A light blanket projection system and control method for intelligent self-closed loop vehicle lights

Abstract

The present invention discloses a light carpet projection system and control method for an intelligent self-closed loop headlight, belonging to the field of automobile lighting technology. The light carpet projection system for an intelligent self-closed loop headlight comprises a sensor module, a data processing module and a control execution module; the data processing module is used to receive the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle collected by the sensor module, perform data fusion on the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle, calculate the actual distance of the light carpet projection through an adaptive light carpet projection algorithm, and then send the actual distance data of the light carpet projection to the control execution module. The present invention provides a light carpet projection system and control method for an intelligent self-closed loop headlight, which has strong adaptability, realizes the real-time and dynamic light carpet projection of an intelligent headlight, and significantly improves the driving safety of the vehicle in complex driving environments such as bumpy roads, ups and downs, and bad weather.

Description

Technical Field

[0001] The invention relates to a light blanket projection system and a control method for an intelligent self-closed-loop vehicle lamp, belonging to the technical field of vehicle lighting. Background Art

[0002] At present, with the rapid development of intelligent driving technology, people's requirements for automobile lighting and safety assistance systems are increasing day by day. Traditional lighting systems can no longer meet the needs of complex and changeable traffic environments, especially at night and in bad weather conditions. The headlights have limited perception and response capabilities to the road environment ahead.

[0003] In the existing technologies, although light carpet projection and lane line recognition technologies have been proposed, most of them have problems such as simple algorithms, poor adaptability, and insufficient functionality. In the existing technologies, light carpet projection is usually designed as a static form, and it is impossible to adjust the light carpet projection in real time in combination with the actual lane line and changes in the vehicle driving environment. The actual lane line changes include straight roads turning into curves, lanes becoming narrower, etc., which does not bring enough intelligent experience to drivers. 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 light carpet projection system and control method for an intelligent self-closed-loop headlight, which can accurately sense the road ahead and the surrounding environment of the vehicle, dynamically respond to complex road conditions, and make real-time adjustments to the headlight projection position and lane line fitting effect according to a variety of influencing factors. It has strong adaptability, realizes the real-time and dynamic projection of the intelligent headlight light carpet, and significantly improves the driving safety of the vehicle in complex driving environments such as bumpy roads, ups and downs, and bad weather.

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

[0006] On one hand, the present invention provides a light blanket projection system for an intelligent self-closed-loop vehicle lamp, which comprises a sensor module, a data processing module and a control execution module;

[0007] The sensor module is used to collect data on the road ahead of the vehicle, driving data of the vehicle, and data on the surrounding environment of the vehicle;

[0008] The data processing module is used to receive the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle collected by the sensor module, perform data fusion on the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle, calculate the actual distance of the light carpet projection through the adaptive light carpet projection algorithm, and then send the actual distance data of the light carpet projection to the control execution module;

[0009] The control execution module is used to control the light blanket projection distance of the vehicle lamp according to the actual light blanket projection distance data.

[0010] Furthermore, the self-vehicle driving data includes self-vehicle speed, self-vehicle pitch angle, self-vehicle roll angle, self-vehicle roll angle and self-vehicle yaw angle.

[0011] Another aspect of the present invention provides a control method for a light blanket projection system of an intelligent self-closed loop vehicle lamp, which comprises the following steps:

[0012] Step S1, collecting road data in front of the vehicle, driving data of the vehicle and data of the surrounding environment of the vehicle through the sensor module;

[0013] Step S2: The data processing module performs data fusion on the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle collected by the sensor module, and then calculates the actual distance of the light carpet projection through an adaptive light carpet projection algorithm;

[0014] Step S3: The control execution module controls the light blanket projection distance of the vehicle lamp according to the actual light blanket projection distance.

[0015] Furthermore, the calculation formula of the adaptive light carpet projection algorithm is as follows:

[0016] ;

[0017] in, The actual distance of the light blanket projection;

[0018] is the initial distance of the light blanket projection;

[0019] is the vehicle speed;

[0020] is the basic projection time based on the distance to the preceding vehicle and the speed of the vehicle itself;

[0021] is the light carpet projection distance correction function.

