Automatic headlamp leveling system for vehicle and control method thereof
By using ADAS sensors to calculate the three-dimensional inclination of the mobile device, the problems of inclination detection error and high cost in traditional systems are solved, and more accurate and economical headlight leveling control is achieved.
Patent Information
- Application Number
- CN202311825544.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-06-27
- Filing Date
- 2023-12-27
- Publication Date
- 2024-12-27
AI Technical Summary
The traditional headlight automatic leveling system detects errors in tilt through the axle sensor and requires a dedicated height sensor, which increases material cost and complexity.
Using advanced driver assistance system (ADAS) sensors such as LiDAR, radar and cameras instead of height sensors, the leveling of the headlights is precisely controlled by calculating the three-dimensional inclination of the mobile device relative to the ground.
More precise headlight leveling is achieved, reducing costs and improving system intuitiveness and reliability.
Smart Images
Figure CN119189855A_ABST
Abstract
Description
Technical Field
[0001] The following disclosure relates to an automatic headlamp leveling system for a mobile device (vehicle) and a control method thereof. Background Art
[0002] The headlamp leveling control system of a vehicle can automatically adjust the height of the headlamp based on the change in height during the driving of the vehicle to help the driver of the vehicle and the drivers of other vehicles to drive their vehicles safely. The headlamp leveling control system can generally detect the change in the inclination or weight of the vehicle, the acceleration sensor in the vehicle, etc., and adjust the headlamp to maintain a constant height based on this. Through this system, the light emission direction of the headlamp can be adjusted even during driving to ensure wide-range visibility, thereby preventing glare for drivers of other vehicles, which can improve the safety of the driver during driving.
[0003] Figure 1 is a schematic diagram showing a conventional headlamp automatic leveling system.
[0004] like Figure 1 As shown in , the headlamp leveling control system can operate normally in association with the electronic control system (ECU) of the vehicle. Here, the axle sensor or height sensor 10 of the vehicle can be used to detect the inclination of the vehicle, the axle can be the central part of the vehicle intersecting with its central axis, and the axle sensor 10 can be installed around the axle. With this configuration, the system can control the leveling of the vehicle by estimating the inclination angle of the headlamp.
[0005] However, when the inclination of the vehicle is detected by using the conventional axle sensor 10, since the inclination of the headlight is estimated by the inclination of the axle, this may cause errors and may not be intuitive. In addition, a dedicated height sensor may be required to detect the inclination of the axle, which may increase material costs. Summary of the invention
[0006] Embodiments of the present disclosure are intended to provide a headlamp automatic leveling system for a mobile device and a control method thereof, wherein the headlamp automatic leveling system can use an advanced driver assistance system (ADAS) sensor instead of a height sensor to detect the three-dimensional inclination of a vehicle body, and can accurately control the leveling of the mobile device based on the inclination.
[0007] In a general aspect, a headlamp automatic leveling system for a mobile device including a headlamp is provided, the system comprising: a leveling module that controls the inclination of the headlamp; a sensor unit that includes at least one of a light detection and ranging (LiDAR), a radar, and a camera that provides information about the surrounding environment of the mobile device; and a control unit that calculates a three-dimensional (3D) inclination of the mobile device relative to the ground based on detection data received from the sensor unit, and controls the leveling module based on the 3D inclination of the mobile device, wherein the control unit calculates plane data for a predetermined surrounding area of the mobile device according to the detection data received from the sensor unit, and calculates the 3D inclination of the mobile device by comparing predetermined reference plane data with the calculated plane data.
[0008] The control unit may calculate P1 to Pn, which are coordinates of a ground surface of the predetermined surrounding area, based on the predetermined surrounding area of the mobile device, and calculate the plane data for a plane including the coordinates P1 to Pn.
[0009] The control unit may calculate the 3D tilt of the mobile device by comparing a predetermined reference normal of the calculated plane data with a predetermined reference normal of the reference plane data.
[0010] The control unit may calculate the 3D tilt of the mobile device by comparing a predetermined center of gravity of the calculated plane data with a predetermined center of gravity of the reference plane data.
[0011] The control unit may calculate the 3D tilt of the mobile device by comparing a predetermined area of the calculated plane data with a predetermined area of the reference plane data.
[0012] The control unit may calculate the plane data according to the detection data received from the at least two or more sensors, and calculate the 3D tilt of the mobile device by comparing a predetermined center point of the calculated plane data with a predetermined center point of the reference plane data.
[0013] The control unit may control the leveling module to individually control each of the angles of the plurality of headlamps based on the calculated 3D inclination of the mobile device.
