KR102217596B1 - Apparatus for controlling adaptive driving beam headlamp and method thereof - Google Patents

Abstract

The present invention relates to an apparatus and method for controlling an adaptive driving beam headlamp, wherein the apparatus checks whether a camera angle value periodically input from a camera applied to an adaptive driving beam headlamp has similarity to a previously input camera angle value. A camera angle filter unit that filters and outputs a similar camera angle value, a swivel angle calculation unit that calculates a swivel angle using the camera angle value filtered by the camera angle filter unit, and the distance from the camera to the preceding vehicle or counter vehicle A storage unit for storing a filter time constant according to information and a filter time constant according to the distance information are used to calculate an adjustment speed of the swivel angle for adjusting to the swivel angle output from the swivel angle calculation unit, and the swivel angle adjustment speed And a swivel angle filter configured to output the filtered swivel angle adjustment signal.

Description

Adaptive driving beam headlamp control device and method {APPARATUS FOR CONTROLLING ADAPTIVE DRIVING BEAM HEADLAMP AND METHOD THEREOF}

The present invention relates to an apparatus and method for controlling an adaptive driving beam headlamp, and more particularly, to an adaptive driving beam headlamp control capable of improving the accuracy of the detection performance of the preceding vehicle and the counter vehicle of a camera applied to the adaptive driving beam headlamp. It relates to an apparatus and method.

Recently, automobile headlamps are evolving from passive lighting to lighting by actively responding to roads and surrounding environments. As an example, there is a method of providing bright light on a dark road and providing dark light on a bright road. In addition, a method of adjusting to minimize glare is applied to drivers of oncoming vehicles.

In particular, among intelligent headlamp systems that have been actively researched recently, the adaptive driving beam (ADB) headlamp system is a camera-linked headlamp system, and when there is no preceding vehicle or counter vehicle recognized by the camera mounted in the front of the vehicle. (That is, the number of light sources is 0) If the camera recognizes the preceding vehicle and the counter vehicle while operating as a high-beam (that is, when the light source is recognized), the outermost angle of the preceding vehicle and the counter vehicle is input and recalled. A low-beam for preventing glare is irradiated to the preceding vehicle and countervehicle regions, and a high-beam is irradiated to regions other than the above regions.

In addition, when the preceding vehicle and the opposing vehicle approach or move away from each other, the headlamp is swiveled through the outermost angle input through the camera.

Through the adaptive driving beam headlamp, the driver can improve front visibility, and the driver of the preceding vehicle and the counter vehicle can be prevented from glare.

On the other hand, AFLS (Adaptive Front Light System), one of the intelligent headlamp systems, controls the swivel angle of the headlamp according to the steering wheel angle, but the adaptive driving beam headlamp counters the preceding vehicle input through the camera. Since the swivel angle is controlled by using the outermost angle information of the car, there are many differences in the logic controlling the swivel angle.

For reference, the adaptive driving beam headlamp controls the adjustment speed of the swivel angle by reflecting a filter time constant (i.e., the time it takes for the swivel actuator to reach 63.3% of the target value), and at this time, the filter time The larger the constant value, the longer it takes to reach the target value. Therefore, by setting the filter time constant value differently depending on the vehicle speed, it is possible to tune the emotional quality for the swivel followability.

However, the adaptive driving beam headlamp is affected by the control of the swivel operation according to the accuracy of the ability to detect the preceding vehicle and the counter vehicle using the camera. For example, the camera of the adaptive driving beam headlamp has a problem in that a sign such as a reflector is misrecognized as a light source (or lighting) of a preceding vehicle or an opposing vehicle, and accordingly, an abnormal swivel operation is performed.

In addition, when the filter time constant applied to the existing AFLS (Adaptive Front Light System) is applied as it is to the adaptive driving beam headlamp, there is a problem that the emotional quality of the driver may be deteriorated.

The background technology of the present invention is disclosed in Korean Patent Registration No. 10-1134867 (registered on April 2, 2012, adaptive headlight system).

The present invention has been created to solve the above problems, and provides an adaptive driving beam headlamp control apparatus and method for improving the accuracy of the detection performance of the preceding vehicle and the counter vehicle of a camera applied to the adaptive driving beam headlamp. It has its purpose.

