CN101922929A - Vehicle inclination sensing method and head lamp automatic leveling system applying same - Google Patents
Vehicle inclination sensing method and head lamp automatic leveling system applying same Download PDFInfo
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- CN101922929A CN101922929A CN2009101473139A CN200910147313A CN101922929A CN 101922929 A CN101922929 A CN 101922929A CN 2009101473139 A CN2009101473139 A CN 2009101473139A CN 200910147313 A CN200910147313 A CN 200910147313A CN 101922929 A CN101922929 A CN 101922929A
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Abstract
The invention relates to a vehicle inclination sensing method and a head lamp automatic leveling system applying same. The method comprises the following steps of: firstly acquiring at least one real-time lane line of a road image by utilizing an image collecting device; acquiring an instant vanishing point by extending the real-time lane line; establishing an instant horizontal line by using the vanishing point and estimating the displacements of a standard horizontal lien and the instant horizontal line on the image; and then calculating the angle of inclination of a vehicle by utilizing the focal length of the acquired road image and the displacements to further generate a control signal for controlling a horizontal adjusting controller connected with a head lamp so that the head lamp can still duly provide optimal illumination under the conditions of rugged road sections or nonuniform vehicle loads by changing the illumination direction according to the angle of inclination, thereby the driving safety of drivers at night is increased.
Description
Technical field
The present invention is about the tilting of car body detection method of the vehicles, and especially a kind of image collection device and image processing technique of utilizing discovered the inclination of vehicle method for sensing of tilting of car body as means, and the head lamp automatic horizontal system of adopting said method.
Background technology
In order to improve the visual degree at night, headlight for vehicle is being played the part of important light provides the role.As shown in Figure 1, in the rules FMVSS108 of U.S.'s head lamp and rearview mirror class (Federal Motor Vehicle SafetyStandard), stipulated the benchmark of " lamp, reflex reflector and relevant device ", among this external ECER48 of European Union related specifications has been arranged also, about head lamp device height h
2, shine angle θ when the bottom surface, light type and all give standardization and require and formulated standard with the distance R of "cut-off"line.
But, fixed head lamp is during corresponding to the fluctuating road surface, its illumination visibility all will be affected because of road gradient, cause plane and upward slope confluce visibility to reduce, plane and descending confluce cause the driver's eyes generation of subtend track to dazzle light easily, again, be subjected to the influence of vehicle load, car body sinks relative headlight irradiation apart from also shortening.
Therefore, there is the instant horizontal regulating structure of some auto bulbs to be suggested then.For example, variable resistor is installed in tilt detecting device between vehicle body and front axle and vehicle body and the rear axle, utilize the method that vehicle suspension system changes that detects, the change of the resistance value that causes during according to tilting of car body, the difference that compares vehicle front and back resistance value, and learn the inclination of vehicle differential seat angle, adjust auto bulb crevice projection angle θ by this.Yet the shortcoming of above-mentioned contact sensor is to install loaded down with trivial details and expose to vehicle chassis, therefore damages because of bump or external environment factor affecting easily.In addition, also there is prior art to adopt acceleration of gravity meter (G-sensor) and accurate potentiometer devices such as (potentiometer) to replace aforementioned body sway pick-up unit, with the more accurate tilt data of further sensing; But such device accuracy requirement is high more, and cost also will significantly improve, and all only can can't provide otherwise application as the special purpose of body sway judgement.
In view of this, the present invention proposes a kind of tilting of car body detection method, and the head lamp automatic horizontal system that uses this method, with effective foregoing problems of improving.
Summary of the invention
The objective of the invention is to, it is higher to solve existing body sway pick-up unit cost, and the special purpose of only judging as body sway, and the technical matters of otherwise application can't be provided.
For achieving the above object, inclination of vehicle method for sensing collection vehicle of the present invention the place ahead one road image, by this road image is carried out image processing and further obtains at least one instant lane line, can obtain a distant place one instantaneous end point via extending this at least one instant lane line, and set up an instantaneous horizontal line by this instantaneous end point, and estimate this instantaneous horizontal line and preset the two displacement on image of a reference horizontal line that exists when vehicle is positioned at the abswolute level surface state earlier, via the focal length that is placed in the image collection device on the vehicle and the relation of this displacement, can estimate an inclination of vehicle angle again.
