2D adaptive high beam system and its camera module

Abstract

The present application relates to a 2D adaptive high beam system for a vehicle, comprising a camera module (30) integrating a camera unit (10) and a headlight control unit (20), and a left headlight module (40) and a right headlight module (50) communicatively connected to the camera module (30), wherein the camera unit (10) is used to obtain a projection image of a target object in front of the vehicle in a horizontal plane, and the headlight control unit (20) is configured to: determine the occupied position of the projection image of the target object in the total illumination area of ​​the vehicle high beam based on image data received from the camera unit (10), determine the expected luminous intensity of each light-emitting element constituting the high beam of the left and right headlight modules based on the occupied position and a preset critical brightness value, and send the determined expected luminous intensity of each light-emitting element constituting the high beam of the left and right headlight modules to the left and right headlight modules and control each light-emitting element accordingly. The present application also relates to a camera module in the system.

Description

Technical Field

[0001] The present application belongs to the field of vehicle active safety, and specifically relates to a two-dimensional (2D) adaptive driving beam system for a vehicle. The present application also relates to a camera module in the system. Background Art

[0002] As an intelligent anti-glare high-beam system, the adaptive high-beam system can automatically change the high-beam illumination distance, angle and area according to road conditions.

[0003] Specifically, the system senses other vehicles (or referred to as "target objects" in this article) in front of the vehicle in the direction of travel through a camera and generates image data of the target vehicle. The headlight control unit respectively integrated in the left and right headlight modules recognizes the image data and determines the on and off operation of each light-emitting element, i.e., LED, in the left and right headlight modules serving as high beams, or controls and adjusts the intensity of light emitted by each LED in the high beam, thereby achieving the purpose of effectively adjusting the high beam illumination pattern to avoid dazzling the driver of the target vehicle.

[0004] As mentioned above, the headlight control unit is integrated into the left and right headlight modules as a hardware unit. Due to the existence of the hardware unit, each headlight module provided as a separate component has a high cost. Similarly, since the headlight control unit is integrated into the left and right headlight modules, the camera communicates with the headlight control unit in the headlight module through the vehicle CAN bus to transmit the image data of the target vehicle generated by the camera to the headlight control unit, and the headlight control unit is connected to the light-emitting LED of the headlight module through the LIN connection to control the action and light emission of each LED. However, due to the limitations of the bandwidth and data transmission capacity of the vehicle CAN bus, the transmission of image data is slow, which causes delays and lags in the control and adjustment of the high beam of the vehicle headlight module.

[0005] It is hoped that the above technical problems can be solved. Summary of the invention

[0006] The present invention solves at least one of the above technical problems by integrating the headlight control function into a camera module, and provides an improved 2D adaptive high beam system.

[0007] The 2D adaptive high beam system for a vehicle of the present application comprises a camera module integrating a camera unit and a headlight control unit, and a left front headlight module (40) and a right front headlight module communicatively connected to the camera module, wherein the left front headlight module and the right front headlight module respectively comprise high beams composed of a plurality of light emitting elements arranged in a matrix form.

[0008] The camera unit of the camera module is configured to obtain image data of a target object in front of the vehicle, wherein the image data includes a projection image of the target object in a horizontal plane.

[0009] The headlight control unit of the camera module is configured to:

[0010] receiving image data of the target object from the camera unit,

[0011] determining the position of the projected image of the target object in the total illumination area of ​​the vehicle high beam lamp based on the received image data,

[0012] Based on the occupied position and the preset critical brightness value, the expected luminous intensity of each luminous element constituting the high beam of the left headlight module and the right headlight module is determined, and

[0013] The determined expected luminous intensity of each light-emitting element constituting the high beam of the left headlight module and the right headlight module is sent to the left headlight module and the right headlight module, and each light-emitting element is controlled accordingly to achieve its own luminous intensity.

[0014] The present application also relates to a camera module, which is the camera module used in the above-mentioned 2D adaptive high beam system.

