor, wherein the binocular structure camera is used for acquiring image information of the periphery of the welcome vehicle, and the laser radar sensor is used for detecting obstacle information of the periphery of the welcome vehicle; the speed sensor is used for detecting the moving speed of the welcome;
the planning processor comprises a path planning system and a central processing unit, the path planning system constructs a grid map of the periphery of the welcome vehicle according to information input by the binocular structure camera and the laser radar sensor, and the path planning system calculates the position information of the welcome at the next moment according to the current position information of the welcome;
the central processing unit conveys and calculates the self-rotation angle of the actuating mechanism and the pitch angle of the car light according to the current position information of the welcome, the position information of the welcome at the next moment and the moving speed of the welcome, and the central processing unit controls the movement of the actuating mechanism to realize the path planning of the car light of the welcome.
Further, actuating mechanism includes rotary mechanism, elevating system and every single move mechanism, elevating system is used for driving usher's car light lift, rotary mechanism is used for driving the autogyration of usher's car light, every single move mechanism is used for driving the every single move rotation of car light.
And further, the welcome lamp is controlled and started by the remote equipment.
A control method of a lifting type welcome lamp control system comprises the following steps:
determining the position of the welcome: the path planning system identifies the welcome by using a binocular structure optical camera, and the central processing unit acquires GPS information of the welcome and is used for selecting and starting an approaching welcome lamp;
establishing an initialization grid map: the path planning system constructs a grid map of a rectangular coordinate system containing grids according to the binocular structure camera and the laser radar sensor; the grid map is positioned between the welcome and the vehicle;
scanning for obstacles within the grid map: the path planning system scans a grid map through the laser radar sensor to form a laser point cloud and identify whether an obstacle exists in a grid; if an obstacle exists in the grid, the grid probability value is '0', and if no obstacle exists in the grid, the grid probability value is '1'; setting the grid probability value of the position of a vehicle door in a grid map as P, wherein 0< P < 1;
path planning: determining grid coordinates of the current position of the welcome, determining probability values of eight grids around the grid where the welcome is located, and taking the minimum distance between the grid and the vehicle door position grid, with the probability value of 1, in the eight grids as the next moment position of the welcome by the path planning system;
adjusting the angle of the headlight of the guest: the central processing unit obtains the rotation angle delta alpha of the headlight of the welcome and the pitching angle delta theta of the headlight of the welcome, which needs to be adjusted, according to the grid coordinate of the current position of the welcome, the grid coordinate of the position of the next moment of the welcome and the moving speed of the welcome, and controls the actuating mechanism to enable the headlight of the welcome to irradiate the position of the next moment of the welcome from the current position of the welcome to the position of the next moment of the welcome;
and repeating the path planning and the adjustment of the angle of the headlight of the guest until the grid of the current position of the headlight of the guest is P.
Furthermore, the path planning system detects obstacles in the grid map in real time according to the binocular camera and the laser radar sensor, and updates probability values of the grids at different moments.
Further, the central processing unit obtains the rotation angle delta alpha and the rotation speed of the headlight of the welcome according to the grid coordinate of the current position of the welcome, the grid coordinate of the position of the next moment of the welcome and the moving speed of the welcomeSpeed omegacThe method specifically comprises the following steps:
let the current i-time position coordinate of the welcome be (x)i,yi) The i +1 moment position coordinate of the welcome is (x)i+1,yi+1) The position coordinate of the vehicle door is (x)0,y0) (ii) a The guest-welcome slave coordinate is (x)i,yi) The arrival coordinate is (x)i+1,yi+1) The rotation angle of the headlight is delta alpha,
the guest-welcome slave coordinate is (x)i,yi) The arrival coordinate is (x)i+1,yi+1) The distance between the two is S, the moving speed of the welcome is V, and the rotating speed of the headlight of the welcome
Further, the central processing unit obtains the pitch angle delta theta and the pitch speed omega of the headlight of the greeting, which need to be adjusted, according to the grid coordinate of the current position of the headlight, the grid coordinate of the position of the next moment of the headlight and the moving speed of the headlightsThe method specifically comprises the following steps:
welcome in (x)i,yi) The pitch angle of the headlight of the welcome vehicle is thetaiLet welcome in (x)i+1,yi+1) The pitch angle of the headlight of the welcome vehicle is thetai+1The height of the light of the welcome lamp after rising is L, and the welcome lamp is at (x)i,yi) The linear distance from the position to the headlight of the welcome is diWelcome in (x)i+1,yi+1) The linear distance from the position to the headlight of the welcome is di+1，
Pitching angle of welcome vehicle lamp needing to be adjusted
Pitching speed of headlight
Further, the size of the grid is 0.4 times of the height of the guest, and the position of the middle point of the grid is the coordinate point of the grid.
