CN112594647A - Light adjusting method of ADB headlamp - Google Patents

Light adjusting method of ADB headlamp Download PDF

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Publication number
CN112594647A
CN112594647A CN202011607356.3A CN202011607356A CN112594647A CN 112594647 A CN112594647 A CN 112594647A CN 202011607356 A CN202011607356 A CN 202011607356A CN 112594647 A CN112594647 A CN 112594647A
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target
coordinate system
information
led
adb
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CN112594647B (en
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王俊杰
缪鹏虎
杨瑞
姚时音
周文斌
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Jiangsu Binzhi Photoelectric Technology Co ltd
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Nanjing Benze Photoelectric Technology Co ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S41/00—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps
    • F21S41/10—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by the light source
    • F21S41/14—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by the light source characterised by the type of light source
    • F21S41/141—Light emitting diodes [LED]
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
    • H05B45/30—Driver circuits
    • H05B45/32—Pulse-control circuits
    • H05B45/325—Pulse-width modulation [PWM]
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
    • F21W2102/00—Exterior vehicle lighting devices for illuminating purposes
    • F21W2102/10—Arrangement or contour of the emitted light
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
    • F21W2107/00—Use or application of lighting devices on or in particular types of vehicles
    • F21W2107/10—Use or application of lighting devices on or in particular types of vehicles for land vehicles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO THE FORM OR THE KIND OF THE LIGHT SOURCES OR OF THE COLOUR OF THE LIGHT EMITTED
    • F21Y2115/00—Light-generating elements of semiconductor light sources
    • F21Y2115/10—Light-emitting diodes [LED]
    • 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

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Optics & Photonics (AREA)
  • General Engineering & Computer Science (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

The invention discloses a light adjusting method of an ADB headlamp, which comprises the following steps of firstly obtaining the external environment of an automobile from a camera, wherein the external environment comprises vehicle information, pedestrian information, road sign indicating information and the like; then partitioning the ADB headlamp according to the arrangement condition of the LEDs; the external information input by the camera corresponds to the corresponding LED subarea, the LED brightness corresponding to the interval is generated according to the attribute (vehicle, person or road sign and the like), the relative speed and the relative distance of the information reaction, the brightness of the light source interval corresponding to each external information is fused, and the brightness of the LED is set to be the lowest brightness through comparison and judgment. Therefore, the light source of the headlamp is fully utilized, a wide visual field is provided, dazzling of vehicles and pedestrians of the opposite side is prevented, and accidents are reduced.

Description

Light adjusting method of ADB headlamp
Technical Field
The invention belongs to the technology of automobile light control, and particularly relates to a light adjusting method of an ADB headlamp.
Background
With the development of automotive electronics technology, from the perspective of safety and comfort, the requirements for automotive lighting systems in the direction of electronization and intellectualization are also higher and higher. Therefore, the ADB technology based on the matrix type LED headlamp is developed, and the light distribution method can prevent dazzling of front vehicles or pedestrians while the headlamp is fully utilized to improve the lighting effect. The object in front is detected and recognized by a camera or a radar detection device, and the amount of light in a region where a detected vehicle in front is present is reduced or turned off, and the other wide region is illuminated brightly.
Compared with the second generation of adaptive headlamp system AFS, the ADB can meet the visual field of the driver to the maximum extent, prevent dazzling of other vehicle drivers, improve driving comfort and reduce potential safety hazards. The method of dividing the high beam into a plurality of areas for individual control is the most common means for ADB regulation at present, but the existing method for regulating and controlling the front lamp of the ADB has the following problems:
(1) the partition adjusting function is not enough, so that the whole headlamp is not accurate.
(2) The external surroundings of the vehicle and the surrounding light sources are not considered as much as possible, resulting in that these external surroundings are not utilized to the maximum when the light is adjusted.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art and provides a light adjusting method of an ADB headlamp, which realizes pixel-level control and adjustment of a multi-pixel high beam by fusing external environment information of an automobile fed back by a camera and a calibration method, so that the adjustment of the ADB headlamp is changed accurately, and meanwhile, the ADB headlamp is adjusted more smoothly based on the distance, the speed and the distance information of a target and an adjacent light source partition, and the light source of the ADB headlamp can be fully utilized to the maximum extent, and the dazzling feeling of external vehicles and pedestrians is reduced.
