ADB car light control method and system

Abstract

The application relates to the technical field of automobile lamp control, in particular to an ADB automobile lamp control method and system. The method comprises the following steps: receiving image data of the front of a vehicle obtained by a camera device; obtaining position angle data of a target vehicle according to the image data, and obtaining the rectangular coordinates of the two side boundaries of the target vehicle relative to an LED matrix lamp group according to the position angle data; obtaining the spherical coordinates of the two side boundaries of the target vehicle relative to the LED matrix lamp group with the LED matrix lamp group as the origin, and obtaining the minimum shielding included angle of the LED matrix lamp group; if no target vehicle exists in front of the vehicle according to the image data, the LED matrix lamp group maintains a high beam state; if a target vehicle exists in front of the vehicle according to the image data, the LED lamp corresponding to the minimum shielding included angle in the LED matrix lamp group is turned off, and the turned-off LED lamp is turned on according to a preset delay mechanism.

Description

Technical Field

[0001] This invention relates to the field of automotive lighting control technology, and in particular to an ADB (Adaptive Driven Beam) lighting control method and system. Background Technology

[0002] Currently, with the development of automotive electronics technology, the safety and comfort of automobiles are receiving increasing attention. ADB (Adaptive Driving Beam) technology is used in automotive headlight control; this beam distribution control device prevents glare from oncoming or forward vehicles in the area in front of the vehicle, while simultaneously improving visibility in that area, thus enhancing driving safety.

[0003] Currently, adaptive high beam systems often only switch between high and low beams, neglecting the reduced visibility during the transition from high to low beams, which can easily lead to accidents. Therefore, improvements to adaptive high beam systems are needed to enhance driving safety. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides an ADB vehicle headlight control method and system.

[0005] This invention adopts the following technical solution: an ADB vehicle headlight control method, the method comprising:

[0006] Receive image data from the front of the vehicle acquired by the camera equipment;

[0007] The position angle data of the target vehicle is obtained based on the image data, and the rectangular coordinates of the two side boundaries of the target vehicle relative to the LED matrix light group are obtained based on the position angle data.

[0008] The spherical coordinates of the two sides of the target vehicle relative to the LED matrix light group are obtained from the rectangular coordinates of the two sides of the target vehicle relative to the LED matrix light group, and the minimum occlusion angle of the LED matrix light group is obtained accordingly.

[0009] If the target vehicle is not detected in front of the vehicle based on the image data, the LED matrix headlights will remain in high beam mode. If the target vehicle is detected in front of the vehicle based on the image data, the LED lights in the LED matrix headlights corresponding to the minimum obstruction angle will be turned off, and the turned-off LED lights will be turned on according to a preset delay mechanism.

[0010] An embodiment of the ADB vehicle headlight control method of the present invention controls the LED lights in the LED matrix light group corresponding to the position angle of the target vehicle to turn off, so that the target vehicle is not easily affected by the light of the LED matrix light group, and the LED matrix light group still maintains the high beam illumination state, only some LED lights are not lit. This can avoid glare for oncoming vehicles and ensure that the visibility in front of the vehicle is sufficient, effectively improving driving safety. Moreover, the delay mechanism can avoid the phenomenon of excessive headlight flickering frequency when the target vehicle moves back and forth on the boundary or when multiple target vehicles are monitored by the camera equipment in sequence.

[0011] Furthermore, the step of receiving the image data of the front of the vehicle acquired by the camera device specifically includes:

[0012] It communicates with the camera device via a CAN bus;

[0013] Receive the image data transmitted from the front of the vehicle by the camera device;

[0014] The image data is preprocessed for noise reduction using Kalman filtering.

[0015] Furthermore, the specific steps of obtaining the position angle data of the target vehicle based on the image data, and obtaining the rectangular coordinates of the two side boundaries of the target vehicle relative to the LED matrix light group based on the position angle data, are as follows:

[0016] The position and angle data of the target vehicle are obtained by acquiring the image data;

[0017] Based on the position angle data, the spherical coordinates of the right edge position of the target vehicle are set as (H, A, B);

[0018] Where H, A, and B are the distance, azimuth, and pitch angle of the target vehicle relative to the camera device, respectively, and the spherical coordinate system is a spherical coordinate system centered on the camera device.

