Lane keeping and headlamp linkage method and system

Abstract

The invention belongs to the technical field of vehicle driving assistance, and discloses a lane keeping and headlamp linkage method and system, and the method comprises the steps: triggering a whole vehicle to be in an operation condition; preconditions are confirmed, wherein signal reading between the headlight steering module and the lane keeping module is kept, and handshake operation of the headlight steering module and the lane keeping module is executed; the vehicle speed and the actual steering angle of the vehicle are collected to calculate the target steering angle of the vehicle, whether the comparison deviation value of the target steering angle and the actual steering angle is within the preset deviation value range or not is judged, and if the comparison deviation value is within the preset deviation value range, a headlamp torque signal value is obtained according to the comparison deviation value so as to execute headlamp steering operation. The method can solve the problem that the steering of the headlight falls behind the driving due to the fact that the existing adaptive headlight cannot make a quick response in a specific scene.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle driving assistance, and in particular relates to a lane keeping and headlight linkage method and system. Background Art

[0002] With the continuous development of automobile technology, users' requirements for automobile intelligence are gradually increasing. While meeting the basic usage needs of customers, more configurations are gradually developing in the direction of improving customer safety, convenience and intelligence. Traditional models do not have the function of adaptive headlights. Adding adaptive headlights improves the driver's night driving safety and increases driving comfort. Generally, adaptive headlights collect vehicle transmission system data and adjust the direction of the headlights in combination with their own module algorithms. However, this method cannot respond quickly in certain scenarios, resulting in the headlights lagging behind the driving. Summary of the invention

[0003] Based on this, the present application proposes a lane keeping and headlight linkage method and system, which aims to solve the problem that the existing adaptive headlights cannot respond quickly in certain scenarios, resulting in the headlight steering lagging behind the driving vehicle.

[0004] A first aspect of the present application provides a lane keeping and headlight linkage method, the method comprising: Triggering the vehicle to be in operating condition; Based on the operating condition, confirming a precondition, wherein the precondition includes: maintaining signal reading between the headlight steering module and the lane keeping module, and performing a handshake operation between the headlight steering module and the lane keeping module; Based on the precondition, the vehicle speed and the actual steering angle are collected, the target steering angle of the vehicle is calculated according to the vehicle speed and the actual steering angle, and it is determined whether a comparison deviation value between the target steering angle and the actual steering angle is within a preset deviation value range; if the comparison deviation value is within the preset deviation value range, the headlight torque signal value is obtained according to the comparison deviation value; A headlight turning operation is performed according to the headlight torque signal value.

[0005] Compared with the prior art, the lane keeping and headlight linkage method provided by the present application first ensures that the vehicle is in a driving state so as to perform subsequent lane keeping and headlight linkage operations; confirms the preconditions, including maintaining the signal reading between the headlight steering module and the lane keeping module, and performing a handshake operation between the headlight steering module and the lane keeping module, which ensures the communication and collaborative work between the two modules and provides a basis for subsequent precise control; obtains the vehicle's speed and actual steering angle in real time, and these data will be used to calculate the vehicle's target steering angle; calculates the vehicle's target steering angle through a specific algorithm based on the vehicle's speed and actual steering angle, which enables the vehicle to According to the current driving situation and the driver's intention, the steering is automatically adjusted to keep the vehicle in the lane; the calculated target steering angle is compared with the actual steering angle to determine whether the deviation value is within the preset deviation range. This step ensures the accuracy and safety of the steering operation; according to the size and direction of the deviation value, a corresponding headlight torque signal value is generated, which will be transmitted to the headlight steering module to adjust the steering angle of the headlight to provide a better lighting effect; according to the headlight torque signal value, the headlight steering module will adjust the steering angle of the headlight accordingly, thereby achieving the effect of lane keeping and headlight linkage, which helps the driver to see the road better when driving at night and improves driving safety. In summary, the technical solution automatically calculates the target steering angle by real-time monitoring of vehicle status, steering angle, vehicle speed and other information, and adjusts the headlight torque signal value according to the deviation value, thereby achieving the linkage between lane keeping and headlights, and can solve the problem that the existing adaptive headlights cannot respond quickly in specific scenarios, resulting in the headlight steering lagging behind the driving.

[0006] As an optional implementation manner of the first aspect, the step of executing a handshake operation between the headlight steering module and the lane keeping module includes: Verify and compare the version information of the headlight steering module and lane keeping module; If the comparison results are consistent, the handshake operation is successful; If the comparison results are inconsistent, the handshake operation is unsuccessful.