[0014] The control unit may also calculate position information of an object positioned in front of the mobile device based on the detection data received from the sensor unit, set a dark area based on the calculated position information of the object, and correct the position of the dark area by reflecting the calculated 3D tilt of the mobile device.
[0015] The control unit may estimate distortion of an image projected in front of the mobile device based on the calculated 3D inclination, and correct the image to be in a direction opposite to a direction of the estimated distortion.
[0016] In another general aspect, a control method for an automatic headlamp leveling system for a mobile device including a leveling module and a sensor unit is provided, the method comprising the following steps: (a) receiving, by a control unit, detection data from the sensor unit; (b) calculating, by the control unit, a three-dimensional (3D) inclination of the mobile device relative to the ground based on the received detection data; and (c) controlling, by the control unit, the leveling module based on the calculated 3D inclination of the mobile device, wherein, in step (b), plane data for a predetermined surrounding area of the mobile device is calculated based on the detection data received from the sensor unit, and the 3D inclination of the mobile device is calculated by comparing predetermined reference plane data with the calculated plane data.
[0017] In step (b), P1 to Pn as coordinates of the ground of the predetermined surrounding area may be calculated based on the predetermined surrounding area of the mobile device, and the plane data for a plane including the coordinates P1 to Pn may be calculated.
[0018] In step (b), the 3D tilt of the mobile device may be calculated by comparing any one of a predetermined reference normal, center of gravity, and area of the calculated plane data with any one of a predetermined reference normal, center of gravity, and area of the reference plane data, respectively.
[0019] Step (c) may include: determining a first angle of the calculated 3D inclination, the first angle being an inclination relative to a first reference axis and a second reference axis which is an axis perpendicular to the first reference axis; when the first angle has a predetermined reference or greater, controlling the upper and lower sides of the leveling module; determining a second angle of the calculated 3D inclination, the second angle being an inclination relative to the second reference axis and a third reference axis which is an axis perpendicular to the second reference axis; and when the second angle has a predetermined reference or greater, controlling the left and right sides of the leveling module. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 is a schematic diagram showing a conventional headlamp automatic leveling system.
[0021] Figure 2 is a schematic diagram showing an automatic headlamp leveling system for a mobile device according to the present disclosure.
[0022] Figure 3Aand Figure 3B is a schematic diagram comparing a conventional automatic headlamp leveling system with the automatic headlamp leveling system according to the present disclosure.
[0023] Figure 4 is a schematic diagram showing an example of installing an advanced driver assistance system (ADAS) sensor according to the present disclosure.
[0024] Figure 5 is a schematic diagram illustrating Example 1 of a method for estimating an inclination of a mobile device according to the present disclosure.
[0025] Figure 6 is a schematic diagram illustrating Example 2 of a method for estimating an inclination of a mobile device according to the present disclosure.
[0026] Figure 7 is a schematic diagram illustrating Example 3 of a method for estimating an inclination of a mobile device according to the present disclosure.
[0027] Figure 8 is a flow chart illustrating a control method of an automatic headlamp leveling system for a mobile device according to the present disclosure.
[0028] Fig. 9 is shown in more detail Figure 8 Flowchart of the process. DETAILED DESCRIPTION
[0029] In order to describe the present disclosure, operating advantages of the present disclosure, and objectives achieved by embodiments of the present disclosure, embodiments of the present disclosure are exemplified below and described with reference to the accompanying drawings.
[0030] First, the terms used in this application are only used to describe specific embodiments, not to limit the present disclosure, and unless the context clearly indicates otherwise, singular terms may include their plural forms. In addition, it should be understood that the terms "including", "having", etc. used in this application specify the presence of features, reference numerals, steps, operations, components, parts, or combinations thereof mentioned in the specification, and do not exclude the presence or addition of one or more other features, reference numerals, steps, operations, components, parts, or combinations thereof.
[0031] When it is determined that a detailed description of a known configuration or function related to the present disclosure may obscure the gist of the present disclosure, the detailed description thereof will be omitted.
[0032] Figure 2 is a schematic diagram showing an automatic headlamp leveling system for a mobile device according to the present disclosure.
[0033] like Figure 2As shown in , the automatic leveling system for headlights according to the present disclosure may include a sensor unit 100 , a control unit 200 , and a leveling module 300 .
[0034] The sensor unit 100 may include at least one sensor that detects the distance from the mobile device to the ground surface. Here, the sensor unit 100 may detect the distance to a plurality of points. In detail, the sensor unit 100 may include an advanced driver assistance system (ADAS) sensor, and in more detail, the ADAS sensor may include any one of light detection and ranging (LiDAR), radar, and a camera.
[0035] The leveling module 300 may control the tilt of the headlight.
