Method and device for controlling headlamp, vehicle and storage medium

Abstract

The invention provides a headlamp control method and device, a vehicle and a storage medium. According to the method, under the condition that a headlamp of a vehicle is turned on, whether the change value of the vehicle posture is larger than a first preset value or not is determined, that is, whether the vehicle body posture changes greatly or not is determined. Generally, when the posture of a vehicle body changes greatly, the irradiation area of lamplight also changes greatly, so that a view blind area exists in the view range which a driver should see originally due to the large change of the posture of the vehicle body. When the posture of the vehicle body changes greatly, the angle deviation of the posture angle of the vehicle posture changing front and back and the target direction for adjusting the irradiation angle of the headlamp are determined; and then the irradiation angle of the headlamp is controlled to adjust the angle deviation towards the target direction, so that the irradiation angle of the headlamp is moved towards the view blind area by the angle deviation. Therefore, by means of the scheme, the view blind area of the driver can be eliminated, and safe driving of the vehicle is ensured.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more particularly, to a method, an apparatus, a vehicle, and a storage medium for controlling a headlamp in the field of vehicles. Background Art

[0002] With the development of the vehicle industry, vehicles are increasingly involved in our daily life and work. As people's activity time is postponed, the probability of people using the headlamps of vehicles also increases.

[0003] In the prior art, generally, the headlamps installed on a vehicle have a fixed irradiation range. When the vehicle undergoes a large attitude change on the driving road, due to the inability to adjust the illumination angle of the headlamps, there will be a certain range of "vision blind spots" for the driver. This greatly threatens the driving safety of the driver.

[0004] Therefore, there is an urgent need for a method for controlling a headlamp to control the illumination angle of the headlamp in real time when the vehicle undergoes a large attitude change on the driving road, eliminate the vision blind spots of the driver, and ensure the safe driving of the vehicle. Summary of the Invention

[0005] The present application provides a method, an apparatus, a vehicle, and a storage medium for controlling a headlamp, and the method can eliminate the vision blind spots of the driver and ensure the safe driving of the vehicle.

[0006] In a first aspect, a method for controlling a headlamp is provided. The method includes: determining whether a change value of the vehicle attitude is greater than a first preset value when the headlamp of the vehicle is turned on; determining an angle deviation of an attitude angle for describing the change before and after the vehicle attitude changes and determining the current driving state of the vehicle when the change value is greater than the first preset value; determining a target direction for adjusting the irradiation angle of the headlamp based on the driving state; and controlling the irradiation angle of the headlamp to adjust the angle deviation in the target direction.

[0007] In the above technical solution, when the vehicle's headlight is turned on, it is determined whether the change value of the vehicle attitude is greater than a first preset value, that is, it is determined whether the vehicle body attitude has changed significantly. Usually, the light irradiated by the headlight changes with the vehicle body attitude. When the vehicle body attitude changes significantly, the irradiation area of the light will also change significantly, which will cause a "field of vision blind area" in the field of vision that the driver should originally see due to the significant change in the vehicle body attitude. When the vehicle body attitude changes significantly, the present application determines the angular deviation of the attitude angle of the vehicle attitude change before and after and determines the target direction for adjusting the irradiation angle of the headlight based on the current driving state of the vehicle; and then controls the irradiation angle of the headlight to adjust the angular deviation in the target direction, so as to move the irradiation angle of the headlight to the field of vision blind area by the angular deviation. Therefore, through the solution of the present application, the driver's field of vision blind area can be eliminated, ensuring the safe driving of the vehicle.

[0008] In combination with the first aspect, in some possible implementation manners, the attitude angle includes a pitch angle and a roll angle. Determining whether the change value of the vehicle attitude is greater than a first preset value includes: determining whether a first angular deviation of the pitch angle of the vehicle attitude change before and after is greater than a first preset angle; and / or determining whether a second angular deviation of the roll angle of the vehicle attitude change before and after is greater than a second preset angle.

[0009] In the above technical solution, the vehicle attitude is described by the attitude angle, and the attitude angle includes a pitch angle and a roll angle. In this regard, when determining whether the change value of the vehicle attitude is greater than a first preset value, it can be specifically determined by determining whether a first angular deviation of the pitch angle of the vehicle attitude change before and after is greater than a first preset angle; and / or determining whether a second angular deviation of the roll angle of the vehicle attitude change before and after is greater than a second preset angle.

[0010] In combination with the first aspect and the above implementation manners, in some possible implementation manners, determining the current driving state of the vehicle includes: when the acceleration of the vehicle is greater than a first preset acceleration, determining that the driving state is an emergency acceleration state; or when the acceleration is less than a second preset acceleration, determining that the driving state is an emergency deceleration state; when the tire pressure of any tire in the vehicle becomes a first preset tire pressure within a preset time period, determining that the driving state is used to indicate that the tire is in a flat tire state; when the angle of the vehicle's steering wheel turning to the left is greater than a first preset angle, determining that the driving state is used to indicate that the vehicle is in a left turn state; or when the angle of the steering wheel turning to the right is greater than a second preset angle, determining that the driving state is used to indicate that the vehicle is in a right turn state.

[0011] In the above technical solution, the current driving state of the vehicle is determined by detecting various driving parameters of the vehicle. Specifically, during the driving process of the vehicle, if there is a large increase in speed within a very short time (the acceleration is greater than the first preset acceleration), it indicates that the vehicle is in a rapid acceleration state, that is, the driving state of the vehicle is the rapid acceleration state. On the contrary, if there is a large decrease in speed within a very short time (the acceleration is less than the second preset acceleration), it indicates that the vehicle is in a rapid deceleration state, that is, the driving state of the vehicle is the rapid deceleration state. During the driving process of the vehicle, if the tire pressure of a certain tire in the vehicle drops to a very low tire pressure value within a very short time, it indicates that the tire has a flat tire, and the tire is in a flat tire state, that is, the driving state of the vehicle is used to indicate that the tire is in a flat tire state. During the driving process of the vehicle, if the steering wheel of the vehicle is turned significantly to the left, it indicates that the vehicle is in a left turn state, that is, the driving state of the vehicle is used to indicate that the vehicle is in a left turn state. On the contrary, if the steering wheel of the vehicle is turned significantly to the right, it indicates that the vehicle is in a right turn state, that is, the driving state of the vehicle is used to indicate that the vehicle is in a right turn state.

[0012] Combined with the first aspect and the above implementation manners, in some possible implementation manners, based on the driving state, determining the target direction for adjusting the irradiation angle of the headlamp includes: when the driving state is the rapid acceleration state, determining the target direction as the downward direction; or, when the driving state is the rapid deceleration state, determining the target direction as the upward direction; when the driving state is used to indicate that any tire of the vehicle is in a flat tire state, determining the target direction as the upward direction; when the driving state is used to indicate that the vehicle is in a left turn state, determining the target direction as the leftward direction; or, when the driving state is used to indicate that the vehicle is in a right turn state, determining the target direction as the rightward direction.

[0013] In the above technical solution, when the driving state of the vehicle is an emergency acceleration state, the front of the vehicle will tilt upward, and at this time, the light irradiated by the headlight will move away from the ground. At this time, for the driver, there will be a certain range of visual blind areas in front of the vehicle head. Therefore, the irradiation angle of the headlight can be adjusted downward. Therefore, when the driving state is an emergency acceleration state, the target direction is the downward direction. On the contrary, when the driving state is an emergency deceleration state, the target direction is the upward direction. When the driving state of the vehicle is used to indicate that any tire of the vehicle is in a flat tire state, the body on the side of the tire will sink, and at this time, the visual field range irradiated by the headlight will be reduced. At this time, for the driver, the visual field range that the driver can observe is reduced. Therefore, the irradiation angle of the headlight can be adjusted upward. Therefore, when the driving state is used to indicate that any tire of the vehicle is in a flat tire state, the target direction is the upward direction. When the driving state of the vehicle is used to indicate that the vehicle is in a left-turn state, the light irradiated by the headlight will shift outward (to the right) in the turning direction. Therefore, the irradiation angle of the headlight can be adjusted to the left. Therefore, when the driving state is used to indicate that the vehicle is in a left-turn state, the target direction is the left direction. On the contrary, when the driving state is used to indicate that the vehicle is in a right-turn state, the target direction is the right direction.

