CN108515901B - Self-adaptive illumination control system and control method - Google Patents

Self-adaptive illumination control system and control method Download PDF

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Publication number
CN108515901B
CN108515901B CN201810263130.2A CN201810263130A CN108515901B CN 108515901 B CN108515901 B CN 108515901B CN 201810263130 A CN201810263130 A CN 201810263130A CN 108515901 B CN108515901 B CN 108515901B
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vehicle
radar
module
target vehicle
headlamp
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CN108515901A (en
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赵旭
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Beijing Jingwei Hirain Tech Co Ltd
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Beijing Jingwei Hirain Tech Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

The invention discloses a self-adaptive illumination control system and a control method, wherein the system comprises: the radar auxiliary module is arranged on the side surface of the vehicle and used for identifying a target vehicle which enters a detection range behind the side of the vehicle; the headlamp controller is used for judging whether the target vehicle has overtaking behaviors or not according to the vehicle front identification information, the vehicle side and rear identification information and the whole vehicle motion state information set, if yes, generating self-adaptive adjustment instructions for the left headlamp lighting module and/or the right headlamp lighting module, controlling the left headlamp driving module and/or the right headlamp driving module to drive the left headlamp lighting module and/or the right headlamp lighting module according to the self-adaptive adjustment instructions, and forming a lighting dark area in a lighting range before the target vehicle drives into the lighting range of the left headlamp lighting module and/or the right headlamp lighting module. By the system and the method provided by the invention, the illumination dark area can be formed in front of the illumination range from overtaking of a rear vehicle to overtaking of a front vehicle.

Description

Self-adaptive illumination control system and control method
Technical Field
The invention relates to the technical field of automotive electronics, in particular to a self-adaptive illumination control system and a control method.
Background
At present, the self-adaptive illumination control system is gradually used by a large number of vehicles due to the characteristics of intelligence, safety, comfort and the like. As shown in fig. 1, the general adaptive lighting control system is composed of a front view camera module 11, a headlamp Controller 12, a Controller Area Network (CAN) bus 13, a left headlamp driving module 14, a right headlamp driving module 15, a left headlamp lighting module 16, and a right headlamp lighting module 17. The adaptive lighting control system identifies the front vehicle through the front-view camera module 11, sends the identification information to the headlight controller 12 for processing, obtains control information of the left headlight lighting module 16 and the right headlight lighting module 17, and drives the corresponding lighting modules to form a lighting dark area according to the control information by the headlight driving module 14 and the headlight driving module 15, so that the driver is prevented from dazzling when the front vehicle enters the lighting range of the vehicle.
However, the existing adaptive lighting control system can only detect the running condition of the vehicle in front by means of the front-looking camera module 11, and the horizontal detection angle of the front-looking camera module 11 is limited and is generally not greater than 60 degrees, so that the left and right sides of the vehicle have a large range of blind areas. When a side vehicle and a rear vehicle overtake or run in parallel with the host vehicle, the rear vehicle body of the side vehicle and the rear vehicle may be in the camera blind area, and the front vehicle body may enter the illumination range of the vehicle. Since the current front-view camera module 11 cannot identify the side and rear vehicles, the adaptive lighting control system does not adjust the lighting for the side and rear vehicles, and thus when the side and rear vehicles overtake into the front, the rear-view mirrors may be illuminated by the vehicle lights, causing glare to the drivers of the side and rear vehicles.
Disclosure of Invention
In view of the above, the present invention discloses a self-adaptive lighting control system and a control method thereof, so as to form a lighting dark area in a lighting range of a left headlamp lighting module and/or a right headlamp lighting module before a target vehicle at a side rear of the vehicle enters the lighting range of the left headlamp lighting module and/or the right headlamp lighting module of the vehicle, thereby effectively preventing a driver of the target vehicle from dazzling due to the fact that a rearview mirror of the target vehicle is lighted by the vehicle when the target vehicle enters the lighting area of the vehicle.
An adaptive lighting control system, comprising: the system comprises a front-view camera module, a headlamp controller, a whole vehicle CAN bus, a left headlamp driving module, a right headlamp driving module, a left headlamp lighting module, a right headlamp lighting module and a radar auxiliary module;
the whole vehicle CAN bus is respectively connected with the front-view camera module, the headlamp controller and the radar auxiliary module and is used for acquiring a whole vehicle motion state information set;
the radar auxiliary module is arranged on the side surface of the vehicle and used for identifying the target vehicle which enters the detection range of the lateral rear part of the vehicle and sending the lateral rear part identification information of the vehicle to the headlamp controller through the whole vehicle CAN bus;
the front-view camera module is connected with the headlamp controller and is used for identifying a target vehicle running into the field range of the camera in front of the vehicle and sending vehicle front identification information to the headlamp controller;
the headlamp controller is respectively connected with the left headlamp driving module and the right headlamp driving module, the left headlamp driving module is connected with the left headlamp lighting module, and the right headlamp driving module is connected with the right headlamp lighting module;
the headlamp controller is used for judging whether the target vehicle has a overtaking behavior or not according to the vehicle front identification information, the vehicle side and rear identification information and the whole vehicle motion state information set, if the target vehicle has the overtaking behavior, generating a self-adaptive adjustment instruction for the left headlamp lighting module and/or the right headlamp lighting module, and controlling the left headlamp driving module to drive the left headlamp lighting module according to the self-adaptive adjustment instruction, and/or controlling the right headlamp driving module to drive the right headlamp lighting module according to the self-adaptive adjustment instruction, so that a lighting dark area is formed in the lighting range of the left headlamp lighting module and/or the right headlamp lighting module before the target vehicle drives into the lighting range of the left headlamp lighting module and/or the right headlamp lighting module.