Further, the central processing unit obtains the moving direction of the welcome according to the GPS dynamic information of the welcome mobile phone, and the central processing unit selects to start the approaching welcome lamp.
The invention has the beneficial effects that:
according to the lifting type greeting car lamp control system and the control method, the binocular structure optical camera is adopted in the sensing and positioning system, the greeting can be identified, the system adapts to the dark environment and the indoor environment, and the position of the greeting is more accurately positioned. The welcome can select the car light to shine the route according to the demand, and under dark environment, when the welcome can not discern the barrier, the route planning mode is selected, and the welcome follows the route walking that shines of car light, can make the welcome seek the car safely. The rotating mechanism in the executing mechanism can rotate 360 degrees, and the head and the tail of the vehicle are respectively provided with a vehicle lamp lifting mechanism, so that illumination can be provided for welcoming guests in an all-round manner. When a user approaches the vehicle from the front, the head welcome lamp is turned on, if the user approaches the vehicle from the tail, the tail welcome lamp is turned on, and when the user approaches the vehicle from the side, the front welcome lamp and the rear welcome lamp illuminate the welcome simultaneously.
Drawings
FIG. 1 is a schematic diagram of a control system according to an embodiment of the present invention;
FIG. 2-1 is a front view of an implementation of an embodiment of the present invention;
FIG. 2-2 is a top view of an implementation of the present invention;
FIG. 3 is a schematic view of a two-dimensional grid map of a vehicle approaching from the front of the vehicle by a vehicle owner in accordance with the present invention;
FIG. 4 is a schematic view of a two-dimensional grid map of a vehicle approaching from behind the vehicle by a vehicle owner in accordance with the present invention;
FIG. 5 is a schematic view of a two-dimensional grid map of a vehicle approaching from the left side of the vehicle by a vehicle owner in accordance with the present invention;
FIG. 6 is a schematic view of a two-dimensional grid map of a vehicle approaching from the right side of the vehicle by a vehicle owner in accordance with the present invention;
FIG. 7 is a schematic diagram illustrating a lift of a headlight for welcoming in an embodiment of the present invention;
fig. 8 is a control flow chart of the elevating greeting lamp system of the invention.
In the figure:
100-a perceptual positioning system; 110-a lidar sensor; 120-binocular camera; 200-a path planning system; 300-a central processing unit; 400-GPS; 500-speed sensor; 600-an actuator; 610-a rotation mechanism; 620-a lifting mechanism; 630-pitch mechanism.
Detailed Description
The invention is further described with reference to the drawings and the embodiments in which the same or similar reference numerals refer to the same or similar elements or elements with similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative in nature and are only for the purpose of explanation and are not to be construed as limiting the invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
In the description of the present invention, it should be noted that the terms "connected" and "connected" are to be interpreted broadly, e.g., as either a fixed connection or a removable connection, unless expressly stated or limited otherwise; mechanical or electrical connection may be used. The present invention will be described in detail below with reference to the accompanying drawings and examples.