The technical scheme is as follows: the invention relates to a light adjusting method of an ADB headlamp, which comprises the following steps:
step S1, LED partition; carrying out condition zoning on the ADB headlamp according to the layout, optical information and projection conditions of the LED lamps, and mapping each LED into a corresponding zone;
step S2, coordinate transformation; namely: converting a coordinate system taking the rear axle of the whole vehicle as an original point into coordinate systems respectively taking central points of ADB headlights on the left side and the right side as original points; (since the camera is a coordinate system with the center of the rear axle of the entire vehicle as the origin, the target detected in the coordinate system needs to be converted to a coordinate system with the center of the corresponding vehicle lamp as the origin to accurately control the LEDs on the left and right sides of the ADB headlight;)
Step S3, target acquisition and processing; based on the coordinate conversion in step S2, the detected and obtained target is respectively corresponded to the coordinate systems of the ADB headlights on the left and right sides, the target is determined to be in the Segment region of the ADB, and then the brightness information and the corresponding driving current information corresponding to the Segment are generated according to the attribute, distance and speed information of the target after the coordinate conversion;
step S4, information processing; the detected target is corresponding to the light source partition of the corresponding step S1, and meanwhile, the brightness information of the target is compared with the brightness information of other targets (whether other targets refer to other targets outside the automobile, such as pedestrians, vehicles or guideboards, and the like, while the camera detects the target A, the brightness information of the subsequent automobile lamps under the light source partition is influenced by different target attributes, such as in a corresponding light section, if the brightness is increased by the guideboard, and if the brightness is reduced by the vehicle), the minimum brightness information is taken as the brightness which needs to be executed by the next light source, namely, the minimum driving current value is given to the corresponding Segment;
step S5, setting the LED brightness; and mapping the brightness information of each light source partition to each LED in the interval, taking the minimum brightness value of the LEDs covering different light source intervals, and finally adjusting each LED through PWM to finish the intelligent light adjustment of the ADB headlamp.
Further, in step S1, the light shape distribution of the whole ADB headlamp is obtained according to the light shape of each LED on both sides of the ADB headlamp, and then the regions are partitioned, and each LED is mapped to a corresponding region for subsequent control; the specific method comprises the following steps:
firstly, acquiring the light shape range of each LED through simulation or actual optical measurement, dividing the light shape of an ADB headlamp into different light sections according to the light shape overlapping condition of each LED, and simultaneously combining the light section with a smaller light shape range and the adjacent light section for the light section with a smaller range by considering the light shape range of each light section;
then, arranging the Segment representing angles of the LED light shapes from left to right and from small to large to obtain segments spanned by each LED, replanning the segments according to needs (for light segments with smaller range, the light segments can be combined with adjacent light segments), and mapping each LED with the replanned segments; thereby ensuring that the LED can perform the brightness that each Segment should display after the ADB algorithm.
