CN102721533A - Method, device and system for detecting radiating angle of vehicle head lamp based on vertical face - Google Patents

Abstract

The invention discloses a method, a device and a system for detecting a radiating angle of a vehicle head lamp based on a vertical face. According to the method, the device and the system disclosed by the invention, a radiation image of the vehicle head lamp on the vertical face is obtained by using a vehicle-mounted front view angle camera; the detection result of coordinates radiating on the image containing the characteristics of head lamp beams is obtained; a direction vector from an original point to a light spot formed by radiating on the vertical face through the head lamp beam characteristics in a head lamp world coordinate system is calculated by using the detection result; and the detection of the radiating angle of the head lamp is automatically finished according to the direction vector from the original point to the light spot formed by radiating on the vertical face through the head lamp beam characteristics in the head lamp world coordinate system. Compared with the prior art, the method is not limited to the requirement on specific environment and equipment of a vehicle detection station; and in addition, compared with a manual naked eye adjusting method, the method disclosed by the invention has the advantage that the accuracy of the radiating angle detection of the vehicle head lamp is improved.

Description

Vehicle head lamp irradiating angle detection method, Apparatus and system based on facade

Technical field

The present invention relates to the vehicle head lamp detection range, particularly a kind of realization vehicle head lamp irradiating angle detection method, Apparatus and system.

Background technology

The effect of vehicle head lamp is under night or other blind situation, for the vehicle driver provides illumination, and prevents that headlamp from causing driver and passerby and dazzles the eyes.For reaching above-mentioned requirements, vehicle head lamp is provided with dipped beam and two kinds of working methods of distance light, does not have forwardly to send a car or use far lighting when not trailing other vehicle, uses lower beam illumination when the vehicle intersection or when trailing other vehicle.In daily driving process, owing to receive oscillating action, make headlamp depart from original installation site, thereby change direction of illumination.Vehicle head lamp light beam irradiates direction is improper, and having become influences one of main hidden danger that the vehicle night safe goes.Therefore, guarantee correct headlamp direction of illumination, thereby can make the driver see the generation that road ahead avoids traffic accident clearly.

The irradiating angle detection method of existing headlight beam direction of illumination mainly contains: 1) based on the artificial irradiating angle detection method of the head lamp of screen.Be about to headlight beam and project on the screen that is provided with in advance, the whether conformance with standard requirement of the position of this light beam on screen that detects by an unaided eye then can be surveyed dipped beam and distance light.The characteristics of this method are that equipment is simple, do not need software processing system, but efficient are lower, and the degree of dependence people's subjective judgement is bigger, and irradiating angle testing result error is big.Therefore on the detection line of big flow, seldom use this irradiating angle detection method.2) the irradiating angle detection method of employing camera and special detector equipment.Take the two frames irradiation image of vapour upper beam light beam on the detector screen board of twice different measuring position, front and back through camera; Through computer Recognition; Find out the locus of the turning point of unique point, light shape center or dipped beam light and shade boundary line in two images; Confirm the principle of a straight line according to 2 positions, record headlight beam irradiation position angle.This method possesses intellectuality, Automatic Measurement Technique level, but needs special detector screen version auxiliary equipment, and then increases headlamp detection cost.

Summary of the invention

Increase severely to present vehicle number; Existing method needs a large amount of costs of labor, is confined to particular environment, checkout equipment; Be difficult to satisfy the demand that increasing vehicle head lamp detects; The present invention proposes a kind of vehicle head lamp irradiating angle detection method, Apparatus and system, to reduce the requirement of testing process to environment and personnel based on facade.

The invention provides a kind of vehicle head lamp irradiating angle detection method based on facade, this method specifically comprises:

Obtain the irradiation image of vehicle head lamp on facade, the shooting direction of said irradiation image is identical with said vehicle head lamp direction of illumination;

Utilize image processing algorithm, detect the position of headlight beam characteristic in the irradiation image, obtain to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image;

Utilize said testing result, calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle;

The direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction.