Preferably, the radar auxiliary module is configured to detect whether the target vehicle is present in a detection range of a left rear radar, and record, by the headlight controller, a duration of the target vehicle in the detection range of the left rear radar; detecting whether the target vehicle is in a detection range of a left front radar or not, and recording the duration of the target vehicle in the detection range of the left front radar by the headlamp controller; recording the duration time of the target vehicle in the left rear radar detection range and the left front radar detection range simultaneously by the headlamp controller;
the headlamp controller is used for detecting whether the target vehicle appears in the detection range of the right rear radar or not and recording the duration of the target vehicle in the detection range of the right rear radar by the headlamp controller; detecting whether the target vehicle appears in the detection range of a front right radar or not, and recording the duration of the target vehicle in the detection range of the front right radar by the headlamp controller; and recording the duration of the target vehicle in the right rear radar detection range and the right front radar detection range simultaneously by the headlamp controller.
An adaptive lighting control method applied to the adaptive lighting control system, the control method comprising:
acquiring vehicle front identification information output by a front-view camera module, vehicle side rear identification information output by a radar auxiliary module and a whole vehicle motion state information set acquired from a whole vehicle CAN bus;
judging whether the target vehicle has overtaking behaviors or not according to the vehicle front identification information, the vehicle side and rear identification information and the whole vehicle motion state information set, and if yes, generating self-adaptive adjustment instructions for the left headlamp lighting module and/or the right headlamp lighting module;
and controlling a left headlamp driving module to drive the left headlamp lighting module according to the self-adaptive adjusting instruction, and/or controlling a right headlamp driving module to drive the right headlamp lighting module according to the self-adaptive adjusting instruction, and before the target vehicle drives into the lighting range of the left headlamp lighting module and the right headlamp lighting module, forming a lighting dark area in the lighting range of the left headlamp lighting module and/or the right headlamp lighting module.
Preferably, the step of judging whether the target vehicle has an overtaking behavior according to the vehicle front identification information, the vehicle side and rear identification information and the complete vehicle motion state information set, and if the target vehicle has the overtaking behavior, the step of generating the adaptive adjustment instruction for the left headlamp lighting module and/or the right headlamp lighting module comprises the following steps:
and when the target vehicle passes through or drives into a detection range of the radar auxiliary module on the side of the vehicle and before the head of the target vehicle enters a vehicle illumination range, generating the self-adaptive adjusting instruction according to the vehicle side and rear identification information and the whole vehicle motion state information set.
Preferably, the method further comprises the following steps:
and when the target vehicle enters the camera view range of the front-looking camera module, generating the self-adaptive adjustment instruction according to the vehicle front identification information.
Preferably, when the target vehicle enters a detection range of the radar auxiliary module on the side of the vehicle and before the head of the target vehicle enters a vehicle illumination range, generating the adaptive adjustment instruction according to the vehicle side and rear identification information and the vehicle motion state information set, including:
when the target vehicle enters a detection range of the radar auxiliary module on the side of the vehicle, generating an overtaking mark;
the overtaking mark is a mark for determining that the target vehicle has overtaking behaviors, and is determined by a target object identifier and the whole vehicle motion state information set;
the target object identification is determined according to the duration of the target vehicle in a front left radar detection range, the duration of the target vehicle in a rear left radar detection range, and the duration of the target vehicle in both the front left radar detection range and the rear left radar detection range; or the time duration of the target vehicle in the front right radar detection range, the time duration of the target vehicle in the rear right radar detection range, and the time durations of the target vehicle in the front right radar detection range and the rear right radar detection range.
Preferably, when the target vehicle drives into the overtaking sign, the left headlamp lighting module and/or the right headlamp lighting module are controlled to form a lighting dark area in advance within a module lighting range of the left headlamp lighting module and/or the right headlamp lighting until the holding time is set to zero;
when the target vehicle is positioned on the left side of the vehicle, the holding time is determined according to the duration of the target vehicle positioned in the left front radar detection range and the left rear radar detection range at the same time and the whole vehicle motion state information set; and when the target vehicle is positioned on the right side of the vehicle, the holding time is determined according to the duration of the target vehicle positioned in the detection range of the front right radar and the detection range of the rear right radar at the same time and the motion state information set of the whole vehicle.
Preferably, the method further comprises the following steps:
when the target vehicle drives out of the bright and dark area, the left headlamp driving module is controlled to drive the left headlamp lighting module, and/or the right headlamp driving module drives the right headlamp lighting module to recover to normal lighting.
