CN1710399A - Motor vehicle head light detector and detection method - Google Patents
Motor vehicle head light detector and detection method Download PDFInfo
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- CN1710399A CN1710399A CN 200510035723 CN200510035723A CN1710399A CN 1710399 A CN1710399 A CN 1710399A CN 200510035723 CN200510035723 CN 200510035723 CN 200510035723 A CN200510035723 A CN 200510035723A CN 1710399 A CN1710399 A CN 1710399A
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Abstract
A detector for checking the grading performance of motor vehicle headlight consists of two reference columns for positioning, three digital cameras, detection screen, driving mechanism of screen and computer. It features setting screen driving mechanism in front of motor vehicle, two digital cameras on top of screen with shooting range to cover planar width defined by two positioning reference column, another digital camera on one of two said columns or near center of line connected on the ground between said two columns. The detecting method is also disclosed.
Description
1, technical field:
The present invention is a kind of motor vehicle head light detector and detection method thereof that is used for machines motor-car symmetrical beam headlamp luminous intensity distribution performance, belongs to the innovative technology of motor vehicle head light detector and detection method thereof.
2, background technology:
Require according to the relevant beam irradiation position of motor vehicle security of operation technical conditions GB7258-2004 clause:
1) when check dim head lights beam irradiation position, headlamp is radiated at apart from the screen of 10m the time, the height of passenger car dim head lights light beam "cut-off"line corner or mid point should be 0.7H～0.9H, and (H is a headlamp reference center height, down together), other motor vehicle (except the tractor transportation unit) should be 0.6H～0.8H.Motor vehicle (dress is except the motor vehicle of a headlamp) dim head lights beam level direction position does not allow to surpass 170mm to left avertence, does not allow to surpass 350mm to right avertence.
2) irradiation position of the dim head lights light beam of wheeled tractor transporter assembling usefulness when checking according to the method described above, requires not allow greater than 0.7H in the terrain clearance of the intrafascicular point of screen glazing; The horizontal level requirement, skew does not to the right allow to surpass 350mm, does not allow to be offset left.
3) when check long-distance light light beam and distance light single beam light irradiation position, headlamp is radiated at apart from the screen of 10m the time, require in screen beam center terrain clearance, and be 0.9H～1.0H to passenger car, be 0.8H～0.95H to other motor vehicle; Motor vehicle (dress is except the motor vehicle of a headlamp) long-distance light beam level status requirement, left lamp does not allow to surpass 170mm to left avertence, does not allow to surpass 350mm to right avertence, and right lamp does not partially all allow to surpass 350mm to the left or to the right.
Require according to motor vehicle head light detector vertification regulation JJG745-2002: luminous intensity: when the light shaft offset angle is zero, the error of indication≤± 12%; During the arbitrary value of light shaft offset angle in the calibrating scope, the error of indication≤± 15%; The light shaft offset angle: error of indication when luminous intensity is 15kcd≤± 15 '; The error of indication≤± 12 when luminous intensity changes ', poor between indicating value≤15 '; The error of indication of reference center's terrain clearance≤± 10mm.
Existing motor vehicle head light detector, have following aspect problem: 1, the detection screen of motor vehicle longitudinal axis and detector is to direct problem, detection person aligns by the detection screen of range estimation controller motor-car longitudinal axis and detector, there is subjective stochastic error, the detection screen of motor vehicle longitudinal axis and detector generally can reach 3 °～5 ° to positive-angle, ajust device if use vehicle, can not adapt to disalignment apart from vehicle on the one hand, ajust complicated operation on the other hand, the adjustment time is long, and detection efficiency is low; 2, automotive headlight reference center highly must manually read the number of division value, and detection efficiency is low; 3, can not reflect the automotive headlight light distribution characteristic comprehensively.
3, summary of the invention:
But the objective of the invention is to consider the problems referred to above and provide level angle deviation, the automatic detecting machine motor-car headlamp reference center height of a kind of automatic detecting machine motor-car longitudinal axis and detection system longitudinal axis and GB7258-2004 to require the motor vehicle head light detector of the automotive headlight luminous intensity distribution performance parameter that detects.
Another object of the present invention is to provide a kind of detection speed fast, the detection method that accuracy of detection is high.
The schematic diagram of motor vehicle head light detector of the present invention as shown in drawings, include position reference post (1), (2), digital camera (3), (4), (5), detect screen (6), detect screen driving mechanism (7), computing machine (8), detect the place ahead that screen driving mechanism (7) is installed in motor vehicle, detect the size of screen (6) and can hold the distant light irradiation of different automobile types in the spot center that detects on the screen, digital camera (3), (4) be installed on the upper position that detects screen (6), detect screen (6) and position reference post (1), (2) but distance satisfies the digital camera coverage and is encompassed in position reference post (1), (2) plane width that is defined, digital camera (5) are installed in position reference post (1) or (2) or position reference post (1), (2) on the mid point of the intersection point institute line section that intersects with ground.
Graphical analysis mechanism used in the present invention is: each pixel all comprises value of chromatism and place value in the digital photo file, and value of chromatism can be converted to gray-scale value by Computer Processing, and its value scope is generally 0～255, and it is corresponded to luminous intensity 0～40000cd.So for the captured headlamp light-emitting area photograph of digital camera 3,4 can by gray-scale value discern the respective specific zone (because of headlamp when the illuminating state, headlamp light-emitting area zone is very big with other regional gray-scale value difference in the photograph), and extrapolate the relative position of this zone in photograph according to the tagmeme value of this area pixel; Can the gray-scale value curve such as draw by computing machine by the strongest zone of gray-scale value for the captured distance light photograph of digital camera 5, correspond to long-distance light and be radiated at the spot center curve that detects on the screen, and the corresponding luminous intensity that goes out this spot center; Can draw "cut-off"line by the gray-scale value zone that suddenlys change for the captured dipped beam photograph of digital camera 5.
The detection method of motor vehicle head light detector of the present invention follows these steps to realize:
1) (coordinate system can be provided with arbitrarily to set up three dimensional space coordinate system, only need get final product this coordinate system conversion according to geometrical principle): set up three dimensional space coordinate system: to pass through by position reference post 1,2 install the intersection point U on ground with detection system, the mid point of the line segment UV that V determines and perpendicular to position reference post 1, the straight line UV on 2 determined 1-2 planes is the detection system longitudinal axis, being Y-axis with the intersection point on ground and the ray parallel with the detection system longitudinal axis by position reference post 1 or 2, with on Y-axis and with position reference post 1 or 2 distances be that the point of t is that initial point 0 (is contained position reference post (1) but this distance satisfies the digital camera coverage, (2) plane width that is defined), being X-axis by initial point and the ray parallel with straight line UV, being the Z axle by initial point and perpendicular to the ray of X-axis and Y-axis, installation and measuring screen driving mechanism 7 on initial point.