[0015] The adaptive high beam system of the present application integrates the headlight control unit with the camera unit, and in particular integrates the headlight control function into the camera unit, which solves the technical problem that the long-distance transmission of image data via the vehicle CAN line causes delays and lags in the control and adjustment of the high beam. In addition, the left and right headlight modules no longer need a hardware unit for implementing the headlight control unit with powerful image processing and computing capabilities, which greatly reduces the cost of the headlight module. At the same time, the headlight control function is integrated into the camera unit, which does not increase the hardware cost of the camera unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The foregoing and other features, advantages and benefits of the present application will be described in detail below with reference to the accompanying drawings in conjunction with exemplary embodiments of the present application.

[0017] Figure 1 is a simplified structural block diagram of a 2D adaptive high beam system according to the present application;

[0018] Figure 2 A schematic diagram of coordinate transformation of one of the outermost contour points of a target object located in front of the vehicle; and

[0019] Figure 3 A schematic diagram illustrating the position of a projected image of a target object in a horizontal plane in the total illumination area of ​​a high beam of a left front headlight;

[0020] Figure 4 A schematic diagram illustrating the positions of the projection images of two target objects in the horizontal plane in the total illumination area of ​​the high beam of the left front headlight. DETAILED DESCRIPTION

[0021] The technical advantages of the present application are achieved by integrating a camera unit with the functions of a headlight control unit.

[0022] In general, the adaptive high beam system of the present application includes a camera module 30, and a left headlight module 40 and a right headlight module 50. The camera module 30 is connected to the left headlight module 40 and the right headlight module 50 through the vehicle CAN bus to control and adjust the high beams of the left headlight module 40 and the right headlight module 50 (i.e., the high beams of the vehicle). In the present application, the camera module 30 includes a camera unit 10 and a headlight control unit 20. The headlight control unit 20 is integrated with the camera unit 10.

[0023] Before describing the adaptive high beam system according to the present application in detail, the directional terms used in this document are defined. In the present application, the term "longitudinal direction" refers to the extension direction of the length of the vehicle body, the "forward direction" or "forward direction" refers to the direction along the vehicle's travel in the longitudinal direction, and the "rearward direction" or "rearward direction" refers to the direction opposite to the vehicle's travel direction in the longitudinal direction. The term "lateral direction" refers to the extension direction of the width of the vehicle body, which extends transversely to the longitudinal direction, and "left side", "left", "leftward" and "right side", "right", "rightward" or similar terms refer to the left and right sides of the observer when facing the front direction of the vehicle in the vehicle. It should be understood by those skilled in the art that "left" and "right" are relative, and are only used to indicate the opposite sides in the transverse direction, and have no other special meanings. The "left side" can be referred to as the transverse first side, and the "right side" can be referred to as the transverse second side. The term "longitudinal vertical plane" is a plane defined by the longitudinal direction and the vertical direction, which extends perpendicular to the transverse direction. In addition, in this document, “object” or “target object” refers to a vehicle located in front of the host vehicle or a pedestrian, as well as any other object that is intended to avoid being disturbed or harmed by the light of the high beam.

[0024] The camera unit 10 of the camera module 30 of the adaptive high beam system generally includes a multi-function camera (MPC) installed near the rearview mirror of the vehicle. The camera unit 10 is configured to take a picture of a scene within a certain range in front of the vehicle and generate a projection image of an object (also referred to as a "target object") within the range of the photographed scene in a horizontal plane. Please note that throughout the text, all "horizontal planes" refer to the same horizontal plane defined by the longitudinal direction and the lateral direction, such as the ground or any other horizontal plane.

