CN111071141A - Vehicle and control method and control device of headlamp thereof - Google Patents
Vehicle and control method and control device of headlamp thereof Download PDFInfo
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- CN111071141A CN111071141A CN201911381925.4A CN201911381925A CN111071141A CN 111071141 A CN111071141 A CN 111071141A CN 201911381925 A CN201911381925 A CN 201911381925A CN 111071141 A CN111071141 A CN 111071141A
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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
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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
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/05—Special features for controlling or switching of the light beam
- B60Q2300/054—Variable non-standard intensity, i.e. emission of various beam intensities different from standard intensities, e.g. continuous or stepped transitions of intensity
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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
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/32—Road surface or travel path
- B60Q2300/322—Road curvature
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- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The invention provides a vehicle and a control method and a control device of a headlamp thereof, wherein the method comprises the following steps: acquiring the curvature radius of a road where a vehicle is located currently; and carrying out blind area reduction control on the headlamp module of the vehicle according to the curvature radius. According to the control method, the headlamp module is controlled, so that the lighting blind area measured by a driver in a turn can be effectively reduced, and the driving safety of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a control method of a vehicle headlamp, a control device of the vehicle headlamp and a vehicle with the control device.
Background
When the automobile runs on a curve, the irradiation direction of the traditional headlamp is consistent with the running direction of the automobile, so that light is always projected right ahead of the automobile, a lighting blind area exists on the inner side of the curve, the lighting of the light is not enough to meet the lighting requirement of the curve, and the running safety is reduced.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide a method for controlling a vehicle headlamp, which can effectively reduce the blind illumination zone measured by a driver in a turn and improve the safety of vehicle driving by controlling a headlamp module.
A second object of the present invention is to provide a control device for a vehicle headlamp.
A third object of the invention is to propose a vehicle.
To achieve the above object, an embodiment of a first aspect of the present invention provides a control method for a vehicle headlamp, including: acquiring the curvature radius of a road where a vehicle is located currently; and carrying out blind area reduction control on the headlamp module of the vehicle according to the curvature radius.
According to the control method of the vehicle headlamp, the curvature radius of the road where the vehicle is located at present is obtained, and blind area reduction control is conducted on the headlamp module of the vehicle according to the curvature radius. Therefore, the method can effectively reduce the lighting blind area measured by the driver in the turning by controlling the headlamp module, and improves the safety of vehicle running.
In addition, the control method of the vehicle headlamp proposed according to the above-described embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the blind spot reduction control of the headlamp module of the vehicle according to the curvature radius includes: and controlling a headlamp light source corresponding to the inner side of the road in the headlamp module to increase the brightness according to the curvature radius, and controlling a headlamp light source corresponding to the outer side of the road to decrease the brightness.
According to an embodiment of the present invention, the controlling of the headlight light source corresponding to the inner side of the road to increase the brightness and the headlight light source corresponding to the outer side of the road to decrease the brightness according to the curvature radius includes: acquiring the yaw velocity of the vehicle; determining the type of the curve of the road according to the yaw rate; if the curve type of the road is a left curve, controlling a headlamp light source corresponding to the left side in the headlamp module to increase the brightness according to the curvature radius, and controlling a headlamp light source corresponding to the right side in the headlamp module to decrease the brightness; and if the curve type of the road is a right curve, controlling the headlamp light source corresponding to the right side in the headlamp module to increase the brightness according to the curvature radius, and controlling the headlamp light source corresponding to the left side in the headlamp module to decrease the brightness.
According to an embodiment of the present invention, the controlling of the headlight light source corresponding to the inner side of the road to increase the brightness and the headlight light source corresponding to the outer side of the road to decrease the brightness according to the curvature radius includes: acquiring the target brightness of each headlamp light source in the headlamp module according to the curvature radius and the curve type of the road; and controlling the corresponding headlamp light source according to the target brightness.
According to an embodiment of the present invention, the obtaining of the curvature radius of the road on which the vehicle is currently located includes: acquiring the vehicle speed and the yaw rate of the vehicle; calculating a first curvature radius of the road according to the vehicle speed and the yaw angular speed; carrying out limit value processing on the first curvature radius to obtain a second curvature radius; and carrying out filtering processing on the second curvature radius to obtain the curvature radius.
According to an embodiment of the present invention, the limiting the first radius of curvature to obtain a second radius of curvature includes: if the first curvature radius is larger than a preset curvature radius upper limit value, taking the curvature radius upper limit value as the second curvature radius; if the first curvature radius is smaller than a preset curvature radius lower limit value, taking the curvature radius lower limit value as the second curvature radius; and if the first curvature radius is equal to or larger than the lower limit value of the curvature radius and is equal to or smaller than the upper limit value of the curvature radius, taking the first curvature radius as the second curvature radius.