[0019] Establish the Cartesian coordinates (x, y, z) of the right boundary of the target vehicle relative to the camera device:

[0020] x = H × sinB × cosA + Δx

[0021] y = H × sinB × sinA

[0022] z = H × cosB

[0023] Where Δx is the distance margin between the two sides of the target vehicle, x is the distance between the target vehicle and the camera device in a direction perpendicular to the vehicle's own direction of travel and parallel to the ground plane, y is the distance between the front edge of the target vehicle and the camera device in the vehicle's own direction of travel, and z is the distance between the target vehicle and the camera device in a direction perpendicular to the ground.

[0024] Let the LED matrix light group in the nth group be D. n Then the D n The coordinate offset relative to the position of the camera device is (x n ,y n ,z n The rectangular coordinate system with the camera device as the origin is converted to a coordinate system with the D coordinate system as the origin. n If the target vehicle is placed in a Cartesian coordinate system centered at D, then the right boundary of the target vehicle relative to D... n The rectangular coordinates are (xx n yy n ,zz n );

[0025] Where, x n The target vehicle and D are in a direction perpendicular to the vehicle's own direction of travel and parallel to the ground plane. n The distance, y n The target vehicle's leading edge in its own direction of travel and the D n The distance between them, z n The target vehicle in the direction perpendicular to the ground is relative to D. n The distance, n is the number of the LED matrix light group of the vehicle itself, n=1,2,3,4,...;

[0026] Similarly, it can be obtained that the left boundary of the target vehicle is relative to D. n The rectangular coordinates.

[0027] Furthermore, the specific steps for obtaining the spherical coordinates of the two sides of the target vehicle relative to the LED matrix light group, with the LED matrix light group as the origin, based on the rectangular coordinates of the two sides of the target vehicle relative to the LED matrix light group, and then obtaining the minimum occlusion angle of the LED matrix light group, are as follows:

[0028] The right boundary of the target vehicle relative to D n The rectangular coordinate transformation is based on the D... n The spherical coordinates centered at (h, a, b) are:

[0029]

[0030]

[0031]

[0032] Where (h,a,b) represents the right boundary of the target vehicle within the range defined by D. n Let h be the spherical coordinate position of the origin, and h be the value of D. n The distance between the target vehicle and D, where 'a' is the distance between the target vehicle and D. n The horizontal azimuth angle, b, is the target vehicle relative to D. n The pitch angle, similarly, can be obtained from the left boundary of the target vehicle with respect to D. n The spherical coordinate position of the origin;

[0033] Similarly, the left boundary of the target vehicle can be obtained from the D n Let the spherical coordinates of the center be (hl, al, bl) and (hr, ar, br) respectively, for the left and right boundaries of the target vehicle.

[0034] Where hl and hr are the D n The distances to the left and right boundaries of the target vehicle, al and ar are the distances to D. n The horizontal azimuth angles to the left and right boundaries of the target vehicle, bl and br are the D n The pitch angles to the left and right boundaries of the target vehicle;

[0035] Then the two side boundaries of the target vehicle are relative to D n The horizontal azimuth angle Δa is the angle between the origin and the horizontal direction.

[0036] Δa=al-ar

[0037] Where Δa is the D n The minimum occlusion angle that needs to be formed.

[0038] Furthermore, the specific steps for turning on the already turned-off LED lights according to the preset delay mechanism are as follows:

[0039] When the D corresponding to Δa n After the LED lights inside are turned off, and until there is no target vehicle in front of the vehicle, the turned-off LED lights are turned on after a preset delay time, thereby realizing the adaptive control of the LED matrix light group.

[0040] An embodiment of the ADB vehicle lighting control system of the present invention includes:

[0041] The receiving unit is used to receive image data from the front of the vehicle acquired by the camera device;

[0042] The first data processing unit is used to obtain the position angle data of the target vehicle based on the image data, and to obtain the rectangular coordinates of the two side boundaries of the target vehicle relative to the LED matrix light group based on the position angle data.

[0043] The second data processing unit is used to obtain the spherical coordinates of the two sides of the target vehicle relative to the LED matrix light group based on the rectangular coordinates of the two sides of the target vehicle relative to the LED matrix light group, and thereby obtain the minimum occlusion angle of the LED matrix light group.

[0044] An adaptive control unit is configured to maintain the high beam state of the LED matrix headlights if the target vehicle is not detected in front of the vehicle based on the image data, and to turn off the LED lights in the LED matrix headlights corresponding to the minimum obstruction angle and turn on the turned-off LED lights according to a preset delay mechanism if the target vehicle is detected in front of the vehicle based on the image data.

[0045] Furthermore, the receiving unit is specifically used for:

[0046] It communicates with the camera device via a CAN bus;

[0047] Receive the image data transmitted from the front of the vehicle by the camera device;

[0048] The image data is preprocessed for noise reduction using Kalman filtering.