A kind of device of realizing that the vehicle head lamp irradiating angle detects, this device specifically comprises:

Acquiring unit: be used to obtain the irradiation image of vehicle head lamp on facade, the shooting direction of said irradiation image is identical with said vehicle head lamp direction of illumination, and said irradiation image is sent to detecting unit;

Detecting unit: be used to utilize image processing algorithm, detect the position of headlight beam characteristic in the irradiation image, obtain to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image, said testing result is sent to computing unit;

Computing unit: be used to utilize said testing result, calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle; The direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction.

A kind of system that realizes that the vehicle head lamp irradiating angle detects, this system specifically comprises:

Visual angle, vehicle-mounted the place ahead camera: be used to shine the image of vehicle head lamp on facade, be sent to vehicle head lamp irradiating angle pick-up unit;

Vehicle head lamp irradiating angle pick-up unit: be used to obtain the irradiation image of vehicle head lamp on facade; The shooting direction of said irradiation image is identical with said vehicle head lamp direction of illumination; Utilize image processing algorithm; Detect the position of headlight beam characteristic in the irradiation image, obtain to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image; Utilize said testing result, calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle; The direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction.

It is thus clear that the present invention has following beneficial effect:

The present invention utilizes visual angle, vehicle-mounted the place ahead camera; When car stops; Obtain the irradiation image of vehicle head lamp on facade; Through image processing algorithm, headlamp characteristic in the detected image obtains to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image, calculates initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle; The direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction, accomplishes the detection of headlamp irradiating angle automatically.Compare with existing method, this method is not limited to vehicle inspection station particular environment and equipment requirements, can practice thrift headlamp and detect cost; And, the present invention is based on image information and carry out the detection of headlamp direction of illumination, do not rely on people's subjective judgement; Accuracy is high, practices thrift great amount of cost simultaneously, reaches intelligent, automatization level; Can satisfy the demand that increasing vehicle head lamp detects, improve the accuracy that vehicle head lamp detects.

Description of drawings

Fig. 1 is a kind of vehicle head lamp irradiating angle detection method step legend based on facade of the present invention;

Fig. 2 is camera coordinates system of the present invention and headlamp world coordinate system legend;

Fig. 3-the 1st, headlight beam of the present invention are characterized as the detection effect legend of photocentre type;

Fig. 3-the 2nd, headlight beam of the present invention are characterized as the detection effect legend of flex point type;

Fig. 3-the 3rd, headlight beam of the present invention are characterized as the detection effect legend of bright dark side boundary line type;

Fig. 4 is headlight beam characteristic photocentre of the present invention or the flex point projection legend at two coordinate systems;

Fig. 4-the 1st, headlight beam direction level of the present invention and vertical deflection angle signal legend;

Fig. 5 is the projection legend of the bright dark side of headlight beam characteristic of the present invention boundary line at two coordinate systems;

Fig. 5-the 1st, headlight beam direction level of the present invention and vertical deflection angle signal legend;

Fig. 6 is a facade of the present invention when perpendicular to the ground, and in the distance calculation headlamp world coordinate system between video camera imaging principle and headlamp and the facade, initial point is radiated at the direction vector step legend of the luminous point on the facade to the headlight beam characteristic;

Fig. 7 is the preceding plane of delineation coordinate axis legend that image coordinate axle and camera coordinates system are shone in the present invention;

Fig. 8 is that headlamp of the present invention is regulated the projection legend of front and back beam characteristics at two coordinate systems;

Fig. 9 is that the present invention calculates in the headlamp world coordinate system according to video camera imaging principle and headlamp adjusting angle, and initial point is regulated the direction vector of luminous point on the preceding facade and/or initial point is regulated luminous point on the facade of back to headlamp direction vector step legend to headlamp;

When Figure 10 was facade of the present invention and ground out of plumb, the headlight beam characteristic was in the projection legend of two coordinate systems;

Figure 11 is that a kind of vehicle head lamp irradiating angle pick-up unit based on facade of the present invention is formed legend;

Figure 12 is that a kind of vehicle head lamp irradiating angle detection system based on facade of the present invention is formed legend.