[0014] Combined with the first aspect and the above implementation, in some possible implementations, the angle deviation of the attitude angle includes the pitch angle deviation of the pitch angle when the vehicle attitude changes before and after. Determining the angle deviation before and after the change of the vehicle attitude angle includes: determining the height difference between the height of the front wheel arch and the height of the rear wheel arch of the vehicle; determining the first ratio between the height difference and the wheelbase of the vehicle; determining the arctangent value of the first ratio as the first pitch angle after the vehicle attitude changes; determining the difference between the first pitch angle and the second pitch angle before the vehicle attitude changes as the pitch angle deviation.

[0015] In the above technical solution, the pitch angle refers to the angle between the longitudinal axis of the vehicle body and the ground plane. The longitudinal axis refers to the connection line between the center of the front axle and the center of the rear axle of the vehicle, and the pitch angle is less than 90°. Therefore, a virtual right triangle can be constructed through the height difference between the height of the front wheel arch and the height of the rear wheel arch, and the wheelbase of the vehicle. In this right triangle, based on the tangent principle of the right triangle, the height difference and the wheelbase, the pitch angle of the current vehicle (the first pitch angle after the attitude change) can be determined. Furthermore, based on the difference between the first pitch angle and the second pitch angle before the vehicle attitude changes, the pitch angle deviation can be determined. Therefore, an accurate pitch angle deviation can be obtained through the solution of the present application.

[0016] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the angular deviation of the attitude angle further includes the angular deviation of the inclination angle of the vehicle attitude before and after the change. Controlling the irradiation angle of the headlamp to adjust the angular deviation in the target direction includes: when the driving state is an emergency acceleration state, controlling the irradiation angle of the headlamp to adjust the pitch angle deviation downward; or, when the driving state is an emergency deceleration state, controlling the irradiation angle of the headlamp to adjust the pitch angle deviation upward; when the driving state is used to indicate that the left tire of the vehicle is in a flat tire state, controlling the irradiation angle of the headlamp on the left side of the vehicle to adjust the pitch angle deviation upward; or, when the driving state is used to indicate that the right tire of the vehicle is in a flat tire state, controlling the irradiation angle of the headlamp on the right side of the vehicle to adjust the pitch angle deviation upward; when the driving state is used to indicate that the vehicle is in a left turn state, controlling the irradiation angle of the headlamp to adjust the inclination angle deviation to the left; or, when the driving state is used to indicate that the vehicle is in a right turn state, controlling the irradiation angle of the headlamp to adjust the inclination angle deviation to the right.

[0017] In the above technical solution, the process of specifically adjusting the irradiation angle of the headlamp when the vehicle is in different driving states is described. When the driving state is an emergency acceleration state, controlling the irradiation angle of the headlamp to adjust the pitch angle deviation downward; or, when the driving state is an emergency deceleration state, controlling the irradiation angle of the headlamp to adjust the pitch angle deviation upward. This can enable the driver to see clearly the field of view on the ground around the vehicle, eliminate the field of view blind area, and increase driving safety. When the driving state is used to indicate that the left tire of the vehicle is in a flat tire state, controlling the irradiation angle of the headlamp on the left side of the vehicle to adjust the pitch angle deviation upward; or, when the driving state is used to indicate that the right tire of the vehicle is in a flat tire state, controlling the irradiation angle of the headlamp on the right side of the vehicle to adjust the pitch angle deviation upward. This can expand the original field of view range, eliminate a certain range of field of view blind area, and increase driving safety. When the driving state is used to indicate that the vehicle is in a left turn state, controlling the irradiation angle of the headlamp to adjust the inclination angle deviation to the left; or, when the driving state is used to indicate that the vehicle is in a right turn state, controlling the irradiation angle of the headlamp to adjust the inclination angle deviation to the right. This can eliminate the turning inner side field of view blind area that originally existed due to vehicle turning and increase driving safety when the vehicle is turning.

[0018] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the vehicle includes a target motor for adjusting the irradiation angle of the headlamp, and controlling the irradiation angle of the headlamp to adjust the angle deviation in the target direction includes: determining the rotation angle of the target motor based on the angle deviation and the correspondence between the sample angle deviation and the sample rotation angle of the target motor in the vehicle; controlling the target motor to rotate the rotation angle in the target direction to control the irradiation angle of the headlamp.

[0019] In the above technical solution, the process of controlling the irradiation angle of the headlamp is described. Specifically, the irradiation angle of the headlamp is controlled by the rotation of the target motor. This method can achieve precise control of the irradiation angle of the headlamp and effectively improve driving safety.

[0020] Combined with the first aspect and the above implementation manners, in some possible implementation manners, the method further includes: comparing the angle deviation with a third preset angle, where the third preset angle is the minimum critical angle for adjusting the irradiation angle of the headlamp; and performing the step of controlling the irradiation angle of the headlamp to adjust the angle deviation in the target direction when the angle deviation is greater than or equal to the third preset angle.

[0021] In the above technical solution, the third preset angle is the minimum critical angle for adjusting the irradiation angle of the headlamp. Only when the angle deviation is greater than or equal to the third preset angle, the irradiation angle of the headlamp is controlled to adjust the angle deviation in the target direction. That is to say, the irradiation angle of the headlamp is not adjusted at any angle deviation, but only when necessary (when it affects the driver's driving vision and there is a relatively large visual blind area, and the angle deviation is greater than or equal to the third preset angle). This method can not only reduce the probability of the driver experiencing dizziness, but also avoid large power consumption caused by adjusting the irradiation angle of the headlamp multiple times.

[0022] In a second aspect, a device for controlling a headlamp is provided. The device includes: a determination module, configured to: determine whether a change value of the vehicle posture is greater than a first preset value when the headlamp of the vehicle is turned on; when the change value is greater than the first preset value, determine an angle deviation of a posture angle describing the change before and after the vehicle posture changes, and determine the current driving state of the vehicle; and determine a target direction for adjusting the irradiation angle of the headlamp based on the driving state; a control module, configured to control the irradiation angle of the headlamp to adjust the angle deviation in the target direction.

[0023] In combination with the second aspect, in some possible implementation manners, the determining module is specifically configured to: determine whether a first angle deviation of a pitch angle of the vehicle posture before and after the change is greater than a first preset angle; and / or, determine whether a second angle deviation of a tilt angle of the vehicle posture before and after the change is greater than a second preset angle.

[0024] In combination with the second aspect and the above implementation manners, in some possible implementation manners, the determining module is further specifically configured to: when an acceleration of the vehicle is greater than a first preset acceleration, determine that the driving state is a rapid acceleration state; or, when the acceleration is less than a second preset acceleration, determine that the driving state is a rapid deceleration state; when a tire pressure of any tire in the vehicle becomes a first preset tire pressure within a preset time period, determine that the driving state is used to indicate that the tire is in a flat tire state; when an angle by which the steering wheel of the vehicle turns left is greater than a first preset angle, determine that the driving state is used to indicate that the vehicle is in a left turn state; or, when an angle by which the steering wheel turns right is greater than a second preset angle, determine that the driving state is used to indicate that the vehicle is in a right turn state.

[0025] In combination with the second aspect and the above implementation manners, in some possible implementation manners, the determining module is further specifically configured to: when the driving state is the rapid acceleration state, determine that the target direction is the downward direction; or, when the driving state is the rapid deceleration state, determine that the target direction is the upward direction; when the driving state is used to indicate that any tire of the vehicle is in a flat tire state, determine that the target direction is the upward direction; when the driving state is used to indicate that the vehicle is in a left turn state, determine that the target direction is the left direction; or, when the driving state is used to indicate that the vehicle is in a right turn state, determine that the target direction is the right direction.

[0026] In combination with the second aspect and the above implementation manners, in some possible implementation manners, the angle deviation of the attitude angle includes a pitch angle deviation of a pitch angle of the vehicle posture before and after the change, and the determining module is further specifically configured to: determine a height difference between a front wheel arch height and a rear wheel arch height of the vehicle; determine a first ratio between the height difference and a wheelbase of the vehicle; determine an arctangent value of the first ratio as a first pitch angle after the vehicle posture changes; and determine a difference between the first pitch angle and a second pitch angle before the vehicle posture changes as the pitch angle deviation.