[0007] As an optional implementation manner of the first aspect, the step of verifying and comparing version information of the headlight steering module and the lane keeping module includes: Read the software version number and hardware version number of the headlight module and lane keeping module; Query the software version number and hardware version number of the corresponding headlight steering module and lane keeping module from the preset vehicle model information library; The queried software version number and hardware version number are compared one by one with the actually read software version number and hardware version number.

[0008] As an optional implementation manner of the first aspect, the precondition further includes: A signal communication model is established between the headlight steering module and the lane keeping module. When the vehicle is offline, the signal communication model is adapted into the vehicle's operating program for executing lane keeping and headlight linkage.

[0009] As an optional implementation manner of the first aspect, the step of collecting the actual steering angle includes: For each torque value output by the lane keeping module, light calibration is performed to record the angle at which the light centerline corresponding to each torque value deviates from the vehicle centerline, and the angle is regarded as the actual steering angle.

[0010] As an optional implementation manner of the first aspect, the step of obtaining the headlight torque signal value according to the comparison deviation value includes: According to the correspondence table between the preset deviation value range and the headlight torque signal value, the headlight torque signal value corresponding to the comparison deviation value is found.

[0011] As an optional implementation manner of the first aspect, determining whether a comparison deviation value between the target steering angle and the actual steering angle is within a preset deviation value range, and if the comparison deviation value is within the preset deviation value range, obtaining a headlight torque signal value according to the comparison deviation value, further comprising: If the comparison deviation value is not within the preset deviation value range, the lane keeping module issues a warning and exits.

[0012] A second aspect of an embodiment of the present application provides a lane keeping and headlight linkage system, the system comprising: The vehicle start module is used to trigger the vehicle to enter the running state; A communication confirmation module, used for confirming a precondition based on the operating condition, wherein the precondition includes: maintaining signal reading between the headlight steering module and the lane keeping module, and performing a handshake operation between the headlight steering module and the lane keeping module; a lane keeping module, configured to collect a vehicle speed and an actual steering angle based on the precondition, calculate a target steering angle of the vehicle according to the vehicle speed and the actual steering angle, determine whether a comparison deviation value between the target steering angle and the actual steering angle is within a preset deviation value range, and if the comparison deviation value is within the preset deviation value range, obtain a headlight torque signal value according to the comparison deviation value; The headlight steering module is used to perform a headlight steering operation according to the headlight torque signal value.

[0013] A third aspect of an embodiment of the present application provides a vehicle, comprising a memory, a processor, and a processing program stored in the memory and executable on the processor, wherein the processing program implements the above-mentioned lane keeping and headlight linkage method when executed by the processor.

[0014] A fourth aspect of an embodiment of the present application provides a storage medium, on which a processing program is stored. When the processing program is executed by a processor, the above-mentioned lane keeping and headlight linkage method is executed.

[0015] Additional aspects and advantages of the present application will be given in part in the following description, and in part will become apparent from the following description, or will be understood through the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of a lane keeping and headlight linkage method proposed in the first embodiment of the present application; Figure 2 This is a flow chart of a lane keeping and headlight linkage method proposed in the second embodiment of the present application; Figure 3 This is a schematic structural diagram of a lane keeping and headlight linkage system proposed in the third embodiment of the present application.

[0017] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here. In addition, the "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally represents that the objects associated with each other are in an "or" relationship.

[0020] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0021] Example 1 See also Figure 1, is a flow chart of a lane keeping and headlight linkage method proposed in the first embodiment of the present application, the proposed method includes: S01: Triggering the vehicle to be in operating condition.

[0022] In this step, the vehicle can be judged by detecting the vehicle's ignition state, engine speed, vehicle speed, etc. For example, when it is detected that the vehicle's ignition switch is turned on, the engine speed is greater than a preset value, and the vehicle speed is greater than 0, it can be determined that the vehicle is in a running condition.

[0023] S02: based on the operating condition, confirming a precondition, wherein the precondition includes: maintaining signal reading between the headlight steering module and the lane keeping module, and executing a handshake operation between the headlight steering module and the lane keeping module; This step is used to ensure that the lane keeping and headlight linkage functions can work properly. Specifically, the preconditions include: 1. Signal reading: The lane keeping module and the light steering module establish stable signal communication and can read the signals sent by each other. For example, the lane keeping module can read the current steering angle signal sent by the light steering module, and the light steering module can read the target steering angle signal sent by the lane keeping module.