In addition, an object of the present invention is to provide an apparatus and method for controlling an adaptive driving beam headlamp to improve emotional quality by calculating a filter time constant corresponding to distance information and adjusting a swivel angle adjustment speed of the headlamp.

The adaptive driving beam headlamp control apparatus according to an aspect of the present invention checks whether a camera angle value periodically input from a camera applied to the adaptive driving beam headlamp has similarity to a previously input camera angle value. A camera angle filter that filters and outputs a camera angle value; A swivel angle calculator configured to calculate a swivel angle using a camera angle value filtered by the camera angle filter; A storage unit for storing a filter time constant according to distance information from the camera to a preceding vehicle or a counter vehicle; And calculating a swivel angle adjustment speed for adjusting to the swivel angle output from the swivel angle calculating unit using a filter time constant according to the distance information, and outputting a filtered swivel angle adjustment signal based on the swivel angle adjustment speed. It characterized in that it includes; a swivel angle filter unit.

In the present invention, the similarity determines whether the change in the camera angle with respect to the light source of the counter vehicle or the counter vehicle that changes according to the driving of a vehicle equipped with a camera applied to the adaptive driving beam headlamp satisfies a preset rate of change range. It is characterized in that it is an indicated value.

In the present invention, the camera angle filter unit checks whether the camera angle value without similarity is input more than a preset reference number, and when the camera angle value without similarity is continuously input more than the reference number of times, the camera angle value is It is characterized in that it is selected as a new reference camera angle value, and it is checked whether a new camera angle value input after the reference camera angle value is selected has similarity to a previous camera angle value.

In the present invention, the filter time constant value according to the distance information is, when the distance information from the camera to the preceding vehicle or the counter vehicle is relatively short, the swivel angle adjustment speed is adjusted relatively quickly, and the distance information is relatively It is characterized in that the swivel angle adjustment speed is set to be adjusted relatively slowly when it is a long distance.

In the adaptive driving beam headlamp control method according to another aspect of the present invention, a camera angle filter unit periodically receives a camera angle value from a camera applied to the adaptive driving beam headlamp, and a camera angle value input later is a previously input camera. A first step of checking whether there is similarity with respect to the angle value, and filtering and outputting a camera angle value having similarity; A second step of calculating a swivel angle by using the filtered camera angle value by a swivel angle calculator; And a swivel angle filter unit calculates an adjustment speed of the swivel angle output from the swivel angle calculation unit using a filter time constant according to distance information stored in the storage unit, and calculates a swivel angle adjustment signal based on the swivel angle adjustment speed. And a third step of outputting.

In the present invention, after checking whether there is similarity with respect to the camera angle value in the first step, the camera angle filter unit includes a fourth step of checking whether a camera angle value without similarity is inputted by a preset reference number or more; A fifth step of selecting the camera angle value as a new reference camera angle value when the camera angle value without similarity is continuously input more than the reference number of times; And a sixth step of checking whether a new camera angle value input after the reference camera angle value is selected has similarity to a previous camera angle value.

In the present invention, after checking whether there is similarity with respect to the camera angle value, the camera angle filter unit, when the similar camera angle value is not input or the camera angle value without similarity is input less than a preset reference number, the It is characterized in that the reference number of times is counted and the first to third steps are repeatedly performed.

The present invention makes it possible to improve the accuracy of the detection performance of the preceding vehicle and the counter vehicle of the camera applied to the adaptive driving beam headlamp, and also by controlling the speed of adjusting the swivel angle of the headlamp by calculating the filter time constant corresponding to the distance information. Make it possible to improve emotional quality.

1 is an exemplary view showing a schematic configuration of an adaptive driving beam headlamp control apparatus according to an embodiment of the present invention.
FIG. 2 is an exemplary view showing a camera angle value input from a camera applied to an adaptive driving beam headlamp according to an embodiment of the present invention measured using a specific program and shown in graph form.
3 is an exemplary diagram showing filter time constant values according to distance information stored in a storage unit in the form of a table in FIG. 1.
4 is a flowchart illustrating a method of controlling an adaptive driving beam headlamp according to an embodiment of the present invention.