According to an embodiment of the present invention, after obtaining the curvature radius of the road on which the vehicle is currently located, the method further includes: acquiring the working state of the headlamp module and the speed of the vehicle; judging whether the working state, the vehicle speed and the curvature radius meet the starting condition of a curve lighting function or not; and if so, carrying out blind area reduction control on the headlamp module of the vehicle according to the curvature radius.
According to an embodiment of the present invention, the turn-on condition of the curve lighting function includes: the working state is a normal working state, the vehicle speed is equal to or greater than a preset first vehicle speed threshold value and equal to or less than a preset second vehicle speed threshold value, the curvature radius of the road is less than or equal to the first curvature radius threshold value, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value.
According to an embodiment of the present invention, the above-mentioned control method of the headlamp further includes: if the vehicle satisfies at least one of the following conditions: if the working state is an abnormal working state, the vehicle speed is equal to or greater than the preset third vehicle speed threshold, the vehicle speed is equal to or less than a preset fourth vehicle speed threshold, and the curvature radius of the road is greater than or equal to a second curvature radius threshold, the curve lighting function is not activated, and the second curvature radius threshold is greater than the first curvature radius threshold; if the working state is a normal working state and the vehicle meets any one of the following three conditions: and if the vehicle speed is greater than the fourth vehicle speed threshold and less than the first vehicle speed threshold, the vehicle speed is greater than the second vehicle speed threshold and less than the third vehicle speed threshold, and the curvature radius of the road is greater than the first curvature radius threshold and less than the second curvature radius threshold, keeping the curve lighting function state unchanged.
In order to achieve the above object, a second aspect of the present invention provides a control device for a vehicle headlamp, including: the acquisition module is used for acquiring the curvature radius of the road where the vehicle is located currently; and the control module is used for carrying out blind area reduction control on the headlamp module of the vehicle according to the curvature radius.
According to the control device of the vehicle headlamp, the curvature radius of the current road is obtained through the obtaining module, and the control module performs blind area reduction control on the headlamp module of the vehicle according to the curvature radius. From this, the device can effectively reduce the illumination blind area that the driver surveyed in turning through controlling the head-light module, improves the security that the vehicle travel.
In addition, the control device of the vehicle headlamp according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the control module, when performing blind spot reduction control on the headlamp module of the vehicle according to the curvature radius, is specifically configured to: and controlling a headlamp light source corresponding to the inner side of the road in the headlamp module to increase the brightness according to the curvature radius, and controlling a headlamp light source corresponding to the outer side of the road to decrease the brightness.
According to an embodiment of the present invention, the control module, when controlling the headlamp light source corresponding to the inner side of the road to increase the brightness and controlling the headlamp light source corresponding to the outer side of the road to decrease the brightness according to the curvature radius, is further configured to: acquiring the yaw velocity of the vehicle; determining the type of the curve of the road according to the yaw rate; if the curve type of the road is a left curve, controlling a headlamp light source corresponding to the left side in the headlamp module to increase the brightness according to the curvature radius, and controlling a headlamp light source corresponding to the right side in the headlamp module to decrease the brightness; and if the curve type of the road is a right curve, controlling the headlamp light source corresponding to the right side in the headlamp module to increase the brightness according to the curvature radius, and controlling the headlamp light source corresponding to the left side in the headlamp module to decrease the brightness.
According to an embodiment of the present invention, the control module, when controlling the headlamp light source corresponding to the inner side of the road to increase the brightness and controlling the headlamp light source corresponding to the outer side of the road to decrease the brightness according to the curvature radius, is further configured to: acquiring the target brightness of each headlamp light source in the headlamp module according to the curvature radius and the curve type of the road; and controlling the corresponding headlamp light source according to the target brightness.
According to an embodiment of the present invention, when the obtaining module obtains the curvature radius of the road where the vehicle is currently located, the obtaining module is specifically configured to: acquiring the vehicle speed and the yaw rate of the vehicle; calculating a first curvature radius of the road according to the vehicle speed and the yaw angular speed; carrying out limit value processing on the first curvature radius to obtain a second curvature radius; and carrying out filtering processing on the second curvature radius to obtain the curvature radius.