According to this angle of inclination, can be applied on head lamp level-regulating system or the vehicle suspention control system.The present invention utilizes the image collection device to obtain road image, utilize image process unit to obtain at least one lane line of road again, and then calculating obtains above-mentioned displacement and estimates the inclination of vehicle angle according to this, and this angle of inclination is converted to a control signal, this control signal is delivered in the horizontal adjustment controller that electrically connects with at least one head lamp, utilizes the horizontal adjustment controller to adjust the headlight irradiation angle.
Beneficial effect of the present invention is, can obtain the place ahead road conditions in advance, and adjusts suitable headlight irradiation scope according to the place ahead road conditions immediately to obtain the inclination of vehicle angle; Can suitably keep illuminator level according to road conditions or vehicle load situation, increase night illumination degree and travel safety; Can set up effective and sensitive slant detection method by image identification and image processing, and be a kind of detection method that obtains the road conditions undulating state in advance; Can obtain the end point that it extends vehicle front by detecing the sidecar diatom, use the estimating vehicle angle of inclination, and then control head light irradiation angle make it to keep horizontality with the road surface.
Beneath by the appended graphic explanation in detail of specific embodiment cooperation, when the effect that is easier to understand purpose of the present invention, technology contents, characteristics and is reached.
Description of drawings
The car light that Fig. 1 formulates for known U.S. head lamp rules FMVSS108 or the rules ECER48 of the European Union synoptic diagram that sets up standard;
Fig. 2 is the configuration diagram of head lamp automatic horizontal of the present invention system;
Fig. 3 is a head lamp steering control system operational flowchart of the present invention;
Fig. 4 is that displacement of the present invention and reference horizontal line concern synoptic diagram;
Fig. 5 is that video camera focal length of the present invention and reference horizontal line concern synoptic diagram;
Fig. 6 is a light and shade identification synoptic diagram of the present invention;
Fig. 7 is a lane line identification process flow diagram of the present invention;
Fig. 8 sets up the process flow diagram of virtual instant lane line with image processing for the present invention;
Fig. 9 is a lane line model modification process flow diagram of the present invention;
Figure 10 a to Figure 10 c is the vehicle with system applies of the present invention, the view when it runs into uphill way;
Figure 11 a to Figure 11 c is the vehicle with system applies of the present invention, the view when it runs into the descending highway section.
Description of reference numerals:
The 100-vehicle; The 110-head lamp; 10-image collection device; 20-image collection device; The 30-data processor; The main framework of 40-inclination of vehicle detection mode hardware; 50-horizontal adjustment controller.
Embodiment
The present invention obtains vehicle front road video in advance in the mode of image collection, then utilizes image processing technique to analyze condition of road surface, and then obtains the road ahead situation.Below, and use with one that the head lamp automatic horizontal system of this inclination of vehicle detection mode is arranged is that most preferred embodiment illustrates technology of the present invention, in addition, other has in-vehicle apparatus that tilt detection uses and does not still break away from category of the present invention.
General vehicle includes two head lamps to I haven't seen you for ages, and the present invention promptly is to be the best implementation of example as the inclination of vehicle detection system with head lamp automatic horizontal system.Please refer to Fig. 2, be the system architecture diagram of head lamp automatic horizontal of the present invention system.As shown in the figure, in this enforcement, at car body the place ahead device one image collection device 10, can reach by charge coupled cell (CCD) or complementary metal oxide semiconductor (CMOS), continue image collection device 10 is electrically connected an image process unit 20, and include a data processor 30 in this image process unit 20, in view of the above, constitute the main framework 40 of hardware of inclination of vehicle detection mode of the present invention by image collection device 10, image process unit 20 and data processor 30 3 major parts; Again, image process unit 20 also electrically connects two horizontal adjustment controllers 50, and the rotating shaft of this two horizontal adjustment controller 50 is also joined with two head lamps 110 of vehicle 100 respectively, for example uses motor to turn head lamp 110 as horizontal adjustment controller 50 and turns to; Wherein above-mentioned this data processor 30 also independently device such as digital signal processor electrically connect the enforcement that image process unit 20 is reached identical purpose, such as those equivalent structures that do not break away from the object of the invention change, and it rationally should be considered as of the invention process a kind of.
