CN115503629B - Automatic correction system and correction method for ALS and AFS of automobile lamp - Google Patents
Automatic correction system and correction method for ALS and AFS of automobile lamp Download PDFInfo
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- CN115503629B CN115503629B CN202211326277.4A CN202211326277A CN115503629B CN 115503629 B CN115503629 B CN 115503629B CN 202211326277 A CN202211326277 A CN 202211326277A CN 115503629 B CN115503629 B CN 115503629B
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- 238000012937 correction Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000012549 training Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 3
- 230000001678 irradiating effect Effects 0.000 claims description 2
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000012795 verification Methods 0.000 claims description 2
- 238000004134 energy conservation Methods 0.000 abstract description 2
- 230000007774 longterm Effects 0.000 abstract description 2
- 208000035874 Excoriation Diseases 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 4
- 230000002860 competitive effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20081—Training; Learning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The invention discloses an automatic correction system and a correction method for an automobile lamp ALS and an AFS, wherein the system comprises a lamp panel module, a camera radar module, an SBC circuit module, a driving module and a motor module; the SBC circuit module is used for receiving the car lamp control command sent by the car body and decoding the car lamp control command to generate a corresponding car lamp control signal; the lamp panel module comprises a dipped headlight and a hidden lamp, wherein the dipped headlight is used for illuminating the front of a vehicle, and the hidden lamp is used for projecting a scale of lamplight recalibrated by the motor. The invention provides an automatic correction system and a correction method for an automobile lamp ALS and an AFS, which solve the problem that the motor shaft head is worn or deformed and the dimming angle of the automobile lamp is deviated due to long-term use of the automobile lamp ALS and the AFS, can avoid the risk of the wear of the motor shaft head of the automobile lamp on driving safety, saves the replacement cost of the automobile lamp and responds to energy conservation and emission reduction call.
Description
Technical Field
The invention relates to an automatic correction system and a correction method for an automobile lamp ALS and an AFS, and belongs to the technical field of automobile lamp control.
Background
At present, in the prior art, aiming at ALS and AFS self-adaptive headlamps, the dimming angle of a motor is generally calibrated only when a car lamp leaves a factory, the following motor can adaptively adjust the low beam angle at high frequency, the abrasion or deformation of a motor shaft head can be caused, the dimming precision of the car ALS and the AFS is seriously reduced, certain potential safety hazards exist, and extra cost is increased when the car headlamp is replaced.
Disclosure of Invention
The invention aims to solve the technical problems of overcoming the defects of the prior art, providing an automatic correction system and a correction method for an automobile lamp ALS and an AFS, solving the problems of abrasion or deformation of a motor shaft head and deviation of a dimming angle of the automobile lamp caused by long-term use of the automobile lamp ALS and the AFS, avoiding the risk of abrasion of the motor shaft head of the automobile lamp on driving safety, saving the replacement cost of the automobile lamp and responding to energy conservation and emission reduction call.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention provides an automatic correction system for an automobile lamp ALS and an AFS, which comprises a lamp panel module, a camera radar module, an SBC circuit module, a driving module and a motor module;
the SBC circuit module is used for receiving the car lamp control command sent by the car body and decoding the car lamp control command to generate a corresponding car lamp control signal;
the lamp panel module comprises a dipped headlight and a hidden lamp, wherein the dipped headlight is used for illuminating the front of a vehicle, the hidden lamp is used for projecting a scale of light of the recalibration of the motor and is used for calibrating the upper limit position and the lower limit position of the ALS motor and the left limit position and the right limit position of the AFS motor;
the camera radar module is used for detecting the distance between the vehicle and the wallboard when the dimming angles of the ALS and the AFS are recalibrated, acquiring pictures of the dipped headlight and the hidden lamp irradiated on the wallboard, and transmitting camera radar data to the driving module;
the driving module is used for receiving CAN signals controlled by the vehicle body and controlling the on and off of the dipped headlight and the hidden lamp; the driving module processes pictures of the dipped headlight and the hidden lamp irradiated on the wall according to the camera radar data, processes the distance between the vehicle body detected by the radar and the wall, analyzes and calculates the position of the motor, trains out the optimal position of the motor for a plurality of times, recalibrates the ALS and AFS algorithms of the motor, and adjusts the electronic zero position of the motor and the limit position of the motor operation;
the motor module is used for adjusting the position of the dipped headlight up and down or left and right.
