ADB system control method for target prediction and compensation based on relative displacement

Abstract

The invention discloses an ADB system control method for target prediction and compensation based on relative displacement. The ADB system control method comprises the following steps: acquiring data of a target vehicle; predicting the relative position of the next unit system clock according to the relative displacement of the target vehicle and the vehicle in the unit system clock; calculating a predicted moving area of the target vehicle in the unit system clock according to the predicted position of the target vehicle in the next unit system clock; adjusting the angle compensation of the vehicle to the anti-dazzling area of the target vehicle according to the predicted moving area of the target vehicle in the unit system clock; and when the target vehicle is driven out of the light range of the vehicle, the ADB system of the vehicle gradually brightens the light corresponding to the extinguished light. By acquiring the difference between the predicted position of the target vehicle at the current moment and the actual position of the target vehicle at the current moment, correction parameters are provided for calculating the predicted position of the target vehicle at the next clock, and the accuracy of target vehicle position prediction is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle ADB system control, and in particular relates to an ADB system control method for performing target prediction and compensation based on relative displacement. Background Art

[0002] There are two main factors that can easily cause dazzle when driving at night: direct high beams from oncoming vehicles and reflections from mirrors when driving in the same direction. Severe dazzle can make it difficult for drivers to see the road ahead, causing great hidden dangers when driving at night.

[0003] Based on this, the ADB (Adaptive Driving Beam) system can reduce the frequency of traffic accidents at night to a certain extent by detecting the driving conditions ahead and automatically turning off the lights in the area that causes dazzle to the driver. When the ADB system is actually used, the accuracy and real-time performance of its light control are the key parts to achieve this function.

[0004] Currently, most ADB systems rely solely on the software control algorithm of the designed system to improve the accuracy and real-time performance of the recognition area, which has certain limitations.

[0005] Therefore, in order to further improve the accuracy and real-time performance of the ADB system, it is necessary to add some compensation measures for the identification area based on the ADB system software control algorithm. Summary of the invention

[0006] The purpose of the present invention is to provide an ADB system control method for target prediction and compensation based on relative displacement to solve the problems raised in the above background technology. The present invention provides an ADB system control method for target prediction and compensation based on relative displacement, which has the characteristics of improving the accuracy of controlling the on and off of the partitioned LED and achieving the anti-glare effect for the driver of the target vehicle.

[0007] To achieve the above object, the present invention provides the following technical solution: an ADB system control method for target prediction and compensation based on relative displacement, comprising the following steps:

[0008] S1. Obtain the data of the target vehicle, including the target vehicle ID and the relative displacement between the target vehicle and the host vehicle in the unit system clock;

[0009] S2, predicting the relative position at the next unit system clock based on the relative displacement between the target vehicle and the host vehicle in the unit system clock in step S1;

[0010] S3, calculating the predicted moving area of ​​the target vehicle within the unit system clock according to the predicted position of the target vehicle at the next unit system clock in step S2;

[0011] S4, combining the real-time vehicle condition of the vehicle and the predicted moving area of ​​the target vehicle within the unit system clock in step S3, adjusting the angle compensation of the vehicle to the anti-glare area of ​​the target vehicle;

[0012] S5. When the target vehicle drives out of the lighting range of this vehicle, the ADB system of this vehicle will gradually brighten the corresponding lights that have been extinguished.

[0013] Furthermore, in the present invention, in step S1, the target vehicle ID is used to distinguish different target vehicles and uniquely identify each target vehicle.

[0014] Further in the present invention, in step S1, the ID coding rule of the target vehicle is: the coding range is from 0 to 255, the ID is superimposed with the number of target vehicles but not cleared, when the target vehicle drives out of the lighting range of this vehicle, the target vehicle ID becomes invalid, but the count is not cleared, and the next target vehicle ID is superimposed on this basis, and after exceeding 255, the next target vehicle starts counting from 0.