Hereinafter, an embodiment of an apparatus and method for controlling an adaptive driving beam headlamp according to the present invention will be described with reference to the accompanying drawings.

In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention and may vary according to the intention or custom of users or operators. Therefore, definitions of these terms should be made based on the contents throughout the present specification.

The present invention provides a Fail Safe function that prevents the camera applied to the adaptive driving beam headlamp from misrecognizing signs such as reflectors and streetlights as light sources of opposing vehicles or preceding vehicles.

In addition, the present invention allows the emotional quality to be tuned by determining the target position (i.e., the swivel angle) following time (i.e., the swivel angle adjustment speed) in response to the distance information with the preceding vehicle (or countervehicle). It provides the function to do.

More specifically, in the present invention, a camera angle applied to an adaptive driving beam headlamp is input, filtered to see if there is a misrecognized angle, and then calculates a swivel angle target value. And by adjusting the target position (i.e., swivel angle) tracking time (i.e., swivel angle adjustment speed) using distance information from the preceding vehicle (or countervehicle) received from the camera, the emotional quality can be tuned. do.

1 is an exemplary view showing a schematic configuration of an adaptive driving beam headlamp control apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the adaptive driving beam headlamp control apparatus according to the present embodiment includes a camera angle filter unit 110, a swivel angle calculation unit 120, a storage unit 130, and a swivel angle filter unit 140. ).

The camera angle filter unit 110 checks whether a camera angle value input at a predetermined time interval from a camera (not shown) applied to the adaptive driving beam headlamp is similar to a previously input camera angle value.

For example, if a streetlight or a sign is misrecognized as a light source of a preceding vehicle or an opposing vehicle, the most recently input camera angle value according to the predetermined time interval is similar to the previously input camera angle value (that is, changes according to vehicle driving. There will be no degree of change in the angle of the camera with respect to the light source of the relative difference or the opposite difference to satisfy the preset rate of change range). Accordingly, the camera angle writing unit 110 ignores a camera angle value having no similarity among the camera angle values input at a predetermined time interval and filters and outputs a camera angle value with similarity.

2 is an exemplary diagram showing a graph form by measuring a camera angle value input from a camera applied to an adaptive driving beam headlamp according to an embodiment of the present invention using a specific program (eg, CANape).

2, a phenomenon in which a camera angle value with similarity (ie, a camera angle value with continuity within a preset rate of change) is input, and then an angle value without similarity (eg A, B) is sometimes input once. Can be seen.

As shown in the graph shown in FIG. 2, when a camera angle value with similarity is sometimes input while a camera angle value with similarity is input, there is a high possibility that a light source reflected from a street light or a sign installed on the side of the road is detected. .

However, in some cases, it may be a light source of a new counter vehicle or a preceding vehicle entering the current driving road from the side road. That is, this is because the camera angle value detected from the light source of the vehicle or the preceding vehicle entering the current driving road has no similarity to the previously input camera angle value.

Therefore, when a camera angle value having no similarity is input as described above, it is necessary to distinguish whether it is a light source by a street light or a sign, or a light source by an opposing vehicle or a preceding vehicle entering the current driving road from the side. Accordingly, the camera angle filter unit 110 checks whether the camera angle value without similarity is input by a preset reference number of times (e.g., num = 3 times), and the camera angle value without similarity is equal to or greater than the reference number (num). When continuously inputted, the camera angle value is selected as a new reference camera angle value.

After the new camera angle value selected as the criterion is selected, the newly input camera angle value is filtered. That is, the camera angle filter unit 110 checks whether a new camera angle value input after the reference camera angle value is selected has similarity to a previous camera angle value.

The swivel angle calculation unit 120 calculates a swivel angle (or a turning radius) by using the camera angle value filtered by the camera angle filter unit 110. In this case, the swivel angle corresponding to the camera angle value may be set differently within a range that satisfies a vehicle manufacturer or a vehicle-related law.

The storage unit 130 stores a filter time constant according to distance information to a preceding vehicle (or a counter vehicle).

FIG. 3 is an exemplary diagram showing filter time constant values according to distance information stored in a storage unit in the form of a table in FIG. 1.

