阅读说明：本技术 基于大灯控制的驾驶辅助控制系统及方法 (Driving auxiliary control system and method based on headlamp control ) 是由 汪沛伟 耿纪钊 李嘉成 于 2020-03-31 设计创作，主要内容包括：本发明涉及汽车驾驶辅助技术领域,具体涉及一种基于大灯控制的驾驶辅助控制系统及方法。根据导航和ADAS摄像头判断车辆是否即将进入弱光环境,若即将进入弱光环境,则提前开启车辆大灯；利用ADAS摄像头识别即将进入的弱光环境与周围环境光线的对比度,并根据所述对比度计算大灯的光线强度系数；根据所述光线强度系数对所述大灯亮度进行调节,并将调节后的大灯亮度作为进入弱光环境时的亮度。在隧道内雷达识别目标受限的条件下,通过对自动大灯亮度、角度的控制保障视野的区域和亮度均能满足ADAS摄像头的识别能力,从而增强驾驶辅助系统的稳定性,提高辅助驾驶的安全性。(The invention relates to the technical field of automobile driving assistance, in particular to a driving assistance control system and method based on headlamp control. Judging whether the vehicle is about to enter a low-light environment or not according to the navigation and ADAS camera, and if the vehicle is about to enter the low-light environment, turning on a vehicle headlamp in advance; recognizing the contrast ratio of light rays of an incoming weak light environment and the ambient environment by using an ADAS camera, and calculating the light intensity coefficient of the headlamp according to the contrast ratio; and adjusting the brightness of the headlamp according to the light intensity coefficient, and taking the adjusted brightness of the headlamp as the brightness when the headlamp enters a low-light environment. Under the condition that the recognition target of the radar in the tunnel is limited, the recognition capability of the ADAS camera can be met by controlling the brightness and the angle of the automatic headlamp to ensure that the area and the brightness of the visual field can meet the recognition capability of the ADAS camera, so that the stability of a driving assistance system is enhanced, and the safety of assisted driving is improved.)

1. A driving assistance control method based on headlamp control is characterized in that:

judging whether the vehicle is about to enter a low-light environment or not according to the navigation and ADAS camera, and if the vehicle is about to enter the low-light environment, turning on a vehicle headlamp in advance;

recognizing the contrast ratio of light rays of an incoming weak light environment and the ambient environment by using an ADAS camera, and calculating the light intensity coefficient of the headlamp according to the contrast ratio;

and adjusting the brightness of the headlamp according to the light intensity coefficient, and taking the adjusted brightness of the headlamp as the brightness when the headlamp enters a low-light environment.

2. The driving assistance control method based on the headlamp control according to claim 1, characterized in that: after entering a low-light environment, the ADAS camera monitors the light intensity in the low-light environment in real time, calculates a new light intensity coefficient according to the light intensity, and controls the headlamp to adjust the brightness in real time according to the new light intensity coefficient.

3. The driving assistance control method based on the headlamp control according to claim 1, characterized in that: after entering a low-light environment, the ADAS camera judges whether the front of the vehicle enters a curve or not, if so, the curvature of a road and the motion track of the vehicle are calculated, the rotating speed, the rotating direction and the rotating angle of the headlamp are calculated according to the curvature of the road and the motion track of the vehicle, and the headlamp rotates along with the vehicle according to the rotating speed, the rotating direction and the rotating angle.

4. The driving assistance control method based on the headlamp control according to claim 1, characterized in that: the weak light environment is a tunnel.

5. A driving auxiliary control system based on headlight control is characterized in that: comprises that

The navigation system (1) is used for sending front weak light environment information and distance information between the navigation system and a vehicle to the ADAS camera (2);

the ADAS camera (2) is used for judging whether the vehicle is about to enter a low-light environment or not according to front low-light environment information and distance information sent by the navigation system (1) and vehicle speed, calculating a light intensity coefficient of the headlamp according to the contrast of light of the low-light environment about to enter and ambient light if the vehicle is about to enter the low-light environment, and sending a headlamp opening signal and the light intensity coefficient to the headlamp controller (4) before the vehicle enters the low-light environment;

and the headlamp controller (4) is used for receiving a headlamp opening signal and a light intensity coefficient sent by the ADAS camera (2), opening a vehicle headlamp in advance, and adjusting the brightness of the headlamp when the headlamp enters a low-light environment according to the light intensity coefficient.

6. The headlamp control-based driving assistance control system according to claim 5, characterized in that: the method comprises the steps that after entering a low-light environment, the ADAS camera (2) monitors the light intensity in the low-light environment in real time, calculates a new light intensity coefficient according to the light intensity, sends the new light intensity coefficient to a headlamp controller (4) in real time, and the headlamp controller (4) adjusts the brightness of a headlamp in real time after receiving the new light intensity coefficient.

7. The headlamp control-based driving assistance control system according to claim 5, characterized in that: the ADAS camera (2) judges whether the front of the vehicle enters a curve or not after entering a low-light environment, if so, the curvature of a road and the motion track of the vehicle are calculated, the rotating speed, the rotating direction and the rotating angle of the headlamp are calculated according to the curvature of the road and the motion track of the vehicle by combining the vehicle speed and the vehicle body state information, the rotating speed, the rotating direction and the rotating angle are sent to the headlamp controller (4), and the headlamp controller (4) controls the headlamp to rotate along with the vehicle according to the received rotating speed, rotating direction and rotating angle.

8. The headlamp control-based driver assist control system according to claim 7, wherein: the ADAS camera (2) comprises

The camera image identification module (2.1) is used for identifying the characteristics of a low-light environment; identifying a contrast of the low-light environment to ambient illumination; identifying the change direction and the curvature radius of the lane line in the weak light environment; and sending the characteristics of the low-light environment, the contrast of the low-light environment and the ambient illumination, the change direction of the lane line and the curvature radius to a camera control module (2.2);

the camera control module (2.2) is used for judging whether the vehicle is about to enter the low-light environment or not according to the characteristics of the low-light environment, the front low-light environment information and the distance information which are sent by the navigation system and the vehicle speed; calculating the illumination intensity required to be supplemented according to the contrast of the illumination of the low-light environment and the ambient environment, and calculating the intensity coefficient of the headlamp according to the illumination intensity required to be supplemented; calculating the rotation direction, rotation angle and rotation speed of the headlamp according to the change direction and curvature radius of the lane line in the low-light environment in combination with the vehicle speed and the vehicle body state information; and sending a headlamp opening signal and a light intensity coefficient to the headlamp controller (4) when the vehicle is about to enter a low-light environment, and sending the rotating speed, the rotating direction and the rotating angle of the headlamp to the headlamp controller (4) when the vehicle is about to enter a curve.

9. The headlamp control-based driver assist control system according to claim 8, wherein: the headlight controller (4) comprises

The headlamp lighting module (4.1) is used for turning on a headlamp in advance according to a headlamp turning-on signal and adjusting the brightness of the headlamp according to a light intensity coefficient;

and the headlamp rotating module (4.2) is used for controlling the headlamp to rotate along with the vehicle according to the rotating speed, the rotating direction and the rotating angle of the headlamp.

10. The headlamp control-based driving assistance control system according to claim 5, characterized in that: the calculation method of the light intensity coefficient is as follows:

and calculating the difference value of the illumination intensity of the weak light environment and the illumination intensity of the surrounding environment as the illumination intensity value needing to be supplemented.

When the illumination intensity value needing to be supplemented is smaller than the maximum illumination intensity of the headlamp, calculating an occupation ratio, and taking the occupation ratio as a headlamp intensity coefficient a;

when the illumination intensity value to be supplemented exceeds the maximum illumination intensity value of the headlamp, the intensity coefficient a of the headlamp is 1;

when illumination supplement is not required, the light illumination intensity coefficient a is 0.

Technical Field

The invention relates to the technical field of automobile driving assistance, in particular to a driving assistance control system and method based on headlamp control.

Background

Most of existing intelligent driving auxiliary automobiles are L2-level automatic driving, surrounding environment information is sensed mainly through fusion of an ADAS camera and a millimeter wave radar, transverse and longitudinal vehicle control is achieved by recognizing road information and front vehicle information, and the vehicles are controlled without hands and feet of people.

Generally, the integration of the ADAS camera and the millimeter wave radar can better identify the environmental information in front to control the vehicle, but for the environment needing to assist driving in tunnels and caves, the electromagnetic wave reception of the radar is affected due to the large signal interference in the tunnels, and the ADAS camera is particularly important for identifying the target at the moment.

When getting into tunnel, cave, because light is suddenly strong weak, traditional automatic headlight is usually collected light intensity through solar sensor and is controlled the headlight and open and close, and the vehicle gets into the sunshine sensor in the twinkling of an eye in tunnel and does not perceive light not enough this moment, has certain hysteresis, leads to headlight opening time untimely. At this time, the ADAS camera needs to be adapted for a period of time to work normally. In the process of driving assistance, because the ADAS camera is temporarily blind, great potential safety hazard exists in the control of the vehicle.

In a dim environment, the ADAS camera can only identify the area swept by the front headlights, and once the tunnel light is dark and the curve is large and long, the road information in the area swept by the headlights is insufficient, so that the problem that the lane lines or the front vehicles cannot be stably identified can exist, and the hidden danger also exists for controlling the vehicle which is driving in an auxiliary manner.

Disclosure of Invention

The invention aims to provide a driving auxiliary control system and method based on headlamp control, which control the switching time, the adjustment of light brightness and the adjustment of a headlamp scanning area of a headlamp through the existing ADAS camera, maintain the identification capability of the ADAS camera in a tunnel, reduce the risk of poor target identification caused by interference of a radar and ensure that the auxiliary driving performance is more stable and reliable.

The invention relates to a driving auxiliary control method based on headlight control, which adopts the technical scheme that:

judging whether the vehicle is about to enter a low-light environment or not according to the navigation and ADAS camera, and if the vehicle is about to enter the low-light environment, turning on a vehicle headlamp in advance;

recognizing the contrast ratio of light rays of an incoming weak light environment and the ambient environment by using an ADAS camera, and calculating the light intensity coefficient of the headlamp according to the contrast ratio;

and adjusting the brightness of the headlamp according to the light intensity coefficient, and taking the adjusted brightness of the headlamp as the brightness when the headlamp enters a low-light environment.

Preferably, after entering the low-light environment, the ADAS camera monitors the light intensity in the low-light environment in real time, calculates a new light intensity coefficient according to the light intensity, and controls the headlamp to adjust the brightness in real time according to the new light intensity coefficient.

Preferably, after entering a low-light environment, the ADAS camera judges whether the front of the vehicle enters a curve, if so, the curvature of the road and the motion trajectory of the vehicle are calculated, the rotation speed, the rotation direction and the rotation angle of the headlamp are calculated according to the curvature of the road and the motion trajectory of the vehicle, and the headlamp rotates along with the vehicle according to the rotation speed, the rotation direction and the rotation angle.

Preferably, the low-light environment is a tunnel.

For the driving auxiliary control system based on the headlamp control, the technical scheme is as follows: comprises that

The navigation system is used for sending front weak light environment information and distance information between the navigation system and the vehicle to the ADAS camera;

the ADAS camera is used for judging whether the vehicle is about to enter a low-light environment or not according to front low-light environment information and distance information sent by the navigation system and vehicle speed, calculating a light intensity coefficient of the headlamp according to the contrast of the light of the low-light environment about to enter and ambient light if the vehicle is about to enter the low-light environment, and sending a headlamp opening signal and the light intensity coefficient to the headlamp controller before the vehicle enters the low-light environment;

and the headlamp controller is used for receiving a headlamp opening signal and a light intensity coefficient sent by the ADAS camera, opening the vehicle headlamp in advance, and adjusting the brightness of the headlamp when the headlamp enters a low-light environment according to the light intensity coefficient.

Preferably, after entering the low-light environment, the ADAS camera monitors the light intensity in the low-light environment in real time, calculates a new light intensity coefficient according to the light intensity, and sends the new light intensity coefficient to the headlamp controller in real time, and the headlamp controller adjusts the brightness of the headlamp in real time after receiving the new light intensity coefficient.

Preferably, after entering a low-light environment, the ADAS camera judges whether the front of the vehicle enters a curve, if so, calculates the curvature of the road and the motion track of the vehicle, calculates the rotation speed, the rotation direction and the rotation angle of the headlamp according to the curvature of the road and the motion track of the vehicle in combination with the vehicle speed and the vehicle body state information, and sends the rotation speed, the rotation direction and the rotation angle to the headlamp controller, and the headlamp controller controls the headlamp to rotate along with the vehicle according to the received rotation speed, the received rotation direction and the received rotation angle.

Preferably, the ADAS camera includes

The camera image identification module is used for identifying the characteristics of a low-light environment; identifying a contrast of the low-light environment to ambient illumination; identifying the change direction and the curvature radius of the lane line in the weak light environment; the characteristics of the low-light environment, the contrast of the low-light environment and the ambient environment illumination, the change direction of the lane line and the curvature radius are sent to a camera control module;

the camera control module is used for judging whether the vehicle is about to enter the low-light environment or not according to the characteristics of the low-light environment, the front low-light environment information and the distance information which are sent by the navigation system and the vehicle speed; calculating the illumination intensity required to be supplemented according to the contrast of the illumination of the low-light environment and the ambient environment, and calculating the intensity coefficient of the headlamp according to the illumination intensity required to be supplemented; calculating the rotation direction, rotation angle and rotation speed of the headlamp according to the change direction and curvature radius of the lane line in the low-light environment in combination with the vehicle speed and the vehicle body state information; and sending a headlamp opening signal and a light intensity coefficient to the headlamp controller when the vehicle is about to enter a low-light environment, and sending the rotating speed, the rotating direction and the rotating angle of the headlamp to the headlamp controller when the vehicle is about to enter a curve.

Preferably, the headlight controller includes

The headlamp lighting module is used for turning on a headlamp in advance according to a headlamp turning-on signal and adjusting the brightness of the headlamp according to a light intensity coefficient;

and the headlamp rotating module is used for controlling the headlamp to rotate along with the vehicle according to the rotating speed, the rotating direction and the rotating angle of the headlamp.

Preferably, the low-light environment is a tunnel.

Preferably, the difference between the light intensity of the low-light environment and the light intensity of the surrounding environment is calculated as the light intensity value to be supplemented.

When the illumination intensity value needing to be supplemented is smaller than the maximum illumination intensity of the headlamp, calculating an occupation ratio, and taking the occupation ratio as a headlamp intensity coefficient a;

when the illumination intensity value to be supplemented exceeds the maximum illumination intensity value of the headlamp, the intensity coefficient a of the headlamp is 1;

when illumination supplement is not required, the light illumination intensity coefficient a is 0.

The invention has the beneficial effects that: the ADAS camera with the driving assistance function is used for detecting the illumination information of the surrounding environment, so that the hardware configuration of a sunlight sensor can be omitted, and the cost is saved. When the light enters the tunnel, the sudden change of the intensity of the light can cause the brief blindness of the ADAS camera, the adaptive time of the ADAS camera is shortened by turning on the headlamp in advance, and the driving assisting safety is improved. Under the condition that the recognition target of the radar in the tunnel is limited, the recognition capability of the ADAS camera can be met by controlling the brightness and the angle of the automatic headlamp to ensure that the area and the brightness of the visual field can meet the recognition capability of the ADAS camera, so that the stability of a driving assistance system is enhanced, and the safety of assisted driving is improved.

Drawings

FIG. 1 is a schematic diagram of the connection of the driving assistance control system module based on the headlight control according to the present invention;

FIG. 2 is a schematic view of the process of adjusting the brightness of the headlamp according to the present invention;

FIG. 3 is a schematic view of a control process for controlling the angle of the headlamp according to the present invention.

In the figure: the system comprises a navigation system, a 2-ADAS camera, a 2.1-camera image recognition module, a 2.2-camera control module, a 3-whole vehicle CAN network, a 4-headlamp controller, a 4.1-headlamp lighting module and a 4.2-headlamp rotating module.

Detailed Description

The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.