[0025] The headlight control unit 20 of the camera module 30 is configured to identify the outermost contour of the projection image after the camera unit 10 obtains the projection image of the target object in the horizontal plane. Specifically, in the illustrated exemplary embodiment of the present application, the outermost contour can be represented by three outermost contour points of the projection image: the outermost contour point A on the first lateral side of the projection image of the target object, the outermost contour point B on the second lateral side opposite to the first lateral side, and the longitudinal closest contour point C closest to the vehicle or the camera unit 10 in the longitudinal direction. The headlight control unit 20 identifies the three contour points by acquiring the coordinate values ​​A (a, α), B (b, β) and C (c, γ) of the three contour points A, B and C. Different from the technology of using only one parameter to represent the contour point, according to the adaptive high beam system of the present application, the processing of each contour point of the projection image of the target object by the headlight control unit 20 is represented by two parameters in the polar coordinate system, so the adaptive high beam system of the present application is called a 2D adaptive high beam system.

[0026] The coordinate values ​​of the three outermost contour points obtained from the projection image obtained by the camera unit 10 are expressed in the form of polar coordinate values ​​in the original polar coordinate system. The original polar coordinate system takes the projection point of the lateral midpoint of the rear axle of the vehicle in the horizontal plane as the original coordinate origin, and the first parameters a, b, c of the coordinate values ​​of each contour point represent the straight-line distance from the original coordinate origin to each contour point, and the second parameters α, β, γ of the coordinate values ​​of each contour point represent the angle between the straight line passing through the original coordinate origin and each contour point and the longitudinal vertical plane P passing through the original coordinate origin.

[0027] The headlight control unit 20 of the camera module 30 is further configured to, after identifying the position, i.e., the coordinate value, of each contour point of the projected image of the target object, convert the coordinate value of each contour point into a coordinate value A(al, αl), B(bl, βl), C(cl, γl) in a left new coordinate system with the projection point of the geometric center of the left front headlight module 40 in the horizontal plane as the left new coordinate origin.

[0028] Parameters al, bl, cl represent the straight-line distance from the left new coordinate origin (the projection point of the geometric center of the left headlight module 40 in the horizontal plane) to each contour point, and parameters αl, βl, γl represent the angle between the straight line passing through the left new coordinate origin and each contour point and the longitudinal vertical plane passing through the left new coordinate origin.

[0029] Simultaneously or sequentially, the headlight control unit 20 is configured to, after identifying the position, i.e., the coordinate value, of each contour point of the projection image of the target object, convert the coordinate value of each contour point into a coordinate value A(ar, αr), B(br, βr), P(cr, γr) in a right new coordinate system with the projection point of the geometric center of the right front headlight module 40 in the horizontal plane as the right new coordinate origin.

[0030] Specifically, the parameters ar, βr, γr represent the straight-line distance from the right new coordinate origin (the projection point of the geometric center of the right-left headlight module 50 in the horizontal plane) to each contour point, and the parameters αr, βr, γr represent the angle between the straight line passing through the right new coordinate origin and each contour point and the longitudinal vertical plane passing through the right new coordinate origin.

[0031] Figure 2 In the figure, the outermost contour point A of the first lateral side of the projection image of the target object in the horizontal plane is taken as an example to illustrate the meanings of its coordinate values ​​(a, α), (al, αl) and (ar, αr).

[0032] The figure shows the outermost contour point A on the first lateral side, the original coordinate origin O of the original coordinate system, that is, the projection point of the lateral midpoint of the rear axle of the vehicle in the horizontal plane, the distance a between the contour point A and the original coordinate origin O, and the angle α between the straight line passing through the contour point A and the original coordinate origin O and the longitudinal vertical plane P passing through the original coordinate origin O; the left new coordinate origin OL of the left new coordinate system, that is, the projection point of the geometric center of the left front headlight module 40 in the horizontal plane, the distance al between the contour point A and the left new coordinate origin OL, and the angle αl between the straight line passing through the contour point A and the left new coordinate origin OL and the longitudinal vertical plane PL passing through the left new coordinate origin OL; the right new coordinate origin OR of the right new coordinate system, that is, the projection point of the geometric center of the right front headlight module 50 in the horizontal plane, the distance ar between the contour point A and the right new coordinate origin OR, and the angle αr between the straight line passing through the contour point A and the right new coordinate origin OR and the longitudinal vertical plane PR passing through the right new coordinate origin OR. The figure also shows the lateral distance D between the left new coordinate origin OL and the right new coordinate origin OR, and the longitudinal distance H between the lateral line passing through the left new coordinate origin OL and the right new coordinate origin OR and the lateral line passing through the original coordinate origin O.