Further, the detailed process of step S2 is as follows:
s2.1, after the camera identifies the target, judging the validity of the current target, if the target is invalid, not processing the target, and if the target is valid, continuing to obtain a finished automobile coordinate system corresponding to the target: the method comprises the following steps of taking the center of a rear shaft of a whole automobile as an original point, taking the axial direction of the rear shaft as an x-axis, taking the direction, perpendicular to the x-axis, of the horizontal direction of the automobile body as a y-axis, and taking the direction, perpendicular to an xy plane, of the rear shaft center as the original point as a z-axis;
s2.2, establishing a corresponding ADB headlamp coordinate system, namely establishing a left coordinate system and a right coordinate system of the ADB headlamp by respectively taking the centers of the ADBs on the two sides as original points and respectively taking axes parallel to an x axis and a y axis in the camera coordinate system as the x axis and the y axis;
s2.3, converting the target A detected by the camera in any direction in front of the vehicle into the coordinate system of the left and right ADB headlights in the step S2.2:
acquiring the azimuth (L, theta) and the width theta of an object A in front of the vehicle according to the camerawInformation (the anticlockwise direction is positive, the y-axis direction is correspondingly 0 degrees), the length from the rear axle of the vehicle to the direction of the vehicle lamp is b, and the distance between the central points of the left and right ADB headlights is a;
calculating the orientation of the target A under a left lamp coordinate system:
obtaining the following information according to the vehicle body information and the target A direction:
aA＝L*cosθ
bA＝L*sinθ
when theta is positive, and aAWhen the coordinate system is more than a/2, the target A is positioned at the left side of the y axis of the left lamp coordinate system, and the coordinates corresponding to the left side coordinate system are as follows:
a1A＝aA-a/2
b1A＝bA-b；
a1Aand b1ARespectively is the position information of the target A in the rectangular coordinate system of the left lamp;
the transformation into a polar coordinate system is:
Figure BDA0002873930710000031
θ1A＝tanh-1(a1A/b1A)
wherein theta 1AThe direction is positive; l1AAnd theta 1ARespectively converting the rectangular coordinate system of the left lamp of the target A into position information in a polar coordinate system;
when theta is positive, and aAA/2 is not more than, the target A is positioned at the right side of the y axis of the left lamp coordinate system, and the coordinates corresponding to the left coordinate system are as follows:
a1A＝a/2-aA
b1A＝bA-b
when θ is negative, the coordinates corresponding to the left coordinate system are:
a1A＝a/2+aA
b1A＝bA+b
the transformation into a polar coordinate system is:
Figure BDA0002873930710000041
θ1A＝tanh-1(a1A/b1A)
wherein theta 1AThe direction is negative;
second, the target position under the coordinate system of the right lamp is calculated
Obtaining the following information according to the vehicle body information and the target A direction:
aA＝L*cosθ
bA＝L*sinθ
when θ is positive, the left-hand coordinate corresponding to the right-hand lamp coordinate system is:
a2A＝a/2+aA
b2A＝bA-b
a2Aand b2ARespectively is the position information of the target A in the right lamp rectangular coordinate system;
when theta is negative, and aAWhen the value is less than a/2, the target A is positioned at the left side of the y axis of the right lamp coordinate system, and the coordinates corresponding to the left side coordinate system are as follows:
a2A＝a/2-aA
b2A＝bA-b
the transformation into a polar coordinate system is:
Figure BDA0002873930710000042
θ2A＝tanh-1(a2A/b2A)
where theta 2AThe direction is positive; l2AAnd theta 2ARespectively converting a right lamp rectangular coordinate system of the target A into position information in a polar coordinate system;
when theta is negative, and aAWhen the coordinate system is more than a/2, the target A is positioned at the right side of the y axis of the right lamp coordinate system, and the coordinate corresponding to the left coordinate system is as follows:
a2A＝aA-a/2
b2A＝bA-b
the transformation into a polar coordinate system is:
Figure BDA0002873930710000051
θ2A＝tanh-1(a2A/b2A)
where theta 2AThe direction is negative.
In the above process, because the camera feeds back the information of the center point angle and the object width (radian representation) of the object, it is necessary to calculate the azimuth information of the target converted to the left and right headlight coordinate systems respectively.
Further, the details of step S3 are as follows:
firstly, acquiring information of a target B from a camera, and respectively calculating positions of the left side and the right side of the target B which are respectively mapped to the left and the right ADB headlights in a coordinate system according to the angle, the width and the distance information of the target B;
then judging which segments of the ADB the target position is in;
and then, calculating brightness information which should be sent by the current Segment according to the position, the relative speed and the target attribute: in order to fully utilize the light source, avoid dazzling the front vehicles and pedestrians and ensure smoother adjustment of Segment light, the light source intensity of the Segment and the adjacent segments thereof needs to be adjusted in real time according to the position, the relative speed and the target attribute:
if the target B is in the segmentB light partition of the ADB headlamp, the adjacent partitions of the segmentB are segmentA and segmentC; the light current of SegmentB needs to be adjusted by two sets of parameters, as follows:
IB＝KL*Kv*Iref
wherein the gain KLAnd KvGenerated by real vehicle calibration, IrefIs a reference current
For the target B, acquiring corresponding gain K through the acquired relative position information and the calibration modeLObtaining corresponding gain K through the obtained relative speed information and the calibration modev，IrefIs a reference current, IBAfter ADB algorithm, object BThe current of the LED in the area is set.
