Lamp holder integrated controller system and energy-saving control method

Abstract

The invention discloses a lamp holder integrated controller system and an energy-saving control method, and belongs to the technical field of auxiliary driving. The lamp holder integrated controller system comprises a lamp holder integrated controller, a center control large screen, a camera, an ESP module, an EPS module, a BCM module, a function switch, a left front lamp and a right front lamp. The camera is used for receiving external environment information; the lamp holder integrated controller is used for preprocessing the external environment information received by the camera, conducting transverse and longitudinal control over a vehicle and controlling lamplight of a left front lamp and lamplight of a right front lamp. The BCM module is used for acquiring a vehicle body state and a switching signal of the function switch; the ESP module is used for controlling vehicle acceleration and deceleration and vehicle stability; and the EPS module is used for performing steering control on the vehicle. According to the lamp holder integrated controller system and the energy-saving control method, the night working scene of auxiliary driving can be improved, the personal safety of members in a vehicle is improved, the brightness of different vehicle lamp pixel points can be adjusted in a gradient mode, and the energy consumption of the vehicle is reduced.

Description

Technical Field

[0001] The invention relates to a lamp stand integrated controller system and an energy-saving control method, belonging to the technical field of assisted driving. Background Art

[0002] At present, the application of vehicle assisted driving and intelligent driving is increasing. The adaptive cruise function and lane keeping function of assisted driving have become standard configuration of vehicles. However, due to the influence of light at night, the application of intelligent driving is relatively less. Without turning on the high beam at night, vehicles equipped with lidar or infrared cameras can scan obstacles such as bricks, and transmit them to the intelligent driving system for obstacle avoidance.

[0003] In existing technologies, when the light is low at night, when smart driving is turned on, only the camera cannot identify obstacles such as stones, so there is a risk for the lateral and longitudinal control of assisted driving. In advanced smart driving, laser radar can identify obstacles such as stones, but at the same time it increases the cost of the vehicle. Smart vehicles are increasingly used, but the integration and linkage between high-pixel headlights and smart driving is rare. When smart driving is turned on, high-pixel headlights output full power lighting, which increases energy consumption and reduces vehicle range. 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 lamp frame integrated controller system and an energy-saving control method, which can improve the night working scene of assisted driving, improve the personal safety of vehicle occupants, and can also adjust the brightness of different headlight pixels in a gradient manner, thereby reducing vehicle energy consumption and increasing vehicle cruising range.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: On one hand, the present invention provides a light stand integrated controller system, which includes a light stand integrated controller, a central control large screen, a camera, an ESP module, an EPS module, a BCM module, a function switch, a left headlight and a right headlight; The camera is used to receive external environment information; The light stand integrated controller is used to pre-process the external environment information received by the camera, and to control the vehicle in the horizontal and vertical directions, and to control the lights of the left and right headlights; The central control large screen is used to display the vehicle's lateral and longitudinal control information and road information; The function switch is used to trigger the lamp stand integrated controller; The BCM module is used to obtain the vehicle body status and the switch signal of the function switch and transmit it to the lamp stand integrated controller; The ESP module is used to control vehicle acceleration and deceleration and vehicle stability; The EPS module is used to control the steering of the vehicle; The left headlight and the right headlight are used to illuminate the road surface.

[0006] Furthermore, the lamp stand integrated controller includes a MIPI interface, a multi-PIN interface, an MTD interface, a Debug interface, a communication unit, a perception computing unit, a planning control unit, a lamp control unit and a storage unit; The MIPI interface is used to receive information collected by the camera; The multi-PIN interface is used to receive power and communication signals; The MTD interface is used for OTA upgrade; The Debug interface is used for program debugging; The communication unit is used for communication and interaction between various units inside the integrated light stand controller, and for communication and interaction between the integrated light stand controller and the vehicle; The perception computing unit is used to process information based on the external environment data collected by the camera and send it to the planning control unit and the headlight control unit; The planning control unit is used for vehicle path planning and vehicle lateral and longitudinal control; The headlight control unit is used to control the headlights according to the external environment information obtained by the perception and computing unit; The storage unit is used to store calibration data and performance parameter data of the lamp stand integrated controller.