As shown in fig. 1, the lift-type welcome lamp control system according to the present invention includes a sensing and positioning system 100, a central processing unit 300, a GPS400, a speed sensor 500, a path planning system 200, and an executing mechanism 600. The actuating mechanism 600 is used for driving the self-rotation of the welcome vehicle lamp and the pitching rotation of the vehicle lamp; the mobile phone starts the GPS400 for positioning, and sends GPS400 information to the path planning system 200 to determine which direction the welcome approaches the vehicle. The sensing and positioning system 100 comprises a binocular camera 120, a speed sensor 500 and a laser radar sensor 110, wherein the binocular camera 120 is used for acquiring image information of the periphery of the welcome vehicle, and the laser radar sensor 110 is used for detecting obstacle information of the periphery of the welcome vehicle; the speed sensor 500 is used for detecting the moving speed of the welcome; the planning processor comprises a path planning system 200 and a central processing unit 300, the path planning system 200 constructs a grid map of the periphery of the welcome vehicle according to information input by the binocular structure camera 120 and the laser radar sensor 110, and the path planning system 200 calculates the position information of the welcome at the next moment according to the current position information of the welcome; the central processor 300 transmits and calculates the self-rotation angle of the execution mechanism 600 and the pitch angle of the car light according to the current position information of the welcome, the position information of the welcome at the next moment and the moving speed of the welcome, and the central processor 300 controls the movement of the execution mechanism 600 to realize the path planning of the car light of the welcome. The welcome in the invention can also be the owner of the vehicle.
As shown in fig. 2-1 and 2-2, in the embodiment of the present invention, the actuator 600 includes a rotating mechanism 610, a lifting mechanism 620, and a pitching mechanism 630. Elevating system 620 is used for driving the lift of usher's car light, rotary mechanism 610 is used for driving the autogyration of usher's car light, every single move mechanism 630 is used for driving the every single move rotation of car light.
When the car owner seeks the car at night, the welcome lamp control system is started. At this time, the vehicle owner turns on the mobile phone GPS400, and sends the vehicle owner positioning information to the central processing unit 300 of the control system, so as to determine from which direction the vehicle owner approaches the vehicle. As shown in fig. 3, 4, 5, and 6, when the vehicle owner approaches the vehicle from the front of the vehicle, the actuator 600 disposed in front of the vehicle is raised. When the vehicle owner approaches the vehicle from behind the vehicle, the actuator 600 disposed behind the vehicle is raised. When the vehicle owner approaches the vehicle from one side of the vehicle, the front and rear actuators 600 are raised simultaneously, collectively providing illumination to the vehicle owner.
In the embodiment of the present invention, the sensing and positioning system 100 mainly has the following functions: firstly, identifying a vehicle owner. The binocular structure optical camera 110 collects an image of the vehicle owner, compares the image with vehicle owner image information prestored in the central processor 300, and confirms the vehicle owner. II, secondly: the owner position is determined. After the perception positioning system 100 identifies the car owner, the coordinates of the car owner are calculated according to the binocular vision principle. And thirdly, recognizing the obstacle. Both the binocular camera 110 and the lidar sensor 120 may recognize obstacles, and the lidar sensor 120 may construct a three-dimensional shape of the obstacles. The binocular camera 110 calculates the depth of field Y of the obstacle, and obtains the X and Z coordinates of the obstacle from the depth of field Y.