[0049] Furthermore, the first data processing unit is specifically used for:

[0050] The position and angle data of the target vehicle are obtained by acquiring the image data;

[0051] Based on the position angle data, the spherical coordinates of the right edge position of the target vehicle are set as (H, A, B);

[0052] Where H, A, and B are the distance, azimuth, and pitch angle of the target vehicle relative to the camera device, respectively, and the spherical coordinate system is a spherical coordinate system centered on the camera device.

[0053] Establish the Cartesian coordinates (x, y, z) of the right boundary of the target vehicle relative to the camera device:

[0054] x = H × sinB × cosA + Δx

[0055] y = H × sinB × sinA

[0056] z = H × cosB

[0057] Where Δx is the distance margin between the two sides of the target vehicle, x is the distance between the target vehicle and the camera device in a direction perpendicular to the vehicle's own direction of travel and parallel to the ground plane, y is the distance between the front edge of the target vehicle and the camera device in the vehicle's own direction of travel, and z is the distance between the target vehicle and the camera device in a direction perpendicular to the ground.

[0058] Let the LED matrix light group in the nth group be D. n Then the D n The coordinate offset relative to the position of the camera device is (x n ,y n ,z n The rectangular coordinate system with the camera device as the origin is converted to a coordinate system with the D coordinate system as the origin. n If the target vehicle is placed in a Cartesian coordinate system centered at D, then the right boundary of the target vehicle relative to D... n The rectangular coordinates are (xx n yy n ,zz n );

[0059] Where, x n The target vehicle and D are in a direction perpendicular to the vehicle's own direction of travel and parallel to the ground plane. n The distance, y n The target vehicle's leading edge in its own direction of travel and the D n The distance between them, z n The target vehicle in the direction perpendicular to the ground is relative to D. n The distance, n is the number of the LED matrix light group of the vehicle itself, n=1,2,3,4,...;

[0060] Similarly, it can be obtained that the left boundary of the target vehicle is relative to D. n The rectangular coordinates.

[0061] Furthermore, the second data processing unit is specifically used for:

[0062] The right boundary of the target vehicle relative to D n The rectangular coordinate transformation is based on the D... n The spherical coordinates centered at (h, a, b) are:

[0063]

[0064]

[0065]

[0066] Where (h,a,b) represents the right boundary of the target vehicle within the range defined by D. n Let h be the spherical coordinate position of the origin, and h be the value of D. n The distance between the target vehicle and D, where 'a' is the distance between the target vehicle and D. n The horizontal azimuth angle, b, is the target vehicle relative to D. n The pitch angle, similarly, can be obtained from the left boundary of the target vehicle with respect to D. n The spherical coordinate position of the origin;

[0067] Similarly, the left boundary of the target vehicle can be obtained from the D n Let the spherical coordinates of the center be (hl, al, bl) and (hr, ar, br) respectively, for the left and right boundaries of the target vehicle.

[0068] Where hl and hr are the D n The distances to the left and right boundaries of the target vehicle, al and ar are the distances to D. n The horizontal azimuth angles to the left and right boundaries of the target vehicle, bl and br are the D n The pitch angles to the left and right boundaries of the target vehicle;

[0069] Then the two side boundaries of the target vehicle are relative to D n The horizontal azimuth angle Δa is the angle between the origin and the horizontal direction.

[0070] Δa=al-ar

[0071] Wherein, Δa is the minimum occlusion angle that Dn needs to form.

[0072] Furthermore, the adaptive control unit is specifically used for:

[0073] When the LED light in Dn corresponding to Δa is turned off, and until there is no target vehicle in front of the vehicle, the turned-off LED light is turned on after a preset delay time, thereby realizing the adaptive control of the LED matrix light group. Attached Figure Description

[0074] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0075] Figure 1 This is a flowchart of an ADB vehicle headlight control method according to an embodiment of the present invention;

[0076] Figure 2 This is a structural block diagram of an ADB vehicle lighting control system according to an embodiment of the present invention. Detailed Implementation

[0077] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain embodiments of the present invention, and should not be construed as limiting the present invention.

[0078] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0079] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0080] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0081] Reference Figure 1 According to one embodiment of the present invention, an ADB (Automotive Beam Controller) headlight control method includes:

[0082] S1: Receive image data from the front of the vehicle acquired by the camera device. The specific steps are as follows:

[0083] It communicates with the camera device via CAN bus;

[0084] Receive image data from the front of the vehicle transmitted by the camera equipment;

[0085] Kalman filtering is used to perform noise reduction preprocessing on the image data.

