A headlight up and down parallax correction method and high-definition matrix headlight control system

Abstract

The present invention discloses a method for correcting the up and down parallax of a headlight and a high-definition matrix headlight control system, which belong to the technical field of vehicle light control. The method for correcting the up and down parallax of a headlight comprises: step S1, detecting the angle and distance of the vehicle in front; step S2, calculating the corrected illumination angle value of the headlight according to the acquired distance between the camera sensing module and the rear of the vehicle in front in the X direction and the Z-direction angle value of the vehicle in front relative to the camera sensing module, combined with known parameters; step S3, generating a headlight adjustment instruction according to the corrected illumination angle value of the headlight; step S4, executing the correction instruction, and dynamically adjusting the up and down illumination angles of the headlight. The present invention provides a method for correcting the up and down parallax of a headlight and a high-definition matrix headlight control system, which provides an optimal nighttime lighting range while ensuring the illumination accuracy and anti-glare effect of the headlight, thereby ensuring the safety and comfort of the driver driving at night.

Description

Technical Field

[0001] The invention relates to a headlight up-and-down parallax correction method and a high-definition matrix headlight control system, belonging to the technical field of vehicle light control. Background Art

[0002] Adaptive Driving Beam (ADB) is an advanced vehicle lighting technology designed to improve the safety and comfort of nighttime driving. The ADB system intelligently controls the beam distribution of the high beam, accurately shuts off the lighting within the range of the vehicle in front, forms a "dark lighting area" to avoid glare to other road users, and maximizes the lighting range to ensure that the driver has a good field of vision.

[0003] At present, general adaptive high beam systems can only achieve adaptive dark area shielding in the horizontal space, while high-definition matrix headlights can achieve adaptive dark area shielding in the longitudinal space due to the larger number of LED pixels, generally tens of thousands or even millions. Therefore, high-definition matrix headlight systems can achieve dynamic dark area shielding in both horizontal and longitudinal directions. The high-definition matrix headlight system can greatly reduce the glare effect on oncoming vehicles by adjusting the direction and intensity of the headlights. However, when implementing anti-glare measures, due to the deviation between the camera installation position and the direction of the headlights, the light of the headlights may not be able to accurately illuminate the intended area, affecting the lighting effect and driving safety. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a method for correcting the upper and lower parallax of headlights and a high-definition matrix headlight control system, which, while ensuring the illumination accuracy and anti-glare effect of the headlights, provides an optimal nighttime lighting range and ensures the safety and comfort of the driver when driving at night.

[0005] In order to solve the above technical problems, the technical solution of the present invention is:

[0006] In one aspect, the present invention provides a method for correcting vertical parallax of a headlight, which comprises:

[0007] Step S1, detecting the angle and distance of the vehicle in front;

[0008] Step S2, calculating a corrected headlight illumination angle value according to the acquired distance between the camera perception module and the rear of the front vehicle in the X direction and the Z direction angle value of the front vehicle relative to the camera perception module in combination with known parameters;

[0009] Step S3, generating a headlight adjustment instruction according to the corrected headlight illumination angle value;

[0010] Step S4, execute the correction instruction to dynamically adjust the upper and lower illumination angles of the headlights.

[0011] Furthermore, in step S1, the angle and distance detection of the vehicle ahead is performed, which specifically includes the following steps:

[0012] Collect images of the road ahead;

[0013] According to the position of the front vehicle, the distance information of the front vehicle and the Z-direction angle value of the front vehicle relative to the camera are determined.