2) determine the three dimensional space coordinate of accompanying drawing mid point C, D, E, F, G, H:
Light automotive headlight, by digital camera 3,4 photographs of motor vehicle being taken in automotive headlight the place ahead machine are as calculated handled, carrying out geometry stretches, make position reference post 1 in the photograph, the height of 2 images and the ratio of spacing are stretched as and meet position reference post 1, the height of 2 material objects and the ratio of spacing, by computer Recognition position reference post 1,2 and headlamp light-emitting area image shape and the relative position in photograph thereof, with by position reference post 1, the 2 1-2 plane correspondences of determining, can obtain headlamp light-emitting area DM1, DN2 central point G, H respectively with the distance of position reference post 1 and with the distance on ground (be this X-axis of 2, the Z axial coordinate), because of a G, H is by position reference post 1, on the 2 1-2 planes of determining, then it is 2 Y-axis coordinate apart from the distance that detects screen plane, so can obtain a G, the three dimensional space coordinate of H in like manner can obtain a C, D, E, the three dimensional space coordinate of F (some C, D, E, F is respectively and headlamp light-emitting area image DM1, DM2, DN1, DN2 is tangent and perpendicular to X by the photo center side, the tangent line on Y-axis plane and headlamp light-emitting area image DM1, DM2, DN1, the point of contact of DN2).
3) determine the three dimensional space coordinate of the mid point R of automotive headlight light-emitting area central point M, N and line segment MN in the accompanying drawing:
Digital camera 3,4 positions are corresponding to an A, B, after the foundation of three dimensional space coordinate system, the three dimensional space coordinate system of digital camera 3,4 is promptly definite, because 1-2 plane and initial point 0 distance are t, and by step 2), the three dimensional space coordinate of point C, D, E, F, G, H is definite, and order point A coordinate is A (Ax, Ay, Az), Ax, Ay, Az are respectively X, Y, the Z axial coordinate of an A, and other are put roughly the same, then
Ay＝By＝0，Cy＝Dy＝Ey＝Fy＝Gy＝Hy＝t
Set up X, the Y-axis equation of straight line AC, AE, BD, BF, AG, BH:
Straight line AC:(X-Ax)/(Ax-Cx)=(Y-Ay)/(Ay-Cy)
Straight line AE:(X-Ax)/(Ax-Ex)=(Y-Ay)/(Ay-Ey)
Straight line BD:(X-Bx)/(Bx-Dx)=(Y-By)/(By-Dy)
Straight line BF:(X-Bx)/(Bx-Fx)=(Y-By)/(By-Fy)
Straight line AG:(X-Ax)/(Ax-Gx)=(Y-Ay)/(Ay-Gy)
Straight line BH:(X-Bx)/(Bx-Hx)=(Y-By)/(By-Hy)
Then the X of the intersection point P of straight line AC, BD, Y-axis coordinate can be defined as
Px＝(Bx·Cx-Ax·Dx)/(Bx+Cx-Ax-Dx)，Py＝(Bx-Ax)·t/(Bx+Cx-Ax-Dx)
The coordinate of the intersection point Q of straight line AE, BF can be defined as
Qx＝(Bx·Ex-Ax·Fx)/(Bx+Ex-Ax-Fx)，Qy＝(Bx-Ax)·t/(Bx+Ex-Ax-Fx)
Set up the equation of straight line PQ
Straight line PQ:(X-Px)/(Px-Qx)=(Y-Py)/(Py-Qy)
Then the X of the intersection point M of straight line PQ and straight line AG, Y-axis coordinate can be defined as
Mx＝(t·Ax·(Px-Qx)+(Py·Qx-Px·Qy)·(Ax-Gx))/((Py-Qy)·(Ax-Gx)+t·(Px-Qx))
My＝t·(Ax·Py-Ax·Qy-Py·Qx+Px·Qy)/((Py-Qy)·(Ax-Gx)+t·(Px-Qx))
X, the Y-axis coordinate of the intersection point N of straight line PQ and straight line BH can be defined as
Nx＝(t·Bx·(Px-Qx)+(Py·Qx-Px·Qy)·(Bx-Hx))/((Py-Qy)·(Bx-Hx)+t·(Px-Qx))
Ny＝t·(Bx·Py-Bx·Qy-Py·Qx+Px·Qy)/((Py-Qy)·(Bx-Hx)+t·(Px-Qx))
X, the Y-axis coordinate of the mid point R of line segment MN can be defined as
Rx-(Mx+Nx)/2，Ry＝(My+Ny)/2
The angle angle value of straight line MN and X-axis can be defined as:
arctg((Ny-My)/(Nx-Mx))
Set up Y, the Z paraxial equation of straight line AG, BH
Straight line AG:(Y-Ay)/(Ay-Gy)=(Z-Az)/(Az-Gz)
Straight line BH:(Y-By)/(By-Hy)=(Z-Bz)/(Bz-Hz)
Then the Z axial coordinate of the intersection point M of straight line AG and straight line Y=My can be defined as
Mz＝(Az·My+Ay·Gz-Gz·My-Az·Gy)/(Ay-Gy)
The Z axial coordinate of the intersection point N of straight line BH and straight line Y=Ny can be defined as
Nz＝(Bz·Ny+By·Hz-Hz·Ny-Bz·Hy)/(By-Hy)
The Z axial coordinate of the mid point R of line segment MN can be defined as
Rz＝(Mz+Nz)/2
Try to achieve the angle angle value (be motor vehicle longitudinal axis L 2 and the level angle deviation of detection system longitudinal axis L 1, advance direction left for just) of three dimensional space coordinate, straight line MN and X-axis of the mid point R of headlamp light-emitting area central point M, N and line segment MN thus with motor vehicle.