Further, the limit position of the motor operation comprises an upper limit position, a lower limit position, a left limit position and a right limit position.
Further, the driving module comprises an MCU module and a DC-DC constant voltage circuit connected with the MCU module, wherein the DC-DC constant voltage circuit is used for supplying power to the driving circuit of the motor module and the LED driving circuit of the lamp panel module.
Further, the SBC circuit module performs signal transmission with the MCU module through CAN communication.
Further, the camera radar module is connected with the MCU module.
In another aspect, the present invention provides a method for calibrating an automatic calibration system for an automotive lamp ALS and AFS, comprising:
step S1, firstly, starting an automatic verification button, irradiating a hidden lamp on a wall, acquiring a lamplight picture sent by a camera radar module by a driving module for analysis, compensating the position of the hidden lamp on the wall by combining tire pressure parameters acquired from a vehicle body BCM, and calculating the actual Y degree and Z degree of ALS and the actual M degree and N degree of AFS by the position of the hidden lamp on the wall;
step S2, under an ALS or AFS mode, obtaining a lamplight picture on a wall according to a camera radar module, calculating a current dimming angle of a dipped headlight relative to the wall by a driving module, and training the current dimming angle according to an ALS algorithm or an AFS algorithm of a motor to enable the current dimming angle to be infinitely close to a limit value;
and step S3, continuously optimizing the step S1 and the step S2 to enable the motor with worn or deformed shaft heads to meet the operation requirement.
Further, the step S2 includes:
step S21, when the vehicle body BCM is in an ALS mode, the vehicle body BCM sends the upper limit Y degree of the near light, the camera radar module obtains the light picture on the wall, the current dimming angle of the near light relative to the wall is calculated to be Y1 through the image processing algorithm of the driving module, then the ALS algorithm of the driving module relative to the motor is updated, and the Y1 is infinitely close to the Y through multiple training.
Further, the step S2 includes:
step S22, when the vehicle body BCM is in an ALS mode, the vehicle body BCM sends the lower limit Z degree of the near light, the camera radar module obtains the light picture on the wall, the current dimming angle of the near light relative to the wall is calculated to be Z1 through the image processing algorithm of the driving module, then the ALS algorithm of the driving module relative to the motor is updated, and the Z1 is infinitely close to Z through multiple training.
Further, the step S2 includes:
step S23, when the vehicle body BCM is in an AFS mode, the vehicle body BCM sends the near light left limit M degree of the dipped headlight, the camera radar module obtains a light picture on the wall, the current dimming angle of the dipped headlight relative to the wall is calculated to be M1 through the image processing algorithm of the driving module, then the AFS algorithm of the driving module relative to the motor is updated, and the M1 is infinitely close to the M through multiple training.
Further, the step S2 includes:
step S24, when the vehicle body BCM is in an AFS mode, the vehicle body BCM sends the near light right limit of the dipped headlight to N degrees, the camera radar module obtains a light picture on the wall, the current dimming angle of the dipped headlight relative to the wall is calculated to be N1 through an image processing algorithm of the driving module, then the AFS algorithm of the driving module relative to the motor is updated, and N1 is infinitely close to N through multiple training.
By adopting the technical scheme, the vehicle lamp control instruction sent by the vehicle body BCM is received through the SBC circuit module, a corresponding vehicle lamp control signal is generated, the camera radar module collects deviation of the low beam at the electronic zero position and the upper limit position and the lower limit position of the motor and feeds the deviation back to the driving module, and the motor running position is recalibrated. The target detection dipped beam position is adopted to correct the car lamp motor so as to compensate the long-time working abrasion deviation of the motor ball head, thus greatly improving the operation accuracy of ALS and AFS and further improving the driving safety. The application of the invention can promote sales competitive value and meet the demands of different consumers. The invention not only can realize the calibration of the dimming angles of the ALS and the AFS of the motor, but also occupies less vehicle body space, vehicle wiring harness and BCM resources.