Referring to FIG. 3, when the value of'Par_DBLLengthTmCst_x' is set to a target value when the distance to the opposing vehicle or the preceding vehicle is near, the target value reaching speed (that is, the swivel angle adjustment speed) is relatively fast, and when the distance to the opposing vehicle or the preceding vehicle is a long distance. Set the speed of reaching the target value (ie, the speed of swivel angle adjustment) to be adjusted relatively slowly.

Here, the larger the'Par_DBLLengthTmCst_y' value, the longer it takes to reach the target value.

As shown in FIG. 3, the filter time constant is a value for controlling the adjustment speed of the swivel angle, and the larger the filter time constant value is, the longer it takes to reach the target value (ie, the target swivel angle).

Therefore, by setting the filter time constant value differently according to the distance to the preceding vehicle (or counter vehicle) (e.g., near, far) (e.g.: set a small filter time constant at a short distance and a larger filter time constant at a far distance) It makes it possible to tune the emotional quality for followability. That is, the swivel angle is more naturally adjusted according to the change in the distance to the preceding vehicle (or the opposing vehicle), so that the driver does not feel uncomfortable due to the adjustment of the swivel angle of the headlamp.

For example, as the distance to the preceding vehicle (or opposing vehicle) gets closer, the speed of adjusting the swivel angle is controlled faster. In this case, the filter time constant can be set through a field test and stored in a lookup table format.

The swivel angle filter unit 140 uses a filter time constant according to distance information stored in the storage unit 130 to adjust a swivel angle adjustment speed for adjusting the swivel angle output from the swivel angle calculation unit 120 Calculate. Then, the filtered swivel angle adjustment signal is output based on the swivel angle adjustment speed.

Accordingly, the swivel angle of the headlamp is adjusted at the desired speed.

4 is a flowchart illustrating a method of controlling an adaptive driving beam headlamp according to an embodiment of the present invention.

As shown in FIG. 4, the camera angle filter unit 110 periodically receives a camera angle value from a camera (not shown) applied to the adaptive driving beam headlamp (S101).

In addition, the camera angle filter unit 110 has the similarity of the camera angle value input later to the previously input camera angle value (that is, the change in the camera angle with respect to the light source of the opponent vehicle or the counter vehicle that changes according to vehicle driving) It is checked whether there is a degree of satisfying the preset change rate range) (S102).

However, the input of the camera angle value without the similarity may be a light source reflected from a street light or a sign installed on the side of the road, or a light source of a new opposing vehicle or a preceding vehicle entering the current driving road from the side road. Therefore, when a camera angle value having no similarity is input as described above, it is necessary to distinguish whether it is a light source reflected by a street light or a sign, or a light source by an opposing vehicle or a preceding vehicle entering the current driving road from the side.

Accordingly, when the camera angle value having no similarity is input, the camera angle filter unit 110 checks whether or not more than a preset reference number (eg, num=3 times) is input (S102).

The camera angle filter unit 110 inputs the similar camera angle value, or when the camera angle value without similarity is input more than a preset reference number (e.g., num=3 times) (example of S102) the camera angle value (In other words, a similar camera angle value, a camera angle value without similarity input more than the reference number of times) is selected as a new reference camera angle value.

In addition, although not shown in FIG. 4, as described with reference to FIG. 1, after a new camera angle value is selected as the criterion, the newly input camera angle value is filtered. That is, the camera angle filter unit 110 checks whether a new camera angle value input after the reference camera angle value is selected has similarity to a previous camera angle value (ie, a reference camera angle value).

Further, the swivel angle calculator 120 calculates a swivel angle using the filtered camera angle value, and the swivel angle filter unit 140 calculates a filter time according to distance information stored in the storage unit 130. The adjustment speed of the swivel angle output from the swivel angle calculator 120 is calculated using a constant, and a swivel angle adjustment signal is output based on the swivel angle adjustment speed (S104).

In addition, the camera angle filter unit 110 initializes the set reference number (eg, num) to 0 in order to check the number of times the camera angle value without similarity is input (S104).