[0086] In this embodiment, the basic principle of Mann filtering is as follows: using the minimum mean square error as the best estimation criterion, a state-space model of signal and noise is adopted, and the estimation of state variables is updated using the estimated value of the previous moment and the observed value of the current moment to obtain the estimated value of the current moment. The algorithm can make an estimate of the signal that satisfies the minimum mean square error based on the established state equation and observation equation.

[0087] S2: The specific steps for obtaining the position angle data of the target vehicle based on the image data, and obtaining the rectangular coordinates of the two side boundaries of the target vehicle relative to the LED matrix light group based on the position angle data are as follows:

[0088] The position and angle data of the target vehicle are obtained by acquiring image data;

[0089] Based on the position and angle data, the spherical coordinates of the right edge position of the target vehicle are set as (H, A, B);

[0090] Where H, A, and B are the distance, azimuth, and pitch angles of the target vehicle relative to the camera equipment, respectively, and the spherical coordinate system is centered on the camera equipment.

[0091] Establish the Cartesian coordinates (x, y, z) of the right boundary of the target vehicle relative to the camera equipment:

[0092] x = H × sinB × cosA + Δx

[0093] y = H × sinB × sinA

[0094] z = H × cosB

[0095] Where Δx is the distance margin between the two sides of the target vehicle, x is the distance between the target vehicle and the camera equipment in a direction perpendicular to the vehicle's own direction of travel and parallel to the ground plane, y is the distance between the leading edge of the target vehicle and the camera equipment in the vehicle's own direction of travel, and z is the distance between the target vehicle and the camera equipment in a direction perpendicular to the ground; in this embodiment, Δx is taken as 1.2m.

[0096] Let the nth LED matrix light group be D. n Then D n The coordinate offset relative to the position of the camera device is (x n ,y n ,z n (This refers to converting a rectangular coordinate system with the camera device as the origin to a coordinate system with D...) n In a Cartesian coordinate system centered at D, the right boundary of the target vehicle relative to D... n The rectangular coordinates are (xx nyy n ,zz n );

[0097] Where, x n For the target vehicle in a direction perpendicular to its own direction of travel and parallel to the ground plane, and D n The distance, y n The leading edge of the target vehicle in the direction of its own travel and D n The distance between them, z n For the target vehicle in the direction perpendicular to the ground, relative to D n The distance, where n is the number of the vehicle's own LED matrix light group, n = 1, 2, 3, 4, ...;

[0098] Similarly, the left boundary of the target vehicle relative to D can be obtained. n The rectangular coordinates.

[0099] S3: The specific steps for obtaining the spherical coordinates of the two sides of the target vehicle relative to the LED matrix light group, with the LED matrix light group as the origin, based on the rectangular coordinates of the two sides of the target vehicle relative to the LED matrix light group, and then obtaining the minimum occlusion angle of the LED matrix light group are as follows:

[0100] Relative to D, the right boundary of the target vehicle n The rectangular coordinate transformation is based on D n The spherical coordinates centered at (h, a, b) are:

[0101]

[0102]

[0103]

[0104] Where (h,a,b) represents the right boundary of the target vehicle within D. n Let h be the spherical coordinate position of the origin, and let h be the value of D. n The distance between the target vehicle and the target vehicle, where 'a' represents the distance between the target vehicle and D. n The horizontal azimuth angle, b is the target vehicle relative to D. n The pitch angle, similarly, can be obtained from the left boundary of the target vehicle at D. n The spherical coordinate position of the origin;

[0105] Similarly, the left boundary of the target vehicle can be obtained as D n Let the spherical coordinates of the center be (hl, al, bl) and (hr, ar, br) respectively, and the spherical coordinates of the left and right boundaries of the target vehicle be (hl, al, bl) and (hr, ar, br);

[0106] Where hl and hr are D n The distances to the left and right boundaries of the target vehicle, al and ar, are D.n The horizontal azimuth angles to the left and right boundaries of the target vehicle, bl and br are D n The pitch angles to the left and right boundaries of the target vehicle;

[0107] Then the two side boundaries of the target vehicle are relative to D n The horizontal azimuth angle Δa is the angle between the origin and the horizontal direction.

[0108] Δa=al-ar

[0109] Where Δa is D n The minimum occlusion angle that needs to be formed.