[0015] In the present invention, further, in step S2, the method for predicting the relative position at the next unit system clock comprises the following steps:

[0016] S21, calculating the change speed of the relative distance between the target vehicle and the host vehicle based on the relative displacement between the target vehicle and the host vehicle within the unit system clock;

[0017] S22. Calculate the predicted position of the target vehicle at the next clock according to the change speed of the relative distance of the target vehicle to the vehicle at the current clock and the difference between the predicted position of the target vehicle at the current clock and the actual position of the target vehicle at the current clock.

[0018] In the present invention, further, in step S21, the position information of the target vehicle is set to Update once, The time interval is expressed as ,in, represents a positive integer;

[0019] calculate The speed at which the relative distance between the target vehicle and the vehicle changes at any given moment The formula is:

[0020] ;

[0021] in, express The actual distance of the target vehicle relative to the vehicle at the moment, express At time , the actual distance of the target vehicle relative to the host vehicle.

[0022] In the present invention, further, in step S22, the next unit system clock is calculated The predicted position of the target vehicle The formula is:

[0023] ;

[0024] in, for Predicted position of target vehicle at each moment and Actual position of the target vehicle at any moment difference, , .

[0025] In the present invention, further, in step S3, the target vehicle predicted movement area within the unit system clock is calculated The formula is:

[0026] .

[0027] In the present invention, further, in step S3, the predicted moving area of ​​the target vehicle within the unit system clock is: the predicted moving area of ​​the target vehicle moving from the current clock to the next clock relative to the host vehicle.

[0028] In the present invention, further, in step S4, three angle compensation values ​​are set according to the distance interval of the target vehicle relative to the host vehicle.

[0029] Further in the present invention, in step S5, when the target vehicle drives out of the lighting range of this vehicle, the corresponding lights of the ADB system of this vehicle remain off for 1 second, and then brighten by 5% every 50ms until 100% brightness is restored; during the gradual brightening process, it is continuously detected whether there are other target vehicles in this area. If there are other target vehicles, the lights in this area are immediately turned off. If there are no other target vehicles, the lights continue to be gradually brightened.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. The present invention can manage multiple targets more effectively by ID numbering target vehicles, realize accurate control of targets, and avoid misjudgment and accidental dazzle caused by target vehicles crossing or entering and exiting the field of vision, which may cause confusion of targets.

[0032] 2. The ID number of the present invention can be used to record the attributes of each target for data processing. By associating the target vehicle type, size, priority level, etc. through the ID, the status of each target can be updated more efficiently when performing target prediction.

[0033] 3. The present invention can realize control strategy optimization, that is, different priorities are assigned according to the ID of the target. When multiple targets overlap in the field of view, the ID can distinguish the primary and secondary contradictions of the targets and give priority to vehicles approaching quickly.

[0034] 4. The present invention obtains the difference between the predicted position of the target vehicle at the current moment and the actual position of the target vehicle at the current moment, and provides correction parameters for calculating the predicted position of the target vehicle at the next clock, thereby improving the accuracy of the target vehicle position prediction.

[0035] 5. The present invention predicts the target vehicle's movement from the current moment to the next moment compared to the area where the vehicle moves, and performs angle compensation for the light partitions that the ADB system of the vehicle needs to extinguish in the moving area. The ADB system partition angle compensation is configurable, that is, the angle compensation value can be adjusted according to the partitions of the ADB system of different vehicle models, which is flexible.

[0036] 6. The present invention divides the distance intervals of target vehicles relative to the vehicle into three types and performs angle compensation on the LED partitions of the ADB system, thereby avoiding the impact of real-time changes in distance, reducing the complexity of the ADB system and better realizing the anti-glare function.

[0037] 7. When the target vehicle leaves the range of the vehicle's lights, the ADB system of the vehicle will gradually brighten the corresponding extinguished lights, which can maintain the stability of the ADB system and prevent the sudden restoration of lights from causing unexpected dazzle to the following target vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the method flow of the present invention.

[0039] Figure 2 It is a schematic diagram of the distance between the target vehicle and the vehicle at different times when the present invention is traveling in opposite directions.

[0040] Figure 3 It is a schematic diagram of the target vehicle of the present invention and the host vehicle traveling in opposite directions.