With reference to Fig. 3, the process flow diagram of head lamp automatic horizontal of the present invention system.Follow-up, abide by the head lamp automatic horizontal control system process step that the inclination of vehicle detection method is carried out.As step S1, system start-up can start when starting car synchronously, perhaps by the driver from line operate; After the system start-up, cooperate Fig. 4, as step S2, be judged as startup for the first time by system, or select whether to carry out reference horizontal line H by the driver and proofread and correct, select this moment " be ", promptly enter step S3, if not, then enter step S4.Again, in step S3, the set up mode of this reference horizontal line H in data processor 30 supposed that vehicle load is average and is positioned at the surface road of absolute horizon, also is the state that car body is parallel to ground, this moment lane line L
R, L
LCan be in a distant place extend to form a vision end point, principle according to this, step S31, this vision end point is represented image collection device 10 viewed benchmark end point P; Then, as step S32, the horizontal line of setting up by this benchmark end point P is this reference horizontal line H, and behind the end step S3, directly enters step S4 and gather road ahead image step.In addition, with reference to figure 5, this for vehicle by surface road then before travelling on uphill way or car body and presenting because of load-carrying is uneven the low state in high back be example, further explain relevant for image collection device 10 angles, focal length and reference horizontal line location diagram, and how to obtain each functional value when practical operation is described with following formula (1):
Wherein, θ is an angle of doing rotation with the central shaft of video camera lens, and b is the benchmark end point position in the image plane; A is the instantaneous end point position in the image plane, so,
Be the horizontal line displacement; F be the lens of video camera to the distance between image plane, also be focal length.
The explanation of continuity step 2 is if select among the step S2 " deny ", representative has been preset with benchmark end point P and reference horizontal line H, so, directly carry out step S4, just start image collection device 10 beginning collection vehicle 100 road ahead images.Step 4 is delivered among the image process unit 20 for obtaining road image, and this moment, image process unit 20 was divided the block A and the block B of the first half with road image, and the block C of Lower Half, and enters the light and shade identification of step 5; As shown in Figure 6, promptly be to take block A and block B carries out image processing; The purpose of this step is to judge that the present time is daytime or night, wherein block A and block B laterally are divided into earlier some intervals, then utilize the image pixel light and shade value in formula (2) and formula (3) calculation block A, the B, as follows shown in its mathematical expression (2) and the formula (3):
Wherein, gray is the GTG brightness value of each image pixel (Pixel), and thdark is the threshold value of dark brightness, and Thnight is for judging the threshold value of brightness at night; THDay is for judging the threshold value of brightness on daytime; Comparing after obtaining block A, B light and shade value, when the shared quantity of dim spot promptly is judged to be night greater than Thnight, otherwise then is daytime, when being judged to be daytime promptly directly to step S14, finishes all system flows; If but the lane line identification flow process that promptly enters next step S6 night; In addition, the day of step S5, judgement at night also can be passed through headlight switch signal, luminosity sensor ... etc. means and use and learn, do not exceed with above-mentioned means.
Please cooperate shown in Figure 7 in addition; Step S6 takes block C and makes the lane line feature identification at the Lower Half of road image, after entering step S6, utilize terrain vehicle diatom image characteristics, high gray value identification through step S61, the lane line local edge identification of step S62, and the lane width identification of step S63, analyze the road presentation content and obtain vehicle lane line feature point (figure does not show), and cooperate the ROI mode that the road image Lower Half from bottom to top is divided into multizone scanning, revise renovated bus road line feature point latest position constantly; At this moment, the lane line unique point is arranged, then can set up an instant lane line, promptly enter step S64, know the lane line unique point, just represent that image process unit 20 can set up two instant lane line L simultaneously if all debate in the road both sides if only detect road one side
1, L
2, just enter among the step S65, special instruction be that many country roads are not all to have to draw a bidding line, for taking the generation of this situation into account, are all not detect side under the situation of lane line unique point to continue for some time, and enter step S66.
Hold above-mentionedly, still cooperate Fig. 4 to illustrate with Fig. 7.If enter step S64, expression through step S63 after, image process unit 20 is only set up one-sided instant lane line, at this with the instant lane line L in right side
1Be example; At this moment, as step S641, with acquired this instant lane line L
1Add the preset standard lane width and set up a virtual instant lane line L
2, also just be equal to the meaning that step S65 obtains two instant lane lines, then, just can enter step S7, by this instant lane line L
1With this virtual instant lane line L
2Obtain the instantaneous end point P that extends the road far-end
x: this virtual instant lane line also can be set at arbitrary line segment parallel with this instant lane line in addition, also can obtain the instantaneous end point P that the two extends the road far-end by this
x
Moreover, when road do not drawn left-lane line or right lane line any one the time, in order to obtain lane line end point P
xAt this moment, promptly must utilize step S66, set up at least one virtual vehicle road sequence of threads with image processing, cooperate shown in Figure 8, at first, carry out rim detection, a plurality of virtual track unique point of utilizing image edge to obtain at step S662, obtaining of this unique point, can utilize images such as front vehicles or roadside buildings thing,, follow step S663 by the described object that is parallel to garage's direction, utilize suddenly formula transformational analysis track unique point and carry out Feature Conversion, after this carry out straight-line detection at step S664, a plurality of virtual vehicle of correspondence road line feature point is taken out, each virtual vehicle road line feature point before and after connecting, by this, set up one or more virtual instant lane line, extend a plotted point in a distant place, also will form the instantaneous end point P that step S7 needs by estimating all virtual vehicle diatoms
xCertainly, when carrying out step S66, also can set in the unit interval if all can't set up instant lane line, directly enter step S14, detection of end also returns head lamp 110 to initial, set position, to guarantee driver's safety.