[0027] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the angular deviation of the attitude angle further includes the angular deviation of the tilt angle of the vehicle attitude before and after the change. The control module is specifically configured to: when the driving state is an emergency acceleration state, control the irradiation angle of the headlamp to adjust downward by the pitch angle deviation; or, when the driving state is an emergency deceleration state, control the irradiation angle of the headlamp to adjust upward by the pitch angle deviation; when the driving state is used to indicate that the left tire of the vehicle is in a flat tire state, control the irradiation angle of the headlamp on the left side of the vehicle to adjust upward by the pitch angle deviation; or, when the driving state is used to indicate that the right tire of the vehicle is in a flat tire state, control the irradiation angle of the headlamp on the right side of the vehicle to adjust upward by the pitch angle deviation; when the driving state is used to indicate that the vehicle is in a left turn state, control the irradiation angle of the headlamp to adjust leftward by the tilt angle deviation; or, when the driving state is used to indicate that the vehicle is in a right turn state, control the irradiation angle of the headlamp to adjust rightward by the tilt angle deviation.

[0028] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the vehicle includes a target motor for adjusting the irradiation angle of the headlamp. The control module is specifically further configured to: based on the angular deviation and the correspondence between the sample angular deviation and the sample rotation angle of the target motor in the vehicle, determine the rotation angle of the target motor; control the target motor to rotate by the rotation angle in the target direction to control the irradiation angle of the headlamp.

[0029] Combined with the second aspect and the above implementation manners, in some possible implementation manners, the device further includes: a comparison module, configured to compare the angular deviation with a third preset angle, where the third preset angle is the minimum critical angle for adjusting the irradiation angle of the headlamp; the control module is further configured to, when the angular deviation is greater than or equal to the third preset angle, perform the step of controlling the irradiation angle of the headlamp based on the target direction and the angular deviation.

[0030] In a third aspect, a vehicle is provided, including a memory and a processor. The memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the vehicle executes the method in the first aspect or any one of the possible implementation manners of the first aspect.

[0031] In a fourth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores computer program code, and when the computer program code runs on a computer, the computer is caused to execute the method in the first aspect or any one of the possible implementation manners of the first aspect. Description of the Drawings

[0032] Figure 1 It is a scene diagram of the attitude change of a vehicle during driving provided by an embodiment of the present application;

[0033] Figure 2 It is a schematic flowchart of a method for controlling a headlamp provided by an embodiment of the present application;

[0034] Figure 3 It is a schematic diagram of an attitude angle for describing the attitude of a vehicle provided by the present application;

[0035] Figure 4 It is a schematic diagram for describing a target direction provided by an embodiment of the present application;

[0036] Figure 5 It is a schematic diagram for determining a target direction provided by an embodiment of the present application;

[0037] Figure 6 It is a schematic diagram for controlling the irradiation angle of a headlamp provided by an embodiment of the present application;

[0038] Figure 7 It is a schematic structural diagram of a device for controlling a headlamp provided by an embodiment of the present application;

[0039] Figure 8 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application. Detailed implementation manners

[0040] Next, the technical solutions in the present application will be clearly and elaborately described with reference to the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0041] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0042] Figure 1 It is a scene diagram of the attitude change of a vehicle during driving provided by an embodiment of the present application.

[0043] Exemplarily, as Figure 1 shown, under normal circumstances, when the vehicle is driving at a constant speed at night, the pitch angle of the vehicle is 0° (as Figure 1(the solid line in it), the illumination range of the light emitted by the headlight on the vehicle is directly in front of the vehicle and has a certain illumination distance. The driver can clearly observe the road conditions ahead under this light. When the vehicle switches to the rapid acceleration state, the front of the vehicle will tilt upward (such as Figure 1 the dotted line in it), at this time, the light emitted by the headlight will move away from the ground. At this time, for the driver, there will be a certain range of visual blind spots in front of the vehicle head, and the driver's visual range is reduced. In this case, it will greatly threaten the driving safety of the driver.

[0044] To solve the above problems, the present application proposes a method for controlling a headlight, which can be specifically referred to Figure 2 the method steps shown.

[0045] Figure 2 is a schematic flowchart of a method for controlling a headlight provided by an embodiment of the present application.

[0046] It should be understood that a method for controlling a headlight provided by an embodiment of the present application can be applied to Figure 1 the vehicle shown. Specifically, the method for controlling the headlight can be applied to the target controller in the vehicle, and the target controller is any one of the vehicle controller and the body domain controller in the vehicle. The body domain controller is used to control the vehicle components in the vehicle. When the target controller is the body domain controller, the vehicle component is the headlight.

[0047] Exemplarily, as Figure 2 shown, the method 200 includes:

[0048] Step 201, when the headlight of the vehicle is turned on, the vehicle controller determines whether the change value of the vehicle attitude is greater than a first preset value.

[0049] It should be understood that the "headlight" in the above step 201 includes the high beam and low beam on both sides of the vehicle head.

[0050] It should also be understood that usually, the vehicle attitude is described by the attitude angle, and the "change value of the vehicle attitude" in the above step 201 specifically refers to the angular deviation of the attitude angle before and after the vehicle attitude changes. Among them, the attitude angle includes the pitch angle and the roll angle.

[0051] It should also be understood that the pitch angle refers to the angle between the longitudinal axis of the vehicle body and the ground plane, and the longitudinal axis refers to the connecting line between the center of the front axle and the center of the rear axle of the vehicle. When the front of the vehicle is tilted up, the pitch angle is positive; when the vehicle is tilted backward, the pitch angle is negative. Under normal circumstances, the pitch angle of the vehicle is 0°, that is, the vehicle is driving smoothly on a plane. The roll angle refers to the angle between the transverse axis of the vehicle body and the ground plane, and the transverse axis refers to the connecting line between the first center and the second center. The first center refers to the midpoint between two adjacent wheels on the left side of the vehicle, and the second center refers to the midpoint between two adjacent wheels on the right side of the vehicle. When the vehicle is tilted to the left, the roll angle is positive; when the vehicle is tilted to the right, the roll angle is negative. Under normal circumstances, the roll angle of the vehicle is 0°, that is, the vehicle is driving smoothly on a plane. In an actual driving scenario, the range of the pitch angle and the roll angle of the vehicle are both (0°, 90°).

[0052] Figure 3 It is a schematic diagram of the attitude angle provided by the present application for describing the vehicle attitude.

[0053] As Figure 3 shown in (a) of , the longitudinal axis is l1, and at this time, the pitch angle of vehicle A is the angle ∠1 between the longitudinal axis l1 and the ground plane. At this time, the front of vehicle A is tilted up, and the pitch angle ∠1 is positive.

[0054] As Figure 3 shown in (b) of , the rear of vehicle B can be observed. The transverse axis is l2, and at this time, the roll angle of vehicle B is the angle ∠2 between the transverse axis l2 and the ground plane. At this time, vehicle B is tilted to the left, and the roll angle ∠2 is positive.

[0055] In a possible implementation, the vehicle controller in step 201 determines whether the change value of the vehicle attitude is greater than a first preset value, including: the vehicle controller determines whether the first angle deviation of the pitch angle before and after the change of the vehicle attitude is greater than a first preset angle; and / or, the vehicle controller determines whether the second angle deviation of the roll angle before and after the change of the vehicle attitude is greater than a second preset angle.

[0056] It should be understood that the first preset angle and the second preset angle in the above solutions are both relatively large attitude angles. In some embodiments, the first preset angle and the second preset angle are 10°.

[0057] In the above technical solution, the attitude of the vehicle is described by attitude angles, and the attitude angles include pitch angle and roll angle. In this regard, when determining whether the change value of the vehicle attitude is greater than the first preset value, it can be specifically determined by determining whether the first angle deviation of the pitch angle before and after the change of the vehicle attitude is greater than the first preset angle; and / or determining whether the second angle deviation of the roll angle before and after the change of the vehicle attitude is greater than the second preset angle.

[0058] Step 202, when the change value is greater than the first preset value, the vehicle controller determines the angle deviation of the attitude angle used to describe the change of the vehicle attitude before and after, and determines the current driving state of the vehicle.

[0059] It should be understood that "the change value of the vehicle attitude is greater than the first preset value" in the above step 202 is used to indicate that the body attitude of the vehicle has changed greatly. The angle deviation of the attitude angle before and after the change of the vehicle attitude refers to the difference between the attitude angle after the change of the vehicle attitude and the attitude angle before the change of the vehicle attitude. When the attitude angle is the pitch angle, the angle deviation is specifically the pitch angle deviation, which refers to the difference between the first pitch angle after the change of the vehicle attitude and the second pitch angle before the change of the vehicle attitude. When the attitude angle is the roll angle, the angle deviation is specifically the roll angle deviation, which refers to the difference between the first roll angle after the change of the vehicle attitude and the second roll angle before the change of the vehicle attitude.