[0033] Combination Figure 2 In the embodiment of the present application, when the initial coordinate value (a, α) of the contour point A obtained from the projection image obtained by the camera unit 10 is known, the headlight control unit 20 can calculate the coordinate values ​​(al, αl) and (ar, αr) of the contour point A in the left new coordinate system and the right new coordinate system, wherein the final calculation formulas of the parameters αl and αr are as follows:

[0034]

[0035]

[0036] Similarly, the new left coordinate values ​​(bl, βl) and (cl, γl) and the new right coordinate values ​​(br, βr) and (cr, γr) of the other two outermost contour points B and C of the target object can be calculated by the headlight control unit 20 using the same principle.

[0037] It is described above that the headlight control unit 20 obtains the projection image of the target object from the camera unit 10 and identifies and transforms the coordinates of the outermost contour points. In addition, the headlight control unit 20 also obtains from the camera unit 10 the position of the 2D projection of the target object in the total illumination area of ​​the vehicle high beam, such as Figure 3 shown.

[0038] According to the present application, the left front headlight module 40 of the vehicle includes a high beam for long-distance lighting, and a low beam for short-distance lighting and signaling functions, a daytime running light, a turning light, a position light, and a dynamic turn indicator light. The high beam is configured as a matrix reflective light-emitting element module, which is usually a light-emitting diode (hereinafter referred to as LED, but those skilled in the art understand that the light-emitting element here is not limited to LED), and the low beam usually adopts a projection light-emitting element. The right front headlight module 50 is exactly the same in structure as the left front headlight module 40, and the arrangement of the two is completely symmetrical about the longitudinal vertical plane passing through the midpoint of the lateral width of the vehicle. The high beam of the right front headlight module 50 is also composed of a matrix reflective light-emitting element module that is the same as the matrix reflective light-emitting element module of the left front headlight module 40 and is symmetrically arranged. When all the LED modules constituting the high beams of the left and right headlight modules 40 and 50 are powered on normally, the light emitted by each LED illuminates a preset illumination range in front of the vehicle, wherein the preset illumination ranges of some LEDs may not cross or overlap at all, at least the preset illumination ranges of some LEDs overlap at least partially, and optionally, the preset illumination ranges of some LEDs may overlap completely. The area that can be covered in the horizontal plane by the light emitted by all the LEDs constituting the high beams of the left and right headlight modules 40 and 50 when all are powered on normally is called the total illumination area of ​​the high beams of the vehicle. That is to say, the preset illumination range corresponding to each high beam LED of the left and right headlight modules 40 and 50 may be fixed, and the preset illumination ranges of all LEDs are combined to constitute the total illumination area of ​​the high beams of the vehicle.

[0039] The total illumination area of ​​the vehicle high beam lamp is stored in the headlight control unit 20 as an array of sub-illumination areas, and the projection image of the target object occupies one or more sub-illumination areas of the array.

[0040] According to the principle of the present application, the total irradiation area is divided into an array of sub-irradiation areas according to the distance of each position point in the total irradiation area from the coordinate origin of the coordinate system and the angle in the coordinate system. As an example, Figure 3 The total illumination area is schematically shown to be divided into an array of 8x4 sub-illumination areas. Here, the applicant points out that for simplicity, Figure 3 The total irradiation area shown in is a regular rectangle and is divided into a regular array of 4 rows and 8 columns. Each sub-irradiation area in the array is a regular rectangle with exactly the same shape and area. However, the present application is not limited thereto. The shape of the total irradiation area may be any other regular shape other than a rectangle, such as a triangle, a square, a trapezoid, a sector, a part of a sector, an arc, etc., or may be an irregular shape. Therefore, the division of the total irradiation area is not limited to the illustrated array of 4 rows and 8 columns. The number of rows and columns may be changed according to the actual situation. Each sub-irradiation area may have the same or different shapes and sizes. Of course, the sub-irradiation area may also be an irregular shape.