The path planning system 200 receives the owner information, the owner positioning information, and the obstacle position information transmitted by the sensing and positioning system 100. From these data, a grid map is constructed. Constructing a grid map area selection rule: if the vehicle owner approaches the vehicle from the front, a grid map is constructed in a rectangular area enclosed by the left front corner of the vehicle and the position of the vehicle owner, and the grid where the left front corner of the vehicle is located is used as an original point. If the vehicle owner approaches the vehicle from the rear, a grid map is constructed in a rectangular area surrounded by the left rear corner of the vehicle and the position of the vehicle owner, and the grid at the left rear corner of the vehicle is taken as the origin of coordinates. And if the vehicle owner approaches the vehicle from the left side of the vehicle, constructing a grid map by using a rectangular area formed by the surrounding of the vehicle driver seat door and the position of the vehicle owner, and using the grid where the driver seat door is located as an original point. If the vehicle owner approaches the vehicle from the right side, a grid map is constructed by using a rectangular area surrounded by the door of the passenger seat of the vehicle and the position of the vehicle owner, and the grid where the door of the passenger seat is located is taken as an origin, as shown in fig. 3, 4, 5 and 6.
As shown in fig. 7 and 8, the control method of the lift-type welcome lamp control system according to the present invention includes the following steps:
determining the position of the welcome: the path planning system 200 identifies the welcome by using the binocular structure optical camera 110, the central processing unit 300 acquires the mobile phone GPS information of the welcome to position the welcome, and determines which direction the welcome approaches the vehicle, so as to select to start the approaching headlight of the welcome;
establishing an initialization grid map: the path planning system 200 constructs a rectangular coordinate system grid map containing n × m grids according to the binocular camera 120 and the laser radar sensor 110; the grid map is positioned between the welcome and the vehicle; the size of the grid is 0.4 times of the height of the guest, and the position of the middle point of the grid is the coordinate point of the grid.
Scanning for obstacles within the grid map: the path planning system 200 scans a grid map through the laser radar sensor 110 to form a laser point cloud and identify whether an obstacle exists in the grid; if an obstacle exists in the grid, the grid probability value is '0', and if no obstacle exists in the grid, the grid probability value is '1'; setting the grid probability value of the position of a vehicle door in a grid map as P, wherein 0< P < 1; in this embodiment, the grid probability value P of the vehicle door position is 0.5 with the origin. And detecting obstacles in the grid map in real time, and updating the probability value of each grid.
Path planning: determining grid coordinates of the current position of the welcome, determining probability values of eight grids around the grid where the welcome is located, and taking the minimum distance between the grid and the vehicle door position grid, with the probability value of 1, in the eight grids as the next moment position of the welcome by the path planning system 200;
adjusting the angle of the headlight of the guest: the central processing unit 300 obtains the rotation angle delta alpha of the headlight of the greeting and the pitch angle delta theta of the headlight of the greeting, which needs to be adjusted, according to the grid coordinate of the current position of the greeting, the grid coordinate of the position of the greeting at the next moment and the moving speed of the greeting, and the central processing unit 300 controls the executing mechanism 600 to enable the headlight of the greeting to irradiate the position of the greeting from the current position of the greeting to the position of the next moment of the greeting; in the path planning process, the structured light binocular camera 110 detects the position and posture of the vehicle owner in real time. If the car owner does not move along the path of the car lamp, the control system needs to change the irradiation route in time to irradiate the car lamp in the grid where the user is located;
and repeating the path planning and the adjustment of the angle of the headlight of the guest until the grid of the current position of the headlight of the guest is P.
The working principle is as follows:
starting the headlight of the welcome vehicle: when the control system is started, the lifting mechanism 620 drives the execution mechanism 600 to lift from the vehicle cover, when a grid with the probability of 0.5 is detected, the welcome lamp is turned off, the pitching mechanism 630 retracts into a groove formed above the lifting mechanism 620, and then the lifting mechanism 620 drives the execution mechanism 600 to fall into the vehicle cover. The path planning system 400 plans the coordinates of the next grid to be irradiated by the actuator 600, sends the current grid coordinates and the next grid coordinates to the central processor 300, the central processor 300 calculates the angle of rotation and pitch of the actuator 600 from the current irradiation position to the next irradiation position, then calculates the rotation speed of the rotating mechanism 610 and the pitch speed of the pitch mechanism 630 in the actuator 600 according to the rotation angle and the pitch angle, and the central processor 300 controls the actuator 600 to move.