[0110] S4: The specific steps for turning on the off LED lights according to the preset delay mechanism are as follows:

[0111] When the LED light in Dn corresponding to Δa is turned off, and until there is no target vehicle in front of the vehicle, the turned-off LED light is turned on after a preset delay time, thereby realizing the adaptive control of the LED matrix light group. In this embodiment, the preset delay time is generally set to 2 seconds, so as to avoid the phenomenon of excessively high flashing frequency of the headlights when the target vehicle moves back and forth on the boundary or when multiple target vehicles are monitored by the camera equipment in turn.

[0112] In this embodiment, the LED matrix light group consists of four groups: two on the left side of the vehicle and two on the right side. Each LED matrix light group has 20 LEDs arranged in two rows of 10 each, with the two rows of LEDs interspersed vertically. In reality, when the headlights shine forward, the illumination area is not vertically defined. This explanation focuses on the composition of the forward illumination range by each LED in the LED matrix light group. Considering the high beam illumination range as a certain area, each LED is responsible for a fixed illumination angle in front, and the illumination angles of adjacent LEDs overlap to some extent. Therefore, the illumination ranges of the LEDs in the LED matrix light group have a certain mapping relationship. Each LED is responsible for a portion of the area. When an oncoming vehicle is detected, the ADB function will turn off all LEDs in the LED matrix light group corresponding to the position and angle of the target vehicle.

[0113] An embodiment of the ADB vehicle headlight control method of the present invention controls the LED lights in the LED matrix light group corresponding to the position angle of the target vehicle to turn off, so that the target vehicle is not easily affected by the light of the LED matrix light group, and the LED matrix light group still maintains the high beam illumination state, only some LED lights are not lit. This can avoid glare for oncoming vehicles and ensure that the visibility in front of the vehicle is sufficient, effectively improving driving safety. Moreover, the delay mechanism can avoid the phenomenon of excessive headlight flickering frequency when the target vehicle moves back and forth on the boundary or when multiple target vehicles are monitored by the camera equipment in sequence.

[0114] Reference Figure 2 The present invention also proposes an ADB vehicle lighting control system, the system comprising:

[0115] The receiving unit is used to receive image data from the front of the vehicle acquired by the camera device;

[0116] The first data processing unit is used to obtain the position angle data of the target vehicle based on the image data, and to obtain the rectangular coordinates of the two side boundaries of the target vehicle relative to the LED matrix light group based on the position angle data.

[0117] The second data processing unit is used to obtain the spherical coordinates of the two sides of the target vehicle relative to the LED matrix light group based on the rectangular coordinates of the two sides of the target vehicle relative to the LED matrix light group, and to obtain the minimum occlusion angle of the LED matrix light group.

[0118] The adaptive control unit is used to maintain the high beam state of the LED matrix headlights if the image data indicates that there is no target vehicle in front of the vehicle, and to turn off the LED lights in the LED matrix headlights corresponding to the minimum obstruction angle and turn on the turned-off LED lights according to a preset delay mechanism if the image data indicates that there is a target vehicle in front of the vehicle.

[0119] The receiving unit is specifically used for:

[0120] It communicates with the camera device via CAN bus;

[0121] Receive image data from the front of the vehicle transmitted by the camera equipment;

[0122] Kalman filtering is used to perform noise reduction preprocessing on the image data.

[0123] The first data processing unit is specifically used for:

[0124] The position and angle data of the target vehicle are obtained by acquiring image data;

[0125] Based on the position and angle data, the spherical coordinates of the right edge position of the target vehicle are set as (H, A, B);

[0126] Where H, A, and B are the distance, azimuth, and pitch angles of the target vehicle relative to the camera equipment, respectively, and the spherical coordinate system at this time is a spherical coordinate system centered on the camera equipment;

[0127] Establish the Cartesian coordinates (x, y, z) of the right boundary of the target vehicle relative to the camera equipment:

[0128] x = H × sinB × cosA + Δx

[0129] y = H × sinB × sinA

[0130] z = H × cosB

[0131] Where Δx is the distance margin between the two sides of the target vehicle, x is the distance between the target vehicle and the camera equipment in the direction perpendicular to the vehicle's own direction of travel and parallel to the ground plane, y is the distance between the leading edge of the target vehicle and the camera equipment in the direction of the vehicle's own direction of travel, and z is the distance between the target vehicle and the camera equipment in the direction perpendicular to the ground.