[0014] Furthermore, in step S2, the corrected light illumination angle value is calculated, which specifically includes the following steps:

[0015] ;

[0016] in, θ 2 is the illumination angle after lamp compensation;

[0017] θ is the Z-axis angle of the front vehicle relative to the camera perception module;

[0018] Offset is the distance between the camera sensing module and the lamp in the X direction;

[0019] H is the distance between the camera sensing module and the lamp in the Z direction;

[0020] L is the distance between the camera perception module and the rear of the vehicle in front in the X direction;

[0021] Δ θ pose It is the angle deviation caused by the change of vehicle posture;

[0022] Δ H road It is the change in vehicle height caused by road surface irregularities;

[0023] Δ L pose The change in the distance between the camera perception module and the rear of the vehicle in the X direction is caused by the change in the vehicle's posture;

[0024] Δ θ optical It is the angle deviation caused by the optical characteristics of the camera perception module;

[0025] The X direction refers to the forward direction of the vehicle, the Y direction refers to the left and right direction of the vehicle, and the Z direction refers to the up and down direction of the vehicle.

[0026] Another aspect of the present invention provides a high-definition matrix headlight control system using the headlight up-down parallax correction method, which includes a camera sensing module, a headlight control drive module and a high-definition matrix headlight module;

[0027] The camera sensing module is connected to the input end of the headlight control driving module, and the output end of the headlight control driving module is connected to the high-definition matrix headlight module.

[0028] Furthermore, the high-definition matrix headlight module includes a right-side high-definition matrix headlight and a left-side high-definition matrix headlight.

[0029] Furthermore, the camera perception module is an ADAS intelligent front-view integrated machine above L2 level.

[0030] Furthermore, the camera sensing module is installed on the inner side of the front windshield of the vehicle and is located on the central axis of the vehicle.

[0031] Furthermore, the right high-definition matrix headlight is a LED light source with ten thousand pixels or a DMD micro-vibration reflection unit with one million pixels, and the left high-definition matrix headlight is a LED light source with ten thousand pixels or a DMD micro-vibration reflection unit with one million pixels.

[0032] By adopting the above technical solution, the present invention can monitor and adjust the upper and lower illumination angles of the headlights in real time according to the dynamic state of the vehicle and the surrounding environment, intelligently adjust the illumination range and brightness distribution of the headlights, effectively correct the difference between the camera viewing angle and the headlight illumination angle, ensure that the driver obtains balanced sight illumination in different driving scenarios, and avoid glare to other road users. The present invention realizes intelligent adjustment of the headlight illumination angle through optimized lighting control technology, improving the safety and comfort of night driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A method for correcting the vertical parallax of a headlight according to the present invention;

[0034] Figure 2 It is a schematic diagram of the state when the error between the camera angle detection and the lamp illumination angle of the present invention is not corrected;

[0035] Figure 3 It is a schematic diagram of the camera angle detection and headlight angle error correction process of the present invention;

[0036] Figure 4 It is a principle block diagram of the high-definition matrix headlight control system of the present invention;

[0037] Figure 5 is the angle deviation Δθ caused by the vehicle posture change in the present invention pose Schematic diagram of the calculation. DETAILED DESCRIPTION

[0038] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0039] Embodiment 1

[0040] like Figure 1 As shown, this embodiment provides a method for correcting the vertical parallax of a headlight, which includes:

[0041] Step S1, detecting the angle and distance of the vehicle ahead, specifically includes the following steps:

[0042] Collect images of the road ahead;

[0043] According to the position of the front vehicle, the distance between the camera perception module and the rear of the front vehicle in the X direction and the Z direction angle value of the front vehicle relative to the camera perception module are determined.

[0044] Step S2: Figure 2 As shown, A is the actual illumination range of the lamp, and B is the ideal illumination range. Because the camera perception module is installed above the front windshield of the vehicle, and the lamp is installed at the front of the vehicle, there is a distance difference H in the longitudinal direction. The current perception method targets the entire vehicle, so the output vehicle size is a rectangular anchor frame from the roof to the tire grounding point. Through the camera ranging function, it can be known that the distance between the two vehicles is L, plus the known camera installation height, and the Z-direction angle value θ of the front vehicle relative to the camera perception module can be obtained by inverse trigonometric function. If the high-definition matrix headlight control drive module directly uses this angle value θ for lighting control, since the camera installation position and the lamp installation position are not at the same point, there will be an error in lighting control, which is intuitively manifested as the overall lower lighting range. Therefore, it is necessary to compensate for the above-mentioned errors.