Embodiment

For make above-mentioned purpose of the present invention, feature and advantage can be more obviously understandable, below in conjunction with accompanying drawing and embodiment the embodiment of the invention done further detailed explanation.

The invention provides a kind of vehicle head lamp irradiating angle detection method, utilize visual angle, vehicle-mounted the place ahead camera,, accomplish the detection of headlamp automatically when car stops based on facade.This method performing step is specially referring to Fig. 1:

11, obtain the irradiation image of vehicle head lamp on facade, the shooting direction of said irradiation image is identical with said vehicle head lamp direction of illumination;

12, utilize image processing algorithm, detect the position of headlight beam characteristic in the irradiation image, obtain to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image;

13, utilize said testing result, calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle;

14, the direction vector that is radiated at the luminous point on the facade according to initial point in the said headlamp world coordinate system to the headlight beam characteristic calculates the level and/or the vertical deflection angle of headlight beam direction.

When practical implementation of the present invention; This method can be carried out repeatedly when satisfying the irradiating angle testing conditions that is provided with in advance; To obtain the level and/or the vertical deflection angle of many group headlight beam directions; The irradiating angle testing conditions that it is provided with in advance specifically can comprise: on schedule, modes such as predetermined mileage, predetermined period and/or pre-determined number, and, can also carry out statistical treatment to the level and/or the vertical deflection angles of said many group headlight beam directions; Calculate the level and the vertical deflection angle intermediate value of headlight beam direction; Obtain the average level and the vertical deflection angle of headlight beam direction, obtain reliable angle calculation scope, finally obtain stable average headlamp angular detection result.

Need to prove that the vehicle head lamp irradiating angle that in the present invention the headlight beam characteristic is carried out detects, need set up camera coordinates system at camera position, set up world coordinate system in the headlamp position, the coordinate system method for building up is specially referring to Fig. 2:

Set up camera coordinates system, for example O at camera position _Camera-xyz, wherein, y axle directed towards ground, the z axle horizontal overlaps with the camera primary optical axis forward, for camera coordinates is horizontal ordinate;

Set up world coordinate system in the headlamp position, for example O _{The world}-XYZ, wherein, the vertical directed towards ground of Y axle, the Z axle is the horizontal ordinate of headlamp world coordinate system along the vehicle body level vertically forward;

And the coordinate axis of camera coordinates system is parallel with the coordinate axis of world coordinate system, and when the coordinate axis that when camera coordinates is and the coordinate axis of world coordinate system were not parallel, prior art capable of using was carried out image rectification; Make the coordinate axis of camera coordinates system parallel with the coordinate axis of world coordinate system, therefore, step 11 wherein; The irradiation image of said acquisition vehicle head lamp on facade; The shooting direction of said irradiation image, promptly camera coordinates is z direction of principal axis and vehicle head lamp direction of illumination, promptly headlamp world coordinate system Z-direction is consistent; This step can also comprise the determining step that a shooting direction of judging the irradiation image obtained and vehicle head lamp direction of illumination be whether consistent; If direction is inconsistent, then the irradiation image is proofreaied and correct, make it consistent.

Need to prove; The present invention is based on and obtains the irradiation image of vehicle head lamp on facade and carry out that the headlamp irradiating angle detects; And facade is divided into perpendicular to the ground or two kinds of situation of out of plumb; For facade situation perpendicular to the ground, can calculate the headlamp irradiating angle according to the distance between vehicle and the facade, also can calculate the headlamp irradiating angle according to the vehicle head lamp adjusting angle.For facade and ground off plumb situation; Can calculate the headlamp irradiating angle according to the complementary angle angle of the angle on the distance between vehicle and the facade and facade and ground, also can calculate the headlamp irradiating angle according to the vehicle head lamp adjusting angle.

Perpendicular to the ground for facade, the unadjustable formula headlamp of irradiating angle takes to detect according to the distance between video camera imaging principle and camera and the facade level and/or the vertical deflection angle of headlight beam direction, and method of the present invention is specific as follows:

The irradiation image of dissimilar headlamps has different shape; Therefore can according to be provided with in advance from car headlamp characteristic type; Select corresponding image processing algorithm to detect, be specially to obtain the such testing result in position of headlight beam characteristic in the irradiation image:

(1) the headlamp characteristic type is: the photocentre type

The unique point of high beam light beam is the geometric center in irradiation image light clear zone; Be the photocentre type; Detect design sketch referring to Fig. 3-1, this photocentre type image processing algorithm detects the position of headlight beam characteristic in the irradiation image and is specially: adopt limited neighborhood maximums method to confirm headlight beam characteristic photocentre position in the irradiation image;

Correspondingly,

Headlamp beam of light characteristic is at the coordinate of irradiation on the image: be specially the coordinate of headlight beam characteristic photocentre on the irradiation image, specifically obtain through the position of photocentre in the irradiation image;

Said luminous point: be specially the headlight beam characteristic and be radiated at the photocentre on the facade of headlamp world coordinate system, for example referring to A point among Fig. 4.

(2) the headlamp characteristic type is: the flex point type

The characteristic of dipped headlights light beam is that the irradiation image usually has corner feature, is the flex point type, detects design sketch referring to Fig. 3-2, and this flex point type image processing algorithm detects the position of headlight beam characteristic in the irradiation image and is specially:

Obtain light beam irradiates edge of image point through edge detection operator;

These marginal points are carried out least square fitting, draw two boundary lines;

Ask two boundary line intersection points to confirm corner position.

Correspondingly,

The headlight beam characteristic is at the coordinate of irradiation on the image: specifically be the coordinate of headlight beam feature corners on the irradiation image, specifically obtain through the position of this flex point in the irradiation image;

Said luminous point is specially: the headlight beam characteristic is radiated at the flex point on the facade of headlamp world coordinate system, for example referring to A point among Fig. 4.

(3) the headlamp characteristic type is: bright dark side boundary line type

Sometimes; The corner feature of dipped headlights light beam is also not obvious; The bright dark side boundary line that needs to detect the irradiation image is as the headlamp characteristic; Be bright dark side boundary line type, detect design sketch referring to Fig. 3-3, this bright dark side boundary line type image processing algorithm detects the position of headlight beam characteristic in the irradiation image and is specially:

To the previously selected zone that has the zone in bright dark side boundary line and do not contain bright dark side boundary line, carry out neural network learning, obtain bright dark side boundary line sorter;

Through bright dark side boundary line sorter analysis irradiation image, obtain shining the position in the bright dark side boundary line of image.

Correspondingly,

The headlight beam characteristic is at the coordinate of irradiation on the image: be specially the coordinate of two points on the irradiation image of choosing arbitrarily on the bright dark side of the headlamp beam characteristics boundary line, specifically the straight-line equation according to position on the irradiation image, bright dark side boundary line obtains;

Said luminous point: be specially said two points choosing from the bright dark side of headlamp beam characteristics boundary line and be radiated at two luminous points on the facade of headlamp world coordinate system, for example referring to B, C 2 points among Fig. 5.

Thus, plant different headlight beam characteristics, carry out the vehicle head lamp irradiating angle and detect to above (one), (two), (three).

Wherein, step 13 is said utilizes said testing result, calculates initial point in the headlamp world coordinate system according to the video camera imaging principle and is radiated at the direction vector of the luminous point on the facade to the headlight beam characteristic, and its computation process specifically comprises referring to Fig. 6:

601, utilize said testing result to obtain the coordinate figure of headlight beam characteristic on the irradiation image;

In one embodiment of the invention, headlight beam is characterized as photocentre type or flex point type, and said headlight beam characteristic is specially headlight beam characteristic photocentre or the coordinate of flex point on the irradiation image at the coordinate figure on the irradiation image;

In another embodiment of the present invention; Headlight beam is characterized as bright dark side boundary line type; Referring to Fig. 5; Said headlight beam characteristic is specially on the bright dark side of headlamp beam characteristics boundary line at the coordinate figure on the irradiation image and chooses the coordinate figure of two points on the irradiation image arbitrarily, and said two points obtain at the straight-line equation of the coordinate figure on the irradiation image according to position on the irradiation image, bright dark side boundary line.

602, utilize the said first kind subpoint coordinate components on the plane of delineation=(the headlight beam characteristic is at this this coordinate axis component of coordinate axis component-irradiation image center on the irradiation image) * each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system; Obtain said first kind subpoint coordinate figure on the plane of delineation before camera coordinates system, said first kind subpoint is radiated at the intersection point of the luminous point plane of delineation before light that camera sent and camera coordinates are on the headlamp world coordinate system facade for the headlight beam characteristic:

Need to prove; The plane of delineation is a virtual plane of delineation before said; The plane of delineation and realistic objective are positioned at the same side of camera photocentre before being somebody's turn to do; Distance to the camera photocentre is camera focus f; As shown in Figure 5; And the imaging of object in camera is the image that becomes a handstand on the photosensitive imaging plane; Be positioned at a side of camera photocentre; Because the target imaging on the preceding plane of delineation is consistent with the realistic objective direction; In the present invention; For the ease of describing and understanding, the plane of delineation carries out coordinate Calculation before adopting;

In one embodiment of the invention; Suppose that headlight beam is characterized as photocentre type or flex point type; Referring to Fig. 4; The luminous point that headlight beam characteristic photocentre or flex point are radiated on the facade of headlamp world coordinate system is the A point, and the intersection point of A point on the preceding plane of delineation of light that camera sent and camera coordinates system is A ', and A ' is a first kind subpoint; According to the video camera imaging principle; Headlight beam characteristic photocentre or the flex point A ' coordinate figure on the irradiation image only is illustrated in the position in the irradiation image, rather than the coordinate of the physical unit in the camera coordinates system, so need be the coordinate conversion in the irradiation image coordinate of the physical unit of camera coordinates system; The coordinate of said physical unit is unit usually with the millimeter, and so said first kind subpoint A ' coordinate figure on the plane of delineation before camera coordinates system specifically calculates through following:

Suppose, headlight beam characteristic photocentre or flex point A ' at the coordinate of irradiation in the image be (u, v), this coordinate is the concrete coordinate figure that obtains through image processing algorithm when practical implementation of the present invention;

Suppose certain point in the image of irradiation (u0, the initial point (0 of the preceding plane of delineation that v0) for camera coordinates is; 0); When practical implementation of the present invention, the central point of irradiation image is exactly the initial point of the preceding plane of delineation of camera coordinates system, and the central point of irradiation image is available concrete coordinate figure;

And according to the video camera imaging principle, irradiation image coordinate axle is parallel with the coordinate axis of the preceding plane of delineation of camera coordinates system, and direction is identical, referring to Fig. 7;

Suppose that the physical size of each pixel on the x direction of the preceding plane of delineation of camera coordinates system is dx, the physical size on the y direction is dy, and this physical size by concrete camera attribute decision, is available concrete size when practical implementation of the present invention;

According to the video camera imaging principle, in conjunction with above condition, headlight beam characteristic photocentre or flex point A ' the coordinate of irradiation in the image (u v) has following transformational relation with the coordinate of first kind subpoint A ' on the preceding plane of delineation of camera coordinates system (x ', y '):

$\left\{\begin{array}{c}u=\frac{x^{\&prime;}}{\mathrm{dx}}+u_0\\ v=\frac{y^{\&prime;}}{\mathrm{dy}}+{\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="2012102062037100003DEST\_PATH\_IMAGE003.png,HDA00001791417100042.png"\; state="\{\{state\}\}">v</figure-callout>}}_0\end{array}\right.$

According to the following formula transformational relation, obtain said first kind subpoint A ' (x ', y ') coordinate on the plane of delineation before camera coordinates system and be:

In another embodiment of the present invention; Suppose that headlight beam is characterized as bright dark side boundary line type; Referring to Fig. 5, two luminous points that two points choosing on the bright dark side of the headlight beam characteristic boundary line are radiated on the facade of headlamp world coordinate system are B, C 2 points, and 2 of B, C are B ', C ' 2 points to the intersection point of the preceding plane of delineation of light that camera sent and camera coordinates system; Then B ', 2 of C ' are first kind subpoint; In like manner, can obtain B ', the C ' coordinate on the plane of delineation before camera coordinates system, repeat no more at this.

603: utilize camera focus, changing said first kind subpoint coordinate on the plane of delineation before camera coordinates system is that camera coordinates is homogeneous coordinates;

For example, in one embodiment of the invention, headlight beam is characterized as photocentre type or flex point type; Referring to Fig. 4, first kind subpoint A ' is corresponded to the three-dimensional system of coordinate of camera coordinates system from the preceding plane of delineation of camera coordinates system: the three-dimensional coordinate of first kind subpoint A ' on the preceding plane of delineation for (x ', y '; F); Wherein, suppose that f is a camera focus, convert homogeneous coordinates into and be:

$(x,y,1)=(\frac{x^{\&prime;}}{f},\frac{y^{\&prime;}}{f},1)$

Derive through following formula, headlight beam characteristic subpoint A ' in the three-dimensional homogeneous coordinates of the preceding plane of delineation is in the camera coordinates system:

$\left\{\begin{array}{c}x=\frac{(u-u_0)\&CenterDot;\mathrm{dx}}{f}\\ y=\frac{(v-v_0)\&CenterDot;\mathrm{dy}}{f}\\ z=1\end{array}\right.$

604: with said camera coordinates is that homogeneous coordinates multiply by multiple and obtain the coordinate of said luminous point in camera coordinates system, and said multiple is distance and the horizontal longitudinal axis coordinate sum of world coordinate system initial point in camera coordinates system between camera and the facade;

For example; In one embodiment of the invention, suppose that headlight beam is characterized as photocentre type or flex point type, referring to Fig. 4; Suppose that D is the camera that arrives of actual measurement and the distance between the facade; When practical implementation of the present invention, this distance B can obtain in actual measurement, and first kind subpoint A ' multiply by D+z in the three-dimensional homogeneous coordinates of the preceding plane of delineation ₀Doubly, obtain the three-dimensional coordinate of said luminous point in camera coordinates system:

$(D+z_0)\left(\begin{array}{c}x\\ y\\ z\end{array}\right)$

605:, calculate the coordinate of said luminous point at the headlamp world coordinate system by the coordinate of said luminous point in camera coordinates system and the difference of the coordinate of headlamp world coordinate system initial point in camera coordinates system.

For example, in one embodiment of the invention, suppose that headlight beam is characterized as photocentre type or flex point type,, suppose that the position of headlamp world coordinate system initial point in camera coordinates system is (x referring to Fig. 4 ₀, y ₀, z ₀), when practical implementation of the present invention, this position coordinates can be obtained with respect to the concrete actual measurement in the position of camera by headlamp;

Therefore, the headlight beam characteristic be radiated at luminous point coordinate A on the facade of headlamp world coordinate system (X, Y Z) can obtain through following formula:

$\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)=(D+z_0)\left(\begin{array}{c}x\\ y\\ z\end{array}\right)-\left(\begin{array}{c}{x}_0\\ y_0\\ {\mathrm{<figure-callout\; id="0"\; label="z"\; filenames="2012102062037100003DEST\_PATH\_IMAGE003.png,HDA00001791417100042.png"\; state="\{\{state\}\}">z</figure-callout>}}_0\end{array}\right)$

In another embodiment of the present invention, suppose that headlight beam is characterized as bright dark side boundary line type, referring to Fig. 5, in like manner can obtain belonging to two selected on bright dark side boundary line luminous point B (X ₁, Y ₁, Z ₁) and C (X ₂, Y ₂, Z ₂) coordinate.

606: the direction vector that is radiated at the luminous point on the facade by initial point in the coordinate acquisition headlamp world coordinate system of said luminous point in the headlamp world coordinate system to the headlight beam characteristic;

For example: in one embodiment of the invention, suppose that headlight beam is characterized as photocentre type or flex point type, O _{The world}The direction vector of A is (a b c)=(X Y Z);

In another embodiment of the present invention, suppose that headlight beam is characterized as bright dark side boundary line type, O _{The world}The direction vector of B is (a ₁b ₁c ₁)=(X ₁Y ₁Z ₁) and O _{The world}The direction vector of C is (a ₂b ₂c ₂)=(X ₂Y ₂Z ₂).