According to an embodiment of the present invention, when the obtaining module performs the limiting processing on the first curvature radius to obtain a second curvature radius, the obtaining module is further configured to: if the first curvature radius is larger than a preset curvature radius upper limit value, taking the curvature radius upper limit value as the second curvature radius; if the first curvature radius is smaller than a preset curvature radius lower limit value, taking the curvature radius lower limit value as the second curvature radius; and if the first curvature radius is equal to or larger than the lower limit value of the curvature radius and is equal to or smaller than the upper limit value of the curvature radius, taking the first curvature radius as the second curvature radius.
According to an embodiment of the present invention, the obtaining module is further configured to: acquiring the working state of the headlamp module and the speed of the vehicle; judging whether the working state, the vehicle speed and the curvature radius meet the starting condition of a curve lighting function or not; and if so, carrying out blind area reduction control on the headlamp module of the vehicle according to the curvature radius.
According to an embodiment of the present invention, the turn-on condition of the curve lighting function includes: the working state is a normal working state, the vehicle speed is equal to or greater than a preset first vehicle speed threshold value and equal to or less than a preset second vehicle speed threshold value, the curvature radius of the road is less than or equal to the first curvature radius threshold value, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value.
According to an embodiment of the invention, the control module is further configured to: if the vehicle satisfies at least one of the following conditions: if the working state is an abnormal working state, the vehicle speed is equal to or greater than the preset third vehicle speed threshold, the vehicle speed is equal to or less than a preset fourth vehicle speed threshold, and the curvature radius of the road is greater than or equal to a second curvature radius threshold, the curve lighting function is not activated, and the second curvature radius threshold is greater than the first curvature radius threshold; if the working state is a normal working state and the vehicle meets any one of the following three conditions: and if the vehicle speed is greater than the fourth vehicle speed threshold and less than the first vehicle speed threshold, the vehicle speed is greater than the second vehicle speed threshold and less than the third vehicle speed threshold, and the curvature radius of the road is greater than the first curvature radius threshold and less than the second curvature radius threshold, keeping the curve lighting function state unchanged.
In order to achieve the above object, a third aspect of the present invention provides a vehicle including the control device of the vehicle headlamp.
According to the vehicle provided by the embodiment of the invention, through the control device of the vehicle headlamp, the lighting blind area measured in the turning of the driver can be effectively reduced, and the driving safety of the vehicle is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a control method of a vehicle headlamp according to an embodiment of the present invention;
FIG. 2 is a schematic view of a curve radius of curvature and the arc of a vehicle turn in accordance with one embodiment of the present invention;
FIG. 3 is a schematic view of a headlamp module of a vehicle according to one embodiment of the present invention;
FIG. 4 is a flow chart illustrating an on condition of a curve lighting function according to one embodiment of the present invention;
FIG. 5 is a block schematic diagram of a control device for a vehicle headlamp according to an embodiment of the present invention; and
FIG. 6 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A control method of a vehicle headlamp, a control device of a vehicle headlamp, and a vehicle having the control device of the embodiments of the invention are described below with reference to the drawings.
Fig. 1 is a flowchart of a control method of a vehicle headlamp according to an embodiment of the present invention.
As shown in fig. 1, a control method of a vehicle headlamp of an embodiment of the present invention may include the steps of:
and S1, acquiring the curvature radius of the road where the vehicle is located currently.
According to one embodiment of the invention, the acquiring of the curvature radius of the road where the vehicle is located currently comprises the following steps: acquiring the speed and the yaw rate of the vehicle; calculating a first curvature radius of the road according to the vehicle speed and the yaw rate; carrying out limit value processing on the first curvature radius to obtain a second curvature radius; and carrying out filtering processing on the second curvature radius to obtain the curvature radius.
According to an embodiment of the present invention, the limiting the first radius of curvature to obtain the second radius of curvature includes: if the first curvature radius is larger than the preset upper limit value of the curvature radius, taking the upper limit value of the curvature radius as a second curvature radius; if the first curvature radius is smaller than the preset curvature radius lower limit value, taking the curvature radius lower limit value as a second curvature radius; and if the first curvature radius is equal to or larger than the lower limit value of the curvature radius and is equal to or smaller than the upper limit value of the curvature radius, taking the first curvature radius as the second curvature radius.
Specifically, the vehicle speed of the vehicle may be acquired by a vehicle speed sensor provided on the vehicle, or by reading a vehicle speed of the vehicle displayed on a dashboard of the vehicle. The yaw rate refers to the deflection of the automobile around a vertical axis, and can be obtained by arranging a yaw rate sensor or a gyroscope. And calculating a first curvature radius R1 of the road according to the vehicle speed V and the yaw angular speed omega, limiting the maximum value and the minimum value to obtain a second curvature radius R2 of the road, and finally performing first-order filtering smoothing to obtain the curvature radius R of the road.