The technical scheme includes that the invention discloses a self-adaptive lighting control system and a control method, a front-view camera module identifies a target vehicle entering a visual field range of a camera in front of the vehicle, a radar auxiliary module identifies the target vehicle in a lateral rear detection range of the vehicle, and a whole vehicle CAN bus acquires a whole vehicle motion state information set, so that a headlamp controller CAN judge whether the target vehicle has overtaking behavior according to the vehicle front identification information output by the front-view camera module, the vehicle lateral rear identification information output by the radar auxiliary module and the whole vehicle motion state information set acquired from the whole vehicle CAN bus, if the target vehicle has overtaking behavior, a self-adaptive adjustment instruction for a left headlamp lighting module and/or a right headlamp lighting module is generated, and the left headlamp lighting module is driven by controlling a left headlamp driving module according to the self-adaptive adjustment instruction, and/or the right headlamp driving module drives the right headlamp lighting module according to the self-adaptive adjusting instruction, and before the target vehicle enters the lighting range of the left headlamp lighting module and/or the right headlamp lighting module, a lighting dark area is formed in the lighting range of the left headlamp lighting module and/or the right headlamp lighting module, so that the situation that the target vehicle is dazzled by a driver of the target vehicle when entering a vehicle lighting area and a rearview mirror of the target vehicle is lighted by the vehicle is effectively avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the disclosed drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an adaptive lighting control system disclosed in the prior art;
fig. 2 is a schematic structural diagram of an adaptive lighting control system according to an embodiment of the disclosure;
FIG. 3 is a schematic view of a shooting range of a front view camera module, a detection range of a radar auxiliary module, and illumination ranges of a left headlamp illumination module and a right headlamp illumination module according to an embodiment of the present invention;
FIG. 4(a) is a schematic diagram of a target vehicle located in the detection area of a radar at the left rear of the vehicle according to the embodiment of the present invention;
FIG. 4(b) is a schematic diagram of a target vehicle simultaneously located in the detection area of the rear left radar of the vehicle and the detection area of the front left radar of the vehicle according to the embodiment of the present invention;
fig. 4(c) is a schematic diagram of a target vehicle located in a detection area of a left front radar of the vehicle and a left front lighting module adjusting a lighting range according to an embodiment of the present invention;
FIG. 4(d) is a schematic diagram of a headlight controller controlling the illumination ranges of the left headlight module and the right headlight module according to the identification information of the front of the vehicle according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of the time-dependent changes of 8 variables related to a vehicle body radar in the processes of FIG. 4(a), FIG. 4(b), FIG. 4(c) and FIG. 4(d) according to an embodiment of the present invention;
fig. 6 is a flowchart of an adaptive illumination control method according to an embodiment of the disclosure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a self-adaptive illumination control system and a control method, which are used for forming an illumination dark area in an illumination range of a left headlamp illumination module and/or a right headlamp illumination module of a vehicle before a target vehicle enters the illumination range of the left headlamp illumination module and/or the right headlamp illumination module of the vehicle, so that the situation that a driver of the target vehicle is dazzled due to the fact that a rearview mirror of the target vehicle is illuminated by the vehicle when the target vehicle enters the illumination area of the vehicle is effectively avoided.
An adaptive lighting control system disclosed in an embodiment of the present invention, referring to fig. 2, includes: the system comprises a front-view camera module 11, a headlamp controller 12, a whole vehicle CAN bus 13, a left headlamp driving module 14, a right headlamp driving module 15, a left headlamp lighting module 16, a right headlamp lighting module 17 and a radar auxiliary module 18;
wherein, whole car CAN bus 13 is connected with forward-looking camera module 11, headlight controller 12 and radar auxiliary module 18 respectively, and whole car CAN bus 13 is used for acquireing whole car motion state information set, and this whole car motion state information set CAN include: power mode of the vehicle, engine status, vehicle speed, lamp status, steering wheel angle, etc.
The radar auxiliary module 18 is arranged on the side surface of the vehicle and used for identifying a target vehicle entering the detection range of the lateral rear part of the vehicle and sending the identification information of the lateral rear part of the vehicle to the headlamp controller 12 through the whole vehicle CAN bus 13.
The front view camera module 11 is connected to the headlight controller 12, and is configured to identify a target vehicle entering a field of view of a camera in front of the vehicle, and transmit vehicle front identification information to the headlight controller 12, and in practical applications, the front view camera module 11 may be disposed at a center position in front of the vehicle.
The headlamp controller 12 is respectively connected with a left headlamp driving module 14 and a right headlamp driving module 15, the left headlamp driving module 14 is connected with a left headlamp lighting module 16, and the right headlamp driving module 15 is connected with a right headlamp lighting module 17;
the headlamp controller 12 is configured to generate an adaptive adjustment instruction for the left headlamp lighting module 16 and/or the right headlamp lighting module 17 according to the vehicle front identification information output by the front view camera module 11, the vehicle side rear identification information output by the radar auxiliary module 18, and the vehicle motion state information set acquired from the vehicle CAN bus 13, and control the left headlamp driving module 14 to drive the left headlamp lighting module 16 according to the adaptive adjustment instruction, and/or control the right headlamp driving module 15 to drive the right headlamp lighting module 17 according to the adaptive adjustment instruction, so that a dark illumination area is formed in the lighting range of the left headlamp lighting module 16 and/or the right headlamp lighting module 17 before the target vehicle enters the lighting range of the left headlamp lighting module 16 and/or the right headlamp lighting module 17.