[0041] Figure 4 It is a schematic diagram of the target vehicle of the present invention and the host vehicle traveling in the same direction. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Example 1

[0044] See also Figure 1-Figure 4 The present invention provides the following technical solution: an ADB system control method for target prediction and compensation based on relative displacement, comprising the following steps:

[0045] S1. Collect the road information ahead through the vehicle-mounted radar sensor of the vehicle, continuously observe the vehicle ahead and identify the target vehicle from it, assign an ID number to the target vehicle, and obtain the relative displacement between the target vehicle and the vehicle within the unit system clock;

[0046] S2, predicting the relative position at the next unit system clock based on the relative displacement between the target vehicle and the host vehicle in the unit system clock in step S1;

[0047] S21, based on the relative displacement of the target vehicle and the host vehicle in the unit system clock in step S1, calculate the change speed of the relative distance of the target vehicle to the host vehicle Since the unit system clock is the time interval for DBC to send data, the position information of the target vehicle is set to Update once, The time interval is expressed as ,in, Represents a positive integer, usually =10ms; The speed at which the relative distance between the target vehicle and the vehicle changes at any given moment The formula is:

[0048] ;

[0049] in, express The actual distance of the target vehicle relative to the vehicle at the moment, express At time , the actual distance of the target vehicle relative to the host vehicle;

[0050] S22, calculating the predicted position of the target vehicle at the next clock according to the change speed of the relative distance of the target vehicle to the vehicle at the current clock and the difference between the predicted position of the target vehicle at the current clock and the actual position of the target vehicle at the current clock;

[0051] Calculate the next unit system clock The predicted position of the target vehicle The formula is:

[0052] ;

[0053] in, for Predicted position of target vehicle at each moment and Actual position of the target vehicle at any moment difference, , ;

[0054] S3, based on the predicted position of the target vehicle at the next unit system clock in step S2, calculate the predicted moving area of ​​the target vehicle within the unit system clock, that is, the predicted moving area of ​​the target vehicle relative to the host vehicle from the current clock to the next clock;

[0055] Calculate the target vehicle's predicted moving area within the unit system clock The formula is:

[0056] ;

[0057] S4, combining the real-time vehicle condition of the vehicle, according to the predicted moving area of ​​the target vehicle in the unit system clock in step S3, adjusting the angle compensation of the vehicle to the anti-glare area of ​​the target vehicle, considering the actual road conditions, the vehicle radar recognizes that the distance to the target vehicle is in a changing state, and the distance changes more frequently when the vehicle is oncoming, so according to the distance interval of the target vehicle relative to the vehicle, there are three angle compensation values;

[0058] S5. When the target vehicle leaves the lighting range of this vehicle, the corresponding lights that have been extinguished by the ADB system of this vehicle will be gradually brightened; that is, when the target vehicle leaves the lighting range of this vehicle, the corresponding lights that have been extinguished by the ADB system of this vehicle will remain extinguished for 1 second, and then brighten by 5% every 50ms until 100% brightness is restored; during the gradual brightening process, the system will continue to detect whether there are other target vehicles in this area. If there are other target vehicles, the lights in this area will be turned off immediately. If there are no other target vehicles, the lights will continue to be gradually brightened.

[0059] Example 2

[0060] The present embodiment is different from the embodiment 1 in that, specifically, in step S1, the target vehicle ID coding rule is as follows: the coding range is from 0 to 255, the ID is superimposed with the number of target vehicles but not cleared, when the target vehicle leaves the lighting range of this vehicle, the target vehicle ID becomes invalid, but the count is not cleared, the next target vehicle ID is superimposed on this basis, and after exceeding 255, the next target vehicle starts counting from 0.

[0061] By adopting the above technical scheme, the present invention can more effectively manage multiple targets by ID numbering the target vehicles, realize precise control of the targets, and avoid misjudgment caused by target confusion due to target vehicles crossing or entering and exiting the field of view, resulting in unexpected dazzle; the ID number of the present invention can be used to record the attributes of each target for data processing, and the target vehicle type, size and priority level are associated with the ID, so that the status of each target can be updated more efficiently when performing target prediction; the present invention can realize control strategy optimization, that is, different priorities are assigned according to the ID of the target. When multiple targets overlap in the field of view, the ID can distinguish the primary and secondary contradictions of the targets, and give priority to vehicles approaching quickly.