Specifically, the first curvature radius R1 can be obtained by calculation from the vehicle speed and the yaw rate of the vehicle by the following equation (1):
where V is the vehicle speed of the vehicle, ω is the yaw rate, and the constant 3.6 is the coefficient converted to m/sec in km/h units of vehicle speed.
Then, according to the national standard requirements for road construction, the minimum value Rmin and the maximum value Rmax of the curvature radius of the road are determined, and the maximum value and the minimum value of the calculated first curvature radius are limited to obtain the second curvature radius R2, for example, the second curvature radius R2 can be obtained according to the following formula (2):
finally, the first-order filtering processing is performed on the second curvature radius R2 of the road after the limit value, so as to obtain the curvature radius R of the road after filtering, and the final curvature radius R can be obtained through the following formula (3):
R3＝k*R2+(1-k)*R3_old (3)
wherein k is a first-order filter coefficient, and k is more than 0 and less than 1; r3_ old is a curvature radius value of the road after the last filtering processing, that is, the curvature radius of this time is related to the curvature radius acquired last time.
And S2, performing blind area reduction control on the headlamp module of the vehicle according to the curvature radius.
That is, the larger the curvature radius is, the smaller the radian of the vehicle turning is, and the smaller the blind area is; the smaller the curvature radius, the larger the radian of the vehicle turning, and the larger the blind area. For example, as shown in fig. 2, the radius of curvature in fig. 2(a) is smaller than that in fig. 2(b), and it can be seen that the curvature of the curve required to be turned in (a) is larger than that in (b), that is, the blind area in (a) is larger than that in (b). When the curvature radius is smaller than a certain value, the headlamp module needs to be adjusted, for example, the headlamp module can be controlled according to the turning direction of the vehicle, wherein when the vehicle turns left, the headlamp light on the left side of the vehicle is controlled to be intensified so as to reduce a blind area when the left side turns; when the vehicle turns to the right, the light of the headlamp on the right side of the vehicle is controlled to be intensified so as to reduce the blind area when the vehicle turns to the right.
The following describes in detail how the blind spot reduction control is performed on the headlamp module of the vehicle according to the radius of curvature.
According to an embodiment of the present invention, a blind spot reduction control of a headlamp module of a vehicle according to a curvature radius includes: and controlling the headlamp light source corresponding to the inner side of the road in the headlamp module to increase the brightness according to the curvature radius, and controlling the headlamp light source corresponding to the outer side of the road to decrease the brightness.
Further, according to an embodiment of the present invention, controlling a headlight light source corresponding to an inner side of a road in a headlight module to increase brightness and a headlight light source corresponding to an outer side of the road to decrease brightness according to a radius of curvature includes: acquiring the yaw velocity of the vehicle; determining the type of the curve of the road according to the yaw angular speed; if the curve type of the road is a left curve, controlling a headlamp light source corresponding to the left side in the headlamp module to increase the brightness according to the curvature radius, and controlling a headlamp light source corresponding to the right side in the headlamp module to decrease the brightness; and if the curve type of the road is a right curve, controlling the headlamp light source corresponding to the right side in the headlamp module to increase the brightness according to the curvature radius, and controlling the headlamp light source corresponding to the left side in the headlamp module to decrease the brightness.
According to an embodiment of the present invention, controlling a headlight light source corresponding to an inner side of a road to increase brightness and a headlight light source corresponding to an outer side of the road to decrease brightness according to a radius of curvature includes: acquiring target brightness of each headlamp light source in the headlamp module according to the curvature radius and the curve type of the road; and controlling the corresponding headlamp light source according to the target brightness.
Specifically, a head lamp module of a general vehicle is in a single-chip arrangement form, as shown in fig. 3, 12 LED lamps are assumed, and when a driver looks at a driving direction, the direction of the LED sorting direction shown in fig. 3 is the sequence of the LEDs arranged from left to right, which is recorded as 1-12, wherein when the vehicle turns left, the direction corresponding to the No. 1 LED lamp is the inner side of the road, and the direction corresponding to the No. 12 LED lamp is the outer side of the road; when the vehicle turns right, the direction corresponding to the No. 12 LED lamp is the inner side of the road, and the direction corresponding to the No. 1 LED lamp is the outer side of the road. The corresponding relation table of the curvature radius and the brightness value of the LED lamp is stored in advance, and the corresponding relation table of the curvature radius section and the brightness value of the LED lamp can also be stored. And according to the curvature radius table lookup, the brightness value of each LED lamp can be obtained. It should be noted that, when the brightness value of the LED lamp is adjusted according to the curvature radius, for example, when the vehicle turns left, it is determined that the number 1-3 LED lamps need to be controlled to be brighter and the number 4-12 LED lamps need to be controlled to be darker according to the curvature radius, where the brightness of the number 1-3 LED lamps may be the same or different, for example, the lights are sequentially increased according to the number 3-1 sequence, and similarly, the lights are sequentially decreased according to the number 4-12 sequence.