It should be noted that when the target vehicle enters the lighting range of the left headlamp lighting module 16 and/or the right headlamp lighting module 17, that is, when the target vehicle enters the vehicle lighting area, the rear view mirror of the target vehicle may be illuminated, causing the driver of the target vehicle to be dazzled, and thus causing the target vehicle to be possibly dangerous. Therefore, when the target vehicle is about to enter the vehicle lighting area, mainly a dazzling dangerous area which is dazzling for the target vehicle, a lighting dark area is formed in advance, so that the phenomenon that a driver of the target vehicle is dazzled due to the fact that a rearview mirror of the target vehicle is lighted by the vehicle is avoided.
In summary, the adaptive lighting control system disclosed in the present invention is configured such that the front view camera module 11 identifies a target vehicle entering the field of view of the front view camera of the vehicle, the radar auxiliary module 18 identifies a target vehicle in the detection range of the rear side of the vehicle, and the vehicle CAN bus 13 acquires a vehicle motion state information set, so that the headlight controller 12 CAN generate an adaptive adjustment command for the left headlight lighting module 16 and/or the right headlight lighting module 17 according to the vehicle front identification information output by the front view camera module 11, the vehicle rear side identification information output by the radar auxiliary module 18, and the vehicle motion state information set acquired from the vehicle CAN bus 13, and drive the left headlight lighting module 16 and/or the right headlight lighting module 17 according to the adaptive adjustment command by controlling the left headlight driving module 14, and/or drive the right headlight driving module 15, before the target vehicle enters the lighting range of the left headlamp lighting module and/or the right headlamp lighting module, a lighting dark area is formed in the lighting range of the left headlamp lighting module 16 and/or the right headlamp lighting module 17, so that the situation that the driver of the target vehicle is dazzled due to the fact that the rearview mirror of the target vehicle is lighted by the vehicle when the target vehicle enters the lighting area of the vehicle is effectively avoided.
In practical applications, the radar auxiliary module may include four radar probes, as shown in fig. 3, where the four radar probes are: a left front radar 181 located at the left front of the vehicle body, a left rear radar 182 located at the left rear of the vehicle body, a right front radar 183 located at the right front of the vehicle body, and a right rear radar 184 located at the right rear of the vehicle body; here, the detection range of the left front radar 181 is indicated by reference numeral 185, the detection range of the left rear radar 182 is indicated by reference numeral 186, the detection range of the right front radar 183 is indicated by reference numeral 187, and the detection range of the right rear radar 184 is indicated by reference numeral 188. Therefore, the detection range that the radar auxiliary module 18 can identify the target vehicle specifically includes: a left front radar detection range 185, a left rear radar detection range 186, a right front radar detection range 187, and a right rear radar detection range 188.
In practical applications, the radar auxiliary module is specifically configured to detect whether a target vehicle is present within a detection range of the left rear radar 182, and record, by the headlight controller, a duration of the target vehicle within the detection range 186 of the left rear radar; detecting whether a target vehicle is present in the detection range of the left front radar 181 and recording, by the headlight controller, the duration of the target vehicle in the detection range of the left front radar 185; and the duration of the target vehicle being in both the left rear radar detection range 186 and the left front radar detection range 185 is recorded by the headlight controller;
the headlight controller is used for detecting whether a target vehicle is present in the detection range of the right rear radar 184 or not and recording the duration of the target vehicle in the detection range 188 of the right rear radar by the headlight controller; detecting whether a target vehicle is present within the detection range of the right front radar 183 and recording the duration of the target vehicle within the detection range 187 of the right front radar by the headlight controller; and the duration of time that the target vehicle is simultaneously within the right rear radar detection range 188 and the right front radar detection range 187 is recorded by the headlight controller.
It should be noted that the number of the radar probes included in the radar auxiliary module includes, but is not limited to, four, which may be determined according to actual needs.
In order to facilitate understanding of the working principle of the adaptive lighting control system, fig. 3 also shows a camera view range 191 of the front-view camera module, an illumination range 192 of the left headlamp lighting module, and an illumination range 193 of the right headlamp lighting module, wherein the camera view range 191, that is, the camera view range, covers the illumination range of the vehicle headlights, and in practical applications, the front-view camera module identifies a target vehicle driving into the camera view range 191.
A specific embodiment is provided below to illustrate the working principle of the adaptive lighting control system.
Assuming that the target vehicle passes through the left side of the vehicle, referring to fig. 4(a), 4(b), 4(c) and 4(d), the operation principle of the adaptive illumination control system is specifically as follows:
when the target vehicle overtakes from the rear left, the rear left radar 182, the front left radar 181 and the front-view camera module in the radar auxiliary module sequentially detect the target vehicle. Before the target vehicle passes or enters the detection range of the left rear radar 182 and/or the detection range of the left front radar 181, and the head of the target vehicle enters the vehicle illumination range, as shown in fig. 4(a) and 4 (b). The headlight controller may determine that the target vehicle is on the left side of the vehicle and has an overtaking behavior according to the target vehicles detected by the front left radar 181 and the rear left radar 182, and at this time, the headlight controller generates a corresponding adaptive adjustment instruction to control only the left headlight lighting module or simultaneously control the left headlight lighting module and the right headlight lighting module, and a dark lighting area is formed in advance within the lighting range of the left headlight lighting module and the right headlight lighting module, as shown in fig. 4 (c). When the target vehicle is identified by the front view camera module, the front view camera module sends the vehicle front identification information to the headlight controller, and the headlight controller controls the illumination range of the left headlight illumination module through the left headlight driving module according to the front identification information, as shown in fig. 4 (d).