[0062] Example 3

[0063] Specifically, in step S3, by analyzing the influence of the distance between the target vehicle and the vehicle on the angle at which the ADB system of the vehicle needs to turn off the lights, it is found that:

[0064] (1) When the target vehicle and the vehicle are traveling in opposite directions, Figure 3 As shown in the figure, when the target vehicle is close to the vehicle, the angle of the ADB system turning off the lights corresponding to the target vehicle's predicted moving area within the unit system clock is ; When the target vehicle is far away from the vehicle, the angle at which the ADB system turns off the lights in the target vehicle predicted moving area per system clock is .

[0065] By comparison, it can be seen that when two vehicles are driving in opposite directions, the closer the distance between the target vehicle and the vehicle, the larger the corresponding angle at which the lights are turned off.

[0066] (2) If the target vehicle is traveling in the same direction as the vehicle Figure 4 As shown in the figure, when the target vehicle is close to the vehicle, the angle of the ADB system turning off the lights corresponding to the target vehicle's predicted moving area within the unit system clock is ; When the target vehicle is far away from the vehicle, the angle at which the ADB system turns off the lights in the target vehicle predicted moving area per system clock is .

[0067] By comparison, it can be seen that when two vehicles are driving in the same direction, the closer the distance between the target vehicle and the vehicle, the larger the corresponding light-off angle.

[0068] Therefore, by comparing the angle relationship of the lights being turned off by the vehicle when the target vehicle is traveling in the same direction and in the opposite direction, it can be seen that, under the same target vehicle unit system clock moving area, the distance between the vehicle and the target vehicle has an impact on the angle of the lights being turned off by the vehicle's ADB system. That is, the angle of the lights being turned off by the unit system clock moving area of ​​the distant target vehicle corresponding to the ADB system of the vehicle is smaller than the angle of the lights being turned off by the unit system clock moving area of ​​the nearby target vehicle. Based on this conclusion, when using the ADB function, the driving direction of the target vehicle can be ignored, and only the angle of the turning off partition can be compensated.

[0069] Example 4

[0070] Specifically, in step S4, the three angle compensation values ​​set according to the distance interval between the target vehicle and the host vehicle are:

[0071] (1) When the vehicle-mounted radar identifies the target vehicle at a distance of more than 500 meters, set the angle compensation of the LED partition of the ADB system of the vehicle to 0.04°;

[0072] (2) When the vehicle-mounted radar identifies the target vehicle within 500 meters and beyond 200 meters, set the angle compensation of the LED partition of the vehicle's ADB system to 0.09°;

[0073] (3) When the vehicle-mounted radar identifies the target vehicle within 200 meters, the angle compensation of the LED partition of the vehicle's ADB system is set to 0.37°.

[0074] In summary, the present invention can more effectively manage multiple targets and achieve precise control of targets by ID numbering target vehicles, avoiding misjudgment and unexpected dazzle caused by target confusion caused by target vehicles crossing or entering and exiting the field of view; the ID number of the present invention can be used to record the attributes of each target for data processing, and the target vehicle type, size and priority level are associated with the ID, so that the state of each target can be updated more efficiently when performing target prediction; the present invention can realize control strategy optimization, that is, different priorities are assigned according to the ID of the target. When multiple targets overlap in the field of view, the ID can distinguish the primary and secondary contradictions of the targets and give priority to vehicles approaching quickly; the present invention obtains the difference between the predicted position of the target vehicle at the current moment and the actual position of the target vehicle at the current moment, provides correction parameters for calculating the predicted position of the target vehicle at the next clock, thereby improving the target The accuracy of the target vehicle position prediction is improved; the present invention predicts the target vehicle's movement from the current moment to the next moment compared to the area where the vehicle moves, and performs angle compensation for the light partitions that the ADB system of the vehicle needs to extinguish in the moving area, and the ADB system partition angle compensation is configurable, that is, the angle compensation value can be adjusted according to the partitions of the ADB system of different models, which is flexible; the present invention divides the distance intervals of the target vehicle relative to the vehicle into three types, and performs angle compensation for the LED partitions of the ADB system, thereby avoiding the influence of real-time changes in distance, while reducing the complexity of the ADB system, and better realizing the anti-glare function; when the target vehicle leaves the range of the vehicle's lights, the ADB system of the vehicle will gradually brighten the corresponding extinguished lights, which can maintain the stability of the ADB system and prevent the sudden restoration of lights from causing unexpected glare to the subsequent target vehicles.

