CN114684004A - Vehicle and headlamp adjusting device and method thereof - Google Patents
Vehicle and headlamp adjusting device and method thereof Download PDFInfo
- Publication number
- CN114684004A CN114684004A CN202011613163.9A CN202011613163A CN114684004A CN 114684004 A CN114684004 A CN 114684004A CN 202011613163 A CN202011613163 A CN 202011613163A CN 114684004 A CN114684004 A CN 114684004A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- road
- headlamp
- infrared
- skyline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000004297 night vision Effects 0.000 claims abstract description 10
- 230000004438 eyesight Effects 0.000 claims description 9
- 230000009466 transformation Effects 0.000 claims description 6
- 206010039203 Road traffic accident Diseases 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
-
- 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
- F21S41/60—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution
- F21S41/65—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution by acting on light sources
- F21S41/657—Illuminating devices specially adapted for vehicle exteriors, e.g. headlamps characterised by a variable light distribution by acting on light sources by moving light sources
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The invention provides a vehicle and a headlamp adjusting device and method thereof, wherein the device comprises: the light sensing unit is used for detecting the intensity of ambient light; an infrared emission unit and an infrared camera provided at a front portion of the vehicle; an image processing unit; an adjustment unit; and the micro control unit is used for acquiring the intensity of ambient light, controlling the infrared transmitting unit to transmit infrared light to the road in front of the vehicle when the intensity of the ambient light is lower than a preset threshold value, switching the infrared camera into a night vision mode so as to enable the infrared camera to acquire an infrared image of the road in front of the vehicle, and controlling the adjusting unit to drive the headlamp to move up and down according to the road condition of the road in front of the vehicle identified by the image processing unit so as to adjust the irradiation distance of the headlamp. The device adjusts the position of the headlamp according to the road condition, thereby being capable of assisting a driver to improve the irradiation effect when the driver runs on an uphill slope or a downhill slope at night, effectively reducing the incidence rate of traffic accidents and having low cost.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a headlamp adjusting device of a vehicle, the vehicle and a headlamp adjusting method of the vehicle.
Background
With the continuous development of economy and the continuous improvement of living conditions, automobiles are more and more popular, and at least one automobile is owned by each family. So many cars bring a heavy load to urban traffic, and the number of traffic accidents every year is about to be up and down, especially at night. In the actual night driving process, the road surface in front may have the road conditions of ascending or descending, when driving at night, if the driver can not notice the road conditions as soon as possible, accidents are likely to happen, and because the light of the headlamp on the ascending slope is not adjusted upwards, the lighting distance on the slope surface is shortened; when the light of the headlamp is not adjusted downwards on a downhill slope, the opposite uphill vehicles which run in opposite directions can be dazzled, and therefore the driving safety is affected.
Disclosure of Invention
The present invention is directed to solving the above problems, and a first object of the present invention is to provide a headlamp adjusting device for a vehicle, which can adjust a position of a headlamp according to a road condition, monitor a road surface gradient condition ahead in advance, and intelligently adjust an irradiation distance according to an actual road condition, so as to assist a driver in improving an irradiation effect when the driver runs on an uphill slope or a downhill slope at night, effectively reduce an occurrence rate of traffic accidents, and is low in cost and easy to industrialize.
A second object of the invention is to propose a vehicle.
A third object of the present invention is to provide a headlamp adjusting method of a vehicle.
The technical scheme adopted by the invention is as follows:
an embodiment of a first aspect of the present invention provides a headlamp adjusting device for a vehicle, including: comprises the following steps: the light sensing unit is used for detecting the intensity of ambient light; the infrared emission unit is arranged at the front part of the vehicle and is used for emitting infrared light to a road in front of the vehicle; the infrared camera is arranged at the front part of the vehicle and is used for acquiring an infrared image of a road in front of the vehicle; the image processing unit is connected with the infrared camera and used for identifying the road condition of the road in front of the vehicle according to the infrared image; the adjusting unit is connected with a headlamp of the vehicle and is used for driving the headlamp to move up and down; the micro control unit is used for acquiring the intensity of the ambient light, controlling the infrared emission unit to emit infrared light to the road in front of the vehicle when the intensity of the ambient light is lower than a preset threshold value, switching the infrared camera into a night vision mode so that the infrared camera collects infrared images of the road in front of the vehicle, and controlling the adjusting unit to drive the headlamp to move up and down according to the road condition of the road in front of the vehicle identified by the image processing unit so as to adjust the irradiation distance of the headlamp.