[0024] 2. Handshake operation: The lane keeping module and the light steering module perform a handshake operation to ensure that the two versions are compatible and function normally. The specific steps are as follows: Read the software version number and hardware version number of the headlight steering module and lane keeping module; Query the software version number and hardware version number of the corresponding headlight steering module and lane keeping module from the preset vehicle model information library; Compare the queried software version number and hardware version number with the actually read software version number and hardware version number one by one; If the comparison results are consistent, the handshake operation is successful; If the comparison results are inconsistent, the handshake operation is unsuccessful and the system will not be able to activate the lane keeping and headlight linkage functions.

[0025] 3. Signal communication model: A signal communication model is established between the headlight steering module and the lane keeping module. The model defines the signal type, data format, transmission rate and other parameters of the communication between the two parties. When the vehicle is offline, the signal communication model is adapted to the vehicle's operation program for lane keeping and headlight linkage to ensure that vehicles of different models or configurations can use this function normally.

[0026] S03: Based on the preconditions, the vehicle speed and the actual steering angle are collected, and the target steering angle of the vehicle is calculated according to the vehicle speed and the actual steering angle, and it is determined whether the comparison deviation value between the target steering angle and the actual steering angle is within a preset deviation value range; if the comparison deviation value is within the preset deviation value range, the headlight torque signal value is obtained according to the comparison deviation value.

[0027] In this step, first, the lane keeping module collects the vehicle speed and actual steering angle through sensors (such as cameras, radars, etc.). The actual steering angle can be obtained by performing light calibration on each torque value output by the lane keeping module, that is, recording the angle at which the light center line corresponding to each torque value deviates from the vehicle center line, and treating the angle as the actual steering angle.

[0028] Secondly, the lane keeping module calculates the vehicle's target steering angle based on the collected vehicle speed and actual steering angle, combined with the pre-set control strategy, that is, the steering angle that the steering wheel should maintain when the vehicle is driving in the current lane.

[0029] Finally, the calculated target steering angle is compared with the actual steering angle to obtain a comparison deviation value.

[0030] S04: Execute a headlight steering operation according to the headlight torque signal value.

[0031] Specifically, if the comparison deviation value is within the preset deviation value range, the corresponding headlight torque signal value is found out according to the comparison deviation value and the preset corresponding relationship table, and the signal value is sent to the light steering module to control the headlight to perform steering operation.

[0032] If the comparison deviation value is not within the preset deviation value range, it means that the vehicle may be in an abnormal driving state (such as the driver actively turning sharply, the vehicle skidding, etc.). At this time, the lane keeping module will issue an early warning and exit the lane keeping and headlight linkage function to ensure driving safety.

[0033] In some embodiments, the vehicle lamp torque signal value is represented by a four-bit code format, and the specific structure is as follows: The first bit (direction bit code) is used to indicate the direction of the headlight. For example, 0 means the headlight is turning left, and 1 means the headlight is turning right.

[0034] The last three digits (torque value): are used to indicate the torque value of the headlights, indicating the torque that needs to be applied to the headlights (or steering system). For example, 000: indicates that the headlights do not turn; 001-999: indicates that the headlights turn in the corresponding direction with different forces. The larger the value, the greater the torque value.

[0035] In summary, the method first ensures that the vehicle is in a driving state so as to perform subsequent lane keeping and headlight linkage operations; confirms the preconditions, including maintaining the signal reading between the headlight steering module and the lane keeping module, and performing a handshake operation between the headlight steering module and the lane keeping module, which ensures the communication and collaborative work between the two modules and provides a basis for subsequent precise control; obtains the vehicle's speed and actual steering angle in real time, and these data will be used to calculate the vehicle's target steering angle; calculates the vehicle's target steering angle through a specific algorithm based on the vehicle's speed and actual steering angle, which enables the vehicle to adjust the steering angle based on the current driving conditions and the driver's The system automatically adjusts the steering according to the intention to keep the vehicle in the lane; compares the calculated target steering angle with the actual steering angle to determine whether the deviation value is within the preset deviation range. This step ensures the accuracy and safety of the steering operation; generates a corresponding headlight torque signal value according to the size and direction of the deviation value, and this signal value will be transmitted to the headlight steering module to adjust the steering angle of the headlight to provide a better lighting effect; according to the headlight torque signal value, the headlight steering module will adjust the steering angle of the headlight accordingly, thereby achieving the effect of lane keeping and headlight linkage, which helps the driver to see the road better when driving at night and improves driving safety. In summary, the technical solution automatically calculates the target steering angle by real-time monitoring of vehicle status, steering angle, vehicle speed and other information, and adjusts the headlight torque signal value according to the deviation value, thereby achieving the linkage between lane keeping and headlights, and can solve the problem that the existing adaptive headlights cannot respond quickly in specific scenarios, resulting in the headlight steering lagging behind the driving.