[0041] The matrix L is used in the headlight control unit 20 of the camera module 30 to store the sub-irradiation area array of the above-mentioned total illumination area, as follows:

[0042]

[0043] Each element in the matrix L represents a specific sub-irradiation area M i N j , where i is 0, 1, 2 or 3, j is 0, 1, 2, 3, 4, 5, 6 or 7, and M i Indicates Figure 3 The rows M0 to M3, N of the sub-irradiation area array in j Indicates Figure 3 Columns N0 to N7 of the sub-irradiation area array in M i N j The value of 0 indicates that there is no target object in the sub-irradiation area, so there is no limit on the brightness of the area. i N j If the value is 1, it means that there is an object that needs to be protected in the sub-irradiation area, and it is hoped that the high beam light does not reach the sub-irradiation area or the brightness in the sub-irradiation area needs to be controlled to be no higher than the preset critical brightness value. This preset critical brightness value is the highest brightness value that does not cause discomfort to pedestrians in the area or people in vehicles in the area.

[0044] For a specific sub-irradiation area M with specific i and j values i N jFor example, its brightness value may be solely responsible for a specific LED group in the high beam of the left headlight module 40, may be solely responsible for a specific LED group in the high beam of the right headlight module 50, or may be jointly responsible for a specific LED group in the high beam of the left headlight module 40 and a specific LED group in the high beam of the right headlight module 50. i N j This means that the preset illumination range of each LED in the LED group covers this sub-illumination area M. i N j At least a portion of the LED group, or the light emitted by each LED in the LED group is directed to the sub-irradiation area M. i N j The brightness of the sub-irradiation area M is contributed by each LED in the LED group. i N j On the contrary, given this sub-illumination area M i N j The expected brightness value, such as the above-mentioned preset critical brightness value that forms a "dark area", can be used to calculate the luminous intensity that each LED needs to provide in all LEDs responsible for the sub-illumination area (actually the LED group that contributes to the brightness value of this area).

[0045] As mentioned above, the headlight control unit 20 obtains the position of the projection image of the target object in the total illumination area of ​​the vehicle high beam lamp from the camera unit 10, such as Figure 3 That is, the position occupied by the projection image of the target object includes two sub-irradiation areas M1N6 and M2N6 in the total irradiation area, and the headlight control unit 20 changes the matrix L as follows:

[0046]

[0047] At this time, the two sub-irradiation areas M1N6 and M2N6 should be set as dark areas, and their brightness values ​​are determined to be no higher than the above-mentioned preset critical brightness value. At this time, based on the occupied position of the projected image of the target object in the total irradiation area (i.e., M1N6 and M2N6), and based on the left new coordinate value of the outermost contour point of the target object in the left new coordinate system, the headlight control unit 20 can calculate or determine the luminous intensity that each of all LEDs responsible for the sub-irradiation areas M1N6 and M2N6 in the high beam of the left front headlight module 40 needs to provide, and then use the preset dimming coefficient to adjust the calculated expected luminous intensity of each LED. Based on the occupied position of the projected image of the target object in the total irradiation area, and based on the right new coordinate value of the outermost contour point of the target object in the right new coordinate system, the headlight control unit 20 can calculate or determine the luminous intensity that each of all LEDs responsible for the sub-irradiation areas M1N6 and M2N6 in the high beam of the right front headlight module 50 needs to provide, and then use the preset dimming coefficient to adjust the calculated expected luminous intensity of each LED.