[0060] It should also be understood that "the current driving state of the vehicle" in the above step 202 refers to the working state of the vehicle during driving. According to the motion form of the vehicle, the driving state of the vehicle mainly includes: starting, accelerating, constant speed, decelerating, turning, going uphill and downhill, and parking and other driving states. According to the working state of the vehicle components in the vehicle, the driving state of the vehicle includes the state where the tire is in a flat tire state.

[0061] The determination process of "the current driving state of the vehicle" is discussed as follows.

[0062] In a possible implementation, the vehicle controller in step 202 determines the current driving state of the vehicle, including: when the acceleration of the vehicle is greater than a first preset acceleration, the vehicle controller determines that the driving state is a rapid acceleration state; or, when the acceleration is less than a second preset acceleration, the vehicle controller determines that the driving state is a rapid deceleration state; when the tire pressure of any tire in the vehicle becomes a first preset tire pressure within a preset time period, the vehicle controller determines that the driving state is used to indicate that the tire is in a flat tire state; when the angle by which the steering wheel of the vehicle turns to the left is greater than a first preset angle, the vehicle controller determines that the driving state is used to indicate that the vehicle is in a left turn state; or, when the angle by which the steering wheel turns to the right is greater than a second preset angle, the vehicle controller determines that the driving state is used to indicate that the vehicle is in a right turn state.

[0063] It should be understood that the "rapid acceleration state" in the above solution can be understood as a process in which the speed of the vehicle rapidly increases in a short period of time; the "rapid deceleration state" can be understood as a process in which the speed of the vehicle rapidly decreases in a short period of time. The "flat tire state" can be understood as a process in which the tire suddenly loses air due to rupture and deflates in an extremely short period of time.

[0064] In the above technical solution, the current driving state of the vehicle is determined by detecting various driving parameters of the vehicle. Specifically, during the driving process of the vehicle, if there is a large increase in speed within a very short period of time (the acceleration is greater than the first preset acceleration), it indicates that the vehicle is in a rapid acceleration state, that is, the driving state of the vehicle is a rapid acceleration state. On the contrary, if there is a large decrease in speed within a very short period of time (the acceleration is less than the second preset acceleration), it indicates that the vehicle is in a rapid deceleration state, that is, the driving state of the vehicle is a rapid deceleration state. During the driving process of the vehicle, if the tire pressure of a certain tire in the vehicle drops to a very small tire pressure value within a very short period of time, it indicates that the tire has a flat tire, and the tire is in a flat tire state, that is, the driving state of the vehicle is used to indicate that the tire is in a flat tire state. During the driving process of the vehicle, if the steering wheel of the vehicle is turned significantly to the left, it indicates that the vehicle is in a left turn state, that is, the driving state of the vehicle is used to indicate that the vehicle is in a left turn state. On the contrary, if the steering wheel of the vehicle is turned significantly to the right, it indicates that the vehicle is in a right turn state, that is, the driving state of the vehicle is used to indicate that the vehicle is in a right turn state.

[0065] In some embodiments, the method for determining the acceleration of the vehicle includes: the vehicle controller measures the acceleration of the vehicle through an acceleration sensor on the vehicle.

[0066] In some embodiments, the method for determining the tire pressure of the tire includes: the vehicle controller measures the tire pressure of the tire through a tire pressure gauge on the vehicle; or, the vehicle controller acquires an image corresponding to the vehicle dashboard or the central control display screen through an image acquisition device on the vehicle; the vehicle controller identifies the tire pressure data in the image to determine the tire pressure of the tire.

[0067] In some embodiments, the preset duration is 2s, and the first preset tire pressure is 0 bar.

[0068] In some embodiments, the first preset angle is 45°.

[0069] In some embodiments, the method for determining the angle of rotation of the steering wheel includes: the vehicle controller acquires the angle of rotation of the steering wheel through a steering angle sensor connected to the steering wheel; or, the vehicle controller acquires an initial image before the steering wheel rotates and a target image after the steering wheel rotates through the image acquisition device, and the image acquisition device is located above the steering wheel; the vehicle controller determines the angle of rotation of the steering wheel based on the initial position of the steering wheel in the initial image and the target position of the steering wheel in the target image.

[0070] In some embodiments, the vehicle controller can acquire the direction of rotation of the steering wheel through the steering angle sensor.

[0071] In some embodiments, the vehicle controller determines the angle of rotation of the steering wheel based on the initial position of the steering wheel in the initial image and the target position of the steering wheel in the target image, including: the vehicle controller determines the first position of the target reference point when the steering wheel is in the initial position and the second position of the target reference point when the steering wheel is in the target position; with the center of the main body of the steering wheel as the origin, the vehicle controller determines the included angle between the first connection line and the second connection line as the angle of rotation of the steering wheel, where the first connection line is the connection line between the target reference point at the first position and the origin, and the second connection line is the connection line between the target reference point at the second position and the origin.

[0072] In some embodiments, the vehicle controller can determine the direction of rotation of the steering wheel based on the position of the target reference point at the second position relative to the target reference point at the first position.

[0073] In some embodiments, the vehicle controller determines the direction of rotation of the steering wheel based on the position of the target reference point at the second position relative to the target reference point at the first position, including: when the target reference point at the second position is located on the left side of the target reference point at the first position, the vehicle controller determines that the direction is used to indicate that the steering wheel rotates to the left; when the target reference point at the second position is located on the right side of the target reference point at the first position, the vehicle controller determines that the direction is used to indicate that the steering wheel rotates to the right.

[0074] It should be understood that generally, brand logos are attached to the steering wheels of vehicles of different brands. The brand logo includes an image logo and / or a letter logo. Therefore, the target reference point in the above solution can be a reference point on the image logo or the letter logo.

[0075] It should also be understood that generally, the steering wheel is designed in a circular shape, and the styles of the steering wheel include two-spoke, three-spoke, four-spoke, etc. Among them, the two-spoke means that there are two spokes on the steering wheel; the three-spoke means that there are three spokes on the steering wheel; the four-spoke means that there are four spokes on the steering wheel. Therefore, the angle and direction of rotation of the steering wheel can be determined by the position changes of multiple spokes before and after the steering wheel rotates.

[0076] In the above technical solution, when the corner sensor does not malfunction, the vehicle control unit can quickly and accurately obtain the angle and direction of rotation of the steering wheel through the corner sensor. When the corner sensor malfunctions, a visual method can be adopted to determine the angle and direction of rotation of the steering wheel. This can avoid the situation where the angle and direction of rotation of the steering wheel cannot be obtained when the corner sensor malfunctions.

[0077] The determination process of "the angle deviation of the attitude angle when the vehicle attitude changes before and after" is discussed as follows.

[0078] First: The pitch angle deviation of the pitch angle when the vehicle attitude changes before and after

[0079] In a possible implementation, the angle deviation of the attitude angle includes the pitch angle deviation of the pitch angle when the vehicle attitude changes before and after. The vehicle control unit in step 202 determines the angle deviation before and after the change of the vehicle attitude angle, including: the vehicle control unit determines the height difference between the height of the front wheel arch and the height of the rear wheel arch of the vehicle; the vehicle control unit determines the first ratio between the height difference and the wheelbase of the vehicle; the vehicle control unit determines the arctangent value of the first ratio as the first pitch angle after the vehicle attitude changes; the vehicle control unit determines the difference between the first pitch angle and the second pitch angle before the vehicle attitude changes as the pitch angle deviation.

[0080] It should be understood that the "height of the front wheel arch" in the above solution refers to the vertical distance from the front wheel arch to the ground plane, the "height of the rear wheel arch" refers to the vertical distance from the rear wheel arch to the ground plane, and the "wheelbase" is the distance between the center of the front axle and the center of the rear axle of the vehicle. It should also be understood that the determination processes of the second pitch angle before the vehicle attitude changes and the first pitch angle after the vehicle attitude changes are similar and will not be elaborated here.

[0081] It should also be understood that the units of the "first pitch angle", the "second pitch angle", and the "pitch angle deviation" in the above solution are radians, and they can be multiplied by 180° / π to be converted into degrees respectively.