Obtain instant lane line L again,
1, L
2After, along with the time is elongated, instant lane line L
1, L
2Also must keep to upgrade its essential meaning is just arranged; Therefore when step S7, must be as shown in Figure 9, utilize the instant lane line and the variation of time of continuous updating to set up the lane line forecast model, and continue to do the starting point search in step S72, step S73 repeats to upgrade the track forecast model, the criterion of Chong Fuing at step S74, can obtain each instantaneous end point P in the chronomere according to this
xThe position, after the end, promptly enter step S8, by instantaneous end point P
xSet up an instantaneous horizontal line H
x
Set up implementation step via above-mentioned explanation about inclination of vehicle detection method of the present invention.And emphasize at this, the full-time application in Vehicular illumination system of this case inventor and control are for many years, mode about above-mentioned lane line modelling, forgive obtaining of benchmark end point, can be simultaneously with reference to the inventor before No. 96145498, TaiWan, China patented claim " inspection method and the device of vehicle shift " and in mentioned.Secondly, foundation about instantaneous end point, do not limit and to form by the instant lane line plotted point more than two or two, this is the better embodiment that makes things convenient for the more accurate judgement pavement behavior of system, if only adopt single instant lane line, treat as a virtual instant lane line by virtual at least one line segment parallel again with this instant lane line, then two line segments also can finish to form an end point at last in a picture distant place, instantaneous horizontal line by this end point still can be set, so, should not limit the invention process with this.
When the institute of understanding the collection of this case image application, image analysing computer and lane line forecast model in steps after, next, cooperate Figure 10 a to Figure 10 c represent vehicle run into uphill way or car body because of the load-carrying inequality be before during high back low state, and Figure 11 a to Figure 11 c explanation vehicle is when running into descending highway section or car body and being low early and high after state because of the load-carrying inequality, how different terrain calculates changes the required angle value of headlight for vehicle, and head lamp 110 adjustment processes.Consult Figure 10 a earlier, and cooperate the flowchart text of Fig. 3 simultaneously; When there was uphill way in the place ahead, video camera 10 was obtained road image earlier by step S4, went through step S4 after the process of step S8, can set up instantaneous end point P
xAnd instantaneous horizontal line Hx, the two in Figure 10 c respectively with instantaneous end point P
1And instantaneous horizontal line H
1Expression; Then, enter step S9, calculate reference horizontal line H and instantaneous horizontal line H
1Displacement on image, this moment, default this reference horizontal line H value was 0, above it be on the occasion of, the below is a negative value, so this instantaneous horizontal line H
1For on the occasion of, therefore in present embodiment, this displacement is equivalent to deduct this instantaneous horizontal line H with reference horizontal line H
1So, a negative value, to be expressed as uphill way.