[0036] The control unit 200 may generate a plurality of position coordinates based on the distances to the plurality of points received from the sensor unit 100. In addition, the control unit 200 may control the leveling module 300 based on the generated plurality of position coordinates.
[0037] In detail, the control unit 200 can generate at least three position coordinates P1 to Pn based on the detection data received from the sensor unit 100, and calculate the three-dimensional (3D) inclination of the mobile device, which is the three-dimensional inclination of the front, back, left and right of the mobile device relative to the X-axis, Y-axis and Z-axis based on the position coordinates of the three or more points generated.
[0038] In this case, here, the X-axis, the Y-axis, and the Z-axis may be axes perpendicular to each other, and the three-dimensional inclination may be a three-dimensional inclination of the mobile device relative to the ground.
[0039] In more detail, the control unit 200 may calculate plane data for a predetermined surrounding area of the mobile device according to the detection data received from the sensor unit 100 , and calculate the 3D tilt of the mobile device by comparing the calculated plane data with predetermined reference data.
[0040] at the same time, Figure 3A and Figure 3B is a schematic diagram comparing a conventional automatic headlamp leveling system with the automatic headlamp leveling system according to the present disclosure.
[0041] Figure 3A A conventional headlamp automatic leveling system is shown, and the conventional system may require a height sensor (or SI-ECU) 10 to adjust the inclination of the headlamp based on the inclination of the mobile device. When the height sensor 10 detects the inclination and transmits a control signal to the leveling module 20, the conventional system may adjust the inclination of the lamp based on the control signal received by the leveling module 20. Here, as shown in FIG. Figure 3AAs shown in , the conventional automatic headlamp leveling system can detect only the front-rear inclination of the mobile device, and cannot detect the left-right inclination of the mobile device even when the left-right inclination is included in the received signal.
[0042] on the other hand, Figure 3B The automatic leveling system 1000 for the headlamp of a mobile device according to the present disclosure is shown, and the system 1000 can use the ADAS sensor as in the present disclosure to detect not only the front-to-back tilt of the mobile device, but also the left-to-right tilt of the mobile device. Therefore, in detail, the system 1000 can adjust the tilt of the lamp based on the three-dimensional tilt of the mobile device, and more accurately control the leveling of the mobile device.
[0043] Figure 4 is a schematic diagram showing an example of installing an advanced driver assistance system (ADAS) sensor according to the present disclosure.
[0044] Hereinafter, this specification describes the ADAS sensor in detail.
[0045] First, an advanced driver assistance system (ADAS) may be an intelligent driver assistance system, and may be a driver assistance system in which the vehicle itself recognizes and determines some situations during its driving by using advanced detection sensors, a global positioning system (GPS), communications, and intelligent imaging equipment, and notifies the driver of the situation through sound, light, vibration, etc., so that the driver can control the vehicle in advance or detect risk factors. That is, ADAS is a term that collectively refers to a technology in which the vehicle itself recognizes various situations occurring during the driving of the vehicle and determines the situation to control a mechanical device.
[0046] Meanwhile, the technologies of ADAS sensors can be categorized into radar, ultrasonic, light detection and ranging (LiDAR), and camera.
[0047] Radar sensors can detect objects by measuring the time it takes to transmit radio waves.
[0048] Ultrasonic sensors can calculate the distance to an object by using reflected sound waves.
[0049] LiDAR sensors can detect the distance of each point by using the same principle as radar sensors, that is, by using the time difference between the emission of laser light and its return to the receiver. LiDAR sensors with high angular resolution can accurately measure distances and detect the distance to the ground surface by measuring the return time of the laser light to the receiver.
[0050] Based on this, refer again Figure 3B, the control unit 200 can emit lasers at P, Q, and R positions, which are coordinates of the surrounding area of the mobile device relative to the ground, based on the predetermined surrounding area of the mobile device through the ADAS sensor to detect the distance by using the time difference when the laser returns to the receiver. Therefore, the position coordinates of P may be (X1, Y1, d1), the position coordinates of Q may be (X2, Y2, d2), and the position coordinates of R may be (X3, Y3, d3). The control unit 200 may calculate plane data for a plane including the position coordinates of P, Q, and R based on these position coordinates.
[0051] Hereinafter, this specification describes in more detail a method for calculating the tilt of the mobile device by the control unit 200 through various examples.
[0052] [Example 1]
[0053] Figure 5 is a schematic diagram illustrating Example 1 of a method for estimating an inclination of a mobile device according to the present disclosure.
[0054] like Figure 5 As shown in , the control unit 200 may calculate the 3D tilt of the mobile device by comparing a predetermined reference normal of the calculated plane data with a predetermined reference normal of the reference plane data.