The headlamp adjusting device for the vehicle proposed above of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the infrared camera employs a CMOS (Complementary Metal Oxide Semiconductor) photosensitive element.
According to one embodiment of the invention, the image processor unit identifies the road condition of the road in front of the vehicle by means of an image recognition algorithm based on image vision.
According to an embodiment of the invention, the image processor unit is specifically configured to: s1, carrying out binarization and hough transformation on the infrared image to obtain a straight line in the infrared image; s2, calculating the distance from the central point of the infrared image to the straight line, and reserving the straight line with the length less than the distance; s3, calculating pairwise intersection points of the straight lines, and clustering the centers of the intersection points; s4, repeating the steps S2 and S3 by utilizing the intersection center until the number of the iterated intersection center points containing straight lines is not increased; s5, determining a skyline in real time according to the position of a road vanishing point by taking the point where the most straight lines intersect as the road vanishing point; s6, comparing the skyline with a preset skyline; s7, if the absolute value of the difference value of the pixels of the skyline and the preset skyline is less than 10% of the pixel value of the preset skyline, and the duration time reaches 3 seconds, judging that the road in front of the vehicle is an uphill; and S8, if the skyline is less than 25% of the pixels of the preset skyline and the duration time reaches 3 seconds, judging that the road in front of the vehicle is a downhill.
According to an embodiment of the present invention, the micro control unit is specifically configured to: if the road in front of the vehicle is the uphill, controlling the adjusting unit to drive the headlamp to move upwards; and if the road in front of the vehicle is the downhill, controlling the adjusting unit to drive the front lighting lamp to move downwards.
A second aspect embodiment of the invention provides a vehicle including the headlamp adjusting device of the vehicle according to the first aspect embodiment of the invention.
A third aspect embodiment of the invention proposes a headlamp adjustment method for a vehicle, the vehicle comprising: an infrared emitting unit and an infrared camera provided at a front portion of a vehicle, the method comprising the steps of: detecting the intensity of ambient light; when the intensity of the ambient light is lower than a preset threshold value, controlling the infrared emission unit to emit infrared light to a road in front of a vehicle, and switching the infrared camera into a night vision mode so that the infrared camera acquires an infrared image of the road in front of the vehicle; identifying the road condition of the road in front of the vehicle according to the infrared image; and controlling the headlamp to move up and down according to the road condition of the road in front of the vehicle so as to adjust the irradiation distance of the headlamp.
The method for adjusting the headlamp of the vehicle provided by the invention can also have the following additional technical characteristics:
according to one embodiment of the invention, the road condition of the road in front of the vehicle is identified through an image recognition algorithm based on image vision.
According to one embodiment of the invention, the method for identifying the road condition of the road in front of the vehicle through the image recognition algorithm based on image vision comprises the following steps: s1, carrying out binarization and hough transformation on the infrared image to obtain a straight line in the infrared image; s2, calculating the distance from the center point of the infrared image to the straight line, and reserving the straight line with the length smaller than the distance; s3, calculating pairwise intersection points of the straight lines, and clustering the centers of the intersection points; s4, repeating the steps S2 and S3 by utilizing the intersection center until the number of the iterated intersection center points containing straight lines is not increased; s5, determining a skyline in real time according to the position of a road vanishing point by taking the point where the most straight lines intersect as the road vanishing point; s6, comparing the skyline with a preset skyline; s7, if the absolute value of the difference value of the pixels of the skyline and the preset skyline is less than 10% of the pixel value of the preset skyline, and the duration time reaches 3 seconds, judging that the road in front of the vehicle is an uphill; and S8, if the skyline is less than 25% of the pixels of the preset skyline and the duration time reaches 3 seconds, judging that the road in front of the vehicle is a downhill.
According to an embodiment of the present invention, controlling the head lamp to move up/down according to a road condition of a road in front of the vehicle includes: if the road in front of the vehicle is the uphill, controlling the headlamp to move upwards; and if the road in front of the vehicle is the downhill, controlling the headlamp to move downwards.
The invention has the beneficial effects that:
the invention can adjust the position of the headlamp according to the road condition, monitor the road surface gradient condition ahead in advance, and intelligently adjust the irradiation distance according to the actual road condition, thereby assisting the driver to improve the irradiation effect when the driver runs on an uphill slope or a downhill slope at night, effectively reducing the incidence rate of traffic accidents, having low cost and being easy to industrialize.