[0082] In the above technical solution, the pitch angle refers to the angle between the longitudinal axis of the vehicle body and the ground plane. The longitudinal axis refers to the connecting line between the center of the front axle and the center of the rear axle of the vehicle, and the pitch angle is less than 90°. Therefore, a virtual right triangle can be constructed based on the height difference between the height of the front wheel arch and the height of the rear wheel arch, and the wheelbase of the vehicle. In this right triangle, based on the tangent principle of the right triangle, the height difference and the wheelbase, the current pitch angle (the first pitch angle after the attitude change) of the vehicle is determined. Furthermore, based on the difference between the first pitch angle and the second pitch angle before the attitude change of the vehicle, the pitch angle deviation is determined. Therefore, an accurate pitch angle deviation can be obtained through the solution of the present application.

[0083] In some embodiments, the vehicle controller determines the height difference between the height of the front wheel arch and the height of the rear wheel arch of the vehicle, including: the vehicle controller obtains the height of the front wheel arch through a height sensor at the front wheel arch; the vehicle controller obtains the height of the rear wheel arch through a height sensor at the rear wheel arch; the vehicle controller determines the difference between the height of the front wheel arch and the height of the rear wheel arch as the height difference.

[0084] In some embodiments, the vehicle controller can obtain the first pitch angle of the vehicle through an inertial sensor on the vehicle.

[0085] It should be understood that inertial sensors (such as accelerometers and gyroscopes) can real-time monitor the acceleration and angular velocity of the vehicle, and then calculate the first pitch angle through integration. This method has high precision, can real-time measure the first pitch angle of the vehicle, and can avoid the situation where the pitch angle deviation cannot be obtained due to the failure of the height sensor.

[0086] Second: the tilt angle deviation of the tilt angle before and after the vehicle attitude changes

[0087] In some embodiments, the angle deviation of the attitude angle further includes the tilt angle deviation of the tilt angle before and after the vehicle attitude changes. The vehicle controller determines the angle deviation before and after the attitude angle change of the vehicle in step 202, including: the vehicle controller determines the height difference between the height of the left wheel arch and the height of the right wheel arch of the vehicle; the vehicle controller determines the second ratio between the height difference and the first distance, where the first distance is the horizontal distance between the left wheel and the right wheel of the vehicle; the vehicle controller determines the arctangent value of the second ratio as the first tilt angle after the vehicle attitude change; the vehicle controller determines the difference between the first tilt angle and the second tilt angle before the vehicle attitude change as the tilt angle deviation.

[0088] It should be understood that in the above solution, the "left wheel arch height" refers to the vertical distance from the left wheel arch to the ground plane, and the "right wheel arch height" refers to the vertical distance from the right wheel arch to the ground plane. It should also be understood that the determination process of the second inclination angle before the vehicle attitude change is similar to that of the first inclination angle after the vehicle attitude change, and will not be elaborated here. It should further be understood that the units of the "first inclination angle", "second inclination angle" and "inclination angle deviation" in the above solution are also radians, and can be converted to degrees by multiplying by 180° / π respectively.

[0089] In the above technical solution, the inclination angle refers to the angle between the transverse axis of the vehicle body and the ground plane, and the inclination angle is less than 90°. Therefore, a virtual right triangle can be constructed through the height difference between the left wheel arch height and the right wheel arch height, and the first distance. In this right triangle, based on the tangent principle of the right triangle, the height difference and the first distance, the inclination angle of the current vehicle (the first inclination angle after the attitude change) can be determined. Furthermore, based on the difference between the first inclination angle and the second inclination angle before the vehicle attitude change, the inclination angle deviation can be determined. Therefore, an accurate inclination angle deviation can be obtained through the solution of the present application.

[0090] In some embodiments, the vehicle controller determines the height difference between the left wheel arch height and the right wheel arch height of the vehicle, including: the vehicle controller obtains the left wheel arch height through the height sensor at the left wheel arch; the vehicle controller obtains the right wheel arch height through the height sensor at the right wheel arch; the vehicle controller determines the difference between the left wheel arch height and the right wheel arch height as the height difference.

[0091] In some embodiments, the vehicle controller can obtain the first inclination angle of the vehicle through the inclinometer on the vehicle.

[0092] Step 203, the vehicle controller determines the target direction for adjusting the irradiation angle of the headlamp based on the driving state.

[0093] It should be understood that the "target direction" in the above step 203 can be understood as the direction for adjusting the irradiation angle of the headlamp when moving the light irradiated by the headlamp to the blind area of vision. The target direction includes the upward direction, the downward direction, the leftward direction and the rightward direction. Specifically, it can be based on Figure 4 Understand various target directions for adjusting the irradiation angle of the headlamp.

[0094] Figure 4 It is a schematic diagram for describing the target direction provided by an embodiment of the present application.

[0095] As Figure 4 shown in (a) of, it describes the process of adjusting the irradiation angle of the headlamp upward, and the target direction is the upward direction. Specifically, as Figure 4As shown in (a) of [reference], the irradiation angle of the headlamp indicated by the solid line is adjusted upward in the direction indicated by the arrow to the irradiation angle of the headlamp indicated by the dashed line. At this time, the central axis of the headlamp is moved upward. Before adjustment, it is the solid line l3, and after adjustment, it is the dashed line l4.

[0096] As Figure 4 shown in (b) of [reference], the process of adjusting the irradiation angle of the headlamp downward is described, and the target direction is the downward direction. Specifically, as Figure 4 shown in (b) of [reference], the irradiation angle of the headlamp indicated by the solid line is adjusted downward in the direction indicated by the arrow to the irradiation angle of the headlamp indicated by the dashed line. At this time, the central axis of the headlamp is moved downward. Before adjustment, it is the solid line l3, and after adjustment, it is the dashed line l4.

[0097] As Figure 4 shown in (c) of [reference], the process of adjusting the irradiation angle of the headlamp to the left is described, and the target direction is the left direction. Specifically, as Figure 4 shown in (c) of [reference], the irradiation angle of the headlamp indicated by the solid line is adjusted to the left in the direction indicated by the arrow to the irradiation angle of the headlamp indicated by the dashed line. At this time, the central axis of the headlamp is moved to the left. Before adjustment, it is the solid line l3, and after adjustment, it is the dashed line l4.

[0098] As Figure 4 shown in (d) of [reference], the process of adjusting the irradiation angle of the headlamp to the right is described, and the target direction is the right direction. Specifically, as Figure 4 shown in (d) of [reference], the irradiation angle of the headlamp indicated by the solid line is adjusted to the right in the direction indicated by the arrow to the irradiation angle of the headlamp indicated by the dashed line. At this time, the central axis of the headlamp is moved to the right. Before adjustment, it is the solid line l3, and after adjustment, it is the dashed line l4.

[0099] In a possible implementation manner, step 203 includes: when the driving state is the rapid acceleration state, the vehicle controller determines that the target direction is the downward direction; or, when the driving state is the rapid deceleration state, the vehicle controller determines that the target direction is the upward direction; when the driving state indicates that any tire of the vehicle is in a flat tire state, the vehicle controller determines that the target direction is the upward direction; when the driving state indicates that the vehicle is in a left turn state, the vehicle controller determines that the target direction is the left direction; or, when the driving state indicates that the vehicle is in a right turn state, the vehicle controller determines that the target direction is the right direction.

[0100] In the above technical solution, when the vehicle is in a rapid acceleration state, the front of the vehicle will tilt upward, and at this time, the light emitted by the headlamp will move away from the ground. At this time, for the driver, there will be a certain range of visual blind areas in front of the vehicle head. Therefore, the irradiation angle of the headlamp can be adjusted downward. Therefore, when the driving state is a rapid acceleration state, the target direction is the downward direction. On the contrary, when the driving state is a rapid deceleration state, the target direction is the upward direction. When the driving state of the vehicle indicates that any tire of the vehicle is in a flat tire state, the body on the side of the tire will sink, and at this time, the visual field range irradiated by the headlamp will shrink. At this time, for the driver, the visual field range that the driver can observe shrinks. Therefore, the irradiation angle of the headlamp can be adjusted upward. Therefore, when the driving state is used to indicate that any tire of the vehicle is in a flat tire state, the target direction is the upward direction. When the driving state of the vehicle is used to indicate that the vehicle is in a left-turn state, the light irradiated by the headlamp will shift outward (to the right) in the turning direction. Therefore, the irradiation angle of the headlamp can be adjusted to the left. Therefore, when the driving state is used to indicate that the vehicle is in a left-turn state, the target direction is the left direction. On the contrary, when the driving state is used to indicate that the vehicle is in a right-turn state, the target direction is the right direction.