4) automotive headlight dipped beam luminous intensity distribution performance is detected, determine automotive headlight dipped beam "cut-off"line corner or mid point about, left and right sides deflection angle value:
Detection person lights dim head lights, 5 pairs of automotive headlight passing beams of detection system computer control digital camera are radiated at the hot spot that detects on the screen and take, obtain digital photo, computing machine carries out image stretch and carries out graphical analysis and can discern and obtain "cut-off"line corner or the mid point K relative position in detecting screen, thereby obtain its three dimensional space coordinate, in conjunction with the coordinate of the mid point R of motor vehicle left and right sides headlamp light-emitting area, determine the equation of line KR
(X-Kx)/(Kx-Rx)＝(Y-Ky)/(Ky-Ry)＝(Z-Kz)/(Kz-Rz)
The angle angle value on line KR and X, the determined plane of the Y-axis i.e. value of deflection angle up and down of this automotive headlight dipped beam "cut-off"line corner or mid point (advancing direction upwards for just with motor vehicle) is:
-arctg((Kz-Rz)/(Ky-Ry))
The angle angle value that line KR deducts motor vehicle longitudinal axis and detection system longitudinal axis at the projection on X, the determined plane of Y-axis and the angle angle value of Y-axis (advancing direction left for just with motor vehicle) the i.e. left and right sides deflection angle value of this automotive headlight dipped beam "cut-off"line corner or mid point is:
-arctg((Kx-Rx)/(Ky-Ry))-arctg((Ny-My)/(Nx-Mx))。
5) automotive headlight distance light luminous intensity distribution performance is detected, determine the left and right long-distance light of motor vehicle about, left and right sides deflection angle value:
Detection person lights long-distance light, 5 pairs of automotive headlight driving beams of detection system computer control digital camera are radiated at the hot spot that detects on the screen and take, the digital photo that obtains carries out image stretch by computing machine and carries out graphical analysis and can discern and obtain its left and right sides long-distance light light beam irradiates and detecting the strongest regional center point S of hot spot on the screen, the three dimensional space coordinate of W, and the equation of line MW, NS is:
Straight line MW:(X-Wx)/(Wx-Mx)=(Y-Wy)/(Wy-My)=(Z-Wz)/(Wz-Mz)
Straight line NS:(X-Sx)/(Sx-Nx)=(Y-Sy)/(Sy-Ny)=(Z-Sz)/(Sz-Nz)
The angle angle value on line MW and X, the determined plane of the Y-axis i.e. value of deflection angle up and down of this motor vehicle right headlamp distance light (advancing direction upwards for just with motor vehicle) is:
-arctg((Wz-Mz)/(Wy-My))
Line MW is the left and right sides deflection angle value of this motor vehicle right headlamp distance light at the angle angle value that the projection on X, the determined plane of Y-axis and the angle angle value of Y-axis (advancing direction left for just with motor vehicle) deduct motor vehicle longitudinal axis and detection system longitudinal axis:
-arctg((Wx-Mx)/(Wy-My))-arctg((Ny-My)/(Nx-Mx))
The angle angle value on line NS and X, the determined plane of the Y-axis i.e. value of deflection angle up and down of this motor vehicle left headlamp distance light (advancing direction upwards for just with motor vehicle) is:
-arctg((Sz-Nz)/(Sy-Ny))
Line NS is the left and right sides deflection angle value of this motor vehicle left headlamp distance light at the angle angle value that the projection on X, the determined plane of Y-axis and the angle angle value of Y-axis (advancing direction left for just with motor vehicle) deduct motor vehicle longitudinal axis and detection system longitudinal axis:
-arctg((Sx-Nx)/(Sy-Ny))-arctg((Ny-My)/(Nx-Mx))。
Motor vehicle head light detector of the present invention obtains from different perspectives image that the automotive headlight light-emitting area is taken and digital camera by digital camera, and to obtain headlamp far away, dipped beam is radiated at the light spot image that detects on the screen, computing machine is analyzed image, by geometric operation, calculate the level angle deviation of motor vehicle longitudinal axis and detection system longitudinal axis, automotive headlight reference center height, automotive headlight driving beam luminous intensity and deflection angle, GB7258-2004 such as the locus of automotive headlight passing beam "cut-off"line corner or mid point and deflection angle require the automotive headlight luminous intensity distribution performance parameter of detection.Detection method detection speed of the present invention is fast, the accuracy of detection height.
4, description of drawings:
Fig. 1 is a schematic diagram of the present invention;
Fig. 2 is that digital camera of the present invention (3) is to the digital photo simulation drawing of automotive headlight shooting and the design sketch after how much stretchings;
Fig. 3 is that digital camera of the present invention (4) is to the digital photo simulation drawing of automotive headlight shooting and the design sketch after how much stretchings;
Fig. 4 is how much vertical views (X, Y-axis) of the present invention;
Fig. 5 is how much side views (Y, Z axle) of the present invention;
Digital camera (5) was to detecting the digital photo of screen shot when Fig. 6 detected for the present invention is used for the automotive headlight dipped beam;
Geometrical principle figure when Fig. 7 detects for the present invention is used for the automotive headlight dipped beam;
Digital camera (5) was to detecting the digital photo simulation drawing of screen shot when Fig. 8 detected for the present invention is used for the automotive headlight distance light;
Detection system geometrical principle figure when Fig. 9 detects for the present invention is used for the automotive headlight distance light;
Figure 10 is a position reference post stop means vertical view of the present invention.
5, embodiment:
Embodiment:
The schematic diagram of motor vehicle head light detector of the present invention as shown in Figure 1, among the figure: 1,2 position reference posts, 3,4,5 digital cameras, 6 detect screen, and 7 detect screen driving mechanism, 8 computing machines, 9 motor vehicles, 10 motor vehicle right headlamps, 11 motor vehicle left headlamps, U position reference post 1 and the intersection point that ground is installed, V position reference post 2 and the intersection point that ground is installed, 0 detects screen driving mechanism rotating shaft center line and the ground intersection point is installed, and I detects the screen initial position, and II detects the screen detection position.
Fig. 2 is that digital camera of the present invention (3) is to the digital photo simulation drawing of automotive headlight shooting and the design sketch after how much stretchings; Among the figure: 1-2 is the plane of being determined by 1,2 position reference posts, DM1, DN1 are respectively the right side, left headlamp light-emitting area at the image of being taken the photograph by digital camera 3 on the digital photo, G is the geometric center point of DM1, and it is tangent and perpendicular to the point of contact at the point of contact of the tangent line on X, Y-axis plane and headlamp light-emitting area image DM1, DN1 by the photo center side with headlamp light-emitting area image DM1, DN1 that C, E are respectively.