[0075] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling an ADB system for target prediction and compensation based on relative displacement, characterized in that: The following steps are involved: S1. Obtain the data of the target vehicle, including the target vehicle ID and the relative displacement between the target vehicle and the host vehicle in the unit system clock; S2, predicting the relative position at the next unit system clock based on the relative displacement between the target vehicle and the host vehicle in the unit system clock in step S1; S3, calculating the predicted moving area of ​​the target vehicle within the unit system clock according to the predicted position of the target vehicle at the next unit system clock in step S2; S4, combining the real-time vehicle condition of the vehicle and the predicted moving area of ​​the target vehicle within the unit system clock in step S3, adjusting the angle compensation of the vehicle to the anti-glare area of ​​the target vehicle; S5. When the target vehicle drives out of the lighting range of this vehicle, the ADB system of this vehicle will gradually brighten the corresponding lights that have been extinguished.

2. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In step S1, the target vehicle ID is used to distinguish different target vehicles and uniquely identify each target vehicle.

3. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In step S1, the target vehicle ID coding rule is: the coding range is from 0 to 255, the ID is superimposed with the number of target vehicles but not cleared, when the target vehicle drives out of the light range of this vehicle, the target vehicle ID becomes invalid, but the count is not cleared, and the next target vehicle ID is superimposed on this basis, and after exceeding 255, the next target vehicle starts counting from 0.

4. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In step S2, the method for predicting the relative position at the next unit system clock comprises the following steps: S21, calculating the change speed of the relative distance between the target vehicle and the host vehicle based on the relative displacement between the target vehicle and the host vehicle within the unit system clock; S22. Calculate the predicted position of the target vehicle at the next clock according to the change speed of the relative distance of the target vehicle to the vehicle at the current clock and the difference between the predicted position of the target vehicle at the current clock and the actual position of the target vehicle at the current clock.

5. The ADB system control method for target prediction and compensation based on relative displacement according to claim 4, characterized in that: In step S21, it is assumed that the location information of the target vehicle is updated every t, and the time interval at the nth moment is expressed as ,in, represents a positive integer; calculate The speed at which the relative distance between the target vehicle and the vehicle changes at any given moment The formula is: ； in, express The actual distance of the target vehicle relative to the vehicle at the moment, express At time , the actual distance of the target vehicle relative to the host vehicle.

6. The ADB system control method for target prediction and compensation based on relative displacement according to claim 5, characterized in that: In step S22, the next unit system clock is calculated. The predicted position of the target vehicle The formula is: ； in, for Predicted position of target vehicle at each moment and Actual position of the target vehicle at any moment difference, , , .

7. The ADB system control method for target prediction and compensation based on relative displacement according to claim 6, characterized in that: In step S3, the predicted moving area of ​​the target vehicle within the unit system clock is calculated. The formula is: 。 8. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In the step S3, the predicted moving area of ​​the target vehicle within the unit system clock is: the predicted moving area of ​​the target vehicle relative to the host vehicle from the current clock to the next clock.

9. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In step S4, three angle compensation values ​​are set according to the distance interval of the target vehicle relative to the host vehicle.

10. The ADB system control method for target prediction and compensation based on relative displacement according to claim 1, characterized in that: In step S5, when the target vehicle drives out of the lighting range of this vehicle, the corresponding lights of the ADB system of this vehicle remain off for 1 second, and then brighten by 5% every 50ms until the brightness is restored to 100%; during the gradual brightening process, it is continuously detected whether there are other target vehicles in this area. If there are other target vehicles, the lights in this area are immediately turned off. If there are no other target vehicles, the lights continue to be gradually brightened.

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