[0048] At this point, the headlight control unit 20 determines the luminous intensity of all LEDs contributing to M1N6 and M2N6 in the left and right headlight modules 40 and 50 and makes dynamic and adaptive adjustments to ensure that the brightness value in the dark area does not exceed the preset critical brightness value, and also ensures that the brightness value transitions evenly and softly between the bright area and the dark area. The LEDs other than these LEDs in the left and right headlight modules 40 and 50 have normal or rated luminous intensity.

[0049] Next, the camera module 30 provides the luminous intensity results of the above-mentioned LEDs determined by its headlight control unit 20 to the left and right headlight modules 40 and 50 through the vehicle CAN bus, and each LED of the left and right headlight modules 40 and 50 only needs to execute and output the luminous intensity it receives. Here, the luminous intensity can be zero, which means that the corresponding LED is not powered on and does not emit light. The LEDs that do not contribute to the brightness values ​​of the two sub-irradiation areas M1N6 and M2N6 are normally powered on and output the rated luminous intensity.

[0050] Utilizing the above principle, the brightness values ​​achieved by the left and right headlight modules 40 and 50 in the two sub-illumination areas M1N6 and M2N6 can meet the requirement of not exceeding the aforementioned preset critical brightness values, thereby ensuring the formation of a dark area, so that people in this area will not be disturbed or harmed by the high beam light, thus avoiding discomfort such as dizziness and glare, and effectively reducing the incidence of accidents that may be caused by this.

[0051] The above describes the principle and process of the headlight control unit 20 controlling and adjusting the high beams of the left and right headlight modules 40 and 50 in conjunction with the accompanying drawings. As in the above-mentioned adaptive high beam system of the present application, the camera unit in the camera module performs the function of photographing the target object in front of the vehicle to obtain its projection image in the horizontal plane. The camera module, specifically the headlight control unit integrated with the camera unit, determines the position of the projection image (i.e., the target object) in the total illumination area of ​​the vehicle high beam by performing coordinate transformation on the outermost contour point of the projection image of the target object, and determines the luminous intensity provided by each light-emitting element in the high beams of the left headlight module and the right headlight module to ensure that the brightness at this position does not exceed the preset brightness value. The camera module then sends the determined luminous intensity that each light-emitting element needs to provide to the left headlight module and the right headlight module, and the latter two can implement it.

[0052] The adaptive high beam system of the present application integrates the headlight control unit into the camera module, which performs complex image recognition and calculations, and the left and right headlight modules are only responsible for executing and outputting the luminous intensity values ​​of each light-emitting element. This avoids the operation of transmitting the image data of the target object using the vehicle CAN bus with limited data transmission capacity, and to a large extent solves the problem of control and reaction delay and lag of the left and right headlight modules caused by this large amount of data transmission. The headlight control unit is removed from the left and right headlight modules, and there is no need to set up hardware units for this image processing and calculation function in the two headlight modules. For the left and right headlight modules that need to be provided separately, their costs are greatly reduced, which has significant economic benefits.

[0053] In a more preferred embodiment, the headlight control function implemented by the headlight control unit is integrated or written into the internal program of the camera unit 10, specifically the camera, and no separate hardware unit for implementing the headlight control function is provided. This reduces the cost of the left and right headlight modules by eliminating the headlight control unit from the left and right headlight modules, while not increasing the hardware cost of the camera unit.

[0054] In addition to the technical advantages described above, the 2D adaptive high beam system of the present application can also perform a predictive function.