In step S10, take this displacement, and matching camera 10 focal lengths calculating road ahead degree of tilt, in other words, also represent the body sway angle of vehicle body when plane and slope adjoiner, and, note down each tilt angle theta as step S101
nData (wherein, n represents to note down number of times), with shown in step S11, consider safety issue, therefore the adjustment of head lamp 110 should be formulated the visible height of standard and scope as foundation with reference to rules at present, simultaneously for avoiding continuous angular setting, cause inapplicable head lamp 110 light on the contrary, therefore the difference computing must be carried out at least two angles of inclination of continuous time point, with this example is that the angle of inclination that last time calculated is deducted at the angle of inclination that will calculate at present, just, the adjustment angle delta θ that really needs among the step S11 obtains after should being calculated by following formula (4):
Δθ＝θ
n-θ
n-1 (4)；
After obtaining this adjustment angle delta θ, in step S12, be converted to a control signal immediately, and, receive these control signals as the foundation of adjusting head lamp 110 illumination zones by horizontal adjustment controller 50 at step S13; Behind the end step S13, circulation enters step S4 continuation and gathers the road ahead image again, runs into judgement and enter daytime when step S5, or step S6 continue to detect less than lane line, or the user is voluntarily during the shutdown system running, then enter step S14, finish operation.Identical reason equally can be applied in the detection in Figure 11 a to Figure 11 c descending highway section; Specify instantaneous end point P
xAnd instantaneous horizontal line Hx in the descending highway section respectively with instantaneous end point P
2With instantaneous horizontal line H
2Expression, the instantaneous end point P in descending highway section
2With instantaneous horizontal line H
2Highly for be positioned at benchmark end point P and reference horizontal line H the below, so the two displacement that subtracts each other be one on the occasion of.Moreover, when the car load-carrying is overweight, also influences it naturally and record the result, repeat no more.
Moreover, except that the horizontal adjustment control that can be applicable to headlight for vehicle, also can be used for vehicle suspention horizontal adjustment, vehicle loading horizontal adjustment by above-mentioned inclination of vehicle detection method ... in system; Also can preestablish the average and benchmark end point when being positioned at an absolute horizon of vehicle load and obtain a reference horizontal line according to this, and when passengers quantity on the car changes to some extent or load-carrying also will obtain an instantaneous end point and produce an according to this when unequal instantaneous horizontal line, by estimating this reference horizontal line and this instantaneous horizontal displacement, and then then still can obtain the inclination of vehicle angle, and can carry out the vehicle suspention according to this and adjust or the loading horizontal adjustment by S9, S10 step.
In addition, above-mentioned inclination of vehicle detection method also can be applicable on the vehicle electric parking system, general electronics parking system mainly is connected with a Parking actuating device and a brake card pincers by the start button that is placed on the car, wherein this Parking actuating device utilizes mechanisms such as motor, non-return mechanism, reductor so that this brake card pincers produces damping force, and then reaches the Parking effect; Utilize above-mentioned inclination of vehicle method can further detect the vehicle angle of inclination, and, provide the Parking strength of giving vehicle parking system size with decision according to the driving force of inclination of vehicle angle control motor.
In sum, inclination of vehicle detection method of the present invention possesses simultaneously precision height, sensitivity and instantaneity is arranged, and can know pavement behavior in advance; In addition, the advantage that car light automatic horizontal system its method of natural succession of application this method has can be carried out head lamp road-fitting property illumination adjustment in the trail compliant road surface at any time, improves the driver and exercises safety night, and can cooperate the head lamp automatic open close to use, and increase its practical performance.
The above only is preferred embodiment of the present invention, only is illustrative for the purpose of the present invention, and nonrestrictive.Those skilled in the art is understood, and can carry out many changes to it in the spirit and scope that claim of the present invention limited, revise, even equivalence, but all will fall within the scope of protection of the present invention.
Claims (10)
1. an inclination of vehicle method for sensing is applied to the degree of tilt detection of a vehicle, it is characterized in that this inclination of vehicle method for sensing comprises:
Gather this vehicle front one road image;
This road image is carried out image processing, to obtain at least one instant lane line;
According to this at least one instant lane line, estimate an instantaneous end point, and an instantaneous horizontal line that passes through this instantaneous end point;
A default reference horizontal line;
Calculate this reference horizontal line and this instantaneous horizontal displacement; And
Analyze the angle of inclination of this vehicle according to this displacement.
2. inclination of vehicle method for sensing as claimed in claim 1, it is characterized in that, in the step of default this reference horizontal line, comprise, measure a benchmark end point when average and position is at an absolute horizon at this vehicle load earlier, continue and set up this reference horizontal line by this benchmark end point; And this displacement is this reference horizontal line and this instantaneous horizontal line difference, when this displacement is non-vanishing, if be judged as negative value, represents this vehicle position at uphill way, as if be judged as on the occasion of, represent that this vehicle position is in the descending highway section.
3. inclination of vehicle method for sensing as claimed in claim 1, it is characterized in that, this at least one instant lane line is by detecting the peripheral path image of this vehicle, and then obtain a plurality of virtual vehicle road line feature point, and after utilizing formula conversion suddenly that described virtual vehicle road line feature point is carried out the space characteristics conversion, each this virtual track unique point forms before and after connecting.