[0055] In detail, the control unit 200 may calculate the inclination by using normal vectors of two line segments formed by the position coordinates of three or more points and normal vectors of two predetermined line segments of the reference plane data.
[0056] In more detail, the control unit 200 may calculate each normal vector for the vectors of the two line segments used as the basis of the position coordinates of the three or more points and the vectors of the two line segments that change when the tilt of the mobile device occurs. Here, the control unit 200 may calculate the normal vector by the cross product of the vectors, and calculate the tilt by using the tilt difference of the calculated normal vector.
[0057] For example, it can be assumed that the initial position coordinates are P1', P2' and P3', and the position coordinates are P1' = (X1', Y1', Z1'), P2' = (X2', Y2', Z2') and P3' = (X3', Y3', Z3'). Here, the position coordinates that change as the mobile device tilts can be assumed to be P1" = (X1", Y1", Z1"), P2" = (X2", Y2", Z2") and P3" = (X3", Y3", Z3") respectively.
[0058] When each of the above initial position coordinates is expressed as a vector, the vector can be calculated as follows:
[0059]
[0060] Additionally, the normal vectors of two line segments can be calculated by the cross product of the vectors as follows:
[0061]
[0062] Meanwhile, when each of the above-mentioned changed position coordinates is expressed as a vector, the vector can be calculated as follows:
[0063]
[0064] Additionally, the normal vectors of two line segments can be calculated by the cross product of the vectors as follows:
[0065]
[0066] Therefore, the inclinations of the two normal vectors may be calculated by separating each coordinate into X⊥Z axis and Y⊥Z axis components, respectively, and calculating the inclination between the front and rear sides of the mobile device and the inclination between the left and right sides of the mobile device.
[0067] In more detail, the corresponding equations for calculating the tilt are shown in Equations 1 and 2 below:
[0068] -Equation 1
[0069] as well as
[0070] -Equation 2
[0071]
[0072] [Example 2]
[0073] Figure 6 is a schematic diagram illustrating Example 2 of a method for estimating an inclination of a mobile device according to the present disclosure.
[0074] Next, if Figure 6 As shown in , the control unit 200 may calculate the inclination by using a normal vector of a first plane formed by position coordinates of three or more points.
[0075] In detail, the control unit 200 may calculate each normal vector of the first plane and the second plane, which is a plane that changes when the tilt of the mobile device occurs, based on the plane equation. In addition, the control unit 200 may calculate the tilt by using the tilt difference of the normal vector.
[0076] For example, it can be assumed that the initial position coordinates are P1', P2' and P3', and the position coordinates are P1' = (X1', Y1', Z1'), P2' = (X2', Y2', Z2') and P3' = (X3', Y3', Z3'). Here, the position coordinates that change as the mobile device tilts can be assumed to be P1" = (X1", Y1", Z1"), P2" = (X2", Y2", Z2") and P3" = (X3", Y3", Z3") respectively.
[0077] The plane equation can be expressed as the following equation 3:
[0078] -Equation 3
[0079] Ax+By+Cz+D=0.
[0080] Furthermore, the normal vector of a plane can be expressed as follows:
[0081]
[0082] Here, the values of A, B, and C can be calculated by the following equation 4:
[0083] -Equation 4
[0084] A=y1(z2-z3)+y2(z3-z1)+y3(z1-z2)
[0085] B=z1(x2-x3)+z2(x3-x1)+z3(x1-x2)
[0086] C=x1(y2-y3)+x2(y3-y1)+x3(y1-y2)
[0087] -D=x1(y2z3-y3z2)+x2(y3z1-y1z3)+x3(y1z2-y2z1).
[0088] Therefore, the initial normal vectors of the initial position coordinates P1 ′, P2 ′, P3 ′ and the changed normal vectors of the changed position coordinates P1 ″, P2 ″, P3 ″ may be calculated, respectively.
[0089] The initial normal vector can be And the changed normal vector can be
[0090] The inclination between the front and rear sides of the mobile device and the inclination between the left and right sides of the mobile device may be calculated by separating each coordinate into components of the X⊥Z axis and the Y⊥Z axis, respectively.
[0091] The detailed method of calculating the inclination may be the same as the method in Equation 1 and Equation 2 above.
[0092] [Example 3]
[0093] Figure 7 is a schematic diagram illustrating Example 3 of a method for estimating an inclination of a mobile device according to the present disclosure.
[0094] like Figure 7 As shown in , the control unit 200 may calculate a first reference point based on the position coordinates of three or more points, and calculate the inclination based on the first reference point.
[0095] In detail, when tilt of the mobile device occurs, the control unit 200 may separate the second reference point and the first reference point changed by the first reference point into components of X⊥Z axis and Y⊥Z axis, respectively, and calculate the tilt by the dot product of each vector.