[0022] Furthermore, the calculation formula of the light blanket projection distance correction function is as follows:

[0023] ;

[0024] in, is the vehicle posture correction function;

[0025] is the road slope correction function;

[0026] Correction function for weather conditions.

[0027] Furthermore, the calculation step of the vehicle posture correction function includes:

[0028] Calculate the vehicle attitude correction function based on the vehicle's pitch angle and roll angle;

[0029] The calculation formula of the vehicle posture correction function is as follows:

[0030] ;

[0031] in, is the current pitch angle of the vehicle;

[0032] is the current roll angle of the vehicle;

[0033] is the maximum value of the vehicle pitch angle;

[0034] is the maximum value of the vehicle's roll angle.

[0035] Furthermore, the step of calculating the road surface slope correction function includes:

[0036] Calculate the road surface slope correction function according to the road surface slope value;

[0037] The calculation formula of the road surface slope correction function is as follows:

[0038] ;

[0039] in, is the empirical coefficient;

[0040] is the road slope value.

[0041] Furthermore, the calculation step of the weather condition correction function includes:

[0042] According to weather conditions, the correction function for sunny days, the correction function for rainy days, the correction function for foggy days and the correction function for snowy days are calculated respectively;

[0043] The calculation formulas of the correction function for sunny days, rainy days, foggy days and snowy days are as follows:

[0044] ;

[0045] ;

[0046] ;

[0047] ;

[0048] The calculation formulas for the correction coefficients for rainy days, foggy days, and snowy days are as follows:

[0049] ;

[0050] ;

[0051] ;

[0052] According to the Beer-Lambert law:

[0053] ;

[0054] The calculation formulas for the attenuation coefficients on rainy days, foggy days, and snowy days are as follows:

[0055] ;

[0056] ;

[0057] ;

[0058] in, is the correction coefficient function for sunny days;

[0059] is the correction coefficient function for rainy days;

[0060] is the correction coefficient function for foggy days;

[0061] is the correction coefficient function for snowy days;

[0062] , , are the correction coefficients for rainy days, foggy days, and snowy days respectively;

[0063] is the initial light intensity projected by the headlights;

[0064] Test height for light intensity projected by headlights;

[0065] To test the light intensity of the headlight projection at a height of z;

[0066] The benchmark illumination intensity of the vehicle headlight projection at a test height of z on a sunny day;

[0067] To test the light intensity of the headlight projection at a height of z on rainy days;

[0068] To test the projection light intensity of the headlight at a height of z in foggy weather;

[0069] To test the light intensity of the headlight projection at a height of z on snowy days;

[0070] is the atmospheric attenuation coefficient;

[0071] , , are the atmospheric attenuation coefficients for rainy, foggy and snowy days respectively.

[0072] By adopting the above technical solution, the present invention has the following beneficial effects:

[0073] The sensor module integrated inside the headlight can accurately sense the road in front of the vehicle and the surrounding environment. By setting up the data processing module, the adaptive light carpet projection algorithm can be used to calculate the actual distance of the light carpet projection. The adaptive light carpet projection algorithm takes into account the vehicle posture, road slope and weather conditions. It can dynamically respond to complex road conditions and control the light carpet projection distance according to multiple influencing factors such as the vehicle pitch angle, vehicle roll angle, road slope value and different weather conditions, and realize real-time adjustment of the headlight projection position and the lane line fitting effect, realizing the real-time and dynamic projection of the intelligent headlight light carpet, with strong adaptability, which significantly improves the driving safety of the vehicle in complex driving environments such as bumpy roads, ups and downs and bad weather. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 It is a principle block diagram of the light blanket projection system of the intelligent self-closed loop vehicle lamp of the present invention;

[0075] Figure 2 The present invention is a flow chart of a control method of a light blanket projection system for an intelligent self-closed-loop vehicle lamp. DETAILED DESCRIPTION

[0076] 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.

[0077] Embodiment 1

[0078] like Figure 1 As shown, this embodiment provides a light blanket projection system for an intelligent self-closed-loop vehicle lamp, which includes a sensor module, a data processing module and a control execution module;

[0079] The sensor module is used to collect data on the road ahead of the vehicle, driving data of the vehicle, and data on the environment around the vehicle;

[0080] The data processing module is used to receive the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle collected by the sensor module, perform data fusion on the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle, calculate the actual distance of the light carpet projection through the adaptive light carpet projection algorithm, and then send the actual distance data of the light carpet projection to the control execution module;

[0081] The control execution module is used to control the light blanket projection distance of the vehicle lamp according to the actual light blanket projection distance data.