[0055] Specifically, the headlight control unit 20 of the camera module 30 can also determine the relative motion parameters between the target object and the vehicle from the image data of the target object obtained by the camera unit 10, including at least the relative motion direction and the relative motion speed of the two. Advantageously, the headlight control unit 20 can use the relative motion parameters to calculate the position of the projected image of the target object in the sub-irradiation area of ​​the vehicle's high beam at the next moment. As an example, at this moment, the projected image of the target object occupies Figure 3 As shown in the sub-irradiation areas M1N6 and M2N6, the headlight control unit 20 can calculate that the projection image of the target object will occupy the sub-irradiation areas M0N6 and M0N6 or the sub-irradiation areas M2N6 and M3N6 or other sub-irradiation areas at the next moment based on the determined relative motion parameters. The headlight control unit 20 can also calculate the expected luminous intensity of each LED in the high beam of the left and right headlight modules 40 and 50 at the next moment based on the determined occupied position of the projection image of the target object at the next moment and the coordinate value of the outermost contour point. Therefore, the 2D adaptive high beam system of the present application not only solves the control delay and lag problems of the headlight module as described above, but also more advantageously realizes the advance prediction of the control and adjustment of the headlight module.

[0056] In addition, Figure 3 In the described embodiment, the projected image of the target object is represented by the shaded portion ABC. Those skilled in the art will appreciate that the shaded portion may include only one object, such as a car or a pedestrian, or may represent multiple objects that are very close to each other. More advantageously, the 2D adaptive high beam system of the present application also targets the case where two objects are far apart, such as Figure 4 As shown, the camera unit 10 captures two target objects in its shooting scene, and their projected images in the horizontal plane are represented by ABC and DEF respectively. Figure 3 The principle described is the same, the headlight control unit 20 can perform coordinate transformation on the six outermost contour points respectively, and change the matrix L to the following:

[0057]

[0058] Therefore, the headlight control unit 20 calculates the luminous intensity of each LED constituting the high beam in the left and right headlight modules 40 and 50 respectively based on the above information, so as to ensure that the three sub-illumination areas M1N2, M1N6 and M2N6 are dark areas, and to achieve a smooth transition of the brightness values ​​from these three dark areas to other bright areas.

[0059] The more the number of target objects, the more complex the image data obtained by the camera unit 10, and the more obvious the advantages of the adaptive high beam system of the present application in eliminating data transmission delay, accelerating graphics processing and computing capabilities, and thus improving the control and adjustment efficiency of the left and right headlight modules. It should be understood by those skilled in the art that the present application is not limited to the case where there are one or two target objects in the shooting scene, but is applicable to any number of target objects; the outermost contour points of the target object are not limited to the three described above and shown in the figure, and the number and position of the outermost contour points can be changed according to the actual situation.

[0060] The above describes in detail a non-limiting embodiment of the adaptive high beam system of the present application. Those skilled in the art should understand that the present application is not limited to the details described above and shown in the drawings. On the contrary, some features of the adaptive high beam system of the present application may be deleted, modified or combined according to actual needs without departing from the scope defined by the claims.

Claims

1. A 2D adaptive high beam system for a vehicle, comprising a camera module (30) integrating a camera unit (10) and a headlight control unit (20), and a left headlight module (40) and a right headlight module (50) communicatively connected to the camera module (30), wherein the left headlight module (40) and the right headlight module (50) respectively comprise high beams composed of a plurality of light emitting elements arranged in a matrix form, in, The camera unit (10) of the camera module (30) is configured to obtain image data of a target object in front of the vehicle, wherein the image data includes a projection image of the target object in a horizontal plane. The headlight control unit (20) of the camera module (30) is configured to: receiving image data of the target object from the camera unit (10), Determine the position of the projected image of the target object in the total illumination area of ​​the vehicle high beam lamp and the left and right new coordinate values ​​of the outermost contour points of the target object in the left and right new coordinate systems based on the received image data, Based on the occupied position, based on the left and right new coordinate values ​​of the outermost contour point of the target object in the left and right new coordinate systems, and based on a preset critical brightness value, the expected luminous intensity of each light-emitting element constituting the high-beam lamp of the left front headlight module (40) and the right front headlight module (50) is determined, so that the total brightness formed by the expected luminous intensity of each light-emitting element does not exceed the critical brightness value, and The determined expected luminous intensity of each luminous element constituting the high beam of the left headlight module (40) and the right headlight module (50) is sent to the left headlight module (40) and the right headlight module (50), and each luminous element is controlled accordingly to achieve its own luminous intensity.