In addition, when the camera angle filter unit 110 does not input the similar camera angle value or the camera angle value without similarity is input less than a preset reference number (eg, num=3 times) (No in S102), The reference number (eg, num) is counted and the process returns to step S101 (S103).

Accordingly, steps S101 and S104 are repeatedly performed.

As described above, in this embodiment, considering that the adaptive driving beam headlamp controls the swivel angle using the outermost angle of the opposing vehicle or the preceding vehicle, the swivel angle is controlled by using the distance to the opposing vehicle or the preceding vehicle. Lets you tune the emotional quality. In addition, the present embodiment improves reliability and stability of the swivel angle by filtering the misrecognized light source information and applying it to the swivel angle control.

As described above, the present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the field to which the technology pertains, various modifications and other equivalent embodiments are possible. I will understand the point. Therefore, the technical protection scope of the present invention should be determined by the following claims.

110: camera angle filter unit
120: swivel angle calculation unit
130: storage unit
140: swivel angle filter unit

Claims (7)

A camera angle filter unit configured to filter and output a similar camera angle value by checking whether a camera angle value periodically input from a camera applied to the adaptive driving beam headlamp has similarity to a previously input camera angle value;
A swivel angle calculator configured to calculate a swivel angle using a camera angle value filtered by the camera angle filter;
A storage unit for storing a filter time constant according to distance information from the camera to a preceding vehicle or a counter vehicle; And
Calculating a swivel angle adjustment speed for adjusting to the swivel angle output from the swivel angle calculating unit using the filter time constant according to the distance information, and outputting a filtered swivel angle adjustment signal based on the swivel angle adjustment speed. Including; a swivel angle filter unit,
The camera angle filter unit,
Checking whether a camera angle value without similarity is input more than a preset reference number, and when the camera angle value without similarity is continuously input more than the reference number, selecting the camera angle value as a new reference camera angle value. Adaptive driving beam headlamp control unit.
The method of claim 1, wherein the similarity is
An adaptive driving beam, characterized in that the adaptive driving beam is a value indicating whether a change in the angle of the camera with respect to the light source of the opposite vehicle or the opposite vehicle that changes according to the driving of the vehicle equipped with a camera applied to the adaptive driving beam headlamp satisfies a preset change rate range Headlamp control device.
The method of claim 1, wherein the camera angle filter unit,
After selecting the camera angle value as a new reference camera angle value, it is checked whether the input new camera angle value has similarity to the previous camera angle value.
The method of claim 1, wherein the filter time constant value according to the distance information is
When the distance information from the camera to the preceding vehicle or the opposing vehicle is relatively short, the swivel angle adjustment speed is adjusted relatively quickly, and when the distance information is relatively far, the swivel angle adjustment speed is set to be adjusted relatively slow. Adaptive driving beam headlamp control device, characterized in that.
The camera angle filter unit receives the camera angle value periodically from the camera applied to the adaptive driving beam headlamp, and checks if the camera angle value input later has similarity to the previously input camera angle value, and the camera angle value with similarity A first step of filtering and outputting;
A second step of calculating a swivel angle by using the filtered camera angle value by a swivel angle calculator;
The swivel angle filter unit calculates the adjustment speed of the swivel angle output from the swivel angle calculator using the filter time constant according to the distance information stored in the storage unit, and outputs a swivel angle adjustment signal based on the swivel angle adjustment speed. The third step;
A fourth step of checking whether there is similarity with respect to the camera angle value in the first step, the camera angle filter unit checking whether a camera angle value having no similarity is inputted by a preset reference number or more; And
And a fifth step of selecting the camera angle value as a new reference camera angle value when the camera angle value without similarity is continuously inputted for more than the reference number of times; and a method for controlling an adaptive driving beam headlamp comprising: a.
The method of claim 5,
And a sixth step of checking whether a new camera angle value input after the reference camera angle value is selected has similarity to a previous camera angle value. 2. The method of controlling an adaptive driving beam headlamp, further comprising.
The method of claim 5,
After checking whether there is similarity to the camera angle value,
The camera angle filter unit counts the reference number and repeats the first to third steps when the similar camera angle value is not input or the camera angle value without similarity is input less than a preset reference number. An adaptive driving beam headlamp control method, characterized in that.

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