Vehicle lamp light path self-adaptive adjusting method, system and device and storage medium

Abstract

The invention discloses a vehicle lamp light path adaptive adjustment method, system and device and a storage medium, and the method comprises the steps: obtaining radar detection information of a road in front of a vehicle, and judging whether the road in front has a convex region or not according to the radar detection information; when a protruding area exists on the front road, a lampshade adjusting motor is activated, and a front suspension compression value is obtained through a compression stroke sensor arranged on a front suspension; when the change of the current suspension compression value reaches a preset amplitude, a lampshade adjusting motor controls a headlamp lampshade to rotate, so that the upper edge of a headlamp light path is kept horizontal; and when the current suspension compression value recovers to be stable, the headlight lampshade is controlled to recover to the initial posture through the lampshade adjusting motor. Self-adaptive adjustment of the light path of the vehicle lamp is achieved when the vehicle runs, the stability of the light path of the vehicle lamp is improved, the situation that when the vehicle passes through a deceleration zone or a suddenly-protruding road surface, the vehicle lamp disturbs pedestrians or drivers in the front opposite direction is avoided, the safety of vehicle running is improved, and the method can be applied to the technical field of vehicle control.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method, system, device and storage medium for adaptively adjusting a vehicle light path. Background Art

[0002] Driving at night usually requires turning on the headlights to illuminate the road ahead. When a car passes a deceleration strip or a suddenly raised road surface, the front of the car will instantly raise the headlights in the direction of illumination, and the low beam light will also suddenly rise, causing pedestrians or drivers in the opposite direction in front to be illuminated by the headlights, causing eye discomfort and discomfort, and even posing certain safety hazards. Summary of the Invention

[0003] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0004] To this end, an object of an embodiment of the present invention is to provide a method for adaptively adjusting the headlight path of a vehicle, which realizes adaptive adjustment of the headlight path of a vehicle when the vehicle is driving, improves the stability of the headlight path of the vehicle, avoids the headlights from interfering with pedestrians or drivers in the opposite direction in front when the vehicle passes through a deceleration zone or a suddenly raised road surface, and improves the safety of vehicle driving.

[0005] Another object of an embodiment of the present invention is to provide a vehicle light path adaptive adjustment system.

[0006] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0007] In a first aspect, an embodiment of the present invention provides a method for adaptively adjusting a vehicle light path, comprising the following steps:

[0008] Obtaining radar detection information of the road ahead of the vehicle, and determining whether there is a raised area on the road ahead based on the radar detection information;

[0009] When there is a bump on the road ahead, the headlight cover adjustment motor is activated and the front suspension compression value is obtained through the compression stroke sensor set on the front suspension;

[0010] When the change in the front suspension compression value reaches a preset amplitude, the headlight cover is controlled to rotate by the cover adjustment motor so that the upper edge of the headlight path remains horizontal;

[0011] When the front suspension compression value returns to stability, the headlight cover is controlled by the cover adjustment motor to return to its initial posture.

[0012] Furthermore, in one embodiment of the present invention, obtaining radar detection information of the road ahead of the vehicle and determining whether there is a raised area on the road ahead based on the radar detection information specifically includes:

[0013] Acquire the radar detection information through a millimeter-wave radar or a laser radar, and determine target point clouds of a plurality of forward targets based on the radar detection information;

[0014] screening out geostationary targets from the forward targets according to the velocity characteristics of the target point cloud;

[0015] When the height change of the point cloud of the geostationary target reaches a preset first threshold, it is determined that a raised area exists on the road ahead.

[0016] Furthermore, in one embodiment of the present invention, when the change in the front suspension compression value reaches a preset amplitude, the headlight cover is controlled to rotate by the cover adjustment motor so that the upper edge of the headlight path remains horizontal, which specifically includes:

[0017] determining a variation range of the front suspension compression value according to a current value and an initial value of the front suspension compression value;

[0018] When the change amplitude is greater than or equal to the preset amplitude, obtaining the current vehicle body posture through the posture sensor, and determining the vehicle body pitch angle according to the current vehicle body posture;

[0019] The lampshade correction angle is determined according to the vehicle body pitch angle, and the lampshade adjustment motor is used to control the rotation of the headlight lampshade according to the lampshade correction angle so that the upper edge of the headlight path remains horizontal.