After the position of the light source is determined, the irradiation intensity of the light source is reduced along with the increase of the distance, so that after the camera identifies the object, the light source in the interval corresponding to the object does not need to be immediately turned off, and the adjustment can be carried out in real time according to the distance information.
Meanwhile, in consideration of the relative speed between the external target and the current vehicle, in order to adjust the light source intensity more quickly, the gain needs to be calibrated according to the actual situation based on the relative speed information. For example, if the distance of the target B is long, the gain is a little larger, so that IBThe attenuation is small, if the distance of the target B is a little smaller than the gain, IBThe attenuation is large.
Meanwhile, the adjustment of the adjacent Segment light sources is more gradual, the alternate light and shade is prevented, and the angle information of the left side of the object from the left side Segment A (the angle of the target B from the Segment A is set as theta)A) The gain based on the angle information is calibrated, and the current information of segmentC is deduced in the same way (the angle between the target B and the segmentC is set as thetaC)。
Then the current information corresponding to segment a and segment c in the adjacent interval is obtained as follows:
Figure BDA0002873930710000061
Figure BDA0002873930710000062
further, in step S5, since each LED of the ADB headlamp does not necessarily belong to only one Segment, it is necessary to traverse each Segment, assign the minimum driving current to each LED, compare the minimum driving current assignment with the current LED driving current, if the minimum driving current assignment is the same as the current LED driving current value, do not process it, and if the minimum driving current assignment is not the same as the current LED driving current, change the corresponding current LED driving current in a PWM adjustment manner, so that the current driving current is adjusted to the minimum driving current.
Has the advantages that: the invention sets target information in front of the vehicle based on the camera, calibrates real vehicle parameter calibration based on the target information, and simultaneously adopts coordinate system conversion to distinguish left and right ADB headlamp light sources and automatically adjust the ADB headlamp light source. Compared with the prior art, the invention has the following advantages: the calibration method is adopted, the difference of the whole vehicle is considered, meanwhile, the calibration is more consistent with the relation between the whole vehicle and an external target, and the light sources of the left and right ADB headlamps are distinguished by adopting coordinate system conversion, so that the light adjustment is more accurate.
In conclusion, the invention considers the difference of the whole vehicle and the difference of the positions of the left and right ADB headlamps, and the control and the regulation of the actual ADB light source are more accurate.
Drawings
FIG. 1 is a schematic diagram of a coordinate system of a whole vehicle and left and right vehicle lamps according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of coordinate system parameters of a whole vehicle and left and right vehicle lamps according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the light shape range of an LED particle of an ADB headlamp according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of light shape ranges of 4 LEDs of an ADB headlamp according to an embodiment of the present invention;
fig. 5 is a schematic diagram of the new zoning of 4 LEDs of the ADB headlamp in an embodiment of the present invention.
FIG. 6 is a schematic diagram illustrating target distance gain for adjusting current of an ADB headlamp according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating gain of the target relative speed of the ADB headlamp current regulation according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
The invention relates to a light adjusting method of an ADB headlamp, which comprises the following steps:
step S1, LED partition
The method comprises the following steps of obtaining the light shape distribution condition of the whole ADB headlamp according to the light shape condition of each LED on the left side and the right side of the ADB headlamp, then partitioning, and mapping each LED to a corresponding partition for subsequent control, wherein the specific method comprises the following steps:
as shown in fig. 3, the light shape range of each LED is obtained first, the light shape of the ADB headlamp is divided into different light segments according to the light shape overlapping condition of each LED, and meanwhile, the light segment with a smaller light shape range is combined with the adjacent light segment for the light segment with a smaller range in consideration of the light shape range of each light segment; then, arranging the Segment representing angles of the LED light shapes from left to right and from small to large to obtain segments spanned by each LED, replanning the segments according to needs (for light segments with smaller range, the light segments can be combined with adjacent light segments), and mapping each LED with the replanned segments; thereby ensuring that the LED can perform the brightness that each Segment should display after the ADB algorithm.