The calculation process of the headlamp controller generating the adaptive adjustment command when the left side of the vehicle passes through the target vehicle is described by introducing 9 variables and 4 functions as follows:
assume that the target distance D between the target vehicle and the vehicle is detected by the rear left radar 182LR(ii) a Target object distance D between target vehicles detected by left front radar 181LF(ii) a When the rear left radar 182 and the front left radar 181 simultaneously detect the target vehicle,giving a mark F to a targetLL(ii) a Complete vehicle motion state information set HV(ii) a Target vehicle driving-in overtaking mark FLCIAnd the retention time T after the target vehicle is driven inLCIH(ii) a Wherein, the overtaking sign FLCIFor confirming the occurrence sign of overtaking behavior of the target vehicle, the target object sign FLLThe left headlight lighting module and/or the right headlight lighting module are/is used for lighting the left headlight lighting module and/or the right headlight lighting module, and the left headlight lighting module and/or the right headlight lighting module are/is used for lighting the left headlight lighting module and/or the right headlight lighting module.
When the target vehicle starts to drive into the detection range of the left rear radar, the headlight controller starts the timer to time, and when the target vehicle drives out of the detection range of the left rear radar, the headlight controller controls the timer to stop timing, so that the duration time T of the target vehicle passing through the detection range of the left rear radar is obtainedLR；
Similarly, when the target vehicle starts to drive into the detection range of the left front radar, the headlight controller starts the timer to time, and when the target vehicle drives out of the detection range of the left front radar, the headlight controller controls the timer to stop timing, so that the duration T of the target vehicle passing through the detection range of the left front radar is obtainedLF；
Similarly, when the target vehicle is still in the detection range of the left rear radar and starts to drive into the detection range of the left front radar, the headlight controller starts the timer to time, and controls the timer to stop timing when the target vehicle drives out of the detection range of the left rear radar, so that the duration time T of the detection range of the left front radar and the detection range of the left rear radar of the target vehicle at the same time is obtainedLL；
The 4 functions f, g, h, p are described as follows:
(TLF，TLR，TLL)＝f(DLF，DLR) (1)；
FLL＝g(TLF，TLR，TLL) (2)；
FLCI＝h(FLL，HV) (3)；
TLCIH＝p(TLL，HV) (4)；
wherein the principle of function (1): by monitoring two detection ranges, the detection range includes: target object distance D between target vehicle and vehicle detected by the vehicle's left rear radar 182LR(ii) a Target object distance D between target vehicle and vehicle detected by left front radar 181 of vehicleLF(ii) a And filtering the detection distance according to the characteristics of the auxiliary radar, such as amplitude, change trend and the like, and starting timing after passing through the filter.
Principle of function (2): and correspondingly filtering the amplitude values of the three times to confirm whether an event that one object is detected by two probes at the same time occurs. Specifically, in function (2), the duration T of the target vehicle passing through the detection range of the front left radar is usedLFDuration T of target vehicle passing through left rear radar detection rangeLRAnd the duration T of the target vehicle in the detection range of the front left radar and the detection range of the rear left radar at the same timeLLGiving the left rear radar and the left front radar to simultaneously detect the target object identification FLL；
Principle of function (3): according to the running environment of the vehicle, including the speed, the turning angle and the road conditions, such as speed limit and the like, the reliability of the overtaking of the vehicle after the judgment is more than a certain value, namely the overtaking occurs. Specifically, in the function (3), the target object identifier F is detected simultaneously according to the left rear radar and the left front radarLLAnd a complete vehicle motion state information set HVA target vehicle entrance flag F given to the left side of the vehicleLCI；
Principle of function (4): according to duration TLLAnd the speed, the acceleration and other information of the target vehicle, and estimating when the target vehicle enters the detection range of the front camera module, and keeping the illumination range of the left headlamp illumination module and/or the right headlamp illumination module in the illumination dark area in the time period. Specifically, in the function (4), the duration T depends on the detection range of the left front radar and the detection range of the left rear radar of the target vehicleLLAnd a complete vehicle motion state information set HVCalculating and obtaining the holding time T after the target vehicle on the left side of the vehicle entersLCIH。
Referring to fig. 5, an embodiment of the invention discloses the variation of 8 variables associated with a radar probe over time in the processes of fig. 4(a), 4(b), 4(c) and 4(d), wherein the abscissa represents time t;
when the target vehicle enters the overtaking sign FLCIWhen the vehicle overtaking control system is used, the headlamp controller confirms that the target vehicle overtakes from the left side of the vehicle, generates a corresponding self-adaptive adjusting instruction, controls the left headlamp lighting module or simultaneously controls the left headlamp lighting module and the right headlamp lighting module to form a lighting dark zone in advance in the lighting range of the left headlamp lighting module and the right headlamp lighting module, and particularly forms the lighting dark zone in advance in a zone with dazzling danger to the target vehicle until the holding time TLCIHAnd setting the zero value until the zero value is obtained. And then the front-view camera module identifies a target vehicle running into the field range of the camera in front of the vehicle, and the headlamp controller controls the left headlamp lighting module or simultaneously controls the dark space range of the left headlamp lighting module and the right headlamp lighting module according to the identification information in front of the vehicle, which is obtained by the front-view camera module. The size of the dark area range is related to the granularity of the vehicle headlight, and the difference between the visual field range of the front-view camera module and the lighting width of the vehicle headlight, wherein the lighting width of the vehicle headlight refers to: the total lighting width of the left headlamp lighting module and the right headlamp lighting module.