Fig. 3 is that digital camera of the present invention (4) is to the digital photo simulation drawing of automotive headlight shooting and the design sketch after how much stretchings; Among the figure: 1-2 is the plane of being determined by 1,2 position reference posts, DM2, DN2 are respectively the right side, left headlamp light-emitting area at the image of being taken the photograph by digital camera 3 on the digital photo, H is the geometric center point of DN2, and it is tangent and perpendicular to the point of contact at the point of contact of the tangent line on X, Y-axis plane and headlamp light-emitting area image DM2, DN2 by the photo center side with headlamp light-emitting area image DM2, DN2 that some D, F are respectively.
Fig. 4 is how much vertical views (X, Y-axis) of the present invention; Among the figure: some A, B are that corresponding point, D, E, F, G, the H of digital camera 3,4 is respective points among Fig. 2, Fig. 3, point M is the intersection point of line AG and straight line PQ, N is the intersection point of line BN and straight line PQ, point P is the intersection point of straight line AC and straight line BD, point Q is the intersection point of straight line AE and straight line BF, point R is the mid point of line segment MN, and straight line L1 is the detection system longitudinal axis, and straight line L2 is the vertical line of straight line PQ.
Fig. 5 is how much side views (Y, Z axle) of the present invention; Among the figure: some A, B are the corresponding point of digital camera 3,4, and some G, H are respective points among Fig. 2, Fig. 3, and some M is the intersection point of straight line AG and straight line Y=My, and some N is the intersection point of straight line BH and straight line Y=Ny, and some R is the mid point of line segment MN.
Digital camera (5) was to detecting the digital photo of screen shot when Fig. 6 detected for the present invention is used for the automotive headlight dipped beam; Among the figure: some K is "cut-off"line corner or mid point.
Geometrical principle figure when Fig. 7 detects for the present invention is used for the automotive headlight dipped beam; Among the figure: some K is "cut-off"line corner or mid point, and some R is the mid point (being the some R among Fig. 4, Fig. 5) of headlamp light-emitting area center, motor vehicle left and right sides institute line section.
Digital camera (5) was to detecting the digital photo simulation drawing of screen shot when Fig. 8 detected for the present invention is used for the automotive headlight distance light; Among the figure: some S is the center (center in bright spot of hot spot or zone) of left light spot, and some W is the center (center in bright spot of hot spot or zone) of right light spot.
Detection system geometrical principle figure when Fig. 9 detects for the present invention is used for the automotive headlight distance light; Among the figure: some S is the center (center in bright spot of hot spot or zone) of left light spot, point W is the center (center in bright spot of hot spot or zone) of right light spot, and some M, N are respectively the motor vehicle right side, left headlamp light-emitting area central point (being some M, the N among Fig. 4, Fig. 5).
Figure 10 is a position reference post stop means vertical view of the present invention, among the figure: 1,2 is the position reference post, 7,8 is the infrared switch transmitter, 9,10 is the infrared switch receiver, A is infrared switch transmitter 7 and infrared switch receiver 9 determined straight lines, B is infrared switch transmitter 8 and infrared switch receiver 10 determined straight lines, and arrow is depicted as the motor vehicle direction of advancing.
Below be that example describes to detect that screen driving mechanism 7 is installed in the motor vehicle right front, digital camera (5) is installed on the position reference post 1, as shown in Figure 1.In this embodiment, digital camera 3,4,5 is the above digital cameras of 6,000,000 pixels, and computing machine is the above personal computer of Pentium III rank, detects screen size and is advisable in the spot center that detects on the screen with the distant light irradiation that can hold different automobile types.In this example, detecting screen size is wide 3900mm, and high 1400mm is one and is installed in and detects on the screen driving mechanism 7 perpendicular to ground and cover the flat board of film curtain.Digital camera 3,4 is installed on the diverse location that detects the screen top edge, in this example the three-dimensional coordinate of digital camera 3 be (1000mm, 0mm, 1400mm), the three-dimensional coordinate of digital camera 4 be (3000mm, 0mm, 1400mm); But the distance that detects screen and position reference post 1,2 satisfies the digital camera coverage and contains position reference post 1,2 plane width that defined, the distance that detects screen and position reference post 1,2 in this example is 4000mm, the three-dimensional coordinate of position reference post 1,2 and ground intersection point is respectively (0mm, 4000mm is 0mm) with (4000mm, 4000mm, 0mm), the three-dimensional coordinate of digital camera 5 be (0mm, 4000mm, 700mm).
When detecting, detection person drives motor vehicle, (control near distance can be used various stop means near position reference post 1,2 determined 1-2 planes to make the motor vehicle leading edge, use the stop means of forming by two groups of infrared switches that are installed on the position reference post 1,2 to realize in this example, as shown in figure 10, when motor vehicle leading edge no show during by the determined straight line A of infrared switch transmitter 7 and infrared switch receiver 9, infrared switch receiver 9,10 output low levels; When the motor vehicle leading edge arrives by infrared switch transmitter 7 and infrared switch receiver 9 determined straight line A no show by the determined straight line B of infrared switch transmitter 8 and infrared switch receiver 10, infrared switch receiver 7 output high level, infrared switch receiver 10 output low levels; When the motor vehicle leading edge arrives by the determined straight line B of infrared switch transmitter 8 and infrared switch receiver 10, infrared switch receiver 9,10 output high level.Computing machine is by judging infrared switch receiver 9,10 level can judge that just the motor vehicle leading edge is with respect to straight line A, the position of B, and detection person is sent unlike signal drive motor vehicle with prompting detection person and advance or retreat), detection person lights headlamp, and send detect commencing signal (or by computing machine by judging infrared switch receiver 9,10 level just sends this signal), make detection system enter detected state, detect screen driving mechanism 7 driving detection screens 6 and forward position II (plane, detection screen place of position II and 1-2 plane parallel) to, carry out following steps by position I:
1) determine the angle of three dimensional space coordinate, motor vehicle longitudinal axis and the detection system longitudinal axis of the mid point R of automotive headlight light-emitting area central point M, N and line segment MN in the accompanying drawing:
Because motor vehicle left and right sides headlamp for being symmetrical arranged, thereby can be determined the motor vehicle longitudinal axis by the line of left and right sides headlamp with respect to the motor vehicle longitudinal axis; Because automotive headlight vehicle difference, its light-emitting area shape is also ever-changing, but fixedly profile is arranged all, consider that digital camera can not reflect the light-emitting area shape to automotive headlight photograph that light-emitting area is taken the photograph strictly according to the facts because of the different automotive headlight light-emitting area shape distortions that cause of shooting angle, then distortion is more little for shooting angle more little (angle of the line of exponential code camera and automotive headlight light-emitting area and motor vehicle working direction), so by digital camera 3,4 digital photo Fig. 2 that headlamp taken in automotive headlight the place ahead, Fig. 3 (face DM1 among the figure, DM2, DN1, DN2 is the image of left and right sides headlamp light-emitting area on photograph), respectively with the face DM1 of Fig. 2, the determined figure of face DN2 of Fig. 3 is right, the approximate shapes of left headlamp light-emitting area, its central point G, it is right that H is respectively, the image center of left headlamp light-emitting area correspondence on photograph, thereby can be by Fig. 2, Fig. 3 machine graphical analysis and according to Fig. 4 as calculated, Fig. 5 carries out following geometric operation, obtains Fig. 4, headlamp light-emitting area central point M among Fig. 5, the three dimensional space coordinate of the mid point R of N and line segment MN and the angle of straight line MN and X-axis (its value equals the angle angle value of motor vehicle longitudinal axis and detection system longitudinal axis).