[0007] Another aspect of the present invention provides an energy-saving control method for a lamp stand integrated controller system, which comprises the following steps: Step S1, the vehicle is started to perform a power-on self-test. After the self-test is completed, if the vehicle actuator and the lamp stand integrated controller are both fault-free, then jump to step S2. If there is a fault, the fault information is sent to the vehicle computer to inform that the vehicle is faulty and the lamp stand integrated controller cannot be turned on; Step S2, determining whether the function switch of the integrated light stand controller is turned on, if it is turned on, jumping to step S3, if it is not turned on, repeating step S2; Step S3, starting the vehicle's lateral and longitudinal control, judging through the camera whether the external environment illumination is less than the light illumination threshold, when the external environment illumination is less than the light illumination threshold, judging that the vehicle is in night mode, the light frame integrated controller sends a light-on instruction, and the light is turned on, if the external environment illumination is greater than or equal to the light illumination threshold, repeating step S3; Step S4, setting the light intensity according to the external environment illumination and the external environment confidence level recognized by the light stand integrated controller; Step S5, determining whether the confidence of the external environment recognized by the lamp stand integrated controller is greater than the confidence threshold, if it is greater than the confidence threshold, repeating step S5, if it is less than or equal to the confidence threshold, jumping to step S6; Step S6, the camera identifies an area that is less than or equal to the confidence threshold, and obtains the diagonal coordinates of the area, obtains a square area based on the diagonal coordinates, converts the coordinates of the square area into light plane coordinates, and sends them to the headlight control unit, which controls the lighting of the headlight pixels based on the light plane coordinates.

[0008] Further, the step S6 also includes the following steps: The camera determines whether the lane line is recognized. If the camera recognizes the lane line, a square area is obtained according to the lane line, and the coordinates of the square area are converted to obtain the light plane coordinates. The light frame integrated controller controls the lighting of the light pixels according to the light plane coordinates. If the camera does not recognize the lane line, the center point of the front end of the vehicle body is used as the coordinate origin, extended to the left and right sides, and a square area is obtained according to the extended distance. The coordinates of the square area are converted into the light plane coordinates, and the lamp frame integrated controller controls the lighting of the headlight pixels according to the light plane coordinates.

[0009] Furthermore, the controlling of lighting of the pixels of the headlights comprises the following steps: the brightness of the pixels is controlled by PWM, and the data is calibrated and converted into the brightness of the pixels of the headlights according to the light intensity.

[0010] Furthermore, the coordinate transformation of the square area coordinates to obtain the light plane coordinates includes the following steps: The coordinates of the four corners of the square area are calibrated and transformed to obtain the coordinate transformation matrix. Based on the coordinates of the four corners of the square area and the coordinate transformation matrix, the plane coordinates of the light are calculated by the formula.

[0011] The above technical solution is adopted. The present invention receives external environment information by setting a camera, and pre-processes the external environment information received by the camera through the integrated light frame controller. It can automatically identify the area with insufficient external environment light intensity and confidence, and control the lighting of the headlight pixels according to the regional coordinates, so as to achieve different degrees of road lighting during night assisted driving, avoid the dangers brought by unknown obstacles to assisted driving or intelligent driving, and help improve the night working scene of assisted driving and improve the personal safety of vehicle members. At the same time, when controlling the lighting of the headlights, the integrated light frame controller will set different headlight pixel brightness according to the remaining power and fuel level of the vehicle instrument, and use the gradient lighting rule to reduce the vehicle's energy consumption and increase the vehicle's driving range. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a principle block diagram of the lamp stand integrated controller system of the present invention; Figure 2 It is a principle block diagram of the lamp stand integrated controller of the present invention; Figure 3 This is a flow chart of the energy-saving control method of the lamp stand integrated controller system of the present invention. DETAILED DESCRIPTION

[0013] 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.

[0014] Embodiment 1 like Figure 1 As shown, this embodiment provides a light stand integrated controller system, which includes a light stand integrated controller, a central control screen, a camera, an ESP module, an EPS module, a BCM module, a function switch, a left headlight and a right headlight; The camera is used to receive external environment information; The integrated light frame controller is used to pre-process the external environment information received by the camera, and to control the vehicle in the horizontal and vertical directions, and to control the lights of the left and right headlights; The large central control screen is used to display the vehicle's lateral and longitudinal control information and road information; The function switch is used to trigger the integrated controller of the light stand; The BCM module is a body controller, which is used to obtain the body status and switch signals of the function switch and transmit them to the lamp frame integrated controller; The ESP module is a vehicle stability system used to control vehicle acceleration and deceleration and vehicle stability; The EPS module is a power steering system used to control the steering of the vehicle; The left and right front lights are used to illuminate the road surface.