Step S2, coordinate transformation (judging the validity of the current detection target, if invalid, not processing, if valid, calculating the coordinate of the object in ADB coordinate system, then judging whether the object is in the range of the light source, if so, dimming or brightening LEDB according to the target attribute)
S2.1, taking the target A at any position in front of the vehicle as an example, the coordinate system corresponding to the camera after the target A is identified is that the center of the rear shaft of the whole vehicle is taken as an original point, the axial direction of the rear shaft is taken as an x-axis, the direction perpendicular to the x-axis in the horizontal direction of the body of the whole vehicle is taken as a y-axis, and the direction perpendicular to an xy plane and taking the center of the rear shaft as the original point is taken as a z-.
Now determine the vehicle light coordinate system, taking the left light as an example, and taking the center of the left ADB as the origin, the axes parallel to the x-axis and the y-axis in the camera coordinate system are the x1 axis and the y1 axis, respectively; taking the right lamp as an example, taking the center of the right ADB as an origin, and axes parallel to the x axis and the y axis in the camera coordinate system are an x2 axis and a y2 axis respectively; the left and right coordinate systems of the ADB headlamp are finally established, as shown in fig. 1.
And S2.2, converting the position of the target A into coordinates under the left and right ADB headlights respectively.
Acquiring the azimuth (L, theta) and the width theta of an object A in front of the vehicle according to the camerawInformation (positive counterclockwise, corresponding to 0 in the y-axis), while vehicle information is shown in figure 2,the length from the rear axle to the direction of the headlight is b, and the distance from the center points of the left and right ADB headlights is a.
S2.3, calculating the orientation of the target A under the left lamp coordinate system:
as shown in fig. 2, the following information is obtained from the vehicle body information and the target a bearing:
aA＝L*cosθ
bA＝L*sinθ
when theta is positive, and aAWhen the coordinate system is more than a/2, the target A is positioned at the left side of the y axis of the left lamp coordinate system, and the coordinates corresponding to the left side coordinate system are as follows:
a1A＝aA-a/2
b1A＝bA-b
the transformation into a polar coordinate system is:
Figure BDA0002873930710000081
θ1A＝tanh-1(a1A/b1A)
wherein theta 1AThe direction is positive.
When theta is positive, and aAA/2 is not more than, the target A is positioned at the right side of the y axis of the left lamp coordinate system, and the coordinates corresponding to the left coordinate system are as follows:
a1A＝a/2-aA
b1A＝bA-b
when θ is negative, the coordinates corresponding to the left coordinate system are:
a1A＝a/2+aA
b1A＝bA+b
the transformation into a polar coordinate system is:
Figure BDA0002873930710000091
θ1A＝tanh-1(a1A/b1A)
wherein theta 1AThe direction is negative.
And similarly, the target position under the coordinate system of the right lamp can be calculated.
Step S3, target acquisition and processing
The method comprises the steps of obtaining information of a target from a camera, respectively calculating positions of the left side and the right side of the target A which are respectively mapped to the left side and the right side of an ADB headlamp coordinate system according to the angle, the width and the distance information of the target, judging which segments of the ADB the position is in, and then calculating brightness information which should be sent by the current segments according to the position, the relative speed and the target attribute.
In the process, in order to fully utilize the light source and not dazzle front vehicles and pedestrians, and ensure that Segment light adjustment is smoother, the light source intensities of the Segment and adjacent segments need to be adjusted in real time according to the position, the relative speed and the target attribute.
If target B is within the segmentB light segment of the ADB headlamp (while the segment B neighbors are segment A and segment C).