[0132] Let the nth LED matrix light group be D. n Then D n The coordinate offset relative to the position of the camera device is (x n ,y n ,z n (This refers to converting a rectangular coordinate system with the camera device as the origin to a coordinate system with D...) n In a Cartesian coordinate system centered at D, the right boundary of the target vehicle relative to D... n The rectangular coordinates are (xx n yy n ,zz n );

[0133] Where, x n For the target vehicle in a direction perpendicular to its own direction of travel and parallel to the ground plane, and D n The distance, y n The leading edge of the target vehicle in the direction of its own travel and D n The distance between them, z n For the target vehicle in the direction perpendicular to the ground, relative to D n The distance, where n is the number of the vehicle's own LED matrix light group, n = 1, 2, 3, 4, ...;

[0134] Similarly, the left boundary of the target vehicle relative to D can be obtained. n The rectangular coordinates.

[0135] The second data processing unit is specifically used for:

[0136] Relative to D, the right boundary of the target vehicle n The rectangular coordinate transformation is based on D n The spherical coordinates centered at (h, a, b) are:

[0137]

[0138]

[0139]

[0140] Where (h,a,b) represents the right boundary of the target vehicle within D. nLet h be the spherical coordinate position of the origin, and let h be the value of D. n The distance between the target vehicle and the target vehicle, where 'a' represents the distance between the target vehicle and D. n The horizontal azimuth angle, b is the target vehicle relative to D. n The pitch angle, similarly, can be obtained from the left boundary of the target vehicle at D. n The spherical coordinate position of the origin;

[0141] Similarly, the left boundary of the target vehicle can be obtained as D n Let the spherical coordinates of the center be (hl, al, bl) and (hr, ar, br) respectively, and the spherical coordinates of the left and right boundaries of the target vehicle be (hl, al, bl) and (hr, ar, br);

[0142] Where hl and hr are D n The distances to the left and right boundaries of the target vehicle, al and ar, are D. n The horizontal azimuth angles to the left and right boundaries of the target vehicle, bl and br are D n The pitch angles to the left and right boundaries of the target vehicle;

[0143] Then the two side boundaries of the target vehicle are relative to D n The horizontal azimuth angle Δa is the angle between the origin and the horizontal direction.

[0144] Δa=al-ar

[0145] Where Δa is D n The minimum shading angle that needs to be formed.

[0146] The adaptive control unit is also specifically used for:

[0147] When the LED light in Dn corresponding to Δa is turned off, and there is no target vehicle in front of the vehicle, the turned-off LED light is turned on after a preset delay time, thereby realizing the adaptive control of the LED matrix light group.

[0148] An embodiment of the ADB vehicle headlight control system of the present invention controls the LED lights in the LED matrix light group corresponding to the position angle of the target vehicle to turn off, so that the target vehicle is not easily affected by the light of the LED matrix light group, and the LED matrix light group still maintains the high beam illumination state, only some LED lights are not lit. This can avoid glare for oncoming vehicles and ensure that the visibility in front of the vehicle is sufficient, effectively improving driving safety. Moreover, the delay mechanism can avoid the phenomenon of excessive headlight flickering frequency when the target vehicle moves back and forth on the boundary or when multiple target vehicles are monitored by the camera equipment in sequence.

[0149] Based on the same inventive concept, another embodiment of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the data secure transmission method described above.

[0150] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory. The memory can include mass storage for data or instructions. For example, and not limitingly, the memory can include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk drive, a magneto-optical disk drive, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory can include removable or non-removable (or fixed) media. Where appropriate, the memory can be internal or external to the data processing device. In a particular embodiment, the memory is non-volatile memory. In a particular embodiment, the memory includes read-only memory (ROM) and random access memory (RAM).Where appropriate, the ROM may be a mask-programmed ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), an electrically alterable read-only memory (EAROM), or flash memory, or a combination of two or more of these. Where appropriate, the RAM can be Static Random-Access Memory (SRAM) or Dynamic Random-Access Memory (DRAM), wherein the DRAM can be Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), Extended Data Out Dynamic Random-Access Memory (EDODRAM), Synchronous Dynamic Random-Access Memory (SDRAM), etc. It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc. The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0151] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An ADB vehicle headlight control method, characterized in that, The method includes: Receive image data from the front of the vehicle acquired by the camera equipment; The position angle data of the target vehicle is obtained based on the image data, and the rectangular coordinates of the two side boundaries of the target vehicle relative to the LED matrix light group are obtained based on the position angle data. The spherical coordinates of the two sides of the target vehicle relative to the LED matrix light group are obtained from the rectangular coordinates of the two sides of the target vehicle relative to the LED matrix light group, and the minimum occlusion angle of the LED matrix light group is obtained accordingly. If the target vehicle is not detected in front of the vehicle based on the image data, the LED matrix headlights will remain in high beam mode. If the target vehicle is detected in front of the vehicle based on the image data, the LED lights in the LED matrix headlights corresponding to the minimum obstruction angle will be turned off, and the turned-off LED lights will be turned on according to a preset delay mechanism.