The type of the curve of the road (whether the vehicle turns left or turns right) can be determined according to the yaw velocity of the vehicle, the driving direction turns to the left to be positive and the driving direction turns to the right to be negative by taking the driving advancing direction of the vehicle as the standard, namely, the yaw velocity is greater than zero, the type of the curve of the road is a left curve, and the vehicle needs to turn to the left; when the yaw rate is less than zero, it indicates that the type of the road curve is a right curve, and the vehicle needs to turn to the right side.
When the curve type of the road is a left curve, the vehicle needs to turn to the left side, the brightness of the headlamp light source corresponding to the left side in the headlamp module is controlled to be increased according to the curvature radius of the road, and meanwhile, the brightness of the headlamp light source corresponding to the right side is controlled to be dark. Similarly, when the curve type of the road is a right curve, the vehicle needs to turn to the right side, and at this time, the brightness of the headlamp light source corresponding to the right side in the headlamp module is controlled to be increased according to the curvature radius of the road, and at the same time, the brightness of the headlamp light source corresponding to the left side is controlled to be darkened. Therefore, the blind area of the turning side of the vehicle is reduced by increasing the brightness of the light source of the turning side of the vehicle, and the aim of saving energy is fulfilled by reducing the brightness of the light source of the turning outer side of the vehicle.
In addition, since the curvature radius of the road is not exactly the same in the ideal state, and there may be a case where the same curve has a plurality of curvature radii, when the curvature radius is acquired, the curvature radius of the curve is detected in real time, and control is performed based on the curvature radius and the light source brightness of the headlamps in the headlamp module.
Therefore, the calibration table taking the road curvature radius and the LED lamp sequence number as independent variables is calibrated and matched under the left and right curves, so that when the vehicle runs at the left and right curves, the brightness of the LED lamp corresponding to the corresponding sequence number corresponding to the side light type brightness of the vehicle is increased, and the brightness of the LED lamp corresponding to the other side light type brightness of the vehicle is reduced.
According to an embodiment of the present invention, after obtaining the curvature radius of the road on which the vehicle is currently located, the method further includes: acquiring the working state of a headlamp module and the speed of a vehicle; judging whether the working state, the vehicle speed and the curvature radius meet the starting condition of the curve lighting function or not; and if so, carrying out blind area reduction control on the headlamp module of the vehicle according to the curvature radius.
In other words, the above-described control strategy for performing the blind spot reduction control on the headlamp module of the vehicle according to the radius of curvature is executed when the condition for turning on the curve illumination function is satisfied.
According to an embodiment of the present invention, the turn-on condition of the curve lighting function may include: the working state is a normal working state, the vehicle speed is equal to or greater than a preset first vehicle speed threshold value and equal to or less than a preset second vehicle speed threshold value, the curvature radius of the road is less than or equal to the first curvature radius threshold value, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value. The preset first vehicle speed threshold, the preset second vehicle speed threshold and the first curvature radius threshold may be calibrated according to actual conditions, for example, the vehicle speed threshold when the vehicle is at a medium-high speed may be determined according to the performance of the vehicle, for example, the preset first vehicle speed threshold may be 40km/h, and the second vehicle speed threshold may be 70 km/h.
Specifically, as shown in fig. 4, the curve lighting function is turned on when the following conditions are simultaneously satisfied: the vehicle headlamp module is in a normal working state, the speed of the vehicle is greater than or equal to a preset first vehicle speed threshold value and is equal to or less than a preset second vehicle speed threshold value (the vehicle is at medium-high speed), and the curvature radius of the road is less than or equal to a first curvature radius threshold value (the curvature radius is smaller).
It should be noted that, the working state being the normal working state means: in a normal driving process of a vehicle, a headlamp (high beam or low beam) is turned on, for example, when the ambient brightness is less than a certain value and the requirement for turning on the headlamp is satisfied, or the weather is bad, and the like.