[0096] Here, the reference point can be the centroid, incenter, or circumcenter.
[0097] In more detail, the present specification describes a method for calculating the inclination of a mobile device by using the center of gravity of a triangle. The position coordinates of three points with X-axis and Y-axis coordinate values received from the sensor unit 100 may be P1 (3, 3), P2 (5, 5), and P3 (7, 1), respectively. In this case, the control unit 200 may generate the position coordinates of the three points by calculating the Z-axis coordinate value, which is the distance from each coordinate to the road surface. Here, the position coordinates of the three points finally generated may be P1' (3, 3, 3), P2' (5, 5, 3), and P3' (7, 1, 6). Here, the inclination of the plane may be determined by the Z-axis coordinate value.
[0098] like Figure 7 As shown in , when the mobile device tilts, P4'(5, 4) (which is the initial center of gravity relative to the X⊥Z axis) can be changed to P4"(5, 3). In addition, P4'(3, 4) (which is the initial center of gravity relative to the Y⊥Z axis) can be changed to P4"(3, 3). Therefore, the control unit 200 can calculate the change in tilt by the dot product of each vector.
[0099] The dot product of vectors can be calculated as shown in Equation 5 below:
[0100] -Equation 5
[0101]
[0102] From Equation 5, it can be seen that the X-axis and the Z-axis are tilted at an angle of 0.14°, while the Y-axis and the Z-axis are tilted at an angle of 0.15°.
[0103] [Example 4]
[0104] Next, the control unit 200 may calculate the inclination by using an orthogonal projection of a plane formed by three or more position coordinates.
[0105] In detail, the control unit 200 may calculate the inclination by separating the coordinates of the plane and the coordinates of the plane changed when the tilt of the mobile device occurs into components of the X⊥Z axis and the Y⊥Z axis, respectively, and using the area of the surface area of each component.
[0106] For example, it can be assumed that the initial position coordinates are P1', P2' and P3', and the position coordinates are P1' = (X1', Y1', Z1'), P2' = (X2', Y2', Z2') and P3' = (X3', Y3', Z3'). Here, the position coordinates that change as the mobile device tilts can be assumed to be P1" = (X1", Y1", Z1"), P2" = (X2", Y2", Z2") and P3" = (X3", Y3", Z3") respectively.
[0107] Here, the control unit 200 may separate each coordinate into components of the X⊥Z axis and the Y⊥Z axis, respectively, and calculate the inclination based on the area of the surface area of each component (S' represents the initial area, and S" represents the area of the orthogonal projection plane).
[0108] Here, the area of the surface area can be calculated by the following equations 6, 7, 8, and 9:
[0109] -Equation 6
[0110]
[0111] -Equation 7
[0112]
[0113] -Equation 8
[0114] as well as
[0115] -Equation 9
[0116]
[0117] In addition, the control unit 200 can calculate the inclination of the X⊥Z axis and the Y⊥Z axis by using the calculated area. Here, the angle formed by the two planes can be calculated by the following equations 10 and 11:
[0118] -Equation 10
[0119] as well as
[0120] -Equation 11
[0121]
[0122] [Example 5]
[0123] Meanwhile, the sensor unit 100 may include two or more sensors. The control unit 200 may estimate the 3D tilt based on distance values of corresponding points on the ground measured by the two or more sensors.
[0124] In detail, each sensor may detect three or more coordinates on the same ground surface, and the control unit 200 may calculate plane data including the coordinates.
[0125] Then, the control unit 200 may detect a predetermined center point of a plane formed by three or more coordinates and a vector of a center point change to estimate a three-dimensional tilt based on a tilt angle of each axis X, Y, or Z.
[0126] [Example 6]
[0127] Furthermore, in various embodiments as described above, the control unit 200 may calculate the 3D tilt of the mobile device, thereby controlling the leveling module 300 included in the mobile device.
[0128] In detail, according to the present disclosure, the control unit 200 may detect a three-dimensional inclination including left and right inclination of the mobile device and its front and rear inclination, and thus individually control the steering angles of the left and right lights based on the inclination relative to each axis.
[0129] For example, when the front-rear tilt occurs, the left and right lamps may have the same upward beam pattern, and thus the control unit 200 may control the left and right lamps to have the same angle.
[0130] On the other hand, when only one wheel crosses the bump, the control unit 200 may additionally control only the lamp in the corresponding direction. In addition, the control unit 200 may not need to additionally control another lamp that does not cross the bump.
[0131] [Example 7]
[0132] In addition, the control unit 200 may also calculate position information of an object located in front of the mobile device based on the detection data received from the sensor unit 100 .