[0045] like Figure 3 As shown, according to the obtained distance L between the camera perception module and the rear of the front vehicle in the X direction and the Z direction angle value θ of the front vehicle relative to the camera perception module, the corrected headlight illumination angle value is calculated in combination with known parameters; specifically, the following steps are included:

[0046] ;

[0047] in, θ 2 is the illumination angle after lamp compensation;

[0048] θ is the Z-axis angle of the front vehicle relative to the camera perception module;

[0049] Offset is the distance between the camera sensing module and the lamp in the X direction;

[0050] H is the distance between the camera sensing module and the lamp in the Z direction;

[0051] L is the distance between the camera perception module and the rear of the vehicle in front in the X direction;

[0052] Δ θ pose It is the angle deviation caused by the change of vehicle posture;

[0053] Δ H road It is the change in vehicle height caused by road surface irregularities;

[0054] Δ L pose The change in the distance between the camera perception module and the rear of the vehicle in the X direction is caused by the change in the vehicle's posture;

[0055] Δ θ optical It is the angle deviation caused by the optical characteristics of the camera perception module;

[0056] The X direction refers to the forward direction of the vehicle, the Y direction refers to the left and right direction of the vehicle, and the Z direction refers to the up and down direction of the vehicle.

[0057] The vehicle is equipped with body height sensors at the front and rear suspensions. When the vehicle enters an uneven road, the body posture will change, such as the vehicle raising its head or nodding its head. The difference between the front and rear body height sensors is the change in body height caused by the uneven road surface. H road .

[0058] At the same time, due to changes in the body posture, such as the vehicle raising its head or nodding its head, the vehicle's pitch angle will change, which will affect the Z-angle value of the vehicle in front relative to the camera perception module. θ Causes an angle deviation Δ θ pose . Known Δ H road The distance S between the front and rear vehicle height sensors is as follows: Figure 5 The vehicle is in the nodding state, then Δ θ pose =arctan(Δ H road / S), when the vehicle nods, causing θ becomes larger, then Δ θ pose is a positive value, when the vehicle lifts its head, it causes θ becomes smaller, then Δ θpose Is a negative value.

[0059] Then the distance L between the camera perception module and the rear of the vehicle in front in the X direction will also have a deviation, namely Δ L pose , .

[0060] Step S3: generating a headlight adjustment instruction according to the corrected headlight illumination angle value to correct the actual headlight illumination angle.

[0061] Step S4, execute the correction instruction, dynamically adjust the upper and lower illumination angles of the headlights, and provide the best nighttime lighting while avoiding dazzle to the driver of the vehicle ahead.

[0062] Embodiment 2

[0063] like Figure 4 As shown, this embodiment provides a high-definition matrix headlight control system that applies the headlight vertical parallax correction method of the first embodiment, which includes a camera sensing module, a headlight control drive module and a high-definition matrix headlight module.

[0064] like Figure 4 As shown, the camera sensing module of this embodiment is connected to the input end of the headlight control drive module, and the camera sensing module is used to sense the distance of the rear end of the front vehicle in the X direction and the Z-direction angle value of the front vehicle relative to the camera sensing module. Among them, the camera sensing module can be a commercially available ADAS intelligent front-view integrated machine above the L2 level, and the camera sensing module is installed on the vehicle center axis on the inside of the front windshield of the vehicle. It has the ability to perceive the road conditions ahead in real time and can identify the position information of the vehicle ahead, and send the distance of the rear end of the front vehicle in the X direction and the Z-direction angle value of the front vehicle relative to the camera sensing module to the high-definition matrix headlight control drive module through a conventional vehicle bus. The vehicle bus is usually a CAN bus, and can also be an SPI or UART bus.