It should be noted that, when the target vehicle passes through the right side of the vehicle, the operation principle of the adaptive lighting control system is the same as above, and the detailed description is omitted here.
Preferably, the radar probe in the radar auxiliary module of the invention can be an ultrasonic radar probe.
It can be known from theoretical and empirical analysis that the lateral distance between the target vehicle and the vehicle is limited when the target vehicle overtakes the vehicle. Taking 3 lanes as an example, assuming that each lane is 3.5 meters wide, and the total lane width of the 3 lanes is 10.5 meters, the lateral distance between the target vehicle and the vehicle will not exceed 9 meters, and the detection range of a general ultrasonic radar probe can meet most requirements.
In practical application, other types of radar probes with longer detection distances can be selected according to actual needs, such as a vehicle high beam illumination range, and the invention is not limited herein.
In summary, the adaptive lighting control system disclosed by the invention is characterized in that a target vehicle entering the field range of a camera in front of the vehicle is identified by a front-view camera module, the target vehicle in the detection range of the side rear of the vehicle is identified by a radar auxiliary module, and a vehicle motion state information set is acquired by a vehicle CAN bus, so that a headlamp controller CAN obtain an adaptive adjustment instruction for a left headlamp lighting module and/or a right headlamp lighting module according to the vehicle front identification information output by the front-view camera module, the vehicle side rear identification information output by the radar auxiliary module and the vehicle motion state information set acquired from the vehicle CAN bus, drive the left headlamp lighting module and/or the right headlamp lighting module by controlling a left headlamp driving module according to the adaptive adjustment instruction, and drive the right headlamp lighting module according to the adaptive adjustment instruction, before a target vehicle enters the illumination range of the left headlamp illumination module and/or the right headlamp illumination module, an illumination dark area is formed in the illumination range of the left headlamp illumination module and/or the right headlamp illumination module, so that the phenomenon that a driver of the target vehicle is dazzled due to the fact that the rearview mirror of the target vehicle is illuminated by the vehicle when the target vehicle enters the vehicle illumination area is effectively avoided.
Corresponding to the system embodiment, the invention also discloses a self-adaptive illumination control method.
Referring to fig. 6, a flowchart of an adaptive lighting control method according to an embodiment of the present invention is applied to a headlight controller in the adaptive lighting control system, where the adaptive lighting control method includes:
s101, acquiring vehicle front identification information output by a front-view camera module, vehicle side rear identification information output by a radar auxiliary module and a whole vehicle motion state information set acquired from a whole vehicle CAN bus;
for the positions and working principles of the front-view camera module and the radar auxiliary module in the vehicle, please refer to the corresponding parts of the system embodiment, which are not described herein again.
The complete vehicle motion state information set can comprise: power mode of the vehicle, engine status, vehicle speed, lamp status, steering wheel angle, etc.
Step S102, judging whether a target vehicle has overtaking behaviors or not according to the vehicle front identification information, the vehicle side and rear identification information and the whole vehicle motion state information set, if so, executing step S103, and if not, returning to step S101;
step S103, generating a self-adaptive adjusting instruction for the left headlamp lighting module and/or the right headlamp lighting module;
specifically, when a target vehicle passes through or enters a detection range of the radar auxiliary module on the side of the vehicle and before the head of the target vehicle enters a vehicle illumination range, a self-adaptive adjusting instruction is generated according to vehicle side and rear identification information and a whole vehicle motion state information set; and when the target vehicle enters the camera view range of the front-looking camera module, generating a self-adaptive adjusting instruction according to the front identification information of the vehicle.
In practical application, when a target vehicle enters a detection range of the radar auxiliary module on the side of the vehicle and before a head of the target vehicle enters a vehicle illumination range, a process of generating an adaptive adjustment instruction according to vehicle side and rear identification information and a complete vehicle motion state information set may specifically include:
when a target vehicle enters a detection range of the radar auxiliary module on the side of the vehicle, generating an overtaking sign;
the overtaking mark is a mark for determining that the target vehicle has overtaking behavior, and the overtaking mark is determined by the target object identifier and the complete vehicle motion state information set, which may specifically refer to the related description of the function (3) in the system embodiment, and is not described herein again.
Marking the target object: determining according to the duration of the target vehicle in the left front radar detection range, the duration of the target vehicle in the left rear radar detection range and the duration of the target vehicle in the left front radar detection range and the left rear radar detection range; or the duration of the target vehicle located in the front-right radar detection range, the duration of the target vehicle located in the rear-right radar detection range, and the duration of the target vehicle located in both the front-right radar detection range and the rear-right radar detection range may be determined, which may be specifically referred to the related description of the function (2) in the system embodiment, and details are not repeated here.