4. inclination of vehicle method for sensing as claimed in claim 1, it is characterized in that, the road at this vehicle place has at least one lane line, when this inclination of vehicle method for sensing carries out image processing to this road image, should be set at this at least one instant lane line by at least one lane line.
5. inclination of vehicle method for sensing as claimed in claim 1 is characterized in that this vehicle has at least one head lamp, when this road image carries out image processing, go out identification one light and shade value earlier and start this head lamp illumination, continue and calculate this angle of inclination, and adjust this headlight irradiation scope according to this angle of inclination.
6. a head lamp automatic horizontal system is installed on a vehicle, in order to control its at least one head lamp, it is characterized in that, this head lamp automatic horizontal system includes:
One image collection device is located at this vehicle front, in order to obtain a road image;
One image process unit, electrically connect this image collection device and this road image of identification, this image process unit is obtained at least one instant lane line by image processing, according to this at least one instant lane line, estimate an instantaneous end point, and an instantaneous horizontal line by this instantaneous end point, this image process unit also is preset with a reference horizontal line, by calculating this reference horizontal line and this instantaneous horizontal displacement obtaining an angle of inclination of this vehicle, and be converted into a control signal; And
One horizontal adjustment controller electrically connects this image process unit and this head lamp, and this horizontal adjustment controller is obtained this control signal, and adjusts this head lamp angle according to this control signal.
7. head lamp automatic horizontal as claimed in claim 6 system, it is characterized in that, default this vehicle load of this image process unit is average and when being positioned at the road of an absolute horizon, this at least one instant lane line will extend a picture distant place and form a benchmark end point, form this reference horizontal line by this benchmark end point; And this displacement is the poor of this reference horizontal line and this instantaneous horizontal line, if this displacement is zero, represent that the average or position of this vehicle load is on the road surface, level land, if this displacement is non-vanishing, if be judged as negative value, represent this vehicle position low state in high back before uphill way or car body are, if be judged as negative on the occasion of, represent this vehicle position in the descending highway section or car body be low early and high after state.
8. head lamp automatic horizontal as claimed in claim 6 system, it is characterized in that, this image process unit is obtained a plurality of lane line unique points in this road image, after utilizing formula conversion suddenly that described virtual vehicle road line feature point is carried out the space characteristics conversion, each this virtual track unique point forms this at least one instant lane line before and after connecting.
9. head lamp automatic horizontal as claimed in claim 6 system is characterized in that this vehicle place road has at least one lane line, and this at least one lane line of this image process unit identification is set at this at least one instant lane line.
10. head lamp automatic horizontal as claimed in claim 6 system, it is characterized in that, this angle of inclination is taken the lens focus of this image collection device and this amount of displacement and is converted and obtain, and this control signal is utilized the differential seat angle of at least two these inclination of vehicle angles of continuous time point to obtain one to adjust angular transition and form.
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| CN102837635A (en) * | 2012-09-27 | 2012-12-26 | 郭廷麟 | Car lamp following adjusting device and adjusting method |
| CN103403572A (en) * | 2011-03-17 | 2013-11-20 | 三菱电机株式会社 | Vehicle inclination detection device |
| CN105493102A (en) * | 2013-08-26 | 2016-04-13 | 罗伯特·博世有限公司 | Method and device for determining the quality of a road |
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| CN103403572B (en) * | 2011-03-17 | 2015-05-27 | 三菱电机株式会社 | Vehicle inclination detection device |
| CN102837635A (en) * | 2012-09-27 | 2012-12-26 | 郭廷麟 | Car lamp following adjusting device and adjusting method |
| CN105493102A (en) * | 2013-08-26 | 2016-04-13 | 罗伯特·博世有限公司 | Method and device for determining the quality of a road |
| CN105765605A (en) * | 2013-10-08 | 2016-07-13 | 福特全球技术公司 | Method for determining a relative gradient of a roadway |
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| CN109598256A (en) * | 2018-12-25 | 2019-04-09 | 斑马网络技术有限公司 | Pass in and out ramp judgment method, device, vehicle, storage medium and electronic equipment |
| CN110044333A (en) * | 2019-05-14 | 2019-07-23 | 芜湖汽车前瞻技术研究院有限公司 | A kind of slope detection method and device based on monocular vision |
| CN110221328A (en) * | 2019-07-23 | 2019-09-10 | 广州小鹏汽车科技有限公司 | A kind of Combinated navigation method and device |
| CN113515973A (en) * | 2020-04-09 | 2021-10-19 | 北京地平线机器人技术研发有限公司 | Data acquisition method, training method, adjustment method and device |
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