Drawings
FIG. 1 is a schematic block diagram of an auto ALS and AFS auto-correction system according to an embodiment of the present invention;
fig. 2 is a flowchart of a calibration method of an automatic calibration system for an ALS and AFS of an automobile according to an embodiment of the present invention.
Detailed Description
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Example 1
As shown in fig. 1, the present embodiment provides an automatic correction system for an automobile lamp ALS and an AFS, which includes a lamp panel module, a camera radar module, an SBC circuit module, a driving module, and a motor module.
The SBC circuit module is used for transmitting signals with the MCU module through CAN communication, adopts a chip with the model of UJA1169, and is used for receiving the car lamp control command sent by the car body and decoding the car lamp control command to generate corresponding car lamp control signals.
The lamp panel module comprises a dipped headlight and a hidden lamp, wherein the dipped headlight is used for illuminating the front of a vehicle, the hidden lamp is used for projecting a scale of light of the recalibration of the motor and is used for calibrating the upper limit position and the lower limit position of the ALS motor and the left limit position and the right limit position of the AFS motor.
The camera radar module is connected with the MCU module, and is used for detecting the distance between the vehicle and the wallboard when the camera radar module is used for recalibrating the ALS and AFS dimming angles, acquiring pictures of the dipped headlight and the hidden lamp irradiated on the wallboard, and transmitting camera radar data to the driving module.
The driving module is used for receiving a CAN signal controlled by the vehicle body and controlling the on and off of the dipped headlight and the hidden lamp; and, drive module is according to making a video recording radar data processing dipped headlight and hidden lamp and shining in the picture of wall, processes the distance between automobile body and the wall that radar surveyed, and analysis calculates the motor position, then trains out the optimal position of motor many times, recalibrates motor ALS and AFS algorithm, the limit position of the electronic zero position of adjustment motor and motor operation, and the limit position of motor operation includes upper limit position, lower limit position, left limit position and right limit position, avoids motor spindle nose wearing and tearing or damage to the inaccurate drawback of low beam dimming.
The motor module is used for adjusting the position of the dipped headlight up and down or left and right so as to meet the requirements of road condition car lamps of drivers.
The driving module comprises an MCU module and a DC-DC constant voltage circuit connected with the MCU module, wherein the DC-DC constant voltage circuit is used for supplying power to the driving circuit of the motor module and the LED driving circuit of the lamp panel module, and the DC-DC constant voltage circuit comprises one or more of a BUCK circuit, a BOOST circuit, a BUCK-BOOST circuit and a SEPIC circuit.
Example two
As shown in fig. 2, the present embodiment provides a correction method of an automatic correction system for an ALS and AFS of an automotive lamp, which includes:
step S1, before the automobile is required to be stopped on a wall on the premise of calibrating the dimming angle of the motor, an automatic calibration button is started firstly, a hidden lamp irradiates the wall, a driving module acquires a lamplight picture sent by a camera radar module for analysis, then the position of the hidden lamp on the wall is compensated by combining tire pressure parameters acquired from a body BCM, and the actual Y degree and Z degree of ALS and the actual M degree and N degree of AFS are calculated through the position of the hidden lamp on the wall.
Step S2, under the ALS or AFS mode, obtaining a lamplight picture on a wall according to the camera radar module, calculating a current dimming angle of the dipped headlight relative to the wall by the driving module, and training the current dimming angle according to an ALS algorithm or an AFS algorithm of the motor to enable the current dimming angle to be infinitely close to a limit value.
And step S3, continuously optimizing the step S1 and the step S2 to ensure that the motor with worn or deformed spindle heads still can meet the operation requirement.
Specifically, step S2 includes the steps of:
step S21, when the vehicle body BCM is in an ALS mode, the vehicle body BCM sends the upper limit Y degree of the near light, the camera radar module obtains the light picture on the wall, the current dimming angle of the near light relative to the wall is calculated to be Y1 through the image processing algorithm of the driving module, then the ALS algorithm of the driving module relative to the motor is updated, and the Y1 is infinitely close to the Y through multiple training.