And S104, controlling the left headlamp driving module to drive the left headlamp lighting module according to the self-adaptive adjusting instruction, and/or controlling the right headlamp driving module to drive the right headlamp lighting module according to the self-adaptive adjusting instruction, and forming a lighting dark area in the lighting range of the left headlamp lighting module and/or the right headlamp lighting module before the target vehicle drives into the lighting range of the left headlamp lighting module and the right headlamp lighting module.
It should be noted that, for a specific control principle of the adaptive lighting control method, reference may be made to the description of the operating principle of the adaptive lighting control system in the control system, and details are not described here.
The calculation process of the headlight controller for generating the adaptive adjustment command can refer to the description of the left side of the vehicle passing through the target vehicle part by introducing 9 variables and 4 functions in the control system embodiment.
In summary, the adaptive lighting control method disclosed by the invention is characterized in that a target vehicle entering the field range of a camera in front of the vehicle is identified by a front-view camera module, the target vehicle in the detection range of the side rear of the vehicle is identified by a radar auxiliary module, and a vehicle motion state information set is acquired by a vehicle CAN bus, so that a headlamp controller CAN generate an adaptive adjustment instruction for a left headlamp lighting module and/or a right headlamp lighting module according to the vehicle front identification information output by the front-view camera module, the vehicle side rear identification information output by the radar auxiliary module and the vehicle motion state information set acquired from the vehicle CAN bus, and drive the left headlamp lighting module and/or the right headlamp lighting module according to the adaptive adjustment instruction by controlling a left headlamp driving module, before a target vehicle enters the lighting range of the left headlamp lighting module and/or the right headlamp lighting module, a lighting dark area is formed in the lighting range of the left headlamp lighting module and/or the right headlamp lighting module, so that the situation that a driver of the target vehicle is dazzled due to the fact that the target vehicle enters a vehicle lighting area and a rearview mirror of the target vehicle is lighted by the vehicle is effectively avoided.
To further optimize the above embodiment, after step S104, the adaptive lighting control method may further include:
when the target vehicle is driven out of the bright and dark area, the left headlamp driving module is controlled to drive the left headlamp lighting module, and/or the right headlamp driving module drives the right headlamp lighting module to recover to normal lighting.
It should be noted that, in the above embodiment, when the target vehicle enters the passing sign, the adaptive lighting control system may control the left headlamp lighting module and/or the right headlamp lighting module to form a lighting dark area in advance within the module lighting range of the left headlamp lighting module and/or the right headlamp lighting until the holding time is set to zero;
when the target vehicle is positioned on the left side of the vehicle, the holding time is determined according to the duration of the target vehicle positioned in the left front radar detection range and the left rear radar detection range at the same time and the whole vehicle motion state information set; when the target vehicle is positioned on the right side of the vehicle, the holding time is determined according to the duration of the target vehicle positioned in the front right radar detection range and the rear right radar detection range at the same time and the whole vehicle motion state information set. Specifically, reference may be made to the description of the function (4) in the system embodiment, and details are not described here.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1. An adaptive lighting control system, comprising: the system comprises a front-view camera module, a headlamp controller, a whole vehicle CAN bus, a left headlamp driving module, a right headlamp driving module, a left headlamp lighting module, a right headlamp lighting module and a radar auxiliary module;
the whole vehicle CAN bus is respectively connected with the front-view camera module, the headlamp controller and the radar auxiliary module and is used for acquiring a whole vehicle motion state information set;
the radar auxiliary module is arranged on the side surface of the vehicle and used for identifying a target vehicle running into a detection range of the lateral rear side of the vehicle and sending identification information of the lateral rear side of the vehicle to the headlamp controller through the whole vehicle CAN bus, and the radar auxiliary module comprises four probes which are respectively: the radar system comprises a left front radar positioned at the left front of a vehicle body, a left rear radar positioned at the left rear of the vehicle body, a right front radar positioned at the right front of the vehicle body and a right rear radar positioned at the right rear of the vehicle body;
the front-view camera module is connected with the headlamp controller and is used for identifying a target vehicle running into the field range of the camera in front of the vehicle and sending vehicle front identification information to the headlamp controller;
the headlamp controller is respectively connected with the left headlamp driving module and the right headlamp driving module, the left headlamp driving module is connected with the left headlamp lighting module, and the right headlamp driving module is connected with the right headlamp lighting module;
the headlamp controller is used for judging whether the target vehicle has a overtaking behavior according to the vehicle front identification information, the vehicle side and rear identification information and the finished vehicle motion state information set, and if the target vehicle has the overtaking behavior, generating a self-adaptive adjustment instruction for the left headlamp lighting module and/or the right headlamp lighting module, and the self-adaptive adjustment instruction comprises the following steps: when the target vehicle passes through or drives into a detection range of the radar auxiliary module at the side of the vehicle and before the head of the target vehicle enters a vehicle illumination range, generating the self-adaptive adjusting instruction according to the identification information of the side and the rear of the vehicle and the motion state information set of the whole vehicle; the left headlamp driving module is controlled to drive the left headlamp lighting module according to the self-adaptive adjusting instruction, and/or the right headlamp driving module drives the right headlamp lighting module according to the self-adaptive adjusting instruction, and before the target vehicle drives into the lighting range of the left headlamp lighting module and/or the right headlamp lighting module, a lighting dark area is formed in the lighting range of the left headlamp lighting module and/or the right headlamp lighting module;
when the target vehicle enters a detection range of the radar auxiliary module on the side of the vehicle and before the head of the target vehicle enters a vehicle illumination range, generating the self-adaptive adjustment instruction according to the vehicle side and rear identification information and the finished vehicle motion state information set, wherein the self-adaptive adjustment instruction comprises the following steps:
when the target vehicle enters a detection range of the radar auxiliary module on the side of the vehicle, generating an overtaking mark;
the overtaking mark is a mark for determining that the target vehicle has overtaking behaviors, and is determined by a target object identifier and the whole vehicle motion state information set;
the target object identification is determined according to the duration of the target vehicle in a front left radar detection range, the duration of the target vehicle in a rear left radar detection range, and the duration of the target vehicle in both the front left radar detection range and the rear left radar detection range; or the time duration of the target vehicle in the front right radar detection range, the time duration of the target vehicle in the rear right radar detection range, and the time durations of the target vehicle in the front right radar detection range and the rear right radar detection range.