The light current of SegmentB needs to be adjusted by two sets of parameters, as follows:
IB＝KL*Kv*Iref
wherein KLAnd KvGenerated by real vehicle calibration.
After the position of the light source is determined, the irradiation intensity of the light source is reduced along with the increase of the distance, so that after the camera identifies the object, the light source in the interval corresponding to the object does not need to be immediately turned off, and the adjustment can be carried out in real time according to the distance information.
Meanwhile, in consideration of the relative speed between the external target and the current vehicle, in order to adjust the light source intensity more quickly, the gain needs to be calibrated according to the actual situation based on the relative speed information.
Meanwhile, the adjustment of the adjacent Segment light sources is more gradual, the alternate light and shade is prevented, and the angle information of the left side of the object from the left side Segment A (the angle of the target B from the Segment A is set as theta)A) Calibrating the gain based on the angle information, and deriving the current information of segmentC (setting the distance of the target B from the segmentC)Angle thetaC)。
Then the current information corresponding to segment a and segment c in the adjacent interval is obtained as follows:
Figure BDA0002873930710000101
Figure BDA0002873930710000102
step S4, information processing
Corresponding the detected target to the light source partition of the corresponding step S1, and comparing the brightness information of the target with the brightness information of other targets under the light source partition, and taking the minimum brightness information as the brightness that needs to be executed by the next light source, that is, assigning the minimum driving current value to the corresponding Segment;
step S5, LED brightness setting
And mapping the brightness information of each light source partition to each LED in the interval, taking the minimum brightness value of the LEDs covering different light source intervals, and finally adjusting each LED through PWM to finish the intelligent light adjustment of the ADB headlamp. In the whole light adjusting process, the acquisition of information from the camera is completed through the five steps, the target information is converted into the partition of the ADB, the current is calculated, and finally the LED is adjusted through the PWM mode, so that the maximum use of the light source of the headlamp is met, and the dazzling feeling of external vehicles or pedestrians is not caused.
Example 1:
the method comprises the following steps: and partitioning the light source of the ADB headlamp according to the layout and light shape conditions of the LEDs. Taking an ADB headlamp with 4 LEDs as an example, the correspondence between the LED particles and the Segment is shown in fig. 4, based on the original partitions, from left to right, from large to small, the light source is partitioned, and the LED particles corresponding to each partition are displayed at the same time, as shown in fig. 5.
Step two: the ADB headlamp control unit reads n item target information sent by the camera in each period and extracts effective information. And reading message information of the target information, if the target corresponding to the current message is effective, continuously extracting the attribute, distance, angle, width and speed information of the target object in the message, and storing the information into an array. And traversing the message containing the target information of the camera to form a set TargetObject [ m ] [5] of the target objects.
Step three: from the collected TargetObject [ m ] [5] information, the matching target corresponds to the partitions of the left and right ADB headlamps based on the coordinate transformation (Seq1, Seq2, …, Seq 7).
Step four: the brightness adjustment conditions of Seq1, Seq2, … and Seq7 are fused and respectively correspond to the LEDs of the subareas.
Step five: and adjusting the brightness of the LED through PWM.
Step six: the gain based on distance, speed and angle is adjusted under the vehicle state, ensuring more accurate ADB headlamp adjustment function, as shown in fig. 6 and 7.
It can be seen from the above embodiments that the present invention first obtains the external environment of the automobile including vehicle information, pedestrian information, road sign indication information, etc. from the camera; then partitioning the ADB headlamp according to the arrangement condition of the LEDs; the external information input by the camera corresponds to the corresponding LED subarea, the LED brightness corresponding to the interval is generated according to the attribute (vehicle, person or road sign and the like), the relative speed and the relative distance of the information reaction, the brightness of the light source interval corresponding to each external information is fused, and the brightness of the LED is set as the lowest brightness through comparison and judgment; therefore, the light source of the headlamp is fully utilized, a wide visual field is provided, dazzling of vehicles and pedestrians of the opposite side is prevented, and accidents are reduced.