[0101] It should be understood that in the scenario of driving on an uphill section at night, when the vehicle drives from near the top of the slope into a flat road, the attitude angle of the vehicle will change greatly, and at this time, the irradiation range of the light emitted by the headlamp will also change greatly, and the light will move away from the ground for a period of time. Usually, the vehicle speed is relatively low when the vehicle drives from near the top of the slope into a flat road. Therefore, when the driving state of the vehicle is used to indicate that the vehicle is driving on the top section of the slope, the vehicle controller controls the irradiation angle of the headlamp to adjust the pitch angle deviation downward. At this time, the target direction is the downward direction.

[0102] In some embodiments, the method for determining that the vehicle is driving on the top section of the slope includes: when the vehicle is driving on an uphill section, the vehicle controller obtains the environmental image in front of the vehicle through the image acquisition device on the vehicle; the vehicle controller recognizes the environmental image, and when there is no road surface in the environmental image, it is determined that the vehicle is driving on the top section of the slope.

[0103] Figure 5 It is a schematic diagram of determining the target direction provided by an embodiment of the present application.

[0104] Such as Figure 5As shown in (a), when the vehicle is traveling at a constant speed (under normal circumstances), the illumination range of the headlight is the road surface directly in front of the vehicle and is approximately in the range of 10 to 30 meters. When the vehicle accelerates rapidly, the front of the vehicle will tilt upward, and at this time, the headlight moves with the front of the vehicle. This will cause the illumination of the headlight to deviate from the road surface directly in front of the vehicle, and a part of the light will be far from the road surface and shine into the air. This will cause the driver's field of vision to shrink, making it impossible to observe the road conditions in the distance, and there will be a certain field of vision blind area for the driver. At this time, in order to enable the driver to obtain a better field of vision, it is necessary to adjust the irradiation angle of the headlight downward. That is to say, the target direction is the downward direction.

[0105] As Figure 5 shown in (b), when the vehicle is traveling at a constant speed (under normal circumstances), the illumination range of the headlight is the road surface directly in front of the vehicle and is approximately in the range of 10 to 30 meters. When the vehicle decelerates rapidly, the front of the vehicle will sink downward, and at this time, the headlight moves with the front of the vehicle. This will cause the illumination range of the headlight to be less than 10 to 30 meters, which will cause the driver's field of vision to shrink, making it impossible to observe the road conditions in the distance, and there will be a certain field of vision blind area for the driver. At this time, in order to enable the driver to obtain a better field of vision, it is necessary to adjust the irradiation angle of the headlight upward. That is to say, the target direction is the upward direction.

[0106] As Figure 5 shown in (c), when the vehicle is traveling at a constant speed (under normal circumstances), the illumination range of the headlight is the road surface directly in front of the vehicle and is approximately in the range of 10 to 30 meters. When the left front tire of the vehicle bursts, the left side of the front of the vehicle will sink downward, specifically as Figure 5 shown in (d), at this time, the left headlight moves with the front of the vehicle, resulting in the illumination range of the left headlight being less than 10 to 30 meters. This will cause the driver's field of vision to shrink, making it impossible to observe the road conditions in the distance, and there will be a certain field of vision blind area for the driver. At this time, in order to enable the driver to obtain a better field of vision, it is necessary to adjust the irradiation angle of the headlight upward. That is to say, the target direction is the upward direction.

[0107] As Figure 5 shown in (e), when the vehicle is turning left, the illumination range of the headlight is the light gray area, and the light in this light gray area cannot cover the adjacent inner lane of the vehicle, and the driver of this vehicle will have a "field of vision blind area". In this case, if there is an oncoming vehicle approaching this vehicle in the field of vision blind area, this vehicle will not have time to avoid. This will cause a collision between this vehicle and the oncoming vehicle. Therefore, in order to eliminate the field of vision blind area of the inner lane, it is necessary to adjust the irradiation angle of the headlight to the left. This can make the illumination range of the headlight Figure 5The dark gray area shown in (e) therein. That is to say, the target direction is the left direction. In this way, when driving at night, the driver can clearly observe the road surface conditions ahead under the light in the dark gray area, reasonably control the vehicle, and thus ensure the safe driving of the vehicle.

[0108] As Figure 5 shown in (f) therein, when the vehicle makes a right turn, the illumination range of the light emitted by the headlamp is the light gray area, and the light in this light gray area cannot cover the adjacent inner lane of the vehicle, and there will be a "vision blind area" for the driver of the vehicle. Therefore, in order to eliminate the vision blind area of the inner lane, it is necessary to adjust the irradiation angle of the headlamp to the right. This can make the illumination range of the light emitted by the headlamp be Figure 5 the dark gray area shown in (f) therein. That is to say, the target direction is the right direction.

[0109] Step 204, the vehicle controller controls the irradiation angle of the headlamp to adjust the angle deviation in the target direction.

[0110] It should be understood that "the vehicle controller controls the irradiation angle of the headlamp to adjust the angle deviation in the target direction" in the above step 204 means that when controlling the irradiation angle of the headlamp, the angle deviation is adjusted in the target direction on the basis of the current irradiation angle.

[0111] In a possible implementation manner, the angle deviation of the attitude angle further includes the inclination angle deviation of the inclination angle of the vehicle attitude before and after the change. Step 204 includes: when the driving state is an emergency acceleration state, the vehicle controller controls the irradiation angle of the headlamp to adjust the pitch angle deviation downward; or, when the driving state is an emergency deceleration state, the vehicle controller controls the irradiation angle of the headlamp to adjust the pitch angle deviation upward; when the driving state is used to indicate that the left tire of the vehicle is in a flat tire state, the vehicle controller controls the irradiation angle of the headlamp on the left side of the vehicle to adjust the pitch angle deviation upward; or, when the driving state is used to indicate that the right tire of the vehicle is in a flat tire state, the vehicle controller controls the irradiation angle of the headlamp on the right side of the vehicle to adjust the pitch angle deviation upward; when the driving state is used to indicate that the vehicle is in a left turn state, the vehicle controller controls the irradiation angle of the headlamp to adjust the inclination angle deviation to the left; or, when the driving state is used to indicate that the vehicle is in a right turn state, the vehicle controller controls the irradiation angle of the headlamp to adjust the inclination angle deviation to the right.

[0112] It should be understood that when the driving state of the vehicle is an emergency acceleration state or an emergency deceleration state, only the pitch angle of the vehicle changes. Therefore, in the above solution, only the irradiation angle of the headlamp is adjusted in the vertical direction (upward or downward), and actually it can also be considered to adjust the height of the headlamp.

[0113] It should also be understood that when the driving state of the vehicle is used to indicate that a certain tire of the vehicle is in a flat tire state, the vehicle will have both a change in pitch angle and a change in tilt angle. When the driving state of the vehicle is used to indicate that two left tires or two right tires on the same side of the vehicle are in a flat tire state, the vehicle will only have a change in tilt angle. When the driving state of the vehicle is used to indicate that two front tires or two rear tires on the same side of the vehicle are in a flat tire state, the vehicle will only have a change in pitch angle. Of course, in very few cases, multiple tires of the vehicle will be in a flat tire state at the same time.

[0114] It should also be understood that when the driving state of the vehicle is used to indicate that the vehicle is in a left turn state or a right turn state, the vehicle only has a change in tilt angle. Therefore, in the above solution, the irradiation angle of the headlamp is only adjusted in the horizontal direction (left or right).

[0115] In the above technical solution, the process of specifically adjusting the irradiation angle of the headlamp when the vehicle is in different driving states is described. When the driving state is an emergency acceleration state, control the irradiation angle of the headlamp to adjust the pitch angle deviation downward; or, when the driving state is an emergency deceleration state, control the irradiation angle of the headlamp to adjust the pitch angle deviation upward. This can enable the driver to see clearly the field of vision on the ground around the vehicle, eliminate the vision blind area, and increase driving safety. When the driving state is used to indicate that the left tire of the vehicle is in a flat tire state, control the irradiation angle of the headlamp on the left side of the vehicle to adjust the pitch angle deviation upward; or, when the driving state is used to indicate that the right tire of the vehicle is in a flat tire state, control the irradiation angle of the headlamp on the right side of the vehicle to adjust the pitch angle deviation upward. This can expand the original field of vision range, eliminate a certain range of vision blind areas, and increase driving safety. When the driving state is used to indicate that the vehicle is in a left turn state, control the irradiation angle of the headlamp to adjust the tilt angle deviation to the left; or, when the driving state is used to indicate that the vehicle is in a right turn state, control the irradiation angle of the headlamp to adjust the tilt angle deviation to the right. This can eliminate the vision blind area inside the turn that originally existed due to the vehicle turning, and increase the driving safety of the vehicle when turning.