Drawings
FIG. 1 is a block schematic diagram of a headlamp adjustment apparatus of a vehicle according to one embodiment of the present invention;
FIG. 2 is a schematic road condition diagram according to an embodiment of the present invention;
fig. 3 is a flowchart of a headlamp adjustment method of a vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a block schematic view of a headlamp adjusting apparatus for a vehicle according to an embodiment of the present invention, as shown in fig. 1, the apparatus including: the device comprises a light sensing unit 1, an infrared emission unit 2, an infrared camera 3, an image processing unit 4, an adjusting unit 5 and a micro control unit 6.
Wherein, the light sensing unit 1 is used for detecting the intensity of the ambient light; the infrared emission unit 2 is arranged at the front part of the vehicle and is used for emitting infrared light to a road in front of the vehicle; the infrared camera 3 is arranged at the front part of the vehicle and is used for collecting infrared images of a road in front of the vehicle; the image processing unit 4 is connected with the infrared camera and is used for identifying road conditions of a road in front of the vehicle according to the infrared image, wherein the road conditions comprise an ascending slope and a descending slope; the adjusting unit 5 is connected with a headlamp of a vehicle, and the adjusting unit 5 is used for driving the headlamp to move up and down; the micro control unit 6 is respectively connected with the light sensing unit 1, the infrared emitting unit 2, the image processing unit 4 and the adjusting unit 5, the micro control unit 6 is used for obtaining the intensity of ambient light, and when the intensity of the ambient light is lower than a preset threshold value, the infrared emitting unit 2 is controlled to emit infrared light to a road in front of a vehicle, the infrared camera 3 is switched into a night vision mode, so that the infrared camera 3 collects infrared images of the road in front of the vehicle, and the adjusting unit 5 is controlled to drive the headlamp to move up and down according to the road condition of the road in front of the vehicle identified by the image processing unit 4, so that the irradiation distance of the headlamp is adjusted.
Specifically, infrared camera 3 cooperates infrared emission unit 3 to obtain the place ahead road information at night, and infrared emission unit 2 is controlled by little the control unit 6, only can open infrared emission unit 2 under the night condition, and infrared camera 3 switches into the mode at night and receives infrared image this moment. The image processor unit 4 mainly processes the infrared image acquired from the infrared camera 3, and outputs the recognition result to the micro control unit 6 through a CAN (Controller Area Network) bus by using an image recognition algorithm. The micro control unit 6 mainly receives the input information of the light sensing unit 1 and the image processor unit 4, processes the input information to form a control command and sends the control command to the adjusting unit and the infrared emission unit respectively.
The specific working process is as follows:
the vehicle is powered on, each module is initialized, the micro control unit 6 obtains the intensity of ambient light, if the intensity of the ambient light is smaller than a preset threshold value, the infrared emission unit 2 is controlled to work, infrared light is emitted to the front road surface, meanwhile, a control light filter switching instruction is sent to the infrared camera, the night vision mode is switched, and the infrared camera 3 collects infrared images of the front road of the vehicle. The image processing unit 4 identifies the road condition of the road ahead of the vehicle, for example, whether the road ahead is an uphill slope, a downhill slope, or a level road, from the infrared image. The micro control unit 6 controls the adjusting unit 5 according to the road condition of the road in front, and drives the headlamp to move up and down through the adjusting unit 5 so as to adjust the irradiation distance of the headlamp.
Therefore, the device can adjust the position of the headlamp according to road conditions, monitor the road surface gradient condition in front in advance, and intelligently adjust the irradiation distance according to actual road conditions, so that the irradiation effect can be improved when a driver runs on a vehicle at night and meets an uphill slope or a downhill slope, the incidence rate of traffic accidents is effectively reduced, and the adopted infrared equipment is low in cost and easy to industrialize.
It is understood that if the vehicle is equipped with a light sensing device, the mcu 6 CAN also obtain the intensity of the ambient light from the BCM (Body Control Module) via the CAN bus.
According to one embodiment of the invention, the micro-control unit 6 is specifically configured to: if the road in front of the vehicle is an uphill, controlling the adjusting unit to drive the headlamp to move upwards; if the road in front of the vehicle is in a downhill state, the control and adjustment unit drives the headlamp to move downwards.