The central processor 300 obtains the rotation angle delta alpha and the rotation speed omega of the headlight of the welcome according to the grid coordinate of the current position of the welcome, the grid coordinate of the position of the welcome at the next moment and the moving speed of the welcomecThe method specifically comprises the following steps:
let the current i-time position coordinate of the welcome be (x)i,yi) The i +1 moment position coordinate of the welcome is (x)i+1,yi+1) The position coordinates of the vehicle door are (0, 0); the guest-welcome slave coordinate is (x)i,yi) The arrival coordinate is (x)i+1,yi+1) The rotation angle of the headlight is delta alpha,
the guest-welcome slave coordinate is (x)i,yi) The arrival coordinate is (x)i+1,yi+1) The distance between the two is S, the moving speed of the welcome is V, and the rotating speed of the headlight of the welcome
The central processor 300 obtains the pitch angle delta theta and the pitch speed omega of the headlight of the greeting, which need to be adjusted, according to the grid coordinate of the current position of the greeting, the grid coordinate of the position of the greeting at the next moment and the moving speed of the greetingsThe method specifically comprises the following steps:
welcome in (x)i,yi) The pitch angle of the headlight of the welcome vehicle is thetaiLet welcome in (x)i+1,yi+1) The pitch angle of the headlight of the welcome vehicle is thetai+1The height of the light of the welcome lamp after rising is L, and the welcome lamp is at (x)i,yi) Linear distance from position to headlightIs separated by diWelcome in (x)i+1,yi+1) The linear distance from the position to the headlight of the welcome is di+1，
Pitching angle of welcome vehicle lamp needing to be adjusted
Pitching speed of headlight
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (9)
1. A lifting type welcome lamp control system is provided with liftable welcome lamps at the front and the rear of a vehicle and is characterized by comprising an execution mechanism (600), a planning processor and a sensing and positioning system (100),
the actuating mechanism (600) is used for driving the self-rotation of the welcome vehicle lamp and the pitching rotation of the vehicle lamp;
the sensing and positioning system (100) comprises a binocular structure camera (120), a speed sensor (500) and a laser radar sensor (110), wherein the binocular structure camera (120) is used for acquiring image information of the periphery of the welcome vehicle, and the laser radar sensor (110) is used for detecting obstacle information of the periphery of the welcome vehicle; the speed sensor (500) is used for detecting the moving speed of the welcome;
the planning processor comprises a path planning system (200) and a central processing unit (300), the path planning system (200) constructs a grid map of the periphery of the welcome vehicle according to information input by the binocular structure camera (120) and the laser radar sensor (110), and the path planning system (200) calculates the position information of the welcome at the next moment according to the current position information of the welcome;
the central processing unit (300) is used for conveying and calculating the self-rotation angle of the executing mechanism (600) and the pitch angle of the car light according to the current position information of the welcome, the position information of the welcome at the next moment and the moving speed of the welcome, and the central processing unit (300) is used for controlling the movement of the executing mechanism (600) so as to realize path planning of the car light of the welcome.
2. The lifting type usher lamp control system according to claim 1, wherein the actuator (600) comprises a rotating mechanism (610), a lifting mechanism (620) and a pitching mechanism (630), the lifting mechanism (620) is used for driving the usher lamp to lift, the rotating mechanism (610) is used for driving the rotation of the usher lamp, and the pitching mechanism (630) is used for driving the pitching rotation of the usher lamp.
3. The elevating welcome lamp control system according to claim 1 wherein the welcome lamp is controlled to be activated by a remote device.