[0133] Then, the control unit 200 may set a dark area based on the calculated position information of the object.
[0134] Here, the dark area is to minimize glare to the driver of the preceding vehicle by reducing the illumination of a predetermined area in a beam pattern emitted based on the position of the preceding vehicle.
[0135] In detail, the matrix coordinates to be controlled may be changed by the inclination of the vehicle. For example, when controlling an adaptive high beam (ADB), the position where a dark area is formed may deviate due to the inclination of the vehicle.
[0136] Therefore, the control unit 200 may correct the position of the dark area to be formed by reflecting the three-dimensional inclination of the mobile device calculated in the above-described respective embodiments.
[0137] [Example 8]
[0138] Meanwhile, in the case where the lamp displays road surface information, when an inclination occurs between the road surface and the vehicle body, the projected image may be distorted due to a change in the projection angle of light to the ground.
[0139] Therefore, the control unit 200 may estimate the distortion of the image projected in front of the mobile device based on the calculated 3D tilt, and correct the distortion of the image in hardware or software.
[0140] In detail, the control unit 200 may perform correction by controlling the leveling module 300 based on the calculated 3D tilt, or normalize a distorted image by using image warping.
[0141] Figure 8 is a flow chart illustrating a control method of an automatic headlamp leveling system for a mobile device according to the present disclosure.
[0142] like Figure 8 As shown in, a control method of a headlamp automatic leveling system 1000 for a mobile device including a leveling module 300 and a sensor unit 100 according to the present disclosure may include: step S100, in which the control unit 200 receives detection data from the sensor unit 100; step S200, in which the control unit 200 calculates the 3D inclination of the mobile device based on the received detection data; and step S300, in which the control unit 200 controls the leveling module 300 based on the calculated 3D inclination.
[0143] In detail, in step S200 , the control unit 200 may generate three or more position coordinates, and calculate plane data of a predetermined surrounding area of the mobile device based on the detection data including the generated position coordinates of the three or more points.
[0144] In addition, the control unit 200 can calculate a three-dimensional inclination, which is the three-dimensional inclination of the front, back, left and right of the mobile device relative to the X-axis, Y-axis and Z-axis, by comparing predetermined reference plane data with the calculated plane data.
[0145] Here, the X-axis, the Y-axis, and the Z-axis may be axes perpendicular to each other.
[0146] This specification describes a method for the control unit 200 to calculate the 3D tilt in step S200 through the following various examples.
[0147] In step S200 , the control unit 200 may calculate a first reference point based on plane data based on three or more position coordinates, and calculate the inclination based on the first reference point.
[0148] In detail, when the tilt of the mobile device occurs, the control unit 200 may separate the second reference point and the first reference point changed by the first reference point into components of X⊥Z axis and Y⊥Z axis, respectively, and calculate the tilt by the dot product of each vector.
[0149] Here, the reference point can be the centroid, incenter, or circumcenter.
[0150] In more detail, the present specification describes a method for calculating the inclination of a mobile device by using the center of gravity of a triangle. The position coordinates of three points with X-axis and Y-axis coordinate values received from the sensor unit 100 may be P1 (3, 3), P2 (5, 5), and P3 (7, 1), respectively. In this case, the control unit 200 may generate the position coordinates of the three points by calculating the Z-axis coordinate value, which is the distance from each coordinate to the road surface. Here, the position coordinates of the three points finally generated may be P1' (3, 3, 3), P2' (5, 5, 3), and P3' (7, 1, 6). Here, the inclination of the plane may be determined by the Z-axis coordinate value.
[0151] like Figure 7 As shown in , when the mobile device tilts, the initial center of gravity P4'(5, 4) relative to the X⊥Z axis can be changed to P4"(5, 3). In addition, P4'(3, 4) as the initial center of gravity relative to the Y⊥Z axis can be changed to P4"(3, 3). Therefore, the control unit 200 can calculate the change in tilt by the dot product of each vector.
[0152] For another example, in step S200 , the control unit 200 may calculate the 3D tilt of the mobile device by comparing a predetermined reference normal of the calculated plane data with a predetermined reference normal of the reference plane data.
[0153] In detail, the control unit 200 may calculate the inclination by using normal vectors of two line segments formed by the position coordinates of three or more points and normal vectors of two predetermined line segments of the reference plane data.
[0154] In more detail, the control unit 200 may calculate each normal vector for the vectors of the two line segments used as the basis of the position coordinates of the three or more points and the vectors of the two line segments that change when the tilt of the mobile device occurs. Here, the control unit 200 may calculate the normal vector by the cross product of the vectors, and calculate the tilt by using the tilt difference of the calculated normal vector.