According to another embodiment of the invention, if the vehicle fulfils at least one of the following conditions: if the working state is an abnormal working state, the vehicle speed is equal to or greater than a preset third vehicle speed threshold value, the vehicle speed is equal to or less than a preset fourth vehicle speed threshold value, and the curvature radius of the road is greater than or equal to a second curvature radius threshold value, the curve lighting function is not activated, and the second curvature radius threshold value is greater than the first curvature radius threshold value; if the working state is a normal working state and the vehicle meets any one of the following three conditions: and if the vehicle speed is greater than the fourth vehicle speed threshold and less than the first vehicle speed threshold, the vehicle speed is greater than the second vehicle speed threshold and less than the third vehicle speed threshold, and the curvature radius of the road is greater than the first curvature radius threshold and less than the second curvature radius threshold, keeping the curve lighting function state unchanged. The preset third vehicle speed threshold, the preset fourth vehicle speed threshold and the second curvature radius threshold may be calibrated according to actual conditions, for example, the vehicle speed threshold when the vehicle is at a low speed and a high speed may be determined according to the performance of the vehicle, for example, the preset third vehicle speed threshold may be 80km/h, the preset fourth vehicle speed threshold may be 30km/h, and the preset fourth vehicle speed threshold is smaller than the preset first vehicle speed threshold and smaller than the preset second vehicle speed threshold.
Specifically, as shown in fig. 4, when the operating state of the headlamp module is an abnormal operating state, for example, the ambient brightness does not satisfy the lamp turn-on condition, the headlamp module is not turned on, and the curve illumination function is not activated; when the headlamp module works normally and the vehicle speed is equal to or greater than a preset third vehicle speed threshold value, the curve lighting function is not activated; when the front lamp module works normally and the vehicle speed is less than or equal to a preset fourth vehicle speed threshold value, the curve lighting function is not activated; when the headlamp module works normally and the curvature radius of the road is larger than or equal to the second curvature radius threshold value, the turning range of the current road is small, and the curve illumination function does not need to be activated, wherein in the driving process of the vehicle, if the curve illumination function does not need to be activated, the headlamp module of the vehicle is controlled according to other existing high beam control strategies, for example, the vehicle drives on an expressway, the speed of the vehicle exceeds 90km/h, and the headlamp module is controlled to output the brightness of a high beam according to a high-speed high beam mode.
When the headlamp module works normally, if the speed of the vehicle is greater than a fourth vehicle speed threshold and smaller than a first vehicle speed threshold, the curve lighting function is kept in an activated state; or if the vehicle speed is greater than the second vehicle speed threshold and less than the third vehicle speed threshold, maintaining the curve lighting function in an activated state; alternatively, if the radius of curvature of the road is greater than the first radius of curvature threshold and less than the second radius of curvature threshold, the curve lighting function is maintained in the activated state.
In conclusion, the invention can firstly determine whether the vehicle meets the condition of activating the curve illumination function according to the working state of the headlamp module, the vehicle speed of the vehicle and the curvature radius of the road, then determine whether the vehicle runs in a left curve or a right curve according to the yaw angular speed, and finally comprehensively consider the relation between the curvature radius of different roads and the brightness of the headlamp module, so that the illumination blind area of the vehicle when the vehicle runs in the curve is reduced, and the driving safety is improved.
In summary, according to the control method of the vehicle headlamp provided by the embodiment of the invention, the curvature radius of the road where the vehicle is located at present is obtained, and the blind area reduction control is performed on the headlamp module of the vehicle according to the curvature radius. Therefore, the method can effectively reduce the lighting blind area measured by the driver in the turning by controlling the headlamp module, and improves the safety of vehicle running.
Fig. 5 is a block schematic diagram of a control device of a vehicle headlamp according to an embodiment of the present invention.
As shown in fig. 5, the control device of the vehicle headlamp of the embodiment of the present invention may include: an acquisition module 10 and a control module 20.
The obtaining module 10 is configured to obtain a curvature radius of a road where a vehicle is currently located. The control module 20 is configured to perform blind spot reduction control on the headlamp module of the vehicle according to the curvature radius.
According to one embodiment of the present invention, the control module 20, when performing the blind spot reduction control on the headlamp module of the vehicle according to the curvature radius, is specifically configured to: and controlling the headlamp light source corresponding to the inner side of the road in the headlamp module to increase the brightness according to the curvature radius, and controlling the headlamp light source corresponding to the outer side of the road to decrease the brightness.