Specifically, as shown in fig. 2, when the micro control unit 6 knows that the vehicle is on an uphill slope, the headlamp adjusting unit 5 is controlled to adjust the headlamp downwards, so that more light can irradiate the road surface; on the contrary, when it is learned that the vehicle is on a downhill, the control adjusting unit 5 adjusts the headlamps upward so that the headlamps can irradiate a road surface farther forward. When the condition that the vehicle is on the top of a slope or on a flat road is known, the headlamp is controlled to return to the initial position.
According to one embodiment of the invention, the infrared camera adopts a CMOS photosensitive element, the resolution can be 1280 × 720, the lowest illumination is supported to 0.01LUX/F1.2, and the signal-to-noise ratio is more than or equal to 48 db.
According to one embodiment of the present invention, the image processor unit 4 identifies the road condition of the road ahead of the vehicle by an image recognition algorithm based on image vision.
Further, according to an embodiment of the invention, the image processor unit is specifically configured to:
and S1, performing binarization and hough transformation on the infrared image to acquire straight lines in the infrared image.
And S2, calculating the distance from the center point of the infrared image to the straight line, and reserving the straight line with the length less than the distance.
For example, if the infrared image is 1024 x 768, then the center point coordinate is (512,384), the purpose of this step is to retain the lane lines or lines of the road boundaries.
And S3, calculating pairwise intersection points of the straight lines and clustering the centers of the intersection points.
S4, repeating the steps S2 and S3 by using the intersection center until the number of the iterated intersection center points containing straight lines is not increased.
And S5, determining the skyline in real time according to the position of the road vanishing point by taking the point where the most straight lines intersect as the road vanishing point.
And S6, comparing the skyline with the preset skyline.
The skyline is the boundary between the sky and the ground in the infrared image.
And S7, if the absolute value of the difference value of the pixels of the skyline and the preset skyline is less than 10% of the pixel value of the preset skyline and the duration time reaches 3 seconds, judging that the road in front of the vehicle is an uphill.
The preset skyline is the skyline of the normal road surface, and pixels of the preset skyline can be prestored in advance.
And S8, if the skyline is less than 25% of the pixels of the preset skyline and the duration time reaches 3 seconds, judging that the road in front of the vehicle is a downhill.
The image processing unit of the invention can adopt a mainstream image processor, can realize the matching with the headlamp adjusting device of the invention by modifying the algorithm, and the image processing algorithm is also a classical recognition algorithm, so that the whole development difficulty of the system is greatly reduced, and the industrialization is easier.
The adjusting unit may include: a stepper motor.
In summary, according to the headlamp adjusting device of the vehicle in the embodiment of the invention, the micro control unit obtains the intensity of the ambient light, and when the intensity of the ambient light is lower than the preset threshold, the infrared emitting unit is controlled to emit the infrared light to the road in front of the vehicle, and the infrared camera is switched to the night vision mode, so that the infrared camera collects the infrared image of the road in front of the vehicle, and the adjusting unit is controlled to drive the headlamp to move up and down according to the road condition of the road in front of the vehicle identified by the image processing unit, so as to adjust the irradiation distance of the headlamp. Therefore, the device can adjust the position of the headlamp according to road conditions, monitor the road surface gradient condition in front early, and intelligently adjust the irradiation distance according to actual road conditions, so that the irradiation effect can be improved when a driver runs on an uphill slope or a downhill slope at night, the incidence rate of traffic accidents is effectively reduced, and the device is low in cost and easy to industrialize.
The invention also provides a vehicle, which comprises the headlamp adjusting device of the vehicle.
According to the vehicle, the headlamp adjusting device of the vehicle can adjust the position of the headlamp according to road conditions, monitor the gradient condition of the road surface in front in advance, and intelligently adjust the irradiation distance according to actual road conditions, so that a driver can be assisted in improving the irradiation effect when driving at night and encountering uphill or downhill, the occurrence rate of traffic accidents is effectively reduced, the cost is low, and industrialization is easy.
Corresponding to the headlamp adjusting device of the vehicle, the invention also provides a headlamp adjusting method of the vehicle. Since the method embodiment of the present invention is based on the system embodiment, details that are not disclosed in the method embodiment may refer to the system embodiment described above, and are not described again in the present invention.
Fig. 3 is a flowchart of a headlamp adjustment method of a vehicle according to an embodiment of the present invention. As shown in fig. 3, the method comprises the steps of:
s10, detecting the intensity of the ambient light.