2. The adaptive lighting control system of claim 1 wherein the radar assist module is configured to detect whether the target vehicle is present within a detection range of a left rear radar and to record by the headlight controller a duration of time that the target vehicle is within the detection range of the left rear radar; detecting whether the target vehicle is in a detection range of a left front radar or not, and recording the duration of the target vehicle in the detection range of the left front radar by the headlamp controller; recording the duration time of the target vehicle in the left rear radar detection range and the left front radar detection range simultaneously by the headlamp controller;
the headlamp controller is used for detecting whether the target vehicle appears in the detection range of the right rear radar or not and recording the duration of the target vehicle in the detection range of the right rear radar by the headlamp controller; detecting whether the target vehicle appears in the detection range of a front right radar or not, and recording the duration of the target vehicle in the detection range of the front right radar by the headlamp controller; and recording the duration of the target vehicle in the right rear radar detection range and the right front radar detection range simultaneously by the headlamp controller.
3. An adaptive lighting control method applied to the adaptive lighting control system according to any one of claims 1 or 2, the control method comprising:
acquiring vehicle front identification information output by a front-view camera module, vehicle side rear identification information output by a radar auxiliary module and a whole vehicle motion state information set acquired from a whole vehicle CAN bus;
judging whether the target vehicle has overtaking behaviors or not according to the vehicle front identification information, the vehicle side and rear identification information and the finished vehicle motion state information set, if yes, generating self-adaptive adjustment instructions for the left headlamp lighting module and/or the right headlamp lighting module, and the method comprises the following steps: when the target vehicle passes through or drives into a detection range of the radar auxiliary module at the side of the vehicle and before the head of the target vehicle enters a vehicle illumination range, generating the self-adaptive adjusting instruction according to the identification information of the side and the rear of the vehicle and the motion state information set of the whole vehicle;
controlling a left headlamp driving module to drive the left headlamp lighting module according to the self-adaptive adjusting instruction, and/or controlling a right headlamp driving module to drive the right headlamp lighting module according to the self-adaptive adjusting instruction, and forming a lighting dark area in a module lighting range of the left headlamp lighting module and/or the right headlamp lighting before the target vehicle drives into the lighting range of the left headlamp lighting module and the right headlamp lighting module;
when the target vehicle enters a detection range of the radar auxiliary module on the side of the vehicle and before the head of the target vehicle enters a vehicle illumination range, generating the self-adaptive adjustment instruction according to the vehicle side and rear identification information and the finished vehicle motion state information set, wherein the self-adaptive adjustment instruction comprises the following steps:
when the target vehicle enters a detection range of the radar auxiliary module on the side of the vehicle, generating an overtaking mark;
the overtaking mark is a mark for determining that the target vehicle has overtaking behaviors, and is determined by a target object identifier and the whole vehicle motion state information set;
the target object identification is determined according to the duration of the target vehicle in a front left radar detection range, the duration of the target vehicle in a rear left radar detection range, and the duration of the target vehicle in both the front left radar detection range and the rear left radar detection range; or the time duration of the target vehicle in the front right radar detection range, the time duration of the target vehicle in the rear right radar detection range, and the time durations of the target vehicle in the front right radar detection range and the rear right radar detection range.
4. The adaptive lighting control method of claim 3, further comprising:
and when the target vehicle enters the camera view range of the front-looking camera module, generating the self-adaptive adjustment instruction according to the vehicle front identification information.
5. The adaptive lighting control method according to claim 3, wherein when the target vehicle enters the passing sign, the left headlamp lighting module and/or the right headlamp lighting module is controlled to form a lighting dark area in advance within a module lighting range of the left headlamp lighting module and/or the right headlamp lighting until the holding time is set to zero;
when the target vehicle is positioned on the left side of the vehicle, the holding time is determined according to the duration of the target vehicle positioned in the left front radar detection range and the left rear radar detection range at the same time and the whole vehicle motion state information set; and when the target vehicle is positioned on the right side of the vehicle, the holding time is determined according to the duration of the target vehicle positioned in the detection range of the front right radar and the detection range of the rear right radar at the same time and the motion state information set of the whole vehicle.
6. The adaptive lighting control method of claim 3, further comprising:
when the target vehicle drives out of the bright and dark area, the left headlamp driving module is controlled to drive the left headlamp lighting module, and/or the right headlamp driving module drives the right headlamp lighting module to recover to normal lighting.
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