According to an embodiment of the present invention, the control module 20 is further configured to, when controlling the headlamp light sources corresponding to the inner side of the road to increase the brightness and the headlamp light sources corresponding to the outer side of the road to decrease the brightness according to the curvature radius: acquiring the yaw velocity of the vehicle; determining the type of the curve of the road according to the yaw angular speed; if the curve type of the road is a left curve, controlling a headlamp light source corresponding to the left side in the headlamp module to increase the brightness according to the curvature radius, and controlling a headlamp light source corresponding to the right side in the headlamp module to decrease the brightness; and if the curve type of the road is a right curve, controlling the headlamp light source corresponding to the right side in the headlamp module to increase the brightness according to the curvature radius, and controlling the headlamp light source corresponding to the left side in the headlamp module to decrease the brightness.
According to an embodiment of the present invention, the control module 20 is further configured to, when controlling the headlamp light sources corresponding to the inner side of the road to increase the brightness and the headlamp light sources corresponding to the outer side of the road to decrease the brightness according to the curvature radius: acquiring target brightness of each headlamp light source in the headlamp module according to the curvature radius and the curve type of the road; and controlling the corresponding headlamp light source according to the target brightness.
According to an embodiment of the present invention, the obtaining module 10, when obtaining the curvature radius of the road where the vehicle is currently located, is specifically configured to: acquiring the speed and the yaw rate of the vehicle; calculating a first curvature radius of the road according to the vehicle speed and the yaw rate; carrying out limit value processing on the first curvature radius to obtain a second curvature radius; and carrying out filtering processing on the second curvature radius to obtain the curvature radius.
According to an embodiment of the present invention, when the obtaining module 10 performs the limiting process on the first curvature radius to obtain the second curvature radius, the obtaining module is further configured to: if the first curvature radius is larger than the preset upper limit value of the curvature radius, taking the upper limit value of the curvature radius as a second curvature radius; if the first curvature radius is smaller than the preset curvature radius lower limit value, taking the curvature radius lower limit value as a second curvature radius; and if the first curvature radius is equal to or larger than the lower limit value of the curvature radius and is equal to or smaller than the upper limit value of the curvature radius, taking the first curvature radius as the second curvature radius.
According to an embodiment of the present invention, the obtaining module 10 is further configured to: acquiring the working state of a headlamp module and the speed of a vehicle; judging whether the working state, the vehicle speed and the curvature radius meet the starting condition of the curve lighting function or not; and if so, carrying out blind area reduction control on the headlamp module of the vehicle according to the curvature radius.
According to one embodiment of the invention, the turn-on condition of the curve lighting function comprises: the working state is a normal working state, the vehicle speed is equal to or greater than a preset first vehicle speed threshold value and equal to or less than a preset second vehicle speed threshold value, the curvature radius of the road is less than or equal to the first curvature radius threshold value, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value.
According to one embodiment of the invention, the control module 20 is further configured to: if the vehicle satisfies at least one of the following conditions: if the working state is an abnormal working state, the vehicle speed is equal to or greater than a preset third vehicle speed threshold value, the vehicle speed is equal to or less than a preset fourth vehicle speed threshold value, and the curvature radius of the road is greater than or equal to a second curvature radius threshold value, the curve lighting function is not activated, and the second curvature radius threshold value is greater than the first curvature radius threshold value; if the working state is a normal working state and the vehicle meets any one of the following three conditions: and if the vehicle speed is greater than the fourth vehicle speed threshold and less than the first vehicle speed threshold, the vehicle speed is greater than the second vehicle speed threshold and less than the third vehicle speed threshold, and the curvature radius of the road is greater than the first curvature radius threshold and less than the second curvature radius threshold, keeping the curve lighting function state unchanged.
It should be noted that, for details that are not disclosed in the control device of the vehicle headlamp according to the embodiment of the present invention, please refer to details that are disclosed in the control method of the vehicle headlamp according to the embodiment of the present invention, and detailed description thereof is omitted here.
According to the control device of the vehicle headlamp, the curvature radius of the current road is obtained through the obtaining module, and the control module performs blind area reduction control on the headlamp module of the vehicle according to the curvature radius. From this, the device can effectively reduce the illumination blind area that the driver surveyed in turning through controlling the head-light module, improves the security that the vehicle travel.
FIG. 6 is a block schematic diagram of a vehicle according to an embodiment of the invention.
As shown in fig. 6, a vehicle 100 of an embodiment of the present invention may include: the control device 110 for the vehicle headlamp is described above.
According to the vehicle provided by the embodiment of the invention, the control device of the vehicle headlamp can effectively reduce the lighting blind area measured by the driver in the turning and improve the driving safety of the vehicle.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (11)
1. A control method of a vehicle headlamp, characterized by comprising:
acquiring the curvature radius of a road where a vehicle is located currently;
and carrying out blind area reduction control on the headlamp module of the vehicle according to the curvature radius.
2. The control method according to claim 1, wherein the performing blind spot reduction control on the headlamp module of the vehicle according to the curvature radius includes:
and controlling a headlamp light source corresponding to the inner side of the road in the headlamp module to increase the brightness according to the curvature radius, and controlling a headlamp light source corresponding to the outer side of the road to decrease the brightness.
3. The control method according to claim 2, wherein the controlling of the headlight light source corresponding to the inside of the road in the headlight module to increase the brightness according to the curvature radius and the headlight light source corresponding to the outside of the road to decrease the brightness includes:
acquiring the yaw velocity of the vehicle;
determining the type of the curve of the road according to the yaw rate;
if the curve type of the road is a left curve, controlling a headlamp light source corresponding to the left side in the headlamp module to increase the brightness according to the curvature radius, and controlling a headlamp light source corresponding to the right side in the headlamp module to decrease the brightness;
and if the curve type of the road is a right curve, controlling the headlamp light source corresponding to the right side in the headlamp module to increase the brightness according to the curvature radius, and controlling the headlamp light source corresponding to the left side in the headlamp module to decrease the brightness.
4. The control method according to claim 3, wherein the controlling of the headlight light source corresponding to the inside of the road in the headlight module to increase the brightness according to the curvature radius and the headlight light source corresponding to the outside of the road to decrease the brightness includes:
acquiring the target brightness of each headlamp light source in the headlamp module according to the curvature radius and the curve type of the road;
and controlling the corresponding headlamp light source according to the target brightness.
5. The control method according to claim 1, wherein the obtaining of the radius of curvature of the road on which the vehicle is currently located comprises:
acquiring the vehicle speed and the yaw rate of the vehicle;
calculating a first curvature radius of the road according to the vehicle speed and the yaw angular speed;
carrying out limit value processing on the first curvature radius to obtain a second curvature radius;
and carrying out filtering processing on the second curvature radius to obtain the curvature radius.
6. The control method according to claim 5, wherein the limiting the first radius of curvature to obtain a second radius of curvature comprises:
if the first curvature radius is larger than a preset curvature radius upper limit value, taking the curvature radius upper limit value as the second curvature radius;
if the first curvature radius is smaller than a preset curvature radius lower limit value, taking the curvature radius lower limit value as the second curvature radius;
and if the first curvature radius is equal to or larger than the lower limit value of the curvature radius and is equal to or smaller than the upper limit value of the curvature radius, taking the first curvature radius as the second curvature radius.
7. The control method according to claim 1, wherein after obtaining the curvature radius of the road on which the vehicle is currently located, the method further comprises:
acquiring the working state of the headlamp module and the speed of the vehicle;
judging whether the working state, the vehicle speed and the curvature radius meet the starting condition of a curve lighting function or not;
and if so, carrying out blind area reduction control on the headlamp module of the vehicle according to the curvature radius.
8. The control method according to claim 7, wherein the on condition of the curve lighting function includes:
the working state is a normal working state, the vehicle speed is equal to or greater than a preset first vehicle speed threshold value and equal to or less than a preset second vehicle speed threshold value, the curvature radius of the road is less than or equal to the first curvature radius threshold value, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value.
9. The control method according to claim 8, characterized by further comprising:
if the vehicle satisfies at least one of the following conditions: if the working state is an abnormal working state, the vehicle speed is equal to or greater than the preset third vehicle speed threshold, the vehicle speed is equal to or less than a preset fourth vehicle speed threshold, and the curvature radius of the road is greater than or equal to a second curvature radius threshold, the curve lighting function is not activated, and the second curvature radius threshold is greater than the first curvature radius threshold;
if the working state is a normal working state and the vehicle meets any one of the following three conditions: and if the vehicle speed is greater than the fourth vehicle speed threshold and less than the first vehicle speed threshold, the vehicle speed is greater than the second vehicle speed threshold and less than the third vehicle speed threshold, and the curvature radius of the road is greater than the first curvature radius threshold and less than the second curvature radius threshold, keeping the curve lighting function state unchanged.
10. A control device of a vehicle headlamp, characterized by comprising:
the acquisition module is used for acquiring the curvature radius of the road where the vehicle is located currently;
and the control module is used for carrying out blind area reduction control on the headlamp module of the vehicle according to the curvature radius.
11. A vehicle, characterized by comprising: the control device of the vehicle headlamp as claimed in claim 10.
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| CN201911381925.4A CN111071141A (en) | 2019-12-27 | 2019-12-27 | Vehicle and control method and control device of headlamp thereof |
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