[0036] Example 2 See also Figure 2 , which is a flow chart of a lane keeping and headlight linkage method proposed in the second embodiment of the present application, the method steps include: S001: The driver presses the start button, and the vehicle start module receives the start signal and activates the entire system; S002: The communication confirmation module reads the software version number and hardware version number of the headlight steering module and the lane keeping module; S003: The communication confirmation module queries the software version number and hardware version number of the corresponding version from the preset vehicle model information library, and compares them with the version information actually read; S004: If the version information is consistent, the communication confirmation module performs a handshake operation, sending and receiving a specific handshake signal to confirm that the signal reading is normal; S005: Collecting vehicle speed data and actual steering angle of the vehicle through sensors; S006: Calculating the target steering angle of the vehicle based on the collected vehicle speed and actual steering angle data in combination with a preset algorithm model; S007: Compare the calculated target steering angle with the actual steering angle, calculate a comparison deviation value, and determine whether the comparison deviation value is within a preset deviation value range. If the comparison deviation value is within the preset range, the lane keeping module searches a preset corresponding relationship table according to the comparison deviation value to generate a corresponding headlight torque signal value; S008: receiving the headlight torque signal value provided by the lane keeping module, and the headlight steering module performs corresponding steering operations according to the headlight torque signal value, so that the illumination direction of the headlight is consistent with the driving direction of the vehicle.

[0037] Example 3 See also Figure 3 , which is a schematic structural diagram of a lane keeping and headlight linkage system proposed in the third embodiment of the present application, and the system includes: The vehicle starting module 10 is used to trigger the vehicle to enter the running state; The main function of this module is to detect and confirm the operating status of the vehicle. It triggers the vehicle to be in operating condition to ensure that other modules of the system can work together when the vehicle is driving normally. The effectiveness of this module directly affects the startup and function execution of subsequent modules, ensuring that the system can respond to changes in the driving environment in a timely manner after the vehicle is started.

[0038] A communication confirmation module 20, configured to confirm a precondition based on the operating condition, wherein the precondition includes: maintaining signal reading between the headlight steering module and the lane keeping module, and performing a handshake operation between the headlight steering module and the lane keeping module; This module is responsible for confirming the communication status between various modules under the premise of vehicle operation. It ensures that the signal reading between the lane keeping module and the headlight steering module is normal, and performs handshake operations to establish a reliable communication link. This process is the basis for the stable operation of the system, ensuring the accuracy and real-time nature of data transmission, thereby providing reliable information support for subsequent decision-making.

[0039] a lane keeping module 30, configured to collect a vehicle speed and an actual steering angle based on the precondition, calculate a target steering angle of the vehicle according to the vehicle speed and the actual steering angle, determine whether a comparison deviation value between the target steering angle and the actual steering angle is within a preset deviation value range, and if the comparison deviation value is within the preset deviation value range, obtain a headlight torque signal value according to the comparison deviation value; This module is the core part of the system and is responsible for real-time monitoring of the vehicle's driving status. It collects the vehicle's speed and actual steering angle, calculates the target steering angle, and compares it with the actual steering angle. By judging whether the comparison deviation value is within the preset range, the module can determine whether the vehicle has deviated from the lane. If the deviation is within the allowable range, the module will generate a headlight torque signal value to provide the necessary control signal for the headlight steering module, thereby realizing the linkage between lane keeping and headlights.

[0040] The headlight steering module 40 is used to perform a headlight steering operation according to the headlight torque signal value.

[0041] The module performs the headlight steering operation according to the headlight torque signal value provided by the lane keeping module. By adjusting the illumination direction of the headlights, the module can enhance the driver's visibility of the road, especially when turning or changing lanes, improving driving safety. The response speed and accuracy of the module are crucial to ensure driving safety and can effectively reduce the risk of accidents caused by unclear vision.