[0116] It should also be understood that although the above solution only describes adjusting the irradiation angle of the headlamp when the driving posture of the vehicle is in an emergency acceleration state or an emergency deceleration state. It is also possible to adjust the irradiation angle of the headlamp when the driving posture is in an acceleration state or a deceleration state. The specific adjustment principle is similar to that of the emergency acceleration state or the emergency deceleration state, and will not be elaborated here.

[0117] Figure 6 It is a schematic diagram of a method for controlling the irradiation angle of a headlamp provided by an embodiment of the present application.

[0118] AsFigure 6 As shown in (a) in , when the driving state of the vehicle is an emergency acceleration state, the vehicle controller controls the irradiation angle of the headlamp to adjust the pitch angle deviation ∠3 downward. At this time, the central axis of the headlamp is moved downward. The line before adjustment is the dotted line l4, and the line after adjustment is the solid line l3.

[0119] As Figure 6 shown in (b) in , when the driving state of the vehicle is an emergency deceleration state, the vehicle controller controls the irradiation angle of the headlamp to adjust the pitch angle deviation ∠3 upward. At this time, the central axis of the headlamp is moved upward. The line before adjustment is the dotted line l4, and the line after adjustment is the solid line l3. Or, when the driving state of the vehicle is used to indicate that the left tire of the vehicle is in a flat tire state, the vehicle controller controls the irradiation angle of the headlamp on the left side of the vehicle to adjust the pitch angle deviation ∠3 upward; when the driving state is used to indicate that the right tire of the vehicle is in a flat tire state, the vehicle controller controls the irradiation angle of the headlamp on the right side of the vehicle to adjust the pitch angle deviation ∠3 upward.

[0120] As Figure 6 shown in (c) in , when the driving state of the vehicle is used to indicate that the vehicle is in a right-turning state, the vehicle controller controls the irradiation angle of the headlamp to adjust the tilt angle deviation ∠3 to the right. At this time, the central axis of the headlamp is moved to the right. The line before adjustment is the dotted line l4, and the line after adjustment is the solid line l3.

[0121] As Figure 6 shown in (d) in , when the driving state of the vehicle is used to indicate that the vehicle is in a left-turning state, the vehicle controller controls the irradiation angle of the headlamp to adjust the tilt angle deviation ∠3 to the left. At this time, the central axis of the headlamp is moved to the left. The line before adjustment is the dotted line l4, and the line after adjustment is the solid line l3.

[0122] In a possible implementation, the vehicle includes a target motor for adjusting the irradiation angle of the headlamp. Step 204 includes: the vehicle controller determines the rotation angle of the target motor based on the angle deviation and the correspondence between the sample angle deviation and the sample rotation angle of the target motor in the vehicle; the vehicle controller controls the target motor to rotate the rotation angle in the target direction to control the irradiation angle of the headlamp.

[0123] It should be understood that the correspondence between the sample angle deviation and the sample rotation angle of the target motor in the vehicle can be obtained through test experiments.

[0124] In the above technical solution, the process of controlling the irradiation angle of the headlamp is described. Specifically, the irradiation angle of the headlamp is controlled by the rotation of the target motor. This method can achieve precise control of the irradiation angle of the headlamp and effectively increase driving safety.

[0125] In some embodiments, the target motor is a stepper motor.

[0126] In one possible implementation, before step 204, the method 200 also includes: the vehicle controller compares the angle deviation with a third preset angle, where the third preset angle is the minimum critical angle for adjusting the illumination angle of the headlight; when the angle deviation is greater than or equal to the third preset angle, the vehicle controller executes the step of controlling the illumination angle of the headlight to adjust the angle deviation toward the target direction.

[0127] In the above technical solution, the third preset angle is the minimum critical angle for adjusting the illumination angle of the headlamp. Only when the angle deviation is greater than or equal to the third preset angle, the illumination angle of the headlamp is controlled to adjust the angle deviation toward the target direction. In other words, the illumination angle of the headlamp is not adjusted at any angle deviation, but is adjusted when necessary (when it affects the driver's driving vision, there is a relatively large blind spot, and the angle deviation is greater than or equal to the third preset angle). This method can not only reduce the probability of the driver feeling dizzy, but also avoid the large power consumption caused by adjusting the illumination angle of the headlamp for a large number of times.

[0128] In some embodiments, the third preset angle is 10°.

[0129] In some embodiments, the method 200 further includes: during the process of adjusting the illumination angle of the headlight, the vehicle controller receives a fault signal indicating that the target motor has failed, and controls the headlight to maintain the current illumination angle.

[0130] In the above technical solution, during the process of adjusting the illumination angle of the headlight by the target motor, if the target motor fails, the vehicle controller controls the headlight to maintain the current illumination angle. This process can reserve a part of the driver's field of vision and avoid traffic accidents as much as possible.

[0131] Figure 7 It is a structural schematic diagram of a device for controlling headlights provided in an embodiment of the present application.

[0132] For example, Figure 7 As shown, the device 200 includes:

[0133] The determination module 701 is used to:

[0134] When the headlights of the vehicle are turned on, determining whether a change value of the vehicle posture is greater than a first preset value;

[0135] When the change value is greater than the first preset value, determine the angular deviation of the attitude angle used to describe the change before and after the vehicle attitude changes, and determine the current driving state of the vehicle;

[0136] Based on the driving state, determine the target direction for adjusting the irradiation angle of the headlight;

[0137] The control module 702 is used to control the irradiation angle of the headlight to adjust the angle deviation in the target direction.

[0138] Optionally, the determining module 701 is specifically configured to: determine whether a first angular deviation of the pitch angle of the vehicle attitude change before and after is greater than a first preset angle; and / or determine whether a second angular deviation of the roll angle of the vehicle attitude change before and after is greater than a second preset angle.

[0139] Optionally, the determining module 701 is further specifically configured to: when the acceleration of the vehicle is greater than a first preset acceleration, determine that the driving state is a rapid acceleration state; or when the acceleration is less than a second preset acceleration, determine that the driving state is a rapid deceleration state; when the tire pressure of any tire in the vehicle becomes a first preset tire pressure within a preset time, determine that the driving state is used to indicate that the tire is in a flat tire state; when the angle of the vehicle's steering wheel turning to the left is greater than a first preset angle, determine that the driving state is used to indicate that the vehicle is in a left turn state; or when the angle of the steering wheel turning to the right is greater than a second preset angle, determine that the driving state is used to indicate that the vehicle is in a right turn state.

[0140] Optionally, the determining module 701 is further specifically configured to: when the driving state is the rapid acceleration state, determine that the target direction is the downward direction; or when the driving state is the rapid deceleration state, determine that the target direction is the upward direction; when the driving state is used to indicate that any tire of the vehicle is in a flat tire state, determine that the target direction is the upward direction; when the driving state is used to indicate that the vehicle is in a left turn state, determine that the target direction is the left direction; or when the driving state is used to indicate that the vehicle is in a right turn state, determine that the target direction is the right direction.

[0141] Optionally, the angular deviation of the attitude angle includes the pitch angle deviation of the pitch angle of the vehicle attitude change before and after. The determining module 701 is further specifically configured to: determine the height difference between the height of the front wheel arch and the height of the rear wheel arch of the vehicle; determine a first ratio between the height difference and the wheelbase of the vehicle; determine the arctangent value of the first ratio as the first pitch angle after the vehicle attitude changes; and determine the difference between the first pitch angle and the second pitch angle before the vehicle attitude changes as the pitch angle deviation.

[0142] Optionally, the angular deviation of the attitude angle further includes the angular deviation of the tilt angle of the vehicle attitude before and after the change. The control module 702 is specifically configured to: when the driving state is an emergency acceleration state, control the irradiation angle of the headlight to adjust downward by the pitch angle deviation; or, when the driving state is an emergency deceleration state, control the irradiation angle of the headlight to adjust upward by the pitch angle deviation; when the driving state indicates that the left tire of the vehicle is in a flat tire state, control the irradiation angle of the headlight on the left side of the vehicle to adjust upward by the pitch angle deviation; or, when the driving state indicates that the right tire of the vehicle is in a flat tire state, control the irradiation angle of the headlight on the right side of the vehicle to adjust upward by the pitch angle deviation; when the driving state indicates that the vehicle is in a left turn state, control the irradiation angle of the headlight to adjust leftward by the tilt angle deviation; or, when the driving state indicates that the vehicle is in a right turn state, control the irradiation angle of the headlight to adjust rightward by the tilt angle deviation.