Step S22, when the vehicle body BCM is in an ALS mode, the vehicle body BCM sends the lower limit Z degree of the near light, the camera radar module obtains the light picture on the wall, the current dimming angle of the near light relative to the wall is calculated to be Z1 through the image processing algorithm of the driving module, then the ALS algorithm of the driving module relative to the motor is updated, and the Z1 is infinitely close to Z through multiple training.
Step S23, when the vehicle body BCM is in an AFS mode, the vehicle body BCM sends the near light left limit M degree of the dipped headlight, the camera radar module obtains a light picture on the wall, the current dimming angle of the dipped headlight relative to the wall is calculated to be M1 through the image processing algorithm of the driving module, then the AFS algorithm of the driving module relative to the motor is updated, and the M1 is infinitely close to the M through multiple training.
Step S24, when the vehicle body BCM is in an AFS mode, the vehicle body BCM sends the near light right limit of the dipped headlight to N degrees, the camera radar module obtains a light picture on the wall, the current dimming angle of the dipped headlight relative to the wall is calculated to be N1 through an image processing algorithm of the driving module, then the AFS algorithm of the driving module relative to the motor is updated, and N1 is infinitely close to N through multiple training.
The technical problems, technical solutions and advantageous effects solved by the present invention have been further described in detail in the above-described embodiments, and it should be understood that the above-described embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the scope of protection of the present invention.
Claims (9)
1. An automatic correction system for an automobile lamp ALS and an AFS, which is characterized in that: the intelligent camera comprises a lamp panel module, a camera radar module, an SBC circuit module, a driving module and a motor module;
the SBC circuit module is used for receiving the car lamp control command sent by the car body and decoding the car lamp control command to generate a corresponding car lamp control signal;
the lamp panel module comprises a dipped headlight and a hidden lamp, wherein the dipped headlight is used for illuminating the front of a vehicle, the hidden lamp is used for projecting a scale of light of the recalibration of the motor and is used for calibrating the upper limit position and the lower limit position of the ALS motor and the left limit position and the right limit position of the AFS motor;
the camera radar module is used for detecting the distance between the vehicle and the wallboard when the dimming angles of the ALS and the AFS are recalibrated, acquiring pictures of the dipped headlight and the hidden lamp irradiated on the wallboard, and transmitting camera radar data to the driving module;
the driving module is used for receiving CAN signals controlled by the vehicle body and controlling the on and off of the dipped headlight and the hidden lamp; the driving module processes pictures of the dipped headlight and the hidden lamp irradiated on the wall according to the camera radar data, processes the distance between the vehicle body detected by the radar and the wall, analyzes and calculates the position of the motor, trains out the optimal position of the motor for a plurality of times, recalibrates the ALS and AFS algorithms of the motor, and adjusts the electronic zero position of the motor and the limit position of the motor operation;
the motor module is used for adjusting the position of the dipped headlight up and down or left and right.
2. The auto-calibration system for automotive lamp ALS and AFS according to claim 1, wherein: the driving module comprises an MCU module and a DC-DC constant voltage circuit connected with the MCU module, and the DC-DC constant voltage circuit is used for supplying power to the driving circuit of the motor module and the LED driving circuit of the lamp panel module.
3. The auto-calibration system for automotive lamp ALS and AFS according to claim 2, wherein: and the SBC circuit module performs signal transmission with the MCU module through CAN communication.
4. The auto-calibration system for automotive lamp ALS and AFS according to claim 2, wherein: the camera radar module is connected with the MCU module.
5. A correction method of an automatic correction system for ALS and AFS for automotive lamps according to any one of claims 1 to 4, characterized in that it comprises:
step S1, firstly, starting an automatic verification button, irradiating a hidden lamp on a wall, acquiring a lamplight picture sent by a camera radar module by a driving module for analysis, compensating the position of the hidden lamp on the wall by combining tire pressure parameters acquired from a vehicle body BCM, and calculating the actual Y degree and Z degree of ALS and the actual M degree and N degree of AFS by the position of the hidden lamp on the wall;
step S2, under an ALS or AFS mode, obtaining a lamplight picture on a wall according to a camera radar module, calculating a current dimming angle of a dipped headlight relative to the wall by a driving module, and training the current dimming angle according to an ALS algorithm or an AFS algorithm of a motor to enable the current dimming angle to be infinitely close to a limit value;
and step S3, continuously optimizing the step S1 and the step S2 to enable the motor with worn or deformed shaft heads to meet the operation requirement.