2. The ADB vehicle headlight control method according to claim 1, characterized in that, The specific steps for receiving the image data of the front of the vehicle acquired by the camera device are as follows: It communicates with the camera device via a CAN bus; Receive the image data transmitted from the front of the vehicle by the camera device; The image data is preprocessed for noise reduction using Kalman filtering.

3. The ADB vehicle headlight control method according to claim 1, characterized in that, The specific steps for obtaining the position angle data of the target vehicle based on the image data, and obtaining the rectangular coordinates of the two side boundaries of the target vehicle relative to the LED matrix light group based on the position angle data, are as follows: The position and angle data of the target vehicle are obtained by acquiring the image data; Based on the position angle data, the spherical coordinates of the right edge position of the target vehicle are set as (H, A, B); Where H, A, and B are the distance, azimuth, and pitch angle of the target vehicle relative to the camera device, respectively, and the spherical coordinate system is a spherical coordinate system centered on the camera device. Establish the Cartesian coordinates (x, y, z) of the right boundary of the target vehicle relative to the camera device: x = H × sinB × cosA + Δx y = H × sinB × sinA z = H × cosB Where Δx is the distance margin between the two sides of the target vehicle, x is the distance between the target vehicle and the camera device in a direction perpendicular to the vehicle's own direction of travel and parallel to the ground plane, y is the distance between the front edge of the target vehicle and the camera device in the vehicle's own direction of travel, and z is the distance between the target vehicle and the camera device in a direction perpendicular to the ground. Let the LED matrix light group in the nth group be Dn. Then the coordinate offset of Dn relative to the position of the camera device is (xn, yn, zn). Convert the rectangular coordinate system with the camera device as the origin to a rectangular coordinate system centered on Dn. Then the rectangular coordinates of the right boundary of the target vehicle relative to Dn are (x-xn, y-yn, z-zn). Where, xn is the distance between the target vehicle and Dn in a direction perpendicular to the vehicle's own direction of travel and parallel to the ground plane, yn is the distance between the leading edge of the target vehicle and Dn in the vehicle's own direction of travel, zn is the distance between the target vehicle and Dn in a direction perpendicular to the ground, and n is the number of the LED matrix light group of the vehicle itself, n=1,2,3,4,...; Similarly, the rectangular coordinates of the left boundary of the target vehicle relative to Dn can be obtained.

4. The ADB vehicle headlight control method according to claim 3, characterized in that, The specific steps for obtaining the spherical coordinates of the two sides of the target vehicle relative to the LED matrix light group, with the LED matrix light group as the origin, and then obtaining the minimum occlusion angle of the LED matrix light group, are as follows: Transform the Cartesian coordinates of the right boundary of the target vehicle relative to Dn into spherical coordinates (h, a, b) centered at Dn: Where (h,a,b) is the spherical coordinate position of the right boundary of the target vehicle with Dn as the origin, h is the distance between Dn and the target vehicle, a is the horizontal azimuth angle of the target vehicle relative to Dn, and b is the pitch angle of the target vehicle relative to Dn. Similarly, the spherical coordinate position of the left boundary of the target vehicle with Dn as the origin can be obtained. Similarly, the spherical coordinates of the left boundary of the target vehicle centered at Dn can be obtained. Let the spherical coordinates of the left and right boundaries of the target vehicle be (hl, al, bl) and (hr, ar, br), respectively. Where hl and hr are the distances from Dn to the left and right boundaries of the target vehicle, al and ar are the horizontal azimuth angles from Dn to the left and right boundaries of the target vehicle, and bl and br are the pitch angles from Dn to the left and right boundaries of the target vehicle. The horizontal azimuth angle Δa between the two side boundaries of the target vehicle and the origin Dn is: Δa=al-ar Wherein, Δa is the minimum occlusion angle that Dn needs to form.

5. The ADB vehicle headlight control method according to claim 4, characterized in that, The specific steps for turning on a turned-off LED light according to the preset delay mechanism are as follows: When the LED light in Dn corresponding to Δa is turned off, and until there is no target vehicle in front of the vehicle, the turned-off LED light is turned on after a preset delay time, thereby realizing the adaptive control of the LED matrix light group.