And S20, when the intensity of the ambient light is lower than a preset threshold value, controlling the infrared emission unit to emit infrared light to the road in front of the vehicle, and switching the infrared camera into a night vision mode so that the infrared camera can acquire an infrared image of the road in front of the vehicle.
And S30, identifying the road condition of the road in front of the vehicle according to the infrared image.
And S40, controlling the head lamp to move up/down according to the road condition of the road in front of the vehicle so as to adjust the irradiation distance of the front lamp.
According to one embodiment of the invention, the road condition of the road in front of the vehicle is identified by an image recognition algorithm based on image vision.
According to one embodiment of the invention, the method for identifying the road condition of the road in front of the vehicle through the image recognition algorithm based on image vision comprises the following steps:
s1, performing binarization and hough transformation on the infrared image to obtain a straight line in the infrared image;
s2, calculating the distance from the center point of the infrared image to the straight line, and reserving the straight line with the length less than the distance;
s3, calculating pairwise intersection points of the straight lines and clustering the centers of the intersection points;
s4, repeating the steps S2 and S3 by using the intersection center until the number of the iterated intersection center points containing straight lines is not increased;
s5, determining a skyline in real time according to the position of a road vanishing point by taking the point where the most straight lines intersect as the road vanishing point;
s6, comparing the skyline with a preset skyline;
s7, if the absolute value of the difference value of the pixels of the skyline and the preset skyline is less than 10% of the pixel value of the preset skyline, and the duration time reaches 3 seconds, judging that the road in front of the vehicle is an uphill;
and S8, if the skyline is less than 25% of the pixels of the preset skyline and the duration time reaches 3 seconds, judging that the road in front of the vehicle is a downhill.
According to an embodiment of the present invention, controlling the up/down movement of the head lamp according to a road condition of a road in front of the vehicle includes: if the road in front of the vehicle is an uphill, controlling the headlamp to move upwards; if the road in front of the vehicle is downhill, the headlamps are controlled to move downwards.
In summary, according to the method for adjusting the headlamp of the vehicle of the embodiment of the invention, the intensity of the ambient light is detected, when the intensity of the ambient light is lower than the preset threshold, the infrared emitting unit is controlled to emit the infrared light to the road in front of the vehicle, and the infrared camera is switched to the night vision mode, so that the infrared camera collects the infrared image of the road in front of the vehicle, then the road condition of the road in front of the vehicle is identified according to the infrared image, and finally the headlamp is controlled to move up/down according to the road condition of the road in front of the vehicle, so as to adjust the irradiation distance of the headlamp. Therefore, the method can adjust the position of the headlamp according to the road condition, monitor the gradient condition of the road surface in front early, and intelligently adjust the irradiation distance according to the actual road condition, thereby assisting a driver to improve the irradiation effect when driving at night and encountering uphill or downhill, effectively reducing the incidence of traffic accidents, and being low in cost and easy to industrialize.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated in the carriage or mutually interacted. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples and features of the various embodiments or examples described in this specification can be combined and combined by those skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A headlamp adjusting apparatus for a vehicle, characterized by comprising:
the light sensing unit is used for detecting the intensity of ambient light;
the infrared emission unit is arranged at the front part of the vehicle and is used for emitting infrared light to a road in front of the vehicle;
the infrared camera is arranged at the front part of the vehicle and is used for acquiring an infrared image of a road in front of the vehicle;
the image processing unit is connected with the infrared camera and used for identifying the road condition of the road in front of the vehicle according to the infrared image;
the adjusting unit is connected with a headlamp of the vehicle and is used for driving the headlamp to move up and down;
and the micro control unit is respectively connected with the light sensing unit, the infrared transmitting unit, the image processing unit and the adjusting unit, and is used for acquiring the intensity of the ambient light, controlling the infrared transmitting unit to transmit infrared light to the road in front of the vehicle when the intensity of the ambient light is lower than a preset threshold value, and switching the infrared camera into a night vision mode so as to collect the infrared image of the road in front of the vehicle by the infrared camera and controlling the adjusting unit to drive the headlamp to move up and down to adjust the irradiation distance of the headlamp according to the road condition of the road in front of the vehicle identified by the image processing unit.
2. The headlamp adjusting apparatus for a vehicle according to claim 1, wherein the infrared camera employs a CMOS photosensitive element.