6. The correction method according to claim 5, characterized in that said step S2 comprises:
step S21, when the vehicle body BCM is in an ALS mode, the vehicle body BCM sends the upper limit Y degree of the near light, the camera radar module obtains the light picture on the wall, the current dimming angle of the near light relative to the wall is calculated to be Y1 through the image processing algorithm of the driving module, then the ALS algorithm of the driving module relative to the motor is updated, and the Y1 is infinitely close to the Y through multiple training.
7. The correction method according to claim 5, characterized in that said step S2 comprises:
step S22, when the vehicle body BCM is in an ALS mode, the vehicle body BCM sends the lower limit Z degree of the near light, the camera radar module obtains the light picture on the wall, the current dimming angle of the near light relative to the wall is calculated to be Z1 through the image processing algorithm of the driving module, then the ALS algorithm of the driving module relative to the motor is updated, and the Z1 is infinitely close to Z through multiple training.
8. The correction method according to claim 5, characterized in that said step S2 comprises:
step S23, when the vehicle body BCM is in an AFS mode, the vehicle body BCM sends the near light left limit M degree of the dipped headlight, the camera radar module obtains a light picture on the wall, the current dimming angle of the dipped headlight relative to the wall is calculated to be M1 through the image processing algorithm of the driving module, then the AFS algorithm of the driving module relative to the motor is updated, and the M1 is infinitely close to the M through multiple training.
9. The correction method according to claim 5, characterized in that said step S2 comprises:
step S24, when the vehicle body BCM is in an AFS mode, the vehicle body BCM sends the near light right limit of the dipped headlight to N degrees, the camera radar module obtains a light picture on the wall, the current dimming angle of the dipped headlight relative to the wall is calculated to be N1 through an image processing algorithm of the driving module, then the AFS algorithm of the driving module relative to the motor is updated, and N1 is infinitely close to N through multiple training.
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| CN202211326277.4A CN115503629B (en) | 2022-10-27 | 2022-10-27 | Automatic correction system and correction method for ALS and AFS of automobile lamp |
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| CN115503629B true CN115503629B (en) | 2024-04-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019085254A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市绎立锐光科技开发有限公司 | Method and system for controlling vehicle light adjustment, automobile |
| WO2021103254A1 (en) * | 2019-11-27 | 2021-06-03 | 歌尔股份有限公司 | Displacement control method, system, servo motor, and storage medium |
| KR20210083015A (en) * | 2019-12-26 | 2021-07-06 | 현대모비스 주식회사 | Compensation system for adaptive driving beam algorithm using camera and radar signal and method thereof |
| CN114954211A (en) * | 2021-02-19 | 2022-08-30 | 常州星宇车灯股份有限公司 | Vehicle and headlight control device thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7609057B2 (en) * | 2005-09-22 | 2009-10-27 | Ntn Corporation | Rotation angle detector and bearing assembly using the same |
| US8280172B1 (en) * | 2011-03-22 | 2012-10-02 | Mitutoyo Corporation | Edge location measurement correction for coaxial light images |
| US10713594B2 (en) * | 2015-03-20 | 2020-07-14 | Salesforce.Com, Inc. | Systems, methods, and apparatuses for implementing machine learning model training and deployment with a rollback mechanism |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019085254A1 (en) * | 2017-10-30 | 2019-05-09 | 深圳市绎立锐光科技开发有限公司 | Method and system for controlling vehicle light adjustment, automobile |
| WO2021103254A1 (en) * | 2019-11-27 | 2021-06-03 | 歌尔股份有限公司 | Displacement control method, system, servo motor, and storage medium |
| KR20210083015A (en) * | 2019-12-26 | 2021-07-06 | 현대모비스 주식회사 | Compensation system for adaptive driving beam algorithm using camera and radar signal and method thereof |
| CN114954211A (en) * | 2021-02-19 | 2022-08-30 | 常州星宇车灯股份有限公司 | Vehicle and headlight control device thereof |
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