[0155] As another example, in step S200 , the control unit 200 may calculate the inclination by using a normal vector of a first plane formed by position coordinates of three or more points.
[0156] In detail, the control unit 200 may calculate each normal vector of the first plane and the second plane, which is a plane that changes when the tilt of the mobile device occurs, based on the plane equation. In addition, the control unit 200 may calculate the tilt by using the tilt difference of the normal vector.
[0157] As another example, in step S200 , the control unit 200 may calculate the inclination by using an orthogonal projection of a plane formed by three or more position coordinates.
[0158] In detail, the control unit 200 may calculate the inclination by separating the coordinates of the plane and the coordinates of the plane changed when the tilt of the mobile device occurs into components of the X⊥Z axis and the Y⊥Z axis, respectively, and using the area of the surface area of each component.
[0159] For another example, in step S200 , the control unit 200 may estimate the 3D tilt based on distance values of corresponding points on the ground measured by two or more sensors.
[0160] In detail, each sensor may detect three or more coordinates on the same ground surface, and the control unit 200 may calculate plane data including the coordinates.
[0161] Then, the control unit 200 may detect a predetermined center point of a plane formed by three or more coordinates and a vector of a center point change to estimate a three-dimensional tilt based on a tilt angle of each axis X, Y, or Z.
[0162] In step S300 , the control unit 200 may control the leveling module 300 based on the 3D tilt calculated in the various embodiments described above.
[0163] In detail, according to the present disclosure, the control unit 200 may detect a three-dimensional inclination including left and right inclination of the mobile device and front and rear inclination thereof, and thus individually control the steering angles of the left and right lights based on the inclination to each axis.
[0164] For example, when the front-rear tilt occurs, the left and right lamps may have the same upward beam pattern, and thus the control unit 200 may control the left and right lamps to have the same angle.
[0165] On the other hand, when only one wheel crosses the bump, the control unit 200 may additionally control only the lamp in the corresponding direction. In addition, the control unit 200 may not need to additionally control another lamp that does not cross the bump.
[0166] Furthermore, after step S200 and before step S300 , the control unit 200 may also calculate position information of an object located in front of the mobile device based on the detection data received from the sensor unit 100 .
[0167] Then, the control unit 200 may set a dark area based on the calculated position information of the object.
[0168] Here, the dark area is to minimize glare to the driver of the preceding vehicle by reducing the illumination of a predetermined area in a beam pattern emitted based on the position of the preceding vehicle.
[0169] In detail, the matrix coordinates to be controlled may be changed by the inclination of the vehicle. For example, when controlling an adaptive high beam (ADB), the position where a dark area is formed may deviate due to the inclination of the vehicle.
[0170] Therefore, the control unit 200 may correct the position of the formed dark area by reflecting the three-dimensional inclination of the mobile device calculated in the above-described various embodiments.
[0171] Meanwhile, in the case where the lamp displays road surface information, when an inclination occurs between the road surface and the vehicle body, the projected image may be distorted due to a change in the projection angle of light to the ground.
[0172] Therefore, after step S200 and before step S300 , the control unit 200 may estimate the distortion of the image projected in front of the mobile device based on the calculated 3D tilt, and correct the distortion of the image in hardware or software.
[0173] In detail, the control unit 200 may perform correction by controlling the leveling module 300 based on the calculated 3D tilt, or normalize a distorted image by using image warping.
[0174] Fig. 9 is shown in more detail Figure 8 Flowchart of the process.
[0175] like Fig. 9As shown in , step S300 may include: step S310, determining whether a tilt relative to the X-axis (or the first reference axis) and the Z-axis (or the second reference axis) occurs in the calculated 3D tilt; step S320, when the first angle as the tilt relative to the X-axis and the Z-axis has a predetermined reference or greater, controlling the upper and lower sides of the leveling module 300; step S330, determining whether a tilt relative to the Y-axis (or the third reference axis) and the Z-axis occurs; and step S340, when the second angle as the tilt relative to the Y-axis and the Z-axis has a predetermined reference or greater, controlling the left and right sides of the leveling module 300.
[0176] Here, the X, Y, and Z axes may be axes perpendicular to each other.
[0177] As described above, the automatic headlamp leveling system for a mobile device and the control method thereof according to various embodiments of the present disclosure may more accurately control the leveling of the mobile device, compared with leveling control of the mobile device by using a conventional height sensor.
[0178] Furthermore, the system and method thereof according to the present disclosure may reduce costs by replacing a conventional height sensor with an ADAS sensor.