[0143] Optionally, the vehicle includes a target motor for adjusting the irradiation angle of the headlight. The control module 702 is further specifically configured to: based on the angle deviation and the correspondence between the sample angle deviation and the sample rotation angle of the target motor in the vehicle, determine the rotation angle of the target motor; control the target motor to rotate by the rotation angle in the target direction to control the irradiation angle of the headlight.

[0144] Optionally, the device 700 further includes: a comparison module, configured to compare the angle deviation with a third preset angle, where the third preset angle is the minimum critical angle for adjusting the irradiation angle of the headlight; the control module is further configured to, when the angle deviation is greater than or equal to the third preset angle, perform the step of controlling the irradiation angle of the headlight to adjust in the target direction by the angle deviation.

[0145] Figure 8 It is a schematic structural diagram of a vehicle provided by an embodiment of the present application.

[0146] Exemplarily, as Figure 8 shown, the vehicle 800 includes: a memory 801 and a processor 802. Among them, a computer program 803 is stored in the memory 801, and the processor 802 is configured to call and execute the computer program 803 to execute a method for controlling a headlight.

[0147] In addition, an embodiment of the present application further protects a device, which may include a memory and a processor. Among them, a computer program is stored in the memory, and the processor is configured to call and execute the computer program to execute a method for controlling a headlight provided by an embodiment of the present application.

[0148] In this embodiment, the device can be divided into functional modules according to the above method examples. For example, each functional module can be corresponding, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0149] In the case of dividing each functional module corresponding to each function, the device can also include a determination module, a control module, a comparison module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be cited in the function description of the corresponding functional module, and will not be repeated here.

[0150] It should be understood that the device provided in this embodiment is used to execute the above method for controlling the headlamp, so the same effect as the above implementation method can be achieved.

[0151] In the case of adopting an integrated unit, the device can include a processing module and a storage module. Among them, when the device is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute mutual program codes, etc.

[0152] Among them, the processing module can be a processor or a controller, which can implement or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure of this application. The processor can also be a combination that realizes computing functions, such as including a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory.

[0153] In addition, the device provided in the embodiment of this application can specifically be a chip, a component or a module. The chip can include a connected processor and a memory; among them, the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the method for controlling the headlamp provided in the above embodiment.

[0154] This embodiment also provides a computer-readable storage medium, in which computer program code is stored. When the computer program runs on a computer, it causes the computer to execute the above relevant method steps to implement the method for controlling the headlamp provided in the above embodiment.

[0155] This embodiment also provides a computer program product. When the computer program product runs on a computer, it causes the computer to execute the above relevant steps to implement the method for controlling the headlamp provided in the above embodiment.

[0156] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be elaborated here.

[0157] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0158] In the embodiments provided in this application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0159] The above content is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A method for controlling a headlamp, characterized in that, The method includes: When the vehicle's headlight is turned on, determining whether the change value of the vehicle attitude is greater than a first preset value; When the change value is greater than the first preset value, determining the angular deviation of the attitude angle for describing the change before and after the vehicle attitude occurs, and determining the current driving state of the vehicle; Based on the driving state, determining the target direction for adjusting the irradiation angle of the headlight; Controlling the irradiation angle of the headlight to adjust the angular deviation in the target direction.

2. The method according to claim 1, characterized in that The attitude angle includes a pitch angle and a roll angle. Determining whether the change value of the vehicle attitude is greater than a first preset value includes: Determining whether the first angular deviation of the pitch angle of the vehicle attitude before and after the change is greater than a first preset angle; and / or, Determining whether the second angular deviation of the roll angle of the vehicle attitude before and after the change is greater than a second preset angle.

3. The method according to claim 1, characterized in that, Determining the current driving state of the vehicle includes: When the acceleration of the vehicle is greater than a first preset acceleration, determining that the driving state is a rapid acceleration state; or, when the acceleration is less than a second preset acceleration, determining that the driving state is a rapid deceleration state; When the tire pressure of any tire in the vehicle drops to a first preset tire pressure within a preset time period, determining that the driving state is used to indicate that the tire is in a flat tire state; When the angle by which the vehicle's steering wheel turns to the left is greater than a first preset angle, determining that the driving state is used to indicate that the vehicle is in a left turn state; or, when the angle by which the steering wheel turns to the right is greater than a second preset angle, determining that the driving state is used to indicate that the vehicle is in a right turn state.

4. The method according to claim 3, wherein Based on the driving state, determining the target direction for adjusting the irradiation angle of the headlight includes: When the driving state is the rapid acceleration state, determining that the target direction is the downward direction; or, when the driving state is the rapid deceleration state, determining that the target direction is the upward direction; When the driving state is used to indicate that any tire of the vehicle is in a flat tire state, determining that the target direction is the upward direction; When the driving state is used to indicate that the vehicle is in a left turn state, determining that the target direction is the left direction; or, when the driving state is used to indicate that the vehicle is in a right turn state, determining that the target direction is the right direction.

5. The method according to claim 1, characterized in that The angular deviation of the attitude angle includes the pitch angle deviation of the pitch angle of the vehicle attitude before and after the change. Determining the angular deviation before and after the change of the vehicle's attitude angle includes: Determining the height difference between the height of the vehicle's front fender and the height of the rear fender; Determining the first ratio between the height difference and the wheelbase of the vehicle; Determining the arctangent value of the first ratio as the first pitch angle after the vehicle attitude changes; Determining the difference between the first pitch angle and the second pitch angle before the vehicle attitude changes as the pitch angle deviation.

6. The method according to claim 5, wherein The angle deviation of the attitude angle further includes the inclination angle deviation of the inclination angle when the vehicle attitude changes before and after, and controlling the irradiation angle of the headlamp to adjust the angle deviation in the target direction includes: In the case where the driving state is a rapid acceleration state, controlling the irradiation angle of the headlamp to adjust the pitch angle deviation downward; or, in the case where the driving state is a rapid deceleration state, controlling the irradiation angle of the headlamp to adjust the pitch angle deviation upward; In the case where the driving state is used to indicate that the left tire of the vehicle is in a flat tire state, controlling the irradiation angle of the headlamp on the left side of the vehicle to adjust the pitch angle deviation upward; or, in the case where the driving state is used to indicate that the right tire of the vehicle is in a flat tire state, controlling the irradiation angle of the headlamp on the right side of the vehicle to adjust the pitch angle deviation upward; In the case where the driving state is used to indicate that the vehicle is in a left-turn state, controlling the irradiation angle of the headlamp to adjust the inclination angle deviation to the left; or, in the case where the driving state is used to indicate that the vehicle is in a right-turn state, controlling the irradiation angle of the headlamp to adjust the inclination angle deviation to the right.

7. The method according to claim 1, wherein The vehicle includes a target motor for adjusting the irradiation angle of the headlamp, and controlling the irradiation angle of the headlamp to adjust the angle deviation in the target direction includes: Based on the angle deviation and the corresponding relationship between the sample angle deviation and the sample rotation angle of the target motor in the vehicle, determining the rotation angle of the target motor; Controlling the target motor to rotate the rotation angle in the target direction to control the irradiation angle of the headlamp.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: Comparing the angle deviation with a third preset angle, where the third preset angle is the minimum critical angle for adjusting the irradiation angle of the headlamp; In the case where the angle deviation is greater than or equal to the third preset angle, performing the step of controlling the irradiation angle of the headlamp to adjust the angle deviation in the target direction.

9. A device for controlling a headlamp, characterized in that, The device includes: A determination module, configured to: Determine whether the change value of the vehicle attitude is greater than a first preset value when the headlamp of the vehicle is turned on; In the case where the change value is greater than the first preset value, determining the angle deviation of the attitude angle used to describe the change of the vehicle attitude before and after, and determining the current driving state of the vehicle; Based on the driving state, determining the target direction for adjusting the irradiation angle of the headlamp; A control module, configured to control the irradiation angle of the headlamp to adjust the angle deviation in the target direction.

10. A vehicle, characterized in that, The vehicle includes: A memory, configured to store a computer program; A processor, configured to call and run the computer program from the memory, so that the vehicle executes the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 8 is implemented.

Images