Claims (5)

1. A light adjusting method of an ADB headlamp is characterized in that: the method comprises the following steps:
step S1, LED partition; carrying out condition zoning on the ADB headlamp according to the layout, optical information and projection conditions of the LED lamps, and mapping each LED into a corresponding zone;
step S2, coordinate transformation; namely: converting a coordinate system taking the rear axle of the whole vehicle as an original point into coordinate systems respectively taking central points of ADB headlights on the left side and the right side as original points;
step S3, target acquisition and processing; based on the coordinate conversion in step S2, the detected and obtained target is respectively corresponded to the coordinate systems of the ADB headlights on the left and right sides, the target is determined to be in the Segment region of the ADB, and then the brightness information and the corresponding driving current information corresponding to the Segment are generated according to the attribute, distance and speed information of the target after the coordinate conversion;
step S4, information processing; corresponding the detected target to the light source partition of the corresponding step S1, and comparing the brightness information of the target with the brightness information of other targets under the light source partition, and taking the minimum brightness information as the brightness that needs to be executed by the next light source, that is, assigning the minimum driving current value to the corresponding Segment;
step S5, setting the LED brightness; and mapping the brightness information under each light source partition to each LED in the partition interval, taking the minimum brightness value of the LEDs covering different light source intervals, and finally adjusting each LED through PWM.
2. A method of adjusting light from an ADB headlamp as defined in claim 1, wherein: in step S1, the light shape distribution of the whole ADB headlamp is obtained according to the light shape of each LED on both sides of the ADB headlamp, and then the light shape distribution is partitioned, and each LED is mapped to a corresponding partition, the specific method is as follows:
firstly, acquiring the light shape range of each LED through simulation or actual optical measurement, dividing the light shape of an ADB headlamp into different light sections according to the light shape overlapping condition of each LED, and simultaneously combining the light section with a smaller light shape range with the adjacent light section;
then, the Segment representing angles of the LED light shapes are arranged from left to right and from small to large to obtain segments spanned by each LED, the segments are re-planned as required, and then each LED is mapped with the re-planned segments.
3. A method of adjusting light from an ADB headlamp as defined in claim 1, wherein: the detailed procedure of step S2 is as follows:
s2.1, after the camera identifies the target, judging the validity of the current target, if the target is invalid, not processing the target, and if the target is valid, continuing to obtain a finished automobile coordinate system corresponding to the target: the method comprises the following steps of taking the center of a rear shaft of a whole automobile as an original point, taking the axial direction of the rear shaft as an x-axis, taking the direction, perpendicular to the x-axis, of the horizontal direction of the automobile body as a y-axis, and taking the direction, perpendicular to an xy plane, of the rear shaft center as the original point as a z-axis;
s2.2, establishing a corresponding ADB headlamp coordinate system, namely establishing a left coordinate system and a right coordinate system of the ADB headlamp by respectively taking ADB centers on two sides as original points and respectively taking axes parallel to an x axis and a y axis in a camera coordinate system as the x axis and the y axis;
s2.3, converting the target A detected by the camera in any direction in front of the vehicle into the coordinate systems of the left and right ADB headlights in the step S2.2:
acquiring the azimuth (L, theta) and the width theta of an object A in front of the vehicle according to the camerawThe information, the length from the rear axle of the vehicle to the direction of the vehicle lamp is b, and the distance from the center points of the left and right ADB headlights is a;
calculating the orientation of the target A under a left lamp coordinate system:
obtaining the following information according to the vehicle body information and the target A direction:
aA＝L*cosθ
bA＝L*sinθ
when theta is positive, and alphaAWhen the coordinate system is more than a/2, the target A is positioned at the left side of the y axis of the left lamp coordinate system, and the coordinates corresponding to the left side coordinate system are as follows:
a1A＝aA-a/2
b1A＝bA-b
a1Aand b1ARespectively is the position information of the target A in the rectangular coordinate system of the left lamp;