[0179] Although the embodiments of the present disclosure are described as described above, the embodiments disclosed in the present disclosure are not provided to limit the spirit of the present disclosure, but to fully describe the present disclosure. Therefore, the spirit of the present disclosure may include not only each disclosed embodiment, but also a combination of disclosed embodiments. In addition, the scope of the present disclosure is not limited by these embodiments. In addition, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the appended claims, and all these appropriate changes and modifications shall be deemed to fall within the scope of equivalents of the present disclosure.
Claims
1. A headlamp automatic leveling system for a vehicle including a headlamp, the headlamp automatic leveling system comprising: a leveling module configured to control a tilt of the headlamp; a sensor unit including at least one of a light detection and ranging LiDAR, a radar unit, and a camera configured to provide detection data of a surrounding environment of the vehicle; as well as a control unit configured to determine a three-dimensional 3D inclination of the vehicle relative to the ground based on the detection data received from the sensor unit, and to control the leveling module based on the 3D inclination of the vehicle, Wherein, the control unit is configured to determine plane data for a predetermined surrounding area of the vehicle based on the detection data received from the sensor unit, and calculate the 3D inclination of the vehicle by comparing predetermined reference plane data with the determined plane data.
2. The automatic headlamp leveling system according to claim 1, wherein: The control unit is configured to determine coordinates of a ground surface of the predetermined surrounding area based on the predetermined surrounding area of the vehicle, and determine the plane data for a plane including the coordinates.
3. The automatic headlamp leveling system according to claim 2, wherein: The control unit is configured to determine the 3D inclination of the vehicle by comparing a predetermined reference normal of the determined plane data with a predetermined reference normal of the reference plane data.
4. The automatic headlamp leveling system according to claim 2, wherein: The control unit is configured to determine the 3D inclination of the vehicle by comparing a predetermined center of gravity of the determined plane data with a predetermined center of gravity of the reference plane data.
5. The automatic headlamp leveling system according to claim 2, wherein: The control unit is configured to determine the 3D inclination of the vehicle by comparing a predetermined area of the determined plane data with a predetermined area of the reference plane data.
6. The automatic headlamp leveling system according to claim 1, wherein: The sensor unit includes at least two or more sensors, and the control unit is configured to determine the plane data based on the detection data received from the at least two or more sensors, and determine the 3D inclination of the vehicle by comparing a predetermined center point of the determined plane data with a predetermined center point of the reference plane data.
7. The automatic headlamp leveling system according to claim 1, wherein: The headlight includes a plurality of headlights, and the control unit is configured to control the leveling module to individually control angles of the plurality of headlights based on the calculated 3D inclination of the vehicle.
8. The automatic headlamp leveling system according to claim 1, wherein: The control unit is also configured to determine position information of an object positioned in front of the vehicle based on the detection data received from the sensor unit, set a dark area based on the determined position information of the object, and correct the position of the dark area based on the determined 3D inclination of the vehicle.
9. The automatic headlamp leveling system according to claim 1, wherein: The control unit is configured to estimate distortion of an image projected in front of the vehicle based on the calculated 3D inclination, and correct the image to be in a direction opposite to a direction of the estimated distortion.
10. A control method for a vehicle headlamp automatic leveling system comprising a leveling module and a sensor unit, the control method comprising the following steps: (a) receiving detection data from the sensor unit by a control unit; (b) determining, by the control unit, a three-dimensional (3D) inclination of the vehicle relative to the ground based on the received detection data; as well as (c) controlling, by the control unit, the leveling module based on the determined 3D inclination of the vehicle, wherein in step (b), plane data for a predetermined surrounding area of the vehicle is determined based on the detection data received from the sensor unit, and The 3D inclination of the vehicle is determined by comparing predetermined reference plane data with the calculated plane data.
11. The control method according to claim 10, wherein: In step (b), coordinates of the ground of the predetermined surrounding area are determined based on the predetermined surrounding area of the vehicle, and the plane data for a plane including the coordinates is determined.
12. The control method according to claim 11, wherein: In step (b), the 3D inclination of the vehicle is determined by comparing any one of a predetermined reference normal, a center of gravity, and an area of the determined plane data with any one of a predetermined reference normal, a center of gravity, and an area of the reference plane data, respectively.
13. The control method according to claim 11, wherein: Step (c) comprises: determining a first angle of the calculated 3D inclination, the first angle being an inclination relative to a first reference axis and a second reference axis being an axis perpendicular to the first reference axis; When the first angle is a first predetermined reference amount or more, controlling the upper side and the lower side of the leveling module; determining a second angle of the calculated 3D inclination, the second angle being an inclination relative to the second reference axis and a third reference axis that is an axis perpendicular to the second reference axis; and When the second angle is a second predetermined reference angle or more, the left and right sides of the leveling module are controlled.