Its geometric operation is as follows:
Known condition is as follows:
Installation detecting system as shown in Figure 1, to pass through by position reference post 1,2 install the intersection point U on ground with detection system, the mid point of the line segment UV that V determines and perpendicular to position reference post 1, the straight line UV on 2 determined 1-2 planes is the detection system longitudinal axis, being Y-axis with the intersection point on ground and the ray parallel with the detection system longitudinal axis by position reference post 1 or 2, with on Y-axis and with position reference post 1 or 2 distances be that the point of t is that initial point 0 (is contained position reference post (1) but this distance satisfies the digital camera coverage, (2) plane width that is defined), being X-axis by initial point and the ray parallel with straight line UV, being the Z axle by initial point and perpendicular to the ray of X-axis and Y-axis, installation and measuring screen driving mechanism 7 on initial point (coordinate system in this instructions and the Figure of description all coordinate system derive) thus then is fixing known parameters at the three dimensional space coordinate that detection system installs its each assembly of back.
The data of carrying out the graphical analysis gained by digital photo ask the geometric operation of angle of the three dimensional space coordinate of a M, N, R and straight line MN and X-axis as follows:
Order point A coordinate is that (Az), Ax, Ay, Az are respectively X, Y, the Z axial coordinate of an A to A for Ax, Ay, and other point roughly the same.
Step (1): the photomap of in automotive headlight the place ahead headlamp being taken by digital camera 3,42, Fig. 3 machine image analysis processing as calculated obtain the three dimensional space coordinate of a C, D, E, F, G, H:
Fig. 2, Fig. 3 are the digital photo simulation drawing that 3,4 pairs of automotive headlights of digital camera are taken, machine graphical analysis as calculated, using stretches for how much can look like to be converted to rectangular image (height of position reference post 1,2 images and spacing ratio are stretched as height and the spacing ratio that meets position reference post 1,2 material objects in the photograph) by ladder diagram; By computer Recognition position reference post 1,2 and headlamp light-emitting area image shape and the relative position in photograph thereof, according to Fig. 2, Fig. 3, corresponding with the 1-2 plane of determining by position reference post 1,2, can obtain headlamp light-emitting area DM1, DN2 central point G, H respectively with the distance of position reference post 1 and with the distance on ground, i.e. this X-axis of 2, Y-axis coordinate; Because of a G, H on the 1-2 plane of determining by position reference post 1,2, then it is known apart from the distance that detects screen plane, i.e. this Z axial coordinate of 2; So can obtain the three dimensional space coordinate of a G, H.In like manner can obtain a C, D, E, F (some C, D, E, F be respectively with headlamp light-emitting area image DM1, DM2, DN1, DN2 by the photo center side tangent and perpendicular to the point of contact of the tangent line on X, Y-axis plane and headlamp light-emitting area image DM1, DM2, DN1, DN2, as Fig. 2, shown in Figure 3) three dimensional space coordinate.
Step (2): the three dimensional space coordinate that calculates reference point according to Fig. 4, Fig. 5 by computing machine by geometric operation:
According to Fig. 4, digital camera 3,4 positions are corresponding to an A, B, and some C, D, E, F, all on the 1-2 plane, by step (1), its each point three dimensional space coordinate is known for G, H, and establishing the 1-2 plane is t with initial point 0 distance, then
Ay＝By＝0，Cy＝Dy＝Ey＝Fy＝Gy＝Hy＝t
Set up X, the Y-axis equation of straight line AC, AE, BD, BF, AG, BH:
Straight line AC:(X-Ax)/(Ax-Cx)=(Y-Ay)/(Ay-Cy)
Straight line AE:(X-Ax)/(Ax-Ex)=(Y-Ay)/(Ay-Ey)
Straight line BD:(X-Bx)/(Bx-Dx)=(Y-By)/(By-Dy)
Straight line BF:(X-Bx)/(Bx-Fx)=(Y-By)/(By-Fy)
Straight line AG:(X-Ax)/(Ax-Gx)=(Y-Ay)/(Ay-Gy)
Straight line BH:(X-Bx)/(Bx-Hx)=(Y-By)/(By-Hy)
Then the X of the intersection point P of straight line AC, BD, Y-axis coordinate can be defined as
Px＝(Bx·Cx-Ax·Dx)/(Bx+Cx-Ax-Dx)，Py＝(Bx-Ax)·t/(Bx+Cx-Ax-Dx)
The coordinate of the intersection point Q of straight line AE, BF can be defined as
Qx＝(Bx·Ex-Ax·Fx)/(Bx+Ex-Ax-Fx)，Qy＝(Bx-Ax)·t/(Bx+Ex-Ax-Fx)
Set up the equation of straight line PQ
Straight line PQ:(X-Px)/(Px-Qx)=(Y-Py)/(Py-Qy)
Then the X of the intersection point M of straight line PQ and straight line AG, Y-axis coordinate can be defined as
Mx＝(t·Ax·(Px-Qx)+(Py·Qx-Px·Qy)·(Ax-Gx))/((Py-Qy)·(Ax-Gx)+t·(Px-Qx))
My＝t·(Ax·Py-Ax·Qy-Py·Qx+Px·Qy)/((Py-Qy)·(Ax-Gx)+t·(Px-Qx))
X, the Y-axis coordinate of the intersection point N of straight line PQ and straight line BH can be defined as
Nx＝(t·Bx·(Px-Qx)+(Py·Qx-Px·Qy)·(Bx-Hx))/((Py-Qy)·(Bx-Hx)+t·(Px-Qx))
Ny＝t·(Bx·Py-Bx·Qy-Py·Qx+Px·Qy)/((Py-Qy)·(Bx-Hx)+t·(Px-Qx))
X, the Y-axis coordinate of the mid point R of line segment MN can be defined as
Rx＝(Mx+Nx)/2，Ry＝(My+Ny)/2
The angle angle value of straight line MN and X-axis can be defined as:
arctg((Ny-My)/(Nx-Mx))
According to Fig. 5, set up Y, the Z paraxial equation of straight line AG, BH
Straight line AG:(Y-Ay)/(Ay-Gy)=(Z-Az)/(Az-Gz)
Straight line BH:(Y-By)/(By-Hy)=(Z-Bz)/(Bz-Hz)
Then the Z axial coordinate of the intersection point M of straight line AG and straight line Y=My can be defined as
Mz＝(Az·My+Ay·Gz-Gz·My-Az·Gy)/(Ay-Gy)
The Z axial coordinate of the intersection point N of straight line BH and straight line Y=Ny can be defined as
Nz＝(Bz·Ny+By·Hz-Hz·Ny-Bz·Hy)/(By-Hy)
The Z axial coordinate of the mid point R of line segment MN can be defined as
Rz＝(Mz+Nz)/2
Try to achieve the angle angle value (be motor vehicle longitudinal axis L 2 and the level angle deviation of detection system longitudinal axis L 1, advance direction left for just) of three dimensional space coordinate, straight line MN and X-axis of the mid point R of headlamp light-emitting area central point M, N and line segment MN thus with motor vehicle.
2) automotive headlight dipped beam luminous intensity distribution performance is detected, determine automotive headlight dipped beam "cut-off"line corner or mid point about, left and right sides deflection angle value:
Detection person lights dim head lights, 5 pairs of automotive headlight passing beams of detection system computer control digital camera are radiated at the hot spot that detects on the screen and take, obtain digital photo Fig. 6, carry out image stretch by computing machine and carry out graphical analysis and can discern separatrix (the being "cut-off"line) corner that obtains clear zone and dark space or the relative position of mid point K in detecting screen according to Fig. 6, calculate its three dimensional space coordinate according to Fig. 7, obtain the deflection angle of its dim head lights "cut-off"line corner or mid point by following geometric operation.
Its geometric operation is as follows:
By the above-mentioned three-dimensional coordinate that obtains a K, because the angle of mid point R coordinate, motor vehicle longitudinal axis and the detection system longitudinal axis of motor vehicle left and right sides headlamp light-emitting area is known (by definite function realization mechanism of automotive headlight three dimensional space coordinate as can be known), then can determine that by Fig. 7 the equation of line KR is:
(X-Kx)/(Kx-Rx)＝(Y-Ky)/(Ky-Ry)＝(Z-Kz)/(Kz-Rz)
The angle angle value on line KR and X, the determined plane of the Y-axis i.e. value of deflection angle up and down of this automotive headlight dipped beam "cut-off"line corner or mid point (advancing direction upwards for just with motor vehicle) is:
-arctg((Kz-Rz)/(Ky-Ry))
The angle angle value that line KR deducts motor vehicle longitudinal axis and detection system longitudinal axis at the projection on X, the determined plane of Y-axis and the angle angle value of Y-axis (advancing direction left for just with motor vehicle) the i.e. left and right sides deflection angle value of this automotive headlight dipped beam "cut-off"line corner or mid point is:
-arctg((Kx-Rx)/(Ky-Ry))-arctg((Ny-My)/(Nx-Mx))。
3) automotive headlight distance light luminous intensity distribution performance is detected, determine the luminous intensity of the left and right long-distance light of motor vehicle, up and down, left and right sides deflection angle value:
Detection person lights long-distance light, 5 pairs of automotive headlight driving beams of detection system computer control digital camera are radiated at the hot spot that detects on the screen and take, obtain photomap 8, carry out image stretch and carry out graphical analysis and can discern and obtain its left and right sides long-distance light light beam irradiates and detecting the strongest regional center point S of hot spot on the screen, two groups of three dimensional space coordinates and the corresponding luminous intensity thereof of W by computing machine.The equation that can determine line MW, NS according to Fig. 9 is:
Straight line MW:(X-Wx)/(Wx-Mx)=(Y-Wy)/(Wy-My)=(Z-Wz)/(Wz-Mz)
Straight line NS:(X-Sx)/(Sx-Nx)=(Y-Sy)/(Sy-Ny)=(Z-Sz)/(Sz-Nz)
The angle angle value on line MW and X, the determined plane of the Y-axis i.e. value of deflection angle up and down of this motor vehicle right headlamp distance light (advancing direction upwards for just with motor vehicle) is:
-arctg((Wz-Mz)/(Wy-My))
Line MW is the left and right sides deflection angle value of this motor vehicle right headlamp distance light at the angle angle value that the projection on X, the determined plane of Y-axis and the angle angle value of Y-axis (advancing direction left for just with motor vehicle) deduct motor vehicle longitudinal axis and detection system longitudinal axis:
-arctg((Wx-Mx)/(Wy-My))-arctg((Ny-My)/(Nx-Mx))
The angle angle value on line NS and X, the determined plane of the Y-axis i.e. value of deflection angle up and down of this motor vehicle left headlamp distance light (advancing direction upwards for just with motor vehicle) is:
-arctg((Sz-Nz)/(Sy-Ny))
Line NS is the left and right sides deflection angle value of this motor vehicle left headlamp distance light at the angle angle value that the projection on X, the determined plane of Y-axis and the angle angle value of Y-axis (advancing direction left for just with motor vehicle) deduct motor vehicle longitudinal axis and detection system longitudinal axis:
-arctg((Sx-Nx)/(Sy-Ny))-arctg((Ny-My)/(Nx-Mx))
Claims (9)
1, a kind of motor vehicle head light detector, it is characterized in that including position reference post (1), (2), digital camera (3), (4), (5), detect screen (6), detect screen driving mechanism (7), computing machine (8) detects the size of screen (6) and can hold the distant light irradiation of different automobile types in the spot center that detects on the screen.
2, motor vehicle head light detector according to claim 1 is characterized in that above-mentioned detection screen driving mechanism (7) is installed in motor vehicle right front or left front.
3, motor vehicle head light detector according to claim 1 is characterized in that above-mentioned digital camera (3), (4) are installed in respectively on the diverse location that detects screen (6) top edge.
4, motor vehicle head light detector according to claim 1 is characterized in that above-mentioned digital camera (5) is installed near the mid point of the crossing intersection point institute line section of position reference post (1) or (2) or position reference post (1), (2) and ground.
5, motor vehicle head light detector according to claim 1, it is characterized in that above-mentioned detection screen and position reference post (1), (2) but distance satisfy the digital camera coverage and contain the plane width that position reference post (1), (2) are defined.
6, the detection method of motor vehicle head light detector according to claim 1, it is characterized in that setting up coordinate system, determine the level angle deviation of automotive headlight three dimensional space coordinate, motor vehicle longitudinal axis L 2 and detection system longitudinal axis L 1 according to following steps:
(1) (coordinate system can be provided with arbitrarily to set up three dimensional space coordinate system, only need get final product this coordinate system conversion according to geometrical principle): to pass through by position reference post 1,2 install the intersection point U on ground with detection system, the mid point of the line segment UV that V determines and perpendicular to position reference post 1, the straight line UV on 2 determined 1-2 planes is the detection system longitudinal axis, being Y-axis with the intersection point on ground and the ray parallel with the detection system longitudinal axis by position reference post 1 or 2, with on Y-axis and with position reference post 1 or 2 distances be that the point of t is that initial point O (is contained position reference post 1 but this distance satisfies the digital camera coverage, 2 plane width that defined), being X-axis by initial point and the ray parallel with straight line UV, being the Z axle by initial point and perpendicular to the ray of X-axis and Y-axis, installation and measuring screen driving mechanism 7 on initial point;
(2) determine the automotive headlight three dimensional space coordinate, the level angle deviation of motor vehicle longitudinal axis L 2 and detection system longitudinal axis L 1: light automotive headlight, by digital camera 3,4 photographs of motor vehicle being taken in automotive headlight the place ahead machine are as calculated handled, carrying out geometry stretches, make position reference post 1 in the photograph, the height of 2 images and the ratio of spacing are stretched as and meet position reference post 1, the height of 2 material objects and the ratio of spacing, by computer Recognition position reference post 1,2 and headlamp light-emitting area image shape and the relative position in photograph thereof, with by position reference post 1, the 2 1-2 plane correspondences of determining, can obtain headlamp light-emitting area DM1, DN2 central point G, H respectively with the distance of position reference post 1 and with the distance on ground (be this X-axis of 2, the Z axial coordinate), because of a G, H is by position reference post 1, on the 2 1-2 planes of determining, then it is 2 Y-axis coordinate apart from the distance that detects screen plane, so can obtain a G, the three dimensional space coordinate of H, in like manner can obtain a C, D, E, the three dimensional space coordinate of F (some C, D, E, F is respectively and headlamp light-emitting area image DM1, DM2, DN1, DN2 is tangent and perpendicular to X by the photo center side, the tangent line on Y-axis plane and headlamp light-emitting area image DM1, DM2, DN1, the point of contact of DN2), digital camera 3,4 positions are corresponding to an A, B, because of 1-2 plane and initial point O distance is t, order point A coordinate is A (Ax, Ay, Az), Ax, Ay, Az is respectively the X of an A, Y, the Z axial coordinate, other are put roughly the same, then
Ay＝By＝0，Cy＝Dy＝Ey＝Fy＝Gy＝Hy＝t
Set up X, the Y-axis equation of straight line AC, AE, BD, BF, AG, BH:
Straight line AC:(X-Ax)/(Ax-Cx)=(Y-Ay)/(Ay-Cy)
Straight line AE:(X-Ax)/(Ax-Ex)=(Y-Ay)/(Ay-Ey)
Straight line BD:(X-Bx)/(Bx-Dx)=(Y-By)/(By-Dy)
Straight line BF:(X-Bx)/(Bx-Fx)=(Y-By)/(By-Fy)
Straight line AG:(X-Ax)/(Ax-Gx)=(Y-Ay)/(Ay-Gy)
Straight line BH:(X-Bx)/(Bx-Hx)=(Y-By)/(By-Hy)
Then the X of the intersection point P of straight line AC, BD, Y-axis coordinate are
Px＝(Bx·Cx-Ax·Dx)/(Bx+Cx-Ax-Dx)，Py＝(Bx-Ax)·t/(Bx+Cx-Ax-Dx)
The coordinate of the intersection point Q of straight line AE, BF is
Qx＝(Bx·Ex-Ax·Fx)/(Bx+Ex-Ax-Fx)，Qy＝(Bx-Ax)·t/(Bx+Ex-Ax-Fx)
Set up the equation of straight line PQ
Straight line PQ:(X-Px)/(Px-Qx)=(Y-Py)/(Py-Qy)
Then the X of the intersection point M of straight line PQ and straight line AG, Y-axis coordinate are
Mx＝(t·Ax·(Px-Qx)+(Py·Qx-Px·Qy)·(Ax-Gx))/((Py-Qy)·(Ax-Gx)+t·(Px-Qx))
My＝t·(Ax·Py-Ax·Qy-Py·Qx+Px·Qy)/((Py-Qy)·(Ax-Gx)+t·(Px-Qx))
X, the Y-axis coordinate of the intersection point N of straight line PQ and straight line BH are
Nx＝(t·Bx·(Px-Qx)+(Py·Qx-Px·Qy)·(Bx-Hx))/((Py-Qy)·(Bx-Hx)+t·(Px-Qx))
Ny＝t·(Bx·Py-Bx·Qy-Py·Qx+Px·Qy)/((Py-Qy)·(Bx-Hx)+t·(Px-Qx))
X, the Y-axis coordinate of the mid point R of line segment MN are
Rx＝(Mx+Nx)/2，Ry＝(My+Ny)/2
The angle angle value of straight line MN and X-axis is:
arctg((Ny-My)/(Nx-Mx))
Set up Y, the Z paraxial equation of straight line AG, BH
Straight line AG:(Y-Ay)/(Ay-Gy)=(Z-Az)/(Az-Gz)
Straight line BH:(Y-By)/(By-Hy)=(Z-Bz)/(Bz-Hz)
Then the Z axial coordinate of the intersection point M of straight line AG and straight line Y=My is
Mz＝(Az·My+Ay·Gz-Gz·My-Az·Gy)/(Ay-Gy)
The Z axial coordinate of the intersection point N of straight line BH and straight line Y=Ny is
Nz＝(Bz·Ny+By·Hz-Hz·Ny-Bz·Hy)/(By-Hy)
The Z axial coordinate of the mid point R of line segment MN is
Rz＝(Mz+Nz)/2
Try to achieve the angle angle value (be motor vehicle longitudinal axis L 2 and the level angle deviation of detection system longitudinal axis L 1, advance direction left for just) of three dimensional space coordinate, straight line MN and X-axis of the mid point R of headlamp light-emitting area central point M, N and line segment MN thus with motor vehicle.
7, the detection method of motor vehicle head light detector according to claim 6, it is characterized in that automotive headlight dipped beam luminous intensity distribution performance detects as follows: detection person lights dim head lights, 5 pairs of automotive headlight passing beams of detection system computer control digital camera are radiated at the hot spot that detects on the screen and take, obtain digital photo, computing machine carries out image stretch and carries out graphical analysis and can discern and obtain "cut-off"line corner or the mid point K relative position in detecting screen, thereby obtain its three dimensional space coordinate, in conjunction with the coordinate of the mid point R of motor vehicle left and right sides headlamp light-emitting area, determine the equation of line KR
(X-Kx)/(Kx-Rx)＝(Y-Ky)/(Ky-Ry)＝(Z-Kz)/(Kz-Rz)
The angle angle value on line KR and X, the determined plane of the Y-axis i.e. value of deflection angle up and down of this automotive headlight dipped beam "cut-off"line corner or mid point (advancing direction upwards for just with motor vehicle) is:
-arctg((Kz-Rz)/(Ky-Ry))
The angle angle value that line KR deducts motor vehicle longitudinal axis and detection system longitudinal axis at the projection on X, the determined plane of Y-axis and the angle angle value of Y-axis (advancing direction left for just with motor vehicle) the i.e. left and right sides deflection angle value of this automotive headlight dipped beam "cut-off"line corner or mid point is:
-arctg((Kx-Rx)/(Ky-Ry))-arctg((Ny-My)/(Nx-Mx))。
8, the detection method of motor vehicle head light detector according to claim 6, it is characterized in that automotive headlight distance light luminous intensity distribution performance detects as follows: detection person lights long-distance light, 5 pairs of automotive headlight driving beams of detection system computer control digital camera are radiated at the hot spot that detects on the screen and take, the digital photo that obtains carries out image stretch by computing machine and carries out graphical analysis and can discern and obtain its left and right sides long-distance light light beam irradiates at the strongest regional center point S of hot spot that detects on the screen, the three dimensional space coordinate of W, line MW, the equation of NS is:
Straight line MW:(X-Wx)/(Wx-Mx)=(Y-Wy)/(Wy-My)=(Z-Wz)/(Wz-Mz)
Straight line NS:(X-Sx)/(Sx-Nx)=(Y-Sy)/(Sy-Ny)=(Z-Sz)/(Sz-Nz)
The angle angle value on line MW and X, the determined plane of the Y-axis i.e. value of deflection angle up and down of this motor vehicle right headlamp distance light (advancing direction upwards for just with motor vehicle) is:
-arctg((Wz-Mz)/(Wy-My))
Line MW is the left and right sides deflection angle value of this motor vehicle right headlamp distance light at the angle angle value that the projection on X, the determined plane of Y-axis and the angle angle value of Y-axis (advancing direction left for just with motor vehicle) deduct motor vehicle longitudinal axis and detection system longitudinal axis:
-arctg((Wx-Mx)/(Wy-My))-arctg((Ny-My)/(Nx-Mx))
The angle angle value on line NS and X, the determined plane of the Y-axis i.e. value of deflection angle up and down of this motor vehicle left headlamp distance light (advancing direction upwards for just with motor vehicle) is:
-arctg((Sz-Nz)/(Sy-Ny))
Line NS is the left and right sides deflection angle value of this motor vehicle left headlamp distance light at the angle angle value that the projection on X, the determined plane of Y-axis and the angle angle value of Y-axis (advancing direction left for just with motor vehicle) deduct motor vehicle longitudinal axis and detection system longitudinal axis:
-arctg((Sx-Nx)/(Sy-Ny))-arctg((Ny-My)/(Nx-Mx))。
9, the detection method of motor vehicle head light detector according to claim 6, it is characterized in that graphical analysis mechanism is: each pixel all comprises value of chromatism and place value in the digital photo file, value of chromatism can be converted to gray-scale value by Computer Processing, its value scope is generally 0～255, and it is corresponded to luminous intensity 0～40000cd.So for the captured headlamp light-emitting area photograph of digital camera 3,4 can by gray-scale value discern the respective specific zone (because of headlamp when the illuminating state, headlamp light-emitting area zone is very big with other regional gray-scale value difference in the photograph), and extrapolate the relative position of this zone in photograph according to the tagmeme value of this area pixel; Can the gray-scale value curve such as draw by computing machine by the strongest zone of gray-scale value for the captured distance light photograph of digital camera 5, correspond to long-distance light and be radiated at the spot center curve that detects on the screen; Can draw "cut-off"line by the gray-scale value zone that suddenlys change for the captured dipped beam photograph of digital camera 5.
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| CN108195568B (en) * | 2017-12-08 | 2020-06-16 | 杭州浙大三色仪器有限公司 | Centering self-checking and calibrating method for headlamp illuminance detection device |
| CN108195568A (en) * | 2017-12-08 | 2018-06-22 | 杭州浙大三色仪器有限公司 | Upper beam illumination testing apparatus centering self-test and calibration method |
| CN110487147A (en) * | 2019-08-26 | 2019-11-22 | 株洲时代新材料科技股份有限公司 | A kind of shaft box spring position of mounting hole metrization detection method and detecting tool |
| CN110487147B (en) * | 2019-08-26 | 2021-10-01 | 株洲时代瑞唯减振装备有限公司 | Axle box spring mounting hole position degree quantitative detection method and detection tool |
| CN111044267A (en) * | 2019-12-28 | 2020-04-21 | 佛山市华控电机科技有限公司 | High beam calibrator calibration device and method for headlamp detector |
| CN112129497A (en) * | 2020-08-28 | 2020-12-25 | 武汉理工大学 | Predictive headlamp deflection angle detection method, device and system |
| CN112129497B (en) * | 2020-08-28 | 2021-09-10 | 武汉理工大学 | Predictive headlamp deflection angle detection method, device and system |
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| CN100422710C (en) | 2008-10-01 |
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