4. The control method of the lifting type welcome lamp control system according to claim 1, comprising the following steps:
determining the position of the welcome: the path planning system (200) identifies the welcome by using the binocular structure optical camera (110), and the central processing unit (300) acquires GPS information of the welcome and is used for selecting to start approaching welcome lamps;
establishing an initialization grid map: the path planning system (200) constructs a grid map of a rectangular coordinate system containing grids according to the binocular structure camera (120) and the laser radar sensor (110); the grid map is positioned between the welcome and the vehicle;
scanning for obstacles within the grid map: the path planning system (200) scans a grid map through the laser radar sensor (110) to form a laser point cloud and identify whether an obstacle exists in a grid; if an obstacle exists in the grid, the grid probability value is '0', and if no obstacle exists in the grid, the grid probability value is '1'; setting the grid probability value of the position of a vehicle door in a grid map as P, wherein 0< P < 1;
path planning: determining grid coordinates of the current position of the welcome, determining probability values of eight grids around the grid where the welcome is located, and taking the minimum distance between the grid and the vehicle door position grid, with the probability value of 1, in the eight grids as the next moment position of the welcome by the path planning system (200);
adjusting the angle of the headlight of the guest: the central processing unit (300) obtains a rotation angle delta alpha of the headlight of the welcome and a pitch angle delta theta of the headlight of the welcome, which need to be adjusted, according to the grid coordinate of the current position of the welcome, the grid coordinate of the position of the next moment of the welcome and the moving speed of the welcome, and the central processing unit (300) controls the executing mechanism (600) to enable the headlight of the welcome to irradiate the position of the next moment of the welcome from the current position of the welcome;
and repeating the path planning and the adjustment of the angle of the headlight of the guest until the grid of the current position of the headlight of the guest is P.
5. The control method of the lifting type welcome lamp control system according to claim 4, wherein the path planning system (200) detects obstacles in the grid map in real time according to the binocular camera (120) and the lidar sensor (110), and updates probability values of the grids at different times.
6. The control method of the lifting type welcome lamp control system according to claim 4, wherein the central processing unit (300) obtains the rotation angle Δ α and the rotation speed ω of the welcome lamp according to the grid coordinate of the current position of the welcome, the grid coordinate of the next moment position of the welcome and the moving speed of the welcomecThe method specifically comprises the following steps:
let the current i-time position coordinate of the welcome be (x)i,yi) The i +1 moment position coordinate of the welcome is (x)i+1,yi+1) The position coordinate of the vehicle door is (x)0,y0) (ii) a The guest-welcome slave coordinate is (x)i,yi) The arrival coordinate is (x)i+1,yi+1) The rotation angle of the headlight is delta alpha,
the guest-welcome slave coordinate is (x)i,yi) The arrival coordinate is (x)i+1,yi+1) The distance between the two is S, the moving speed of the welcome is V, and the rotating speed of the headlight of the welcome
7. The control method of the lifting type usher lamp control system according to claim 6, wherein the central processing unit (300) obtains the pitch angle delta theta and the pitch speed omega of the usher lamp to be adjusted according to the grid coordinate of the current position of the usher, the grid coordinate of the position of the usher at the next moment and the moving speed of the ushersThe method specifically comprises the following steps:
welcome in (x)i,yi) The pitch angle of the headlight of the welcome vehicle is thetaiLet welcome in (x)i+1,yi+1) The pitch angle of the headlight of the welcome vehicle is thetai+1The height of the light of the welcome lamp after rising is L, and the welcome lamp is at (x)i,yi) The linear distance from the position to the headlight of the welcome is diWelcome in (x)i+1,yi+1) The linear distance from the position to the headlight of the welcome is di+1，
Pitching angle of welcome vehicle lamp needing to be adjusted
Pitching speed of headlight
8. The control method of the lifting type usher lamp control system according to claim 4, wherein the size of the grid is 0.4 times of the height of the usher, and the position of the middle point of the grid is the coordinate point of the grid.
9. The control method of the lifting type welcome lamp control system according to claim 4, wherein the central processing unit (300) obtains the moving direction of the welcome according to the GPS dynamic information of the welcome mobile phone, and the central processing unit (300) selects to start the approaching welcome lamp.
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| Publication number | Priority date | Publication date | Assignee | Title |
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