[0020] Furthermore, in one embodiment of the present invention, when the change in the front suspension compression value reaches a preset amplitude, the headlight cover is controlled to rotate by the cover adjustment motor so that the upper edge of the headlight path remains horizontal, which specifically includes:

[0021] determining three-dimensional parameters of the raised area according to the radar detection information, and predicting a pitch angle change curve of the vehicle when passing through the raised area according to the three-dimensional parameters and vehicle state information;

[0022] Determining a lampshade angle correction curve according to the pitch angle change curve;

[0023] determining a variation range of the front suspension compression value according to a current value and an initial value of the front suspension compression value;

[0024] When the variation amplitude is greater than or equal to the preset amplitude, the headlight cover is controlled to rotate according to the cover angle correction curve by the cover adjustment motor so that the upper edge of the headlight path remains horizontal.

[0025] Furthermore, in one embodiment of the present invention, predicting a pitch angle change curve of the vehicle when passing through the raised area based on the three-dimensional parameters and the vehicle state information specifically includes:

[0026] Establishing a vehicle dynamics model and constructing a state space equation based on the vehicle state information;

[0027] Establishing a mapping relationship between the vehicle's driving path and the spatial position of the bump based on preview control theory according to the three-dimensional parameters;

[0028] The continuous road elevation function is generated by cubic spline interpolation, and the road elevation time domain information is generated in combination with the vehicle speed.

[0029] Inputting the road elevation time domain information into the state space equation to obtain the sprung mass pitch angle time domain response;

[0030] The pitch angle variation curve is determined according to the sprung mass pitch angle time domain response.

[0031] Furthermore, in one embodiment of the present invention, when the front suspension compression value returns to stability, the headlight shade is controlled by the shade adjustment motor to return to its initial posture, which is specifically as follows:

[0032] When the change amplitude is smaller than the preset amplitude, an initial angle of the headlight shade before adjustment is obtained, and the headlight shade is controlled to rotate to the initial angle by the shade adjustment motor.

[0033] Furthermore, in one embodiment of the present invention, the rotation center of the headlight shade is located at the luminous center of the corresponding lamp body, and the shade adjustment motor is used to control the headlight shade to rotate up / down around the luminous center of the corresponding lamp body to change the headlight light path.

[0034] In a second aspect, an embodiment of the present invention provides a vehicle light path adaptive adjustment system, comprising:

[0035] A radar detection module is used to obtain radar detection information of the road ahead of the vehicle and determine whether there is a raised area on the road ahead based on the radar detection information;

[0036] The suspension compression monitoring module is used to activate the headlight cover adjustment motor when there is a raised area on the road ahead, and obtain the front suspension compression value through the compression stroke sensor installed on the front suspension;

[0037] a first control module, configured to control the headlight cover to rotate via the cover adjustment motor when the change in the front suspension compression value reaches a preset amplitude, so that the upper edge of the headlight path remains horizontal;

[0038] The second control module is configured to control the headlight cover to return to its initial posture via the cover adjustment motor when the front suspension compression value returns to stability.

[0039] In a third aspect, an embodiment of the present invention provides a device for adaptively adjusting the light path of a vehicle headlight, comprising:

[0040] at least one processor;

[0041] at least one memory for storing at least one program;

[0042] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned method for adaptively adjusting the light path of a vehicle.

[0043] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor, wherein the program executable by the processor is used to execute the above-mentioned method for adaptively adjusting the light path of a vehicle.