3. The headlamp adjustment apparatus of claim 1, wherein the image processor unit identifies the road condition of the road in front of the vehicle through an image recognition algorithm based on image vision.
4. The headlamp adjustment device of a vehicle according to claim 3, wherein the image processor unit is specifically configured to:
s1, carrying out binarization and hough transformation on the infrared image to obtain a straight line in the infrared image;
s2, calculating the distance from the center point of the infrared image to the straight line, and reserving the straight line with the length smaller than the distance;
s3, calculating pairwise intersection points of the straight lines, and clustering the centers of the intersection points;
s4, repeating the steps S2 and S3 by utilizing the intersection center until the number of the iterated intersection center points containing straight lines is not increased;
s5, determining a skyline in real time according to the position of a road vanishing point by taking the point where the most straight lines intersect as the road vanishing point;
s6, comparing the skyline with a preset skyline;
s7, if the absolute value of the difference value of the pixels of the skyline and the preset skyline is less than 10% of the pixel value of the preset skyline, and the duration time reaches 3 seconds, judging that the road in front of the vehicle is an uphill;
and S8, if the skyline is less than 25% of the pixels of the preset skyline and the duration time reaches 3 seconds, judging that the road in front of the vehicle is a downhill.
5. The headlamp adjustment device of a vehicle according to claim 1, wherein the micro control unit is specifically configured to:
if the road in front of the vehicle is the uphill, controlling the adjusting unit to drive the headlamp to move upwards;
and if the road in front of the vehicle is the downhill, controlling the adjusting unit to drive the headlamp to move downwards.
6. A vehicle, characterized by comprising a headlamp adjustment device of a vehicle according to any one of claims 1-5.
7. A headlamp adjustment method of a vehicle, characterized in that the vehicle includes: an infrared emission unit and an infrared camera provided at a front portion of a vehicle, the method comprising the steps of:
detecting the intensity of ambient light;
when the intensity of the ambient light is lower than a preset threshold value, controlling the infrared emission unit to emit infrared light to a road in front of a vehicle, and switching the infrared camera into a night vision mode so that the infrared camera acquires an infrared image of the road in front of the vehicle;
identifying the road condition of the road in front of the vehicle according to the infrared image;
and controlling the headlamp to move up and down according to the road condition of the road in front of the vehicle so as to adjust the irradiation distance of the headlamp.
8. The method for adjusting headlamps of a vehicle according to claim 7, characterized in that the road condition of the road in front of the vehicle is identified by an image recognition algorithm based on image vision.
9. The method for adjusting headlamps of a vehicle according to claim 7, characterized in that identifying the road conditions of the road ahead of the vehicle by means of an image recognition algorithm based on image vision comprises:
s1, carrying out binarization and hough transformation on the infrared image to obtain a straight line in the infrared image;
s2, calculating the distance from the center point of the infrared image to the straight line, and reserving the straight line with the length smaller than the distance;
s3, calculating pairwise intersection points of the straight lines, and clustering the centers of the intersection points;
s4, repeating the steps S2 and S3 by utilizing the intersection center until the number of the iterated intersection center points containing straight lines is not increased;
s5, determining a skyline in real time according to the position of a road vanishing point by taking the point where the most straight lines intersect as the road vanishing point;
s6, comparing the skyline with a preset skyline;
s7, if the absolute value of the difference value of the pixels of the skyline and the preset skyline is less than 10% of the pixel value of the preset skyline, and the duration time reaches 3 seconds, judging that the road in front of the vehicle is an uphill;
and S8, if the skyline is less than 25% of the pixels of the preset skyline and the duration time reaches 3 seconds, judging that the road in front of the vehicle is a downhill.