[0082] The self-vehicle driving data of this embodiment includes the self-vehicle speed, the self-vehicle pitch angle, the self-vehicle roll angle, the self-vehicle roll angle and the self-vehicle yaw angle.

[0083] Embodiment 2

[0084] like Figure 2 As shown, this embodiment provides a control method for the light blanket projection system of the intelligent self-closed loop vehicle lamp as in the first embodiment, which comprises the following steps:

[0085] Step S1, collecting road data in front of the vehicle, driving data of the vehicle and data of the surrounding environment of the vehicle through the sensor module;

[0086] Step S2: The data processing module performs data fusion on the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle collected by the sensor module, and then calculates the actual distance of the light carpet projection through an adaptive light carpet projection algorithm;

[0087] Step S3: The control execution module controls the light blanket projection distance of the vehicle lamp according to the actual light blanket projection distance.

[0088] The calculation formula of the adaptive light carpet projection algorithm of this embodiment is as follows:

[0089] ;

[0090] in, The actual distance of the light blanket projection;

[0091] is the initial distance of the light blanket projection;

[0092] is the vehicle speed;

[0093] is the basic projection time based on the distance to the preceding vehicle and the speed of the own vehicle, representing the basic time required for the light blanket projection image to reach the imaginary or preset target position under the current speed of the own vehicle and the distance to the preceding vehicle;

[0094] It is a light blanket projection distance correction function based on factors such as vehicle posture, road slope and weather conditions, and contains multiple complex nonlinear calculation steps.

[0095] The calculation formula of the light blanket projection distance correction function of this embodiment is as follows:

[0096] ;

[0097] in, is the vehicle posture correction function;

[0098] is the road slope correction function;

[0099] Correction function for weather conditions.

[0100] The calculation steps of the vehicle posture correction function in this embodiment include:

[0101] The pitch angle and roll angle of the ego vehicle have a direct impact on the light blanket projection distance. The larger the pitch angle of the ego vehicle, the smaller the light blanket projection distance should be. The larger the roll angle of the ego vehicle, the smaller the light blanket projection distance should be. Therefore, the ego vehicle attitude correction function is calculated based on the pitch angle and roll angle of the ego vehicle.

[0102] The calculation formula of the vehicle posture correction function is as follows:

[0103] ;

[0104] in, is the current pitch angle of the vehicle, which changes with the forward and backward tilt of the vehicle;

[0105] is the current roll angle of the vehicle, which changes with the degree of left and right tilt of the vehicle;

[0106] is the maximum value of the vehicle pitch angle;

[0107] is the maximum value of the vehicle's roll angle;

[0108] Specifically, and The determination of needs to comprehensively consider multiple factors such as the structural strength of the vehicle, suspension system performance, tire grip and driving environment. Through precise measurement and calculation, the appropriate maximum value is set for each vehicle model to ensure the accuracy and effectiveness of the vehicle posture correction function.

[0109] The calculation steps of the road surface slope correction function in this embodiment include:

[0110] The larger the road surface slope value is, the more likely the actual projection effect will be affected, and the relevant parameters need to be corrected. Therefore, the road surface slope correction function is calculated based on the road surface slope value.

[0111] The calculation formula of the road slope correction function is as follows:

[0112] ;

[0113] in, It is an empirical coefficient used to adjust the influence of road slope on projection effect;

[0114] is the road slope value.

[0115] The calculation steps of the weather condition correction function of this embodiment include:

[0116] Considering the influence of weather conditions on the projection effect, the correction function for sunny days, rainy days, foggy days and snowy days are calculated according to different weather conditions.

[0117] The calculation formulas for the correction function for sunny days, rainy days, foggy days, and snowy days are as follows:

[0118] ;

[0119] ;

[0120] ;

[0121] ;

[0122] Specifically, determining the selection of weather parameters is a relatively complex process because it involves multiple factors, including light scattering, absorption, reflection, and suspended particles in the atmosphere. In order to more accurately determine the correction function, this embodiment adopts a method based on a combination of actual measurement and theoretical model;

[0123] Assuming that in clear weather, the projection effect (such as brightness, contrast, etc.) is 1 (i.e. the reference value), then the projection effect in rainy, foggy and snowy days will be affected by the attenuation coefficient. The correction coefficients of rainy, foggy and snowy days can be defined as the ratio of the projection effect in clear weather to the projection effect in the corresponding rainy, foggy and snowy weather. Therefore, the calculation formulas for the correction coefficients of rainy, foggy and snowy days are as follows:

[0124] ;

[0125] ;

[0126] ;

[0127] In clear weather, light travels almost in a straight line, but in rainy, foggy or snowy days, light will be attenuated due to scattering and absorption by water droplets, fog droplets or snowflakes. The Beer-Lambert law is introduced to address this attenuation:

[0128] ;

[0129] For different weather conditions, the corresponding attenuation coefficient needs to be determined, which can be achieved by measuring the change in the intensity of the light projected by the headlights at a fixed distance. Therefore, the calculation formulas for the attenuation coefficients of rainy days, foggy days, and snowy days are as follows:

[0130] ;

[0131] ;

[0132] ;

[0133] in, is the correction coefficient function for sunny days;

[0134] is the correction coefficient function for rainy days, and

[0135] 0< <1;

[0136] is the correction coefficient function for foggy days, and

[0137] 0< <1;

[0138] is the correction coefficient function for snowy days, and

[0139] 0< <1;

[0140] , , are the correction coefficients for rainy days, foggy days, and snowy days respectively;

[0141] is the initial light intensity projected by the headlights;

[0142] Test height for light intensity projected by headlights;

[0143] To test the light intensity of the headlight projection at a height of z;

[0144] The benchmark illumination intensity of the vehicle headlight projection at a test height of z on a sunny day;

[0145] To test the light intensity of the headlight projection at a height of z on rainy days;

[0146] To test the projection light intensity of the headlight at a height of z in foggy weather;

[0147] To test the light intensity of the headlight projection at a height of z on snowy days;

[0148] is the atmospheric attenuation coefficient, which is related to weather conditions;

[0149] , , are the atmospheric attenuation coefficients for rainy, foggy and snowy days respectively.

[0150] In summary, assume the following conditions: the current pitch angle of the vehicle , the current roll angle of the vehicle , road slope , the weather condition is rainy, and the parameters are known: , , , , Substitute the above data into the light carpet projection distance correction function and calculate as follows:

[0151] Substituting the calculated light carpet projection distance correction value 0.15 into the adaptive light carpet projection algorithm, the actual light carpet projection distance can be calculated;

[0152] Assume that the initial distance of the light blanket projection is 7 meters in front of the vehicle, the vehicle speed is 60km / h (16.67m / s after unit conversion), t is 0.2 seconds, f is 0.15, then the actual distance of the light carpet projection rice.

[0153] The working principle of the present invention is as follows:

[0154] The sensor module collects data on the road ahead of the vehicle, the driving data of the vehicle and the data on the surrounding environment of the vehicle. The data processing module then fuses the data on the road ahead of the vehicle, the driving data of the vehicle and the data on the surrounding environment of the vehicle collected by the sensor module. Based on the vehicle posture, road slope and weather conditions, the actual distance of the light carpet projection is calculated through an adaptive light carpet projection algorithm. Finally, the control execution module controls the light carpet projection distance of the car lights according to the actual distance of the light carpet projection.

[0155] The sensor module integrated inside the headlight can accurately sense the road in front of the vehicle and the surrounding environment. By setting up the data processing module, the adaptive light carpet projection algorithm can be used to calculate the actual distance of the light carpet projection. The adaptive light carpet projection algorithm takes into account the vehicle posture, road slope and weather conditions. It can dynamically respond to complex road conditions and control the light carpet projection distance according to multiple influencing factors such as the vehicle pitch angle, vehicle roll angle, road slope value and different weather conditions, and realize real-time adjustment of the headlight projection position and the lane line fitting effect, realizing the real-time and dynamic projection of the intelligent headlight light carpet, with strong adaptability, which significantly improves the driving safety of the vehicle in complex driving environments such as bumpy roads, ups and downs and bad weather.

[0156] 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. An intelligent self-closed-loop light blanket projection system for vehicle lights, characterized in that: It includes a sensor module, a data processing module and a control execution module; The sensor module is used to collect data on the road ahead of the vehicle, driving data of the vehicle, and data on the surrounding environment of the vehicle; The data processing module is used to receive the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle collected by the sensor module, perform data fusion on the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle, calculate the actual distance of the light carpet projection through the adaptive light carpet projection algorithm, and then send the actual distance data of the light carpet projection to the control execution module; The control execution module is used to control the light blanket projection distance of the vehicle lamp according to the actual light blanket projection distance data; The self-vehicle driving data includes self-vehicle speed, self-vehicle pitch angle, self-vehicle roll angle, self-vehicle roll angle and self-vehicle yaw angle; The control method of the light blanket projection system of the intelligent self-closed loop vehicle lamp comprises the following steps: Step S1, collecting road data in front of the vehicle, driving data of the vehicle and data of the surrounding environment of the vehicle through the sensor module; Step S2: The data processing module performs data fusion on the road data in front of the vehicle, the driving data of the vehicle and the surrounding environment data of the vehicle collected by the sensor module, and then calculates the actual distance of the light carpet projection through the adaptive light carpet projection algorithm; Step S3, the control execution module controls the light blanket projection distance of the vehicle lights according to the actual light blanket projection distance; The calculation formula of the adaptive light carpet projection algorithm is as follows: ； in, The actual distance of the light blanket projection; is the initial distance of the light blanket projection; is the vehicle speed; is the basic projection time based on the distance to the preceding vehicle and the speed of the vehicle itself; is the light carpet projection distance correction function; is the current pitch angle of the vehicle; is the current roll angle of the vehicle; is the road slope value; It's the weather conditions.

2. The control method of the light blanket projection system of the intelligent self-closed loop vehicle lamp according to claim 1, characterized in that: The calculation formula of the light carpet projection distance correction function is as follows: ； in, is the vehicle posture correction function; is the road slope correction function; Correction function for weather conditions.

3. The control method of the light blanket projection system of the intelligent self-closed loop vehicle lamp according to claim 2, characterized in that: The calculation steps of the vehicle posture correction function include: Calculate the vehicle attitude correction function based on the vehicle's pitch angle and roll angle; The calculation formula of the vehicle posture correction function is as follows: ； in, is the current pitch angle of the vehicle; is the current roll angle of the vehicle; is the maximum value of the vehicle pitch angle; is the maximum value of the vehicle's roll angle.

4. The control method of the light blanket projection system of the intelligent self-closed loop vehicle lamp according to claim 3 is characterized in that: The calculation steps of the road surface slope correction function include: Calculate the road surface slope correction function according to the road surface slope value; The calculation formula of the road surface slope correction function is as follows: ； in, is the empirical coefficient; is the road slope value.

5. The control method of the light blanket projection system of the intelligent self-closed loop vehicle lamp according to claim 4, characterized in that: The calculation steps of the weather condition correction function include: According to weather conditions, the correction function for sunny days, the correction function for rainy days, the correction function for foggy days and the correction function for snowy days are calculated respectively; The calculation formulas of the correction function for sunny days, rainy days, foggy days and snowy days are as follows: ； ； ； ； The calculation formulas for the correction coefficients for rainy days, foggy days, and snowy days are as follows: ； ； ； According to the Beer-Lambert law: ； The calculation formulas for the attenuation coefficients on rainy days, foggy days, and snowy days are as follows: ； ； ； in, is the correction coefficient function for sunny days; is the correction coefficient function for rainy days; is the correction coefficient function for foggy days; is the correction coefficient function for snowy days; , , are the correction coefficients for rainy days, foggy days, and snowy days respectively; is the initial light intensity projected by the headlights; Test height for light intensity projected by headlights; To test the light intensity of the headlight projection at a height of z; The benchmark illumination intensity of the vehicle headlight projection at a test height of z on a sunny day; To test the light intensity of the headlight projection at a height of z on rainy days; To test the projection light intensity of the headlight at a height of z in foggy weather; To test the light intensity of the headlight projection at a height of z on snowy days; is the atmospheric attenuation coefficient; , , are the atmospheric attenuation coefficients for rainy, foggy and snowy days respectively.

Images