6. An ADB vehicle lighting control system, characterized in that, The system includes: The receiving unit is used to receive image data from the front of the vehicle acquired by the camera device; The first data processing unit is used to obtain the position angle data of the target vehicle based on the image data, and to obtain the rectangular coordinates of the two side boundaries of the target vehicle relative to the LED matrix light group based on the position angle data. The second data processing unit is used to obtain the spherical coordinates of the two sides of the target vehicle relative to the LED matrix light group based on the rectangular coordinates of the two sides of the target vehicle relative to the LED matrix light group, and thereby obtain the minimum occlusion angle of the LED matrix light group. An adaptive control unit is configured to maintain the high beam state of the LED matrix headlights if the target vehicle is not detected in front of the vehicle based on the image data, and to turn off the LED lights in the LED matrix headlights corresponding to the minimum obstruction angle and turn on the turned-off LED lights according to a preset delay mechanism if the target vehicle is detected in front of the vehicle based on the image data.

7. The ADB vehicle lighting control system according to claim 6, characterized in that, The receiving unit is specifically used for: It communicates with the camera device via a CAN bus; Receive the image data transmitted from the front of the vehicle by the camera device; The image data is preprocessed for noise reduction using Kalman filtering.

8. The ADB vehicle lighting control system according to claim 6, characterized in that, The first data processing unit is specifically used for: The position and angle data of the target vehicle are obtained by acquiring the image data; Based on the position angle data, the spherical coordinates of the right edge position of the target vehicle are set as (H, A, B); Where H, A, and B are the distance, azimuth, and pitch angle of the target vehicle relative to the camera device, respectively, and the spherical coordinate system is a spherical coordinate system centered on the camera device. Establish the Cartesian coordinates (x, y, z) of the right boundary of the target vehicle relative to the camera device: x = H × sinB × cosA + Δx y = H × sinB × sinA z = H × cosB Where Δx is the distance margin between the two sides of the target vehicle, x is the distance between the target vehicle and the camera device in a direction perpendicular to the vehicle's own direction of travel and parallel to the ground plane, y is the distance between the front edge of the target vehicle and the camera device in the vehicle's own direction of travel, and z is the distance between the target vehicle and the camera device in a direction perpendicular to the ground. Let the LED matrix light group in the nth group be Dn. Then the coordinate offset of Dn relative to the position of the camera device is (xn, yn, zn). Convert the rectangular coordinate system with the camera device as the origin to a rectangular coordinate system centered on Dn. Then the rectangular coordinates of the right boundary of the target vehicle relative to Dn are (x-xn, y-yn, z-zn). Where, xn is the distance between the target vehicle and Dn in a direction perpendicular to the vehicle's own direction of travel and parallel to the ground plane, yn is the distance between the leading edge of the target vehicle and Dn in the vehicle's own direction of travel, zn is the distance between the target vehicle and Dn in a direction perpendicular to the ground, and n is the number of the LED matrix light group of the vehicle itself, n=1,2,3,4,...; Similarly, the rectangular coordinates of the left boundary of the target vehicle relative to Dn can be obtained.

9. The ADB vehicle lighting control system according to claim 8, characterized in that, The second data processing unit is specifically used for: Transform the Cartesian coordinates of the right boundary of the target vehicle relative to Dn into spherical coordinates (h, a, b) centered at Dn: Where (h,a,b) is the spherical coordinate position of the right boundary of the target vehicle with Dn as the origin, h is the distance between Dn and the target vehicle, a is the horizontal azimuth angle of the target vehicle relative to Dn, and b is the pitch angle of the target vehicle relative to Dn. Similarly, the spherical coordinate position of the left boundary of the target vehicle with Dn as the origin can be obtained. Similarly, the spherical coordinates of the left boundary of the target vehicle centered at Dn can be obtained. Let the spherical coordinates of the left and right boundaries of the target vehicle be (hl, al, bl) and (hr, ar, br), respectively. Where hl and hr are the distances from Dn to the left and right boundaries of the target vehicle, al and ar are the horizontal azimuth angles from Dn to the left and right boundaries of the target vehicle, and bl and br are the pitch angles from Dn to the left and right boundaries of the target vehicle. The horizontal azimuth angle Δa between the two side boundaries of the target vehicle and the origin Dn is: Δa=al-ar Wherein, Δa is the minimum occlusion angle that Dn needs to form.

10. The ADB vehicle lighting control system according to claim 9, characterized in that, The adaptive control unit is further used for: When the LED light in Dn corresponding to Δa is turned off, and until there is no target vehicle in front of the vehicle, the turned-off LED light is turned on after a preset delay time, thereby realizing the adaptive control of the LED matrix light group.

Images