[0065] like Figure 4 As shown, the output end of the headlight control and driving module of this embodiment is connected to the high-definition matrix headlight module. The high-definition matrix headlight control and driving module adopts an MCU chip with a main frequency of at least 120MHz and at least 2 CAN bus communication interfaces. Through internal software, it can receive and analyze the distance of the rear of the front vehicle in the X direction and the Z-direction angle value information of the front vehicle relative to the camera perception module sent by the camera perception module in real time, and convert it into a correction instruction for controlling the high-definition matrix headlight lighting through logical calculation, so as to realize real-time dynamic angle control of the high-definition matrix headlight lighting.

[0066] like Figure 4As shown, the high-definition matrix headlight module of this embodiment includes a right-side high-definition matrix headlight and a left-side high-definition matrix headlight. The right-side high-definition matrix headlight of this embodiment is a 10,000-pixel LED light source or a 1-million-pixel DMD micro-vibration reflection unit, and the left-side high-definition matrix headlight is a 10,000-pixel LED light source or a 1-million-pixel DMD micro-vibration reflection unit.

[0067] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for correcting vertical parallax of a headlight, characterized in that: It includes: Step S1, detecting the angle and distance of the vehicle in front; Step S2, calculating a corrected headlight illumination angle value according to the acquired distance between the camera perception module and the rear of the front vehicle in the X direction and the Z direction angle value of the front vehicle relative to the camera perception module in combination with known parameters; Step S3, generating a headlight adjustment instruction according to the corrected headlight illumination angle value; Step S4, executing the correction instruction to dynamically adjust the upper and lower illumination angles of the headlights; In step S2, calculating the corrected vehicle light illumination angle value specifically includes the following steps: ； in, θ 2 is the illumination angle after lamp compensation; θ is the Z-axis angle of the front vehicle relative to the camera perception module; Offset is the distance between the camera sensing module and the lamp in the X direction; H is the distance between the camera sensing module and the lamp in the Z direction; L is the distance between the camera perception module and the rear of the vehicle in front in the X direction; Δ θ pose It is the angle deviation caused by the change of vehicle posture; Δ H road It is the change in vehicle height caused by road surface irregularities; Δ L pose The change in the distance between the camera perception module and the rear of the vehicle in the X direction is caused by the change in the vehicle's posture; Δ θ optical It is the angle deviation caused by the optical characteristics of the camera perception module; The X direction refers to the forward direction of the vehicle, the Y direction refers to the left and right direction of the vehicle, and the Z direction refers to the up and down direction of the vehicle.

2. The headlight vertical parallax correction method according to claim 1, characterized in that: In step S1, the angle and distance detection of the vehicle ahead is performed, which specifically includes the following steps: Collect images of the road ahead; According to the position of the front vehicle, the distance information of the front vehicle and the Z-direction angle value of the front vehicle relative to the camera are determined.

3. A high-definition matrix headlight control system using the headlight vertical parallax correction method according to any one of claims 1 to 2, characterized in that: It includes a camera perception module, a headlight control drive module, and a high-definition matrix headlight module; The camera sensing module is connected to the input end of the headlight control driving module, and the output end of the headlight control driving module is connected to the high-definition matrix headlight module.

4. The high-definition matrix headlight control system according to claim 3, characterized in that: The high-definition matrix headlight module includes a right-side high-definition matrix headlight and a left-side high-definition matrix headlight.

5. The high-definition matrix headlight control system according to claim 3, characterized in that: The camera perception module is an ADAS intelligent front-view integrated machine above L2 level.

6. The high-definition matrix headlight control system according to claim 3, characterized in that: The camera sensing module is installed on the inner side of the front windshield of the vehicle and is located on the central axis of the vehicle.

7. The high-definition matrix headlight control system according to claim 4, characterized in that: The right high-definition matrix headlight is an LED light source with ten thousand pixels or a DMD micro-vibration reflection unit with one million pixels, and the left high-definition matrix headlight is an LED light source with ten thousand pixels or a DMD micro-vibration reflection unit with one million pixels.

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