the transformation into a polar coordinate system is:
Figure FDA0002873930700000021
θ1A＝tanh-1(a1A/b1A)
wherein theta 1AThe direction is positive; l1AAnd theta 1ARespectively converting the rectangular coordinate system of the left lamp of the target A into position information in a polar coordinate system;
when theta is positive, and alphaAA/2 is not more than, the target A is positioned at the right side of the y axis of the left lamp coordinate system, and the coordinates corresponding to the left coordinate system are as follows:
a1A＝a/2-aA
b1A＝bA-b
when θ is negative, the coordinates corresponding to the left coordinate system are:
a1A＝a/2+αA
b1A＝bA-b
the transformation into a polar coordinate system is:
Figure FDA0002873930700000031
θ1A＝tanh-1(a1A/b1A)
wherein theta 1AThe direction is negative;
second, the target position under the coordinate system of the right lamp is calculated
Obtaining the following information according to the vehicle body information and the target A direction:
aA＝L*cosθ
bA＝L*sinθ
when θ is positive, the left-hand coordinate corresponding to the right-hand lamp coordinate system is:
a2A＝a/2+αA
b2A＝bA-b
a2Aand b2ARespectively is the position information of the target A in the right lamp rectangular coordinate system;
when theta is negative and alpha isAWhen the value is less than a/2, the target A is positioned at the left side of the y axis of the right lamp coordinate system, and the coordinates corresponding to the left side coordinate system are as follows:
a2A＝a/2-aA
b2A＝bA-b
the transformation into a polar coordinate system is:
Figure FDA0002873930700000041
θ2A＝tanh-1(a2A/b2A)
where theta 2AThe direction is positive; l2AAnd theta 2ARespectively converting a right lamp rectangular coordinate system of the target A into position information in a polar coordinate system;
when theta is negative and alpha isAWhen the coordinate system is more than a/2, the target A is positioned at the right side of the y axis of the right lamp coordinate system, and the coordinate corresponding to the left coordinate system is as follows:
a2A＝aA-a/2
b2A＝bA-b
the transformation into a polar coordinate system is:
Figure FDA0002873930700000042
θ2A＝tanh-1(a2A/b2A)
where theta 2AThe direction is negative.
4. A method of adjusting light from an ADB headlamp as defined in claim 1, wherein: the details of step S3 are as follows:
firstly, acquiring information of a target B from a camera, and respectively calculating positions of the left side and the right side of the target B which are respectively mapped to the left and the right ADB headlights in a coordinate system according to the angle, the width and the distance information of the target B;
then judging which segments of the ADB the target position is in;
and then, calculating brightness information which should be sent by the current Segment according to the position, the relative speed and the target attribute: adjusting the light source intensity of the current Segment and the adjacent segments in real time:
setting a target B in a segmentB light partition of an ADB headlamp, and setting adjacent partitions of the segmentB as segmentA and segmentC; the light current of SegmentB is adjusted by two sets of parameters:
IB＝KL*Kv*Iref
wherein the gain KLAnd KvGenerated by real vehicle calibration, IrefIs a reference current;
after the camera is arranged at the target B and the Segment B position is determined, adjusting the light source intensity in real time according to the distance information of the target B; calibrating gain based on the relative speed information according to actual conditions;
adjusting the angle of the left side of the object based on the angle information of the left side of the object B from the left subarea segmentA, namely setting the angle of the object B from the segmentA as thetaACalibrating the gain based on the angle information; the same way is to obtain the current information of segmentC, namely, the angle of the target B from the segmentC is set as thetaC；
Then the current information corresponding to segment a and segment c in the adjacent interval is obtained as follows:
Figure FDA0002873930700000051
Figure FDA0002873930700000052
5. a method of adjusting light from an ADB headlamp as defined in claim 1, wherein: in step S5, since each LED of the ADB headlamp does not necessarily belong to only one Segment, each Segment needs to be traversed, the minimum driving current is assigned to each LED, and the minimum driving current assignment is compared with the current LED driving current, if the minimum driving current assignment is the same as the current LED driving current value, no processing is performed, and if the minimum driving current assignment is not the same as the current LED driving current value, the corresponding current LED driving current is changed by a PWM adjustment method, so that the current driving current is adjusted to the minimum driving current.
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