2. The 2D adaptive high beam system according to claim 1, wherein: The headlight control unit (20) is configured to identify the coordinate values ​​of the outermost contour points of the projection image of the target object in an initial coordinate system based on the received image data of the target object.

3. The 2D adaptive high beam system according to claim 2, wherein: The headlight control unit (20) is configured to convert the coordinate values ​​of the outermost contour points in the initial coordinate system into corresponding coordinate values ​​in the left new coordinate system and into corresponding coordinate values ​​in the right new coordinate system.

4. The 2D adaptive high beam system according to claim 3, wherein: The initial coordinate system is a polar coordinate system with the projection point of the lateral midpoint of the rear axle of the vehicle in the horizontal plane as the coordinate origin; the left new coordinate system and the right new coordinate system are polar coordinate systems with the projection point of the geometric center of the left headlight module (40) and the right headlight module (50) in the horizontal plane as the coordinate origin and the coordinate origin respectively.

5. The 2D adaptive high beam system according to claim 4, wherein: The coordinate value of the outermost contour point includes a first parameter and a second parameter, the first parameter is the straight-line distance from the coordinate origin to the outermost contour point, and the second parameter is the angle between the straight line passing through the coordinate origin and the outermost contour point and the longitudinal vertical plane passing through the coordinate origin.

6. The 2D adaptive high beam system according to any one of claims 2 to 5, wherein: The outermost contour includes a first transverse side outermost contour point and a second transverse side outermost contour point on opposite sides in the transverse direction, and a longitudinal closest contour point that is closest to the camera module (30) in the longitudinal direction.

7. The 2D adaptive high beam system according to any one of claims 1 to 5, wherein: The preset critical brightness value is zero.

8. The 2D adaptive high beam system according to any one of claims 1 to 5, wherein: An expected luminous intensity of zero for the light emitting element means that the light emitting element will not be powered.

9. The 2D adaptive high beam system according to any one of claims 1 to 5, wherein: The left front headlight module (40) and the right front headlight module (50) are arranged completely symmetrically with respect to a longitudinal vertical plane passing through the midpoint of the width of the vehicle body.

10. The 2D adaptive high beam system according to any one of claims 1 to 5, wherein: The functions of the headlight control unit (20) are realized through an internal program of the camera unit (10).

11. The 2D adaptive high beam system according to any one of claims 1 to 5, wherein: The camera module (30) is communicatively connected to the left front headlight module (40) and the right front headlight module (50) via a vehicle CAN bus.

12. The 2D adaptive high beam system according to any one of claims 1 to 5, wherein: The total illumination area of ​​the vehicle's high beam lamp implemented by the left front headlight module (40) and the right front headlight module (50) is divided into an array of sub-illumination areas, and the occupied position includes one or more sub-illumination areas.

13. The 2D adaptive high beam system according to claim 12, wherein: The array of sub-irradiation areas is represented by a matrix, each element of the matrix represents a corresponding sub-irradiation area, the value of the element is 0, indicating that there is no target object in the corresponding sub-irradiation area, and the value of the element is 1, indicating that there is a target object in the corresponding sub-irradiation area and therefore the brightness value in the sub-irradiation area should be ensured not to be higher than the preset critical brightness value.

14. The 2D adaptive high beam system according to any one of claims 1 to 5, wherein: The headlight control unit (20) is configured to obtain relative motion parameters of the target object relative to the vehicle based on image data of the target object received from the camera unit (10) and to determine the luminous intensity of each light-emitting element in the high beam of the left headlight module (40) and the right headlight module (50) at the next moment based on the image data of the target object.

15. The 2D adaptive high beam system according to any one of claims 1 to 5, wherein: The target object includes one or two or more target objects.

16. A camera module, wherein the camera module is a camera module (30) used in a 2D adaptive high beam system according to any one of claims 1 to 15.

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