[0015] like Figure 2 As shown, the lamp stand integrated controller of this embodiment includes a MIPI interface, a multi-PIN interface, an MTD interface, a Debug interface, a communication unit, a perception computing unit, a planning control unit, a lamp control unit and a storage unit; The MIPI interface is used to receive information collected by the camera; Multi-PIN interface is used to receive power supply and CAN communication signals; The MTD interface is used for OTA upgrade; The Debug interface is used for program debugging; The communication unit is used for communication and interaction between the various units inside the integrated light stand controller, as well as communication and interaction between the integrated light stand controller and the vehicle. The communication unit includes 6 CAN transceivers supporting CAN FD, 4 CAN transceivers supporting wake-up, and 1 100M Ethernet. The perception computing unit is used to process information based on the external environment data collected by the camera and send it to the planning control unit and the headlight control unit. The perception computing unit is inside a SOC chip; The planning control unit is used for vehicle path planning and vehicle lateral and longitudinal control; The headlight control unit is used to control the headlights according to the external environment information obtained by the perception and computing unit. The planning control unit and the headlight control unit are inside the same MCU chip; The storage unit is used to store calibration data and performance parameter data of the lamp stand integrated controller.

[0016] Embodiment 2 like Figure 3 As shown, this embodiment provides an energy-saving control method for the lamp stand integrated controller system as in Embodiment 1, which comprises the following steps: Step S1, the vehicle is started to perform a power-on self-test. After the self-test is completed, if the vehicle actuator and the lamp stand integrated controller are both fault-free, then jump to step S2. If there is a fault, the fault information is sent to the vehicle computer to inform that the vehicle is faulty and the lamp stand integrated controller cannot be turned on; Step S2, determining whether the function switch of the integrated light stand controller is turned on, if it is turned on, jumping to step S3, if it is not turned on, repeating step S2; Step S3, start the vehicle's lateral and longitudinal control, and use the camera to determine whether the external environment illumination L is less than the light illumination threshold L1, L1 is generally between 0.001 and 5 lux. When the external environment illumination L is less than the light illumination threshold L1, the vehicle is determined to be in night mode, and the light frame integrated controller sends a light-on instruction, and the light is turned on. If the external environment illumination L is greater than or equal to the light illumination threshold L1, step S3 is repeated; Step S4: Calculate the light intensity L according to the external environment illumination L and the external environment confidence Conf recognized by the integrated light stand controller. light Settings to ensure that the vehicle can automatically identify external environment information: L light =Conf×L+(L d -L)×R×δ in, Ld: The minimum light intensity required for different external roads in different driving modes. R: The ability of the external environment and the road to reflect light. δ: Visual perception coefficient of human eyes under different lighting conditions; Step S5: determine whether the external environment confidence Conf identified by the lamp stand integrated controller is greater than the confidence threshold Conf thrd , since the vehicle is in the assisted driving state, if the external environment confidence Conf is greater than the confidence threshold Conf thrd , the driving safety of the vehicle can be guaranteed, and step S5 is repeated at this time. If the external environment confidence Conf is less than or equal to the confidence threshold Conf thrd , then jump to step S6; Step S6, the camera automatically identifies an area that is less than or equal to the confidence threshold, and obtains the diagonal coordinates P1 (x1, y1) and P2 (x2, y2) of the area. A square area is obtained based on the coordinates of P1 and P2. The coordinates of the other two corners of the square area are P3 (x2, y1) and P4 (x1, y2). Calibration conversion is performed based on the coordinates of the four corners of the square area to obtain a 3×3 coordinate conversion matrix. Based on the coordinates of the four corners of the square area and the coordinate conversion matrix, the four largest corner points that can be illuminated by the high-pixel headlights are calculated by formulas, Q1 (X'1, Y'1), Q2 (X'2, Y'2), Q3 (X'3, Y'3), and Q4 (X'4, Y'4). The specific formula is as follows:

[0017] Then transform into the light plane coordinate system:

[0018]

[0019] in: : The three-dimensional coordinate system of the light image; : coordinate transformation matrix; : VCS coordinate system; : Final light plane coordinates.

[0020] The calculated light plane coordinates are sent to the headlight control unit, which controls the lighting of the headlight pixels according to the light plane coordinates. The brightness of the pixels is controlled by PWM. The data is calibrated and converted according to the light intensity and converted into the brightness of the headlight pixels. Taking a 25600-pixel headlight as an example, the brightness range is 0~255, where 0 means off and 255 means 100% brightness. The value is calibrated and converted to 0~255 according to the calculated light intensity. On the premise of ensuring safe driving of the vehicle, the light brightness is reduced to reduce energy consumption.

[0021] Step S6 of this embodiment also includes the following steps: The camera determines whether the lane line is recognized. If the camera recognizes the lane line, a square area is obtained according to the lane line, and the coordinates of the square area are converted to obtain the light plane coordinates. The light frame integrated controller controls the lighting of the light pixels according to the light plane coordinates. If the camera does not recognize the lane line, the center point of the front end of the vehicle body is used as the coordinate origin, extended to the left and right sides, and a square area is obtained according to the extended distance. The coordinates of the square area are converted into the light plane coordinates, and the lamp frame integrated controller controls the lighting of the headlight pixels according to the light plane coordinates.

[0022] In this embodiment, when lighting up areas with insufficient confidence in the external environment, the vehicle's own energy consumption and driving safety will be considered, and the brightness of the headlight pixels will be set according to the remaining power and fuel levels displayed on the vehicle instrument. The brightness of the headlight pixels will decrease as the remaining power and fuel levels decrease, and will become brighter as the remaining power and fuel levels increase. For example, when the remaining power and fuel levels displayed on the vehicle instrument are higher than Thrd energy1 , then the brightness of the headlight pixel is set to Thrd Light1 When the remaining power and fuel level displayed on the vehicle instrument are within Thrd energy1 ~Thrd energy2 Between energy1 >Thrd energy2 ), the brightness of the headlight pixel is set to Thrd Light2 , where Thrd Light1 >Thrd Light2 , this segmentation threshold can be divided into multiple segments.

[0023] The working principle of the present invention is as follows: After the vehicle is started, a power-on self-test is performed. If the vehicle actuator and the integrated light stand controller are both fault-free after the self-test is completed, it is determined whether the function switch of the integrated light stand controller is turned on. If it is turned on, the vehicle's lateral and longitudinal control is started, and the camera is used to determine whether the external environment illumination is less than the light illumination threshold. When the external environment illumination is less than the light illumination threshold, the vehicle is determined to be in night mode, and the integrated light stand controller sends a command to turn on the lights, and the lights are turned on. The light intensity is set according to the external environment illumination and the external environment confidence recognized by the integrated light stand controller. When the camera recognizes an area that is less than or equal to the confidence threshold, the diagonal coordinates of the area are obtained, and a square area is obtained based on the diagonal coordinates. The coordinates of the square area are converted to obtain the light plane coordinates, and sent to the light control unit. The light control unit controls the light pixels to light up according to the light plane coordinates.

[0024] The present invention receives external environment information by setting a camera, and pre-processes the external environment information received by the camera through a light stand integrated controller, which can automatically identify areas with insufficient external environment light intensity and insufficient external environment confidence, and control the lighting of the headlight pixels according to the regional coordinates, thereby realizing different degrees of road lighting during night assisted driving, avoiding the dangers of unknown obstacles to assisted driving or intelligent driving, and is conducive to improving the night working scene of assisted driving and increasing the personal safety of vehicle members. At the same time, when controlling the lighting of the headlights, the light stand integrated controller will set different headlight pixel brightness according to the remaining power and oil level of the vehicle instrument identified, and use the gradient lighting rule to reduce the vehicle energy consumption and increase the vehicle's driving range.

[0025] 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 lamp stand integrated controller system, characterized in that: It includes a light stand integrated controller, a central control screen, a camera, an ESP module, an EPS module, a BCM module, a function switch, a left headlight and a right headlight; The camera is used to receive external environment information; The light stand integrated controller is used to pre-process the external environment information received by the camera, and to control the vehicle in the horizontal and vertical directions, and to control the lights of the left and right headlights; The central control large screen is used to display the vehicle's lateral and longitudinal control information and road information; The function switch is used to trigger the lamp stand integrated controller; The BCM module is used to obtain the vehicle body status and the switch signal of the function switch and transmit it to the lamp stand integrated controller; The ESP module is used to control vehicle acceleration and deceleration and vehicle stability; The EPS module is used to control the steering of the vehicle; The left headlight and the right headlight are used to illuminate the road surface.

2. The lamp stand integrated controller system according to claim 1, characterized in that: The lamp stand integrated controller includes a MIPI interface, a multi-PIN interface, an MTD interface, a Debug interface, a communication unit, a perception computing unit, a planning control unit, a lamp control unit and a storage unit; The MIPI interface is used to receive information collected by the camera; The multi-PIN interface is used to receive power and communication signals; The MTD interface is used for OTA upgrade; The Debug interface is used for program debugging; The communication unit is used for communication and interaction between various units inside the integrated light stand controller, and for communication and interaction between the integrated light stand controller and the vehicle; The perception computing unit is used to process information based on the external environment data collected by the camera and send it to the planning control unit and the headlight control unit; The planning control unit is used for vehicle path planning and vehicle lateral and longitudinal control; The headlight control unit is used to control the headlights according to the external environment information obtained by the perception and computing unit; The storage unit is used to store calibration data and performance parameter data of the lamp stand integrated controller.

3. An energy-saving control method for a lamp stand integrated controller system according to any one of claims 1 to 2, characterized in that: It includes the following steps: Step S1, the vehicle is started to perform a power-on self-test. After the self-test is completed, if the vehicle actuator and the lamp stand integrated controller are both fault-free, then jump to step S2. If there is a fault, the fault information is sent to the vehicle computer to inform that the vehicle is faulty and the lamp stand integrated controller cannot be turned on; Step S2, determining whether the function switch of the integrated light stand controller is turned on, if it is turned on, jumping to step S3, if it is not turned on, repeating step S2; Step S3, starting the vehicle's lateral and longitudinal control, judging through the camera whether the external environment illumination is less than the light illumination threshold, when the external environment illumination is less than the light illumination threshold, judging that the vehicle is in night mode, the light frame integrated controller sends a light-on instruction, and the light is turned on, if the external environment illumination is greater than or equal to the light illumination threshold, repeating step S3; Step S4, setting the light intensity according to the external environment illumination and the external environment confidence level recognized by the light stand integrated controller; Step S5, determining whether the confidence of the external environment recognized by the lamp stand integrated controller is greater than the confidence threshold, if it is greater than the confidence threshold, repeating step S5, if it is less than or equal to the confidence threshold, jumping to step S6; Step S6, the camera identifies an area that is less than or equal to the confidence threshold, and obtains the diagonal coordinates of the area, obtains a square area based on the diagonal coordinates, converts the coordinates of the square area into light plane coordinates, and sends them to the headlight control unit, which controls the lighting of the headlight pixels based on the light plane coordinates.

4. The energy-saving control method of the lamp stand integrated controller system according to claim 3, characterized in that: The step S6 also includes the following steps: The camera determines whether the lane line is recognized. If the camera recognizes the lane line, a square area is obtained according to the lane line, and the coordinates of the square area are converted to obtain the light plane coordinates. The light frame integrated controller controls the lighting of the light pixels according to the light plane coordinates. If the camera does not recognize the lane line, the center point of the front end of the vehicle body is used as the coordinate origin, extended to the left and right sides, and a square area is obtained according to the extended distance. The coordinates of the square area are converted into the light plane coordinates, and the lamp frame integrated controller controls the lighting of the headlight pixels according to the light plane coordinates.

5. The energy-saving control method of the lamp stand integrated controller system according to claim 4, characterized in that: The control of lighting up the pixels of the headlights comprises the following steps: the brightness of the pixels is controlled by PWM, and the data is calibrated and converted according to the light intensity to the brightness of the pixels of the headlights.

6. The energy-saving control method of the lamp stand integrated controller system according to claim 5, characterized in that: The step of converting the coordinates of the square area to obtain the light plane coordinates includes the following steps: The coordinates of the four corners of the square area are calibrated and transformed to obtain the coordinate transformation matrix. Based on the coordinates of the four corners of the square area and the coordinate transformation matrix, the plane coordinates of the light are calculated by the formula.

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