[0044] The advantages and benefits of the present invention will be described in part in the following description and will become apparent from the following description or learned through practice of the present invention:

[0045] An embodiment of the present invention obtains radar detection information of the road ahead of a vehicle and determines whether there is a raised area on the road ahead based on the radar detection information. When a raised area is found on the road ahead, the lampshade adjustment motor is activated and the front suspension compression value is obtained via a compression stroke sensor provided on the front suspension. When the change in the current suspension compression value reaches a preset amplitude, the lampshade adjustment motor is used to control the headlight lampshade to rotate so that the upper edge of the headlight path remains horizontal. When the current suspension compression value returns to stability, the lampshade adjustment motor is used to control the headlight lampshade to return to its initial position. The embodiment of the present invention activates the lampshade adjustment motor when a raised area is detected on the road ahead and controls the headlight lampshade to rotate so that the upper edge of the headlight path remains horizontal when the change in the front suspension compression value reaches a preset amplitude. This achieves adaptive adjustment of the headlight path while the vehicle is driving, improves the stability of the headlight path, prevents interference from the headlights to pedestrians or drivers in the opposite direction when the vehicle passes over a deceleration zone or a suddenly raised road surface, and improves vehicle driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following introduction is made to the drawings required for use in the embodiments of the present invention. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0047] Figure 1 A flowchart of a method for adaptively adjusting the light path of a vehicle provided by an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of the changes in the light path of a vehicle's headlights when it passes through a raised area in the prior art;

[0049] Figure 3 A schematic diagram showing a vehicle's headlight path remaining stable when passing through a raised area according to an embodiment of the present invention;

[0050] Figure 4 A structural block diagram of a vehicle light path adaptive adjustment system provided by an embodiment of the present invention;

[0051] Figure 5 This is a structural block diagram of a vehicle light path adaptive adjustment device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided for ease of explanation only and do not limit the order of the steps. The order of execution of the steps in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0053] In the description of the present invention, "a plurality" means two or more. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly indicating the number of the indicated technical features, or as implicitly indicating the order of the indicated technical features. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art.

[0054] Reference Figure 1 The embodiment of the present invention provides a method for adaptively adjusting the light path of a vehicle, which specifically includes the following steps:

[0055] S101, obtaining radar detection information of the road ahead of the vehicle, and determining whether there is a raised area on the road ahead based on the radar detection information;

[0056] S102: If there is a raised area on the road ahead, activate the lampshade adjustment motor and obtain a front suspension compression value through a compression stroke sensor provided on the front suspension;

[0057] S103: When the change in the current suspension compression value reaches a preset amplitude, the headlight cover is controlled to rotate by the cover adjustment motor so that the upper edge of the headlight path remains horizontal;

[0058] S104: The current suspension compression value stabilizes, and the headlight shade is controlled by the shade adjustment motor to return to its initial position.

[0059] Specifically, if Figure 2 The figure shows a schematic diagram of the change in the light path of the headlights when a vehicle passes through a raised area in the prior art. It can be seen that when the right vehicle is driving normally on a flat road, its low beam headlights illuminate the road ahead, and the upper edge of the light path remains level with the road surface, so as not to affect pedestrians or drivers in the opposite direction in front. However, when the right vehicle passes through the raised area, although there is a buffering system, the front part of the vehicle will still lift up to a certain extent, causing the light path of the low beam headlights to rise, thereby causing pedestrians or drivers in the opposite direction in front to be illuminated by the headlights, causing them to have eye discomfort and discomfort, and even posing certain safety hazards.

[0060] In an embodiment of the present invention, the headlight shade is improved into an adjustable (swinging up and down) shade, and a shade adjustment motor is provided. When a raised area is detected on the road ahead, the shade adjustment motor is activated, and when the change in the front suspension compression value reaches a preset amplitude, the shade adjustment motor is used to control the rotation of the headlight shade, so that the upper edge of the headlight path remains horizontal.

[0061] like Figure 3 The figure shows a schematic diagram of maintaining a stable light path when a vehicle passes through a raised area according to an embodiment of the present invention. It can be seen that when a vehicle on the right passes through the raised area, the angle of the headlight cover is adjusted accordingly, so that the upper edge of the light path of the low beam remains horizontal, thereby not affecting pedestrians or drivers in the opposite direction.

[0062] It can be appreciated that the embodiments of the present invention achieve adaptive adjustment of the headlight path when the vehicle is driving, thereby improving the stability of the headlight path, avoiding interference of the headlights on pedestrians or drivers in the opposite direction in front when the vehicle passes through a deceleration zone or a suddenly raised road surface, and improving the safety of vehicle driving.

[0063] As a further optional implementation, obtaining radar detection information of the road ahead of the vehicle and determining whether there is a raised area on the road ahead based on the radar detection information specifically includes:

[0064] S1011. Acquire radar detection information through a millimeter-wave radar or a laser radar, and determine target point clouds of several forward targets based on the radar detection information.

[0065] S1012. Screening out geostationary targets from the forward targets based on the velocity characteristics of the target point cloud;

[0066] S1013: When the height change of the point cloud of the geostationary target reaches a preset first threshold, it is determined that there is a raised area on the road ahead.

[0067] Specifically, millimeter-wave radar or lidar is used to obtain point cloud information of the target ahead, including three-dimensional data such as the target's angle, distance, and relative speed. Combined with the vehicle's real-time speed information (such as obtained through the CAN bus), the radar raw signal is filtered and denoised to extract a valid point cloud. Based on the radial velocity characteristics of the target point cloud (such as the speed of a stationary target = the negative value of the vehicle's speed), the targets are divided into ground-stationary targets (such as speed bumps and bumps) and ground-moving targets (such as vehicles and pedestrians). The point cloud height data is used to determine whether there are any abnormal bumps in the road surface. If the point cloud height continuously changes and exceeds a threshold (such as 5 cm), it is determined to be a raised area.

[0068] As a further optional embodiment, when the change in the current suspension compression value reaches a preset amplitude, the headlight cover is controlled to rotate by the cover adjustment motor so that the upper edge of the headlight path remains horizontal, which specifically includes:

[0069] S1031. Determine a change range of the front suspension compression value according to the current value and the initial value of the front suspension compression value;

[0070] S1032: When the change amplitude is greater than or equal to the preset amplitude, obtain the current vehicle posture through the posture sensor, and determine the vehicle pitch angle based on the current vehicle posture;

[0071] S1033. Determine a lampshade correction angle according to the vehicle body pitch angle, and control the headlight lampshade to rotate according to the lampshade correction angle by using a lampshade adjustment motor so that the upper edge of the headlight path remains horizontal.

[0072] Specifically, when a vehicle is traveling normally on a flat road, the front suspension compression value will remain near a stable value. However, when the vehicle passes over a raised area, the suspension system will cushion the vehicle and prevent shock, causing a significant sudden change in the front suspension compression value. In an embodiment of the present invention, the current value of the front suspension compression value monitored in real time is compared with the initial value when the vehicle is traveling normally on a flat road. When the amplitude of the change between the two is greater than a preset amplitude, it can be determined that the vehicle has begun to pass over the raised area. The current vehicle posture is then acquired through a posture sensor to obtain the vehicle pitch angle, and a lampshade correction angle is determined based on the vehicle pitch angle. For example, if the vehicle pitch angle is 15° upward, the lampshade correction angle is 15° downward. Finally, the lampshade adjustment motor controls the rotation of the headlight shade based on the lampshade correction angle, correcting the headlight shade to the same posture as before the vehicle passes over the raised area, thereby maintaining the upper edge of the headlight path horizontal.

[0073] It should be noted that although the above method of determining the lampshade correction angle based on the real-time vehicle posture has a certain hysteresis, it can generally solve the technical problem to be solved by the present invention. An alternative solution for lampshade adjustment is proposed below to avoid the hysteresis of lampshade adjustment.

[0074] As a further optional embodiment, when the change in the current suspension compression value reaches a preset amplitude, the headlight cover is controlled to rotate by the cover adjustment motor so that the upper edge of the headlight path remains horizontal, which specifically includes:

[0075] S1034: Determine three-dimensional parameters of the raised area based on the radar detection information, and predict a pitch angle change curve of the vehicle when it passes through the raised area based on the three-dimensional parameters and the vehicle state information;

[0076] S1035, determining a lampshade angle correction curve according to the pitch angle change curve;

[0077] S1036: Determine a change range of the front suspension compression value based on the current value and the initial value of the front suspension compression value;

[0078] S1037. When the change amplitude is greater than or equal to the preset amplitude, the headlight shade is controlled to rotate according to the shade angle correction curve by the shade adjustment motor so that the upper edge of the headlight path remains horizontal.

[0079] Specifically, the body posture of the vehicle when passing through the raised area is predicted based on the three-dimensional parameters of the raised area obtained by radar detection and the current state of the vehicle (vehicle speed, body posture, vehicle wheelbase, center of gravity height, suspension stiffness, damping coefficient, etc.), thereby obtaining a pitch angle change curve of the vehicle when passing through the raised area; based on the pitch angle change curve, a corresponding lampshade angle correction curve is determined; the current value of the front suspension compression value monitored in real time is compared with the initial value when the vehicle is driving normally on a flat road. When the change amplitude of the two is greater than a preset amplitude, it can be determined that the vehicle has begun to pass through the raised area at this time, and the headlight shade is controlled to rotate according to the lampshade angle correction curve through the lampshade adjustment motor to correct the headlight shade to the same posture as before the vehicle passes through the raised area, so that the upper edge of the headlight path remains horizontal.

[0080] It can be appreciated that in the embodiment of the present invention, there is no need to calculate the lampshade correction angle based on the vehicle body posture obtained in real time. Instead, the pitch angle change curve of the vehicle when passing through the raised area is predicted in advance, thereby obtaining the lampshade angle correction curve in advance. The lampshade adjustment can be started instantly when the vehicle starts to pass through the raised area, avoiding the lag of the lampshade adjustment and further improving the stability of the headlight light path.

[0081] As an optional embodiment, predicting a pitch angle change curve of a vehicle when passing through a raised area based on the three-dimensional parameters and vehicle state information specifically includes:

[0082] S10341. Establish a vehicle dynamics model and construct a state space equation based on vehicle state information;

[0083] S10342. Establish a mapping relationship between the vehicle's driving path and the spatial position of the bump based on preview control theory according to the three-dimensional parameters;

[0084] S10343. Using cubic spline interpolation to generate a continuous road surface elevation function, and combining it with vehicle speed to generate road surface elevation time domain information;

[0085] S10344. Input the road elevation time domain information into the state space equation and solve to obtain the sprung mass pitch angle time domain response;

[0086] S10345. Determine a pitch angle variation curve based on a time-domain response of the sprung mass pitch angle.

[0087] Specifically, multi-angle radar scanning is used to acquire point cloud data of the raised area. A spherical coordinate to rectangular coordinate conversion algorithm is used to calculate the coordinates of the bump vertex and the base range. Curvature analysis and meshing techniques are used to generate a three-dimensional feature matrix containing height gradient, slope angle, and curvature radius. A seven-degree-of-freedom suspension model is established, which includes the vertical / pitching motion of the sprung mass, the vertical motion of the four wheels, and the steering system parameters. Parameters such as the vehicle wheelbase, center of mass height, suspension stiffness, and damping coefficient are input to construct the state-space equation. Based on preview control theory, a mapping relationship between the vehicle's driving path and the spatial position of the bump is established. Cubic spline interpolation is used to generate a continuous road surface elevation function, and the time-domain excitation signal of the road surface elevation is generated in combination with the vehicle speed. The time-domain excitation signal of the road surface elevation is applied to the state-space equation, and the differential equation group is solved using the Runge-Kutta numerical method to obtain the time-domain response of the sprung mass pitch angle.

[0088] As a further optional embodiment, the current suspension compression value is restored to stability, and the headlight shade is controlled by the shade adjustment motor to return to the initial posture, which is specifically as follows:

[0089] When the change amplitude is less than the preset amplitude, the initial angle of the headlight cover before adjustment is obtained, and the headlight cover is controlled to rotate to the initial angle through the cover adjustment motor.

[0090] As a further optional embodiment, the rotation center of the headlight shade is located at the luminous center of the corresponding lamp body, and the shade adjustment motor is used to control the headlight shade to rotate up / down around the luminous center of the corresponding lamp body to change the headlight light path.

[0091] The above describes the method steps of an embodiment of the present invention. It can be appreciated that the embodiment of the present invention activates the headlight cover adjustment motor when a raised area is detected on the road ahead, and controls the rotation of the headlight cover via the headlight cover adjustment motor when the change in the front suspension compression value reaches a preset amplitude, thereby maintaining the upper edge of the headlight path horizontal. This achieves adaptive adjustment of the headlight path while the vehicle is driving, improves the stability of the headlight path, prevents interference with oncoming pedestrians or drivers when the vehicle passes over a deceleration zone or a suddenly raised road surface, and improves vehicle driving safety.

[0092] Reference Figure 4 , an embodiment of the present invention provides a vehicle light path adaptive adjustment system, comprising:

[0093] A radar detection module is used to obtain radar detection information of the road ahead of the vehicle and determine whether there is a raised area on the road ahead based on the radar detection information;

[0094] The suspension compression monitoring module is used to activate the headlight cover adjustment motor when there is a raised area on the road ahead, and obtain the front suspension compression value through the compression stroke sensor installed on the front suspension;

[0095] a first control module configured to control the rotation of the headlight cover via the cover adjustment motor when the change in the current suspension compression value reaches a preset amplitude, so that the upper edge of the headlight path remains horizontal;

[0096] The second control module is used to restore the current suspension compression value to stability and control the headlight cover to return to its initial posture through the cover adjustment motor.

[0097] The contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0098] Reference Figure 5 The embodiment of the present invention provides a device for adaptively adjusting the light path of a vehicle headlight, comprising:

[0099] at least one processor;

[0100] at least one memory for storing at least one program;

[0101] When the at least one program is executed by the at least one processor, the at least one processor implements the method for adaptively adjusting the headlight path.

[0102] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0103] An embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor. When the program is executed by the processor, it is used to perform the above-mentioned method for adaptively adjusting the light path of a vehicle.

[0104] A computer-readable storage medium according to an embodiment of the present invention can execute a method for adaptively adjusting the headlight path provided by an embodiment of the present invention, can execute any combination of implementation steps of the method embodiment, and has the corresponding functions and beneficial effects of the method.

[0105] The embodiment of the present invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs Figure 1 The method shown.

[0106] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0107] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the routine skills of an engineer. Therefore, a person skilled in the art can implement the present invention set forth in the claims using ordinary skills without undue experimentation. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0108] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the above methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0109] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0110] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable media on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0111] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0112] In the above description of this specification, reference to the terms "one embodiment / example," "another embodiment / example," or "certain embodiments / examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0113] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

[0114] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for adaptively adjusting vehicle light path, characterized in that: The following steps are involved: Obtaining radar detection information of the road ahead of the vehicle, and determining whether there is a raised area on the road ahead based on the radar detection information; When there is a bump on the road ahead, the headlight cover adjustment motor is activated and the front suspension compression value is obtained through the compression stroke sensor set on the front suspension; When the change in the front suspension compression value reaches a preset amplitude, the headlight cover is controlled to rotate by the cover adjustment motor so that the upper edge of the headlight path remains horizontal; When the front suspension compression value returns to stability, the headlight cover is controlled by the cover adjustment motor to return to its initial posture.

2. The method for adaptively adjusting vehicle light path according to claim 1, characterized in that: The acquiring radar detection information of the road ahead of the vehicle and determining whether there is a raised area on the road ahead according to the radar detection information specifically includes: Acquire the radar detection information through a millimeter-wave radar or a laser radar, and determine target point clouds of a plurality of forward targets based on the radar detection information; screening out geostationary targets from the forward targets according to the velocity characteristics of the target point cloud; When the height change of the point cloud of the geostationary target reaches a preset first threshold, it is determined that a raised area exists on the road ahead.

3. The method for adaptively adjusting vehicle light path according to claim 1, characterized in that: When the change in the front suspension compression value reaches a preset amplitude, the headlight cover is controlled to rotate by the cover adjustment motor so that the upper edge of the headlight path remains horizontal, which specifically includes: determining a variation range of the front suspension compression value according to a current value and an initial value of the front suspension compression value; When the change amplitude is greater than or equal to the preset amplitude, obtaining the current vehicle body posture through the posture sensor, and determining the vehicle body pitch angle according to the current vehicle body posture; The lampshade correction angle is determined according to the vehicle body pitch angle, and the lampshade adjustment motor is used to control the rotation of the headlight lampshade according to the lampshade correction angle so that the upper edge of the headlight path remains horizontal.

4. The method for adaptively adjusting vehicle light path according to claim 1, characterized in that: When the change in the front suspension compression value reaches a preset amplitude, the headlight cover is controlled to rotate by the cover adjustment motor so that the upper edge of the headlight path remains horizontal, which specifically includes: determining three-dimensional parameters of the raised area according to the radar detection information, and predicting a pitch angle change curve of the vehicle when passing through the raised area according to the three-dimensional parameters and vehicle state information; Determining a lampshade angle correction curve according to the pitch angle change curve; determining a variation range of the front suspension compression value according to a current value and an initial value of the front suspension compression value; When the variation amplitude is greater than or equal to the preset amplitude, the headlight cover is controlled to rotate according to the cover angle correction curve by the cover adjustment motor so that the upper edge of the headlight path remains horizontal.

5. The method for adaptively adjusting vehicle light path according to claim 4, characterized in that: The method of predicting a pitch angle change curve of the vehicle when passing through the raised area according to the three-dimensional parameters and the vehicle state information specifically includes: Establishing a vehicle dynamics model and constructing a state space equation based on the vehicle state information; Establishing a mapping relationship between the vehicle's driving path and the spatial position of the bump based on preview control theory according to the three-dimensional parameters; The continuous road elevation function is generated by cubic spline interpolation, and the road elevation time domain information is generated in combination with the vehicle speed. Inputting the road elevation time domain information into the state space equation to obtain the sprung mass pitch angle time domain response; The pitch angle variation curve is determined according to the sprung mass pitch angle time domain response.

6. A method for adaptively adjusting vehicle light path according to claim 3 or 4, characterized in that: When the front suspension compression value returns to stability, the headlight shade is controlled by the shade adjustment motor to return to its initial position, which is specifically as follows: When the change amplitude is smaller than the preset amplitude, an initial angle of the headlight shade before adjustment is obtained, and the headlight shade is controlled to rotate to the initial angle by the shade adjustment motor.

7. The method for adaptively adjusting vehicle light path according to claim 1, characterized in that: The rotation center of the headlight shade is located at the luminous center of the corresponding lamp body, and the shade adjustment motor is used to control the headlight shade to rotate up / down around the luminous center of the corresponding lamp body to change the headlight path.

8. A vehicle light path adaptive adjustment system, characterized in that: include: A radar detection module is used to obtain radar detection information of the road ahead of the vehicle and determine whether there is a raised area on the road ahead based on the radar detection information; The suspension compression monitoring module is used to activate the headlight cover adjustment motor when there is a raised area on the road ahead, and obtain the front suspension compression value through the compression stroke sensor installed on the front suspension; a first control module, configured to control the headlight cover to rotate via the cover adjustment motor when the change in the front suspension compression value reaches a preset amplitude, so that the upper edge of the headlight path remains horizontal; The second control module is configured to control the headlight cover to return to its initial posture via the cover adjustment motor when the front suspension compression value returns to stability.

9. A vehicle light path adaptive adjustment device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle light path adaptive adjustment method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The program executable by the processor is used to perform a vehicle light path adaptive adjustment method according to any one of claims 1 to 7 when executed by the processor.

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