[0042] On the other hand, the present application also proposes a vehicle, which includes a memory, a processor, and a processing program stored in the memory and executable on the processor, and the processing program implements the above-mentioned lane keeping and headlight linkage method when executed by the processor.

[0043] On the other hand, the present application further proposes a storage medium, on which a processing program is stored, and when the processing program is executed by a processor, the above-mentioned lane keeping and headlight linkage method is executed.

[0044] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0045] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0046] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for linking lane keeping and headlights, characterized in that: The system comprises: Triggering the vehicle to be in operating condition; Based on the operating condition, confirming a precondition, wherein the precondition includes: maintaining signal reading between the headlight steering module and the lane keeping module, and performing a handshake operation between the headlight steering module and the lane keeping module; Based on the precondition, the vehicle speed and the actual steering angle are collected, the target steering angle of the vehicle is calculated according to the vehicle speed and the actual steering angle, and it is determined whether a comparison deviation value between the target steering angle and the actual steering angle is within a preset deviation value range; if the comparison deviation value is within the preset deviation value range, the headlight torque signal value is obtained according to the comparison deviation value; A headlight steering operation is performed according to the headlight torque signal value.

2. A lane keeping and headlight linkage method according to claim 1, characterized in that: The step of executing the handshake operation between the headlight steering module and the lane keeping module comprises: Verify and compare the version information of the headlight steering module and lane keeping module; If the comparison results are consistent, the handshake operation is successful; If the comparison results are inconsistent, the handshake operation is unsuccessful.

3. The method for lane keeping and headlight linkage according to claim 2, characterized in that: The step of verifying and comparing the version information of the headlight steering module and the lane keeping module includes: Read the software version number and hardware version number of the headlight module and lane keeping module; Query the software version number and hardware version number of the corresponding headlight steering module and lane keeping module from the preset vehicle model information library; The queried software version number and hardware version number are compared one by one with the actually read software version number and hardware version number.

4. The lane keeping and headlight linkage method according to claim 1, characterized in that: The preconditions also include: A signal communication model is established between the headlight steering module and the lane keeping module. When the vehicle is offline, the signal communication model is adapted into the vehicle's operating program for executing lane keeping and headlight linkage.

5. The lane keeping and headlight linkage method according to claim 1, characterized in that: The step of collecting the actual steering angle comprises: For each torque value output by the lane keeping module, light calibration is performed to record the angle at which the light centerline corresponding to each torque value deviates from the vehicle centerline, and the angle is regarded as the actual steering angle.

6. A lane keeping and headlight linkage method according to claim 1, characterized in that: The step of obtaining the headlight torque signal value according to the comparison deviation value comprises: According to the correspondence table between the preset deviation value range and the headlight torque signal value, the headlight torque signal value corresponding to the comparison deviation value is found.

7. The lane keeping and headlight linkage method according to claim 1, characterized in that: Determining whether a comparison deviation value between the target steering angle and the actual steering angle is within a preset deviation value range, and if the comparison deviation value is within the preset deviation value range, obtaining a headlight torque signal value according to the comparison deviation value, further comprising: If the comparison deviation value is not within the preset deviation value range, the lane keeping module issues a warning and exits.

8. A lane keeping and headlight linkage system, characterized in that: The system comprises: The vehicle start module is used to trigger the vehicle to enter the running state; A communication confirmation module, used for confirming a precondition based on the operating condition, wherein the precondition includes: maintaining signal reading between the headlight steering module and the lane keeping module, and performing a handshake operation between the headlight steering module and the lane keeping module; a lane keeping module, configured to collect a vehicle speed and an actual steering angle based on the precondition, calculate a target steering angle of the vehicle according to the vehicle speed and the actual steering angle, determine whether a comparison deviation value between the target steering angle and the actual steering angle is within a preset deviation value range, and if the comparison deviation value is within the preset deviation value range, obtain a headlight torque signal value according to the comparison deviation value; The headlight steering module is used to perform a headlight steering operation according to the headlight torque signal value.

9. A vehicle, characterized in that: The vehicle includes a memory, a processor, and a processing program stored in the memory and executable on the processor. When the processing program is executed by the processor, a lane keeping and headlight linkage method according to any one of claims 1 to 7 is implemented.

10. A storage medium, characterized in that: The storage medium stores a processing program, and when the processing program is executed by the processor, the lane keeping and headlight linkage method according to any one of claims 1 to 7 is implemented.

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