10. The method for adjusting a headlamp of a vehicle according to claim 7, wherein controlling the headlamp to move up/down according to a road condition of a road in front of the vehicle comprises:
if the road in front of the vehicle is the uphill, controlling the headlamp to move upwards;
and if the road in front of the vehicle is the downhill, controlling the headlamp to move downwards.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011613163.9A CN114684004B (en) | 2020-12-30 | Vehicle and headlamp adjusting device and method thereof | |
| PCT/CN2021/111687 WO2022142354A1 (en) | 2020-12-30 | 2021-08-10 | Vehicle, and vehicle headlamp adjustment device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011613163.9A CN114684004B (en) | 2020-12-30 | Vehicle and headlamp adjusting device and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114684004A true CN114684004A (en) | 2022-07-01 |
| CN114684004B CN114684004B (en) | 2024-06-21 |
Family
ID=
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973229A (en) * | 2010-10-30 | 2011-02-16 | 奇瑞汽车股份有限公司 | Self-adaptive rampway auxiliary lighting device and method |
| CN105835754A (en) * | 2016-02-22 | 2016-08-10 | 北京工业大学 | Control device for actively adjusting pitch angle of headlamps by sensing road surface fluctuation through infrared |
| CN107364389A (en) * | 2017-06-19 | 2017-11-21 | 上海小糸车灯有限公司 | Automobile light-modulating system and method based on laser radar detection road surface climb and fall |
| CN108569193A (en) * | 2017-11-16 | 2018-09-25 | 常州星宇车灯股份有限公司 | A kind of self-adaptive headlamp system and its control method based on road conditions |
| JP2020015328A (en) * | 2018-07-23 | 2020-01-30 | トヨタ自動車株式会社 | Headlight system for vehicle |
| CN214564939U (en) * | 2020-12-30 | 2021-11-02 | 常州星宇车灯股份有限公司 | Vehicle and headlamp adjusting device thereof |
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973229A (en) * | 2010-10-30 | 2011-02-16 | 奇瑞汽车股份有限公司 | Self-adaptive rampway auxiliary lighting device and method |
| CN105835754A (en) * | 2016-02-22 | 2016-08-10 | 北京工业大学 | Control device for actively adjusting pitch angle of headlamps by sensing road surface fluctuation through infrared |
| CN107364389A (en) * | 2017-06-19 | 2017-11-21 | 上海小糸车灯有限公司 | Automobile light-modulating system and method based on laser radar detection road surface climb and fall |
| CN108569193A (en) * | 2017-11-16 | 2018-09-25 | 常州星宇车灯股份有限公司 | A kind of self-adaptive headlamp system and its control method based on road conditions |
| JP2020015328A (en) * | 2018-07-23 | 2020-01-30 | トヨタ自動車株式会社 | Headlight system for vehicle |
| CN214564939U (en) * | 2020-12-30 | 2021-11-02 | 常州星宇车灯股份有限公司 | Vehicle and headlamp adjusting device thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022142354A1 (en) | 2022-07-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8600111B2 (en) | Vehicular tilt-sensing method and automatic headlight leveling system using the same | |
| KR101768500B1 (en) | Drive assistance apparatus and method for controlling the same | |
| US9185363B2 (en) | Vehicle imaging system and method for categorizing objects using relative motion analysis | |
| US6960005B2 (en) | Vehicle headlamp apparatus | |
| CN103596804B (en) | Method and control device for the distance light of connecting vehicle | |
| CN105593061B (en) | System and method for controlling exterior vehicle lights on fast traffic lane | |
| US8315766B2 (en) | Process for detecting a phenomenon limiting the visibility for a motor vehicle | |
| US11104279B2 (en) | Vehicle vision system with adaptive reversing light | |
| CN109311416B (en) | Imaging system with adaptive high beam control | |
| CN107972569B (en) | Vehicle lamp set control method, device and system and vehicle | |
| CN105579289B (en) | Imaging system and method with displacement detection | |
| JP4980970B2 (en) | Image pickup means adjustment device and object detection device | |
| WO2022142354A1 (en) | Vehicle, and vehicle headlamp adjustment device and method | |
| CN113263975B (en) | Vehicle headlamp control device, control method, and non-transitory storage medium | |
| CN105667386A (en) | Automobile light control system | |
| CN113553998B (en) | Anti-dazzling snapshot method for license plate at night on expressway based on deep learning algorithm | |
| CN111027494A (en) | Matrix vehicle lamp identification method based on computer vision | |
| JP4735090B2 (en) | Infrared imaging device | |
| JP2007230505A (en) | Vehicular lamp controller | |
| CN214564939U (en) | Vehicle and headlamp adjusting device thereof | |
| JP2008296759A (en) | Information processor, method, and program | |
| CN114684004B (en) | Vehicle and headlamp adjusting device and method thereof | |
| CN111216636A (en) | Travel control device, control method, and storage medium storing program | |
| JP6190210B2 (en) | Headlight control device | |
| CN110774976B (en) | Device and method for controlling a vehicle headlight |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |