SYSTEM AND METHOD FOR CONTROLLING A VEHICLE HEADLIGHT TO PREVENT A SHADOW AREA

Abstract

System for controlling a vehicle headlight to prevent a shadow area, wherein the system comprises: a camera unit from a vehicle that is set up to transmit image data obtained by photographing the front of the vehicle; a control system designed to periodically determine whether the high beam of the vehicle headlight is switched on, to determine whether a dark cell exists between a high beam area and a dipped beam area is formed in the vehicle's front image data transmitted by the camera unit when it is determined that the high beam is switched on, to modify a leveling motor to be directed upwards by 1 step when it is determined that the dark cell is formed, and to drive the leveling motor by a previously stored number of steps (step '2') when it is determined that the dark cell is not formed; and a memory unit that is set up to store a number of levels (level '2') obtained by changing the leveling motor by 1 level upwards.

Description

BACKGROUND Area of ​​Revelation

[0001] The present disclosure relates to a system and a method for controlling a vehicle headlight to prevent a shadow area, and in particular a system and a method for controlling a vehicle headlight to prevent a shadow area formed between a low beam and a high beam of a headlight by means of a camera unit. Discussion of the state of the art

[0002] DE 10 2007 018 599 A1 describes a processor in a device for detecting a front vehicle environment, which processes an image from an imaging unit in order to detect another vehicle on the basis of the brightness of an environment of a moving vehicle, which was derived from the image.

[0003] DE 10 2014 207 013 A1 describes a vehicle lamp comprising a light distribution pattern control unit, a swivel control unit, a leveling control unit and an ADB control device.

[0004] In general, a vehicle headlight is a lighting device or lamp fitted to a vehicle that performs the important function of illumination, i.e., lighting up a road in front of the vehicle while driving at night and providing brightness to check for traffic obstacles at a distance of 100 m (330 ft) during the night.

[0005] When light is emitted from a vehicle's headlights to illuminate the front of the vehicle, the beam angle is usually fixed. However, if a load or cargo of a specified or greater weight is loaded onto the vehicle, or if a specified or greater number of passengers are traveling in the vehicle, the vehicle body may tilt backward. This can cause the headlight's beam angle to change upward.

[0006] To prevent this, the low beam of the headlight can be adjusted to point downwards in a position that complies with legal regulations. The high beam, however, remains in an upward-pointing position.

[0007] To overcome the limitations of the current state of the art, a sensor is mounted on the rear of the vehicle. Furthermore, the vehicle is equipped with an automatic leveling device to automatically adjust the headlight's beam angle downwards, depending on the number of passengers and the degree of cargo.

[0008] However, the automatic leveling device creates a section or shadow area where, when driving at night, no light is transmitted onto the road between the low beam and high beam of the headlights. Depending on the situation, this shadow area can restrict the driver's field of vision and cause a serious accident.

[0009] Some foreign original equipment manufacturers (OEMs) that produce automatic leveling devices have developed automatic leveling systems for performing an automatic leveling process. This process is achieved by combining a low beam and a high beam to form a baseline, effectively merging the headlight's low and high beam beams during the automatic leveling procedure.

[0010] However, with this technology, the weight of the base plate supporting both the low and high beams of the headlight is inevitably increased. Therefore, a high-strength bracket and a high-performance motor to operate the base plate must also be included. Consequently, the cost of the lamp increases, and the overall weight of the lamp module assembly increases, leading to various additional problems regarding fuel efficiency, packaging size, and the like.

[0011] Some Korean car manufacturers use a real-time vehicle positioning system. Based on this measurement, a dynamic leveling system is then applied to adjust the low beam headlights.

[0012] For example, if, as from Fig. 1 and Fig. As can be seen in Figure 2, a beam from a headlight of a sensor-integrated electronic control unit (SI-ECU) is emitted, which is only located on one rear side, and a shadow area forms at the roadside due to an increase in the number of vehicle passengers or an increase in the cargo weight.

[0013] As from Fig. 4 and Fig. 5 shows that different vehicle models A, B, C, D, E and F (in Fig. (as shown in Figure 8) when a headlight leveling device (HLLD) is in operation, a shadow area is formed at the front edge of the road of all vehicles.

[0014] However, compared to a conventional system, a dynamic leveling system requires the installation of an additional sensor, a sensor mounting bracket, and wiring on the vehicle's front axle. This increases the cost and overall vehicle weight of the dynamic leveling system, which is a disadvantage. Furthermore, a problem arises in that a shadow area is created between the low beam and high beam of a headlight in a certain section.

[0015] Therefore, a dynamic leveling system with an automatic leveling device that uses a base plate or sensor, sensor suspension mount and wiring, has limitations with regard to problems such as increased cost and weight, problems regarding fuel efficiency and problems regarding package size due to the attachment of additional components. SUMMARY OF THE REVELATION

[0016] The present invention therefore relates to a system and a method for controlling a vehicle headlight in order to prevent a shadow area, which essentially avoids one or more problems due to the limitations and disadvantages of the prior art.

[0017] It is an object of the present invention to provide a system and a method for controlling a vehicle headlight in order to prevent a shadow area between a low beam and a high beam of a headlight using a camera unit, in order to avoid problems relating to weight increase and package size.

[0018] Further advantages, functions, and features of the invention will become apparent partly from the following description and partly are obvious to persons skilled in the art after reviewing the following description or can be deduced from practical application of the disclosure. The objectives and other advantages of the disclosure can be implemented and achieved through the structure particularly highlighted in the written description and the claims, as well as in the attached drawings.

[0019] To achieve these tasks and other advantages, and in accordance with the purpose of the disclosure as set forth and fully described herein, a system for controlling a vehicle headlight to prevent a shadow area comprises a camera unit mounted in front of a vehicle and configured to transmit image data obtained by photographing the front of the vehicle. The system further comprises a controller configured to periodically determine whether a high beam of the vehicle headlight is switched on. The controller is further configured to determine whether a dark cell is formed in the front image data of the vehicle transmitted by the camera unit when it is determined that the high beam is switched on. The controller is further configured to change a leveling motor so that it is directed upwards by one step when it is determined that the dark cell is formed.The control system is further configured to drive the leveling motor through a pre-stored number of steps (step '2') when it is determined that the dark cell is not formed. The system also includes a memory unit configured to store a number of steps (step '2') that are obtained by changing the leveling motor by one step upwards.

[0020] In another aspect of the present disclosure, a method for controlling a vehicle headlight to prevent a shadow area comprises periodically determining whether a high beam of the vehicle headlight is switched on. The method further comprises, as a result of determining that the high beam is switched on, determining whether a dark cell is formed in the front image data of the vehicle, which is transmitted by a camera unit. The method further comprises, as a result of determining that the dark cell is formed, changing a leveling motor by one step upwards and storing a modified number of steps (step '2'). The method also comprises, as a result of determining that the dark cell is not formed, driving the leveling motor by the pre-stored number of steps (step '2'). BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are included for a better understanding of the disclosure and form part of this application, illustrate embodiment(s) of the disclosure and, together with the description, serve to explain the basic idea of ​​the disclosure. The drawings show: Fig. 1-3 Diagrams of a shadow area formed between a low beam and a high beam of a conventional headlight; Fig. 4 and Fig. 5 Diagrams of a shadow area formed between a low beam and a high beam of a headlight of a conventional specific vehicle model; Fig. 6 and Fig. 7 Diagrams of an operation of a camera unit included in a system for controlling a vehicle headlight to prevent a shadow area according to an embodiment of the present disclosure; Fig. 8 and Fig. 9 Diagrams of an image segment operation of a camera unit that is included in a system for controlling a vehicle headlight to prevent a shadow area according to an embodiment of the present disclosure; and Fig. 10 a flowchart showing a method for controlling a vehicle headlight to prevent a shadow area according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE REVELATION

[0022] Various embodiments of the present disclosure are described in detail for persons skilled in the art so that they may easily implement the disclosure with reference to the accompanying drawings. However, the present disclosure can be implemented in various different forms and is not limited to these embodiments. To ensure clarity in describing the present disclosure, parts of the drawings that are not related to the description are omitted, and identical reference numerals in the description denote identical elements.

[0023] The person skilled in the art will understand that the terms "include," "comprise," and "have" throughout the description are to be interpreted by default as inclusive or open, and not as exclusive or closed, unless expressly defined otherwise. Furthermore, terms disclosed in the description, such as "unit," "module," etc., mean units for processing at least one function or operation, which can be implemented by hardware, software, or a combination thereof.

[0024] When a particular part "includes" a particular component, this means throughout the entire description that the part may also include another component, rather than excluding another component, unless otherwise disclosed. The same reference numerals are used in all drawings to designate identical parts.

[0025] The following describes a system and a method for controlling a vehicle headlight HL to prevent a shadow area, to which the embodiments of the present invention relate, with reference to the Fig. 6-10 described in detail.

[0026] Fig. 6 and Fig. Figure 7 shows diagrams of the operation of a camera unit included in a system for controlling a vehicle headlight to prevent a shadow area according to an embodiment of the present disclosure. Fig. 8 and Fig. Figure 9 shows diagrams of an image segment operation of a camera unit included in a system for controlling a vehicle headlight to prevent a shadow area according to an embodiment of the present disclosure.

[0027] With reference to Fig. 6-10 A system for controlling a vehicle headlight to prevent a shadow area according to the present disclosure may include a controller, a storage unit for reading and storing data during controlled control, and a camera unit for photographing the front of the vehicle and transmitting the captured image to the controller.

[0028] In this embodiment, the camera unit can be located at the front of the vehicle and can transmit image data obtained by photographing the front of the vehicle to the control unit.

[0029] The control unit can periodically determine whether the vehicle's high beam headlights are activated. Furthermore, the control unit can determine whether a dark cell is present in the vehicle's front image data transmitted by the camera unit when it is determined that the high beam headlights are activated. The control unit can also modify a leveling motor to be directed one step upwards when it is determined that the dark cell is present. The control unit can further drive the leveling motor through a pre-stored number of steps (step '2') when it is determined that the dark cell is not present.

[0030] The memory unit can store a number of levels (level '2') obtained by changing the leveling motor by 1 level upwards or a number of levels (level '1') of a low beam motor for adjusting the leveling.

[0031] The controller can segment the vehicle's front-view data into units of preset cells. Furthermore, the controller can drive the low-beam motor to correspond to an output value from a rear axle sensor of the vehicle when a low-beam headlight is switched on, an additional person is in the vehicle, additional cargo or load is being carried, the vehicle's unladen weight is equal to or greater than a preset weight, or the output value from the vehicle's rear axle is received.

[0032] The control unit can periodically determine whether the high beam of the vehicle's headlight is switched off. Furthermore, the control unit can repeatedly drive the leveling motor if the high beam is not switched off. Conversely, if the high beam is switched off, the control unit can drive the leveling motor according to a pre-stored number of steps (step '1').

[0033] According to one embodiment of the present disclosure, the storage unit can store information on the road light distribution of low-beam and high-beam beams that are reflected forward in the design of a vehicle headlight. The storage unit can also store information on the shadow area with respect to a degree of difference between the road distribution of the high-beam beam and the road distribution of the low-beam beam when the low-beam beam is directed downwards by leveling.

[0034] When the low beam is directed downwards from a predetermined reference position, the controller can drive the low beam motor to adjust the beam. When the controller drives the low beam motor to direct the beam upwards, it can predict the number of steps required by the low beam motor and reset the beam to a preset low beam leveling position.

[0035] However, a method for determining a shadow area existing between the low beam and high beam beams, based on information about the road light distribution of the low beam and high beam beams, can be a predictive method using an initial optical preconstruction. In this case, a predictive result may differ from an actual result on a road reflecting a high beam or low beam beam from a headlight.

[0036] To overcome this difference, a camera unit can be additionally attached according to various embodiments of the present disclosure. Thus, the formation of a shadow area can be reduced by precisely adjusting a headlight when the shadow area is formed.

[0037] According to one embodiment of the present disclosure, the magnitudes of the colors red, green, and blue (R, G, and B) contained in an image captured by a camera unit photographing the front of the vehicle, i.e., the area in front of the vehicle, can be defined as levels 0-255. The controller can determine 'darkness' when a color magnitude in a specific current section is equal to or less than a predetermined constant value. The controller can determine 'brightness' when the color magnitude is equal to or greater than the predetermined constant value, as described in the Fig. 6 and Fig. 7 shown.

[0038] According to one embodiment of the present disclosure, as in Fig. 8 and Fig. As shown in Figure 9, one stage of the leveling motor can be set to point upwards when a front image captured by the camera unit is segmented into cell units and darkness occurs in the road light distribution between the low beam and high beam beams.

[0039] Accordingly, the control system can apply a method for comparing data before and after a high beam in cell units to differentiate a shadow area, which, with reference to Fig. 10 is described.

[0040] Fig. Figure 10 is a flowchart showing a method for controlling a vehicle headlight to prevent a shadow area according to an embodiment of the present disclosure.

[0041] Referring to Fig. 10. A control system for controlling a vehicle headlight according to the present disclosure can receive a front image of the vehicle, which is captured and transmitted by a camera unit installed on the front of the vehicle, and can segment the received front image data into units of predefined cells (S10).

[0042] Subsequently, if necessary, the driver of the vehicle can switch on the low beam of the vehicle's headlight (S11).

[0043] Since only the driver is in the vehicle, the vehicle body is not tilted backwards in this case, and the headlight's beam angle is maintained in a predetermined direction. Therefore, the headlight's beam angle is not changed upwards, as described above with regard to the prior art problem.

[0044] Additionally, a person other than the driver of the vehicle may ride in the vehicle or additional cargo or a load may be loaded into the vehicle (S12).

[0045] If the vehicle's current unladen weight is equal to or greater than a predefined weight, a rear axle sensor mounted on the vehicle's rear axle can transmit a predefined output value to the control unit. The control unit can receive and verify the output value from the rear axle sensor (S13).

[0046] Upon receiving an output value from the rear axle sensor, the control unit can store a number of stages (stage '1') of the low beam motor for adjusting the leveling in a memory unit (S14) and can drive the low beam motor so that it corresponds to the output value of the vehicle's rear axle sensor (S15).

[0047] In this case, the control unit can periodically determine whether the driver switches on the high beam (S16).

[0048] In this case, as a result of determining whether the driver has switched on the high beam, the control unit can control the low beam motor so that it corresponds to the output value of the vehicle's rear axle sensor. Conversely, if the driver has switched on the high beam, the control unit can detect the camera unit, receive the transmitted acquisition data from the camera unit, and check the acquisition data (S17).

[0049] The control system can then determine whether the color information contained in the camera unit's acquisition data is equal to or less than a specified reference value, in other words, whether a dark cell is formed (S18).

[0050] When the dark cell is formed, the control can, as a result of the determination, change the leveling motor by 1 step upwards (S19) and can store a changed number of steps (step '2') in the memory unit (S20).

[0051] If the dark cell is not formed, the control can drive the leveling motor through a number of stages (stage '2') stored in the memory unit as a result of the determination of process S18 (S21).

[0052] The control unit can then determine whether the high beam of the vehicle's headlight is switched off (S22).

[0053] If the high beam is not switched off, the image segment process of a camera unit of operation S21 is repeated as a result of the determination. If the high beam is switched off, on the other hand, it can be determined that the driver has adjusted the headlight to the low beam and the leveling motor can be driven according to the number of steps stored in the memory unit (step '1') (S23).

[0054] In the following, such a method for determining the shadow area in process S18 during the process of controlling the vehicle headlight according to an embodiment of the present disclosure is described in detail.

[0055] To determine the shadow area, the control unit can define a high beam area, which is the area of ​​the road into which the high beam of the headlight reaches; a low beam area, which is the area of ​​the road into which the low beam reaches; a shadow area, in which color information positioned between the high beam and low beam areas is equal to or less than a predefined reference value; and an ambient area of ​​the low beam area. Based on the result of this definition, the control unit can also determine the shadow area.

[0056] First, a high beam range HB can be determined if a difference between a previous cell value CBn with a certain number and a current cell value CB'n of a certain number is greater than a predetermined brightness fluctuation threshold X of the high beam of a headlight (CBn-CB'n > X: HB).

[0057] Furthermore, a low beam area LB or an ambient area can be determined if the difference between the previous cell value CBn with the specific number and the current cell value CB'n with the specific number is less than a predefined minimum brightness fluctuation value Y of the headlight (CBn - CB'n < Y). In this case, the low beam area LB and an ambient area can be determined differently as follows: The low beam area LB can be determined if the previous cell value CBn with the specific number is greater than a reference value Z of the basic low beam brightness (CBn > Z LB). The ambient area can be determined if the previous cell value Cbn with the specific number is less than the reference value Z of the basic low beam brightness.

[0058] If a previous cell segment value in a cell line of shadow area prediction is defined as the far beam range HB, if a difference between a current cell value at any position in a cell line of shadow area prediction and a current cell value positioned in the next line cell is greater than a brightness reference shadow area determination reference value A of the far beam range, as in Fig. As shown in section 7, the controller can determine the current cell value as the shadow area DN.

[0059] If the preceding cell segment value in the shadow area prediction cell line is defined as the far beam range HB, if a difference between a current cell value of a cell at the earliest position of the shadow area prediction cell line and a current cell value at the last position is greater than the brightness reference shadow area determination reference value A of the far beam range, the controller may determine a current cell value at the last position as the shadow area range DN.

[0060] For example, the previous cell values ​​CB16 to CBb20 in sections #16 to #20 can be defined as the high beam area HB (CB16 to CB20 = HB), and a current cell value CB'23 from #23 can be defined as the shadow area area DN (CB'(16)-CB'(23) > A) if the difference between a current cell value CB'16 from #16 and a current cell value CB'23 from #23 is greater than the brightness reference shadow area determination reference value A of the high beam area (CB'(16)-CB'(23) > A). Cells below the high beam area can be compared sequentially.

[0061] If the difference between a current cell value of #16 and a current cell value of #30 is greater than the brightness reference shadow area determination reference value of the far beam area, a first cell value of #23 can be defined as the shadow area (CB'(16)-CB'(30) > A). Subsequently, cells below the far beam area can be compared sequentially.

[0062] If a preceding cell value in the shadow area prediction cell line is defined as the far beam area HB, and if the difference between a current value of a cell at the earliest position of the shadow area prediction cell line and a current cell value positioned on a cell line after the next cell line of the current value of the cell at the earliest position is greater than the far beam brightness reference shadow area determination reference value, the controller may determine a first cell value positioned as the shadow area on a cell line after the next cell line of the cell at the earliest position of the shadow area prediction cell line segment, as shown in Fig. 7 shown.

[0063] For example, if the difference between a current cell value CB'16 of #16 and a current cell value CB'37 of #37 is less than the brightness reference shadow area determination reference value A of the high beam beam area, a first cell value CB37 of #37 can be defined as the low beam beam area (CB'16-CB'37 < A), and subsequently the previous cell values ​​CB23 to CB27 and CB30 to CB34 of #23 to #27 and #3 to #34 can be determined as the shadow area DN (CB23 to CB27 and CB30 to CB34 = DN).

[0064] In this example, each cell is referred to as 'CBn', n is the number of cells, CBn is a previous value, CB'n is a current value, X is a brightness fluctuation threshold value of a high beam, HB is a high beam range, Y is a brightness fluctuation minimum value, Z is a reference value of the existing brightness of a low beam, LB is a low beam range, DN is a shadow area range, and A is a brightness reference shadow area determination reference value of HB.

[0065] The system and method configured above for controlling a vehicle headlight to prevent a shadow area according to at least one embodiment of the present disclosure may have the following advantages.

[0066] Firstly, a camera unit can prevent the shadow area that forms between the low beam and high beam of a headlight. This minimizes weight and cost increases, significantly improving marketability and providing a stable driving environment for drivers at night.

[0067] Furthermore, a headlight can be precisely adjusted to prevent shadows by adding a camera unit and using a control system. This eliminates the investment costs for manufacturing individual components, and the technology can be immediately applied to all currently produced vehicle types.

[0068] Average experts will understand that the effects that can be achieved with the present disclosure are not limited to what has been specifically described above, and other benefits of the present disclosure will be better understood from the detailed description.

[0069] The disclosure described above can also be in the form of computer-readable code stored on a computer-readable recording medium. A computer-readable recording medium is any data storage device capable of storing data that can subsequently be read by a computer. Examples of computer-readable recording media include a hard disk drive (HDD), a solid-state drive (SSD), a silicon disc drive (SDD), read-only memory (ROM), random-access memory (RAM), a CD-ROM, magnetic tapes, floppy disks, optical data storage devices, etc.

[0070] It is obvious to those skilled in the art that various modifications and changes can be made to the present disclosure without departing from the spirit or scope of the disclosure. Therefore, the present disclosure is intended to cover the modifications and changes to this disclosure, provided they fall within the scope of the attached claims and their equivalents.

Claims

[1] System for controlling a vehicle headlight to prevent a shadow area, the system comprising: a camera unit from a vehicle that is set up to transmit image data obtained by photographing the front of the vehicle; a control system designed to periodically determine whether the high beam of the vehicle headlight is switched on, to determine whether a dark cell exists between a high beam area and a dipped beam area is formed in the vehicle's front image data transmitted by the camera unit when it is determined that the high beam is switched on, to modify a leveling motor to be directed upwards by 1 step when it is determined that the dark cell is formed, and to drive the leveling motor by a previously stored number of steps (step '2') when it is determined that the dark cell is not formed; and a memory unit that is set up to store a number of levels (level '2') obtained by changing the leveling motor by 1 level upwards. [2] System according to claim 1, wherein: The controller segments the vehicle's front image data into units of predefined cells and drives a low-beam motor so that it corresponds to an output value from a rear axle sensor of the vehicle when a low-beam headlight is switched on, a person is additionally riding in the vehicle, additional cargo or a load is being carried, the vehicle's unladen weight is equal to or greater than a predefined weight, or an output value from the vehicle's rear axle is received; and The storage unit stores a number of levels (level '1') of the low beam motor for adjusting the leveling. [3] System according to claim 1, wherein the control system periodically determines whether the high beam of the vehicle headlight is switched off and repeatedly performs a drive operation of the leveling motor if the high beam is not switched off, and furthermore, the control system drives the leveling motor according to a pre-stored number of stages (stage '1') when the high beam is switched off. [4] System according to claim 1, wherein: when determining whether the dark cell is formed, the control unit defines a high beam area HB if the difference between a previous cell value CBn with a specific number and a current cell value CB'n of a specific number is greater than a predetermined brightness fluctuation threshold X of the high beam of the headlight, and the control unit defines a low beam area LB or an ambient area if the difference between the previous cell value CBn with the specific number and the current cell value CB'n of the specific number is less than a predetermined minimum brightness fluctuation value Y of the headlight; and If a previous cell segment value in a cell line of the shadow area prediction is defined as the far beam area HB, the controller determines the current cell value as the shadow area area DN if a difference between a current cell value at any position in the cell line of the shadow area prediction and a current cell value positioned in the next line cell is greater than a brightness reference shadow area determination reference value A of the far beam area. [5] System according to claim 4, wherein, when the preceding cell section value in the cell line of the shadow area prediction is defined as the far beam area HB, when a difference between a current value of a cell at the earliest position of the cell line of the shadow area prediction and a current cell value that is greater than the brightness reference shadow area determination reference value of the far beam area at a cell line after the next cell line of the current value of the cell at the earliest position, the controller determines a preceding cell value that is positioned as the shadow area at a next cell line of the cell at the earliest position of the cell line section of the shadow area prediction. [6] Method for controlling a vehicle headlight to prevent a shadow area, the method comprising: periodically determining whether the high beam of the vehicle headlight is switched on; as a result of determining, in which determining that the high beam is switched on, determining whether a dark cell exists between a high beam area and a low beam beam area is formed in front image data of the vehicle, which is transmitted by a camera unit; as a result of determining that the dark cell is formed, changing a leveling motor so that it is directed upwards by 1 step, and Saving a modified number of levels (level '2'); and As a result of determining that the dark cell is not formed, the leveling motor is driven by the pre-stored number of steps (step '2'). [7] The method of claim 6, further comprising: before periodically determining whether the high beam is switched on, Segmenting the vehicle's front image data into units of predefined cells; Checking the output value of a rear axle sensor of the vehicle when the low beam of the vehicle's headlight is switched on, an additional person is riding in the vehicle, a load or cargo is being carried, or the vehicle's own weight is equal to or greater than a predetermined weight; and upon receiving the output value of the rear axle sensor, storing a number of stages (stage '1') of the low beam motor to level and drive the low beam motor to match the output value of the rear axle sensor. [8] The method of claim 6, further comprising: driving the leveling motor, periodically determining whether the high beam of the vehicle's headlight is switched off; and As a result of determining that the high beam is not switched off, the leveling motor is repeatedly driven, and on the other hand, when determining that a high beam is switched off, the leveling motor is driven according to a pre-stored number of steps (step '1'). [9] Method according to claim 6, wherein: Determining whether the dark cell is formed includes: determining a high beam area HB if the difference between a previous cell value CBn of a specific number and a current cell value CB'n of a specific number is greater than a predetermined brightness fluctuation threshold X of the high beam of the headlight; and determining a low beam area LB or an ambient area if the difference between the previous cell value CBn of the specific number and the current cell value CB'n of the specified number is less than a predetermined minimum brightness fluctuation value Y of the headlight; and If a previous cell segment value in a cell line of shadow area prediction is defined as the far beam area HB, if a difference between a current cell value at any position in the cell line of shadow area prediction and a current cell value positioned in the next line cell is greater than a brightness reference shadow area determination reference value A of the far beam area, the current cell value is determined as shadow area DN. [10] Method according to claim 9, wherein, if the preceding cell segment value in the cell line of the shadow area prediction is defined as the far beam range HB, if a difference between a current value of a cell at the earliest position of the cell line of the shadow area prediction and a current cell value positioned on a cell line after the next cell line of the current value of the cell at the earliest position is greater than the brightness reference shadow area determination reference value of the far beam range, a preceding cell value positioned on a next cell line of the cell at the earliest position of the cell line segment of the shadow area prediction is determined as the shadow area.

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