Wherein, The said direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system of step 14 calculates the level and/or the vertical deflection angle of headlight beam direction, and the level and/or the vertical deflection angle of headlight beam direction specifically calculated in its said calculating through the following steps analysis meter:

For example, in one embodiment of the invention, suppose that headlight beam is characterized as photocentre type or flex point type, referring to Fig. 4:

The headlight beam direction is: from headlamp world coordinate system initial point to said luminous point A point line direction, i.e. light beam O _{The world}A;

Headlight beam direction horizontal deflection angle is: referring to Fig. 4-1, and said headlamp world coordinate system initial point and the projection line O of said luminous point line on surface level _{The world}Angle β between P and the horizontal axis of ordinates Z of the headlamp world coordinate system axle;

Headlight beam direction vertical deflection angle is: referring to Fig. 4-1, and said headlamp world coordinate system initial point and said luminous point line O _{The world}A and said line projection line O on surface level _{The world}Angle of cut α between the P;

Headlight beam direction level and/or vertical deflection angle calculation are: according to Pythagorean theorem and right-angle triangle corner relation; Calculate headlight beam direction level and vertical deflection angle by said headlamp world coordinate system initial point to the direction vector of luminous point A, as follows:

$\left\{\begin{array}{c}\mathrm{\&alpha;}=\arctan \frac{b}{\sqrt{a^2+c^2}}\\ \mathrm{\&beta;}=\arctan \frac{a}{\sqrt{b^2+c^2}}\end{array}\right.$

For example, in another embodiment of the present invention, suppose that headlight beam is characterized as bright dark side boundary line type, referring to Fig. 5:

The headlight beam direction is: headlamp primary optical axis direction, i.e. light beam O _{The world}A, said headlamp primary optical axis O _{The world}A is from the world coordinate system initial point, intersects with the bright dark side boundary line, place of 2 of said luminous point B, C, and its intersection point A is for confirming the point of headlamp primary optical axis direction vector;

Headlight beam direction horizontal deflection angle is: the projection line O of said headlamp primary optical axis on surface level _{The world}Angle β between P and the horizontal axis of ordinates Z of the headlamp world coordinate system axle;

Headlight beam direction vertical deflection angle is: the projection line O of said headlamp primary optical axis on surface level _{The world}P and said headlamp primary optical axis O _{The world}Angle of cut α between the A;

Headlight beam direction level and/or vertical deflection angle calculation are: according to Pythagorean theorem and right-angle triangle corner relation, by said headlamp primary optical axis direction vector O _{The world}(X, Y Z) calculate headlight beam direction level and vertical deflection angle, as follows to A;

$\left\{\begin{array}{c}\mathrm{\&alpha;}=\arctan \frac{Y}{\sqrt{X^2+Z^2}}\\ \mathrm{\&beta;}=\arctan \frac{X}{\sqrt{Y^2+Z^2}}\end{array}\right.$

Wherein, said headlamp primary optical axis direction vector O _{The world}A (X, Y Z) obtain through following equation:

Equation one: the some A of said definite headlamp primary optical axis direction vector and said B, C two luminous points are on same straight line; Therefore; The coordinate that the A of said definite headlamp primary optical axis direction vector is ordered equals the equation that contains parametric variable λ of the coordinate composition of said B, C two luminous points, and the coordinate of wherein said B, C two luminous points calculates acquisition, wherein λ ∈ (∞ by initial point in the headlamp world coordinate system to the direction vector that the headlight beam characteristic is radiated at the luminous point on the facade; + ∞), as follows:

$\left\{\begin{array}{c}X=X_1+\mathrm{\&lambda;}\frac{X_2-X_1}{\sqrt{{(X_2-X_1)}^2+{(Y_2-Y_1)}^2+{(Z_2-Z_1)}^2}}\\ Y=Y_1+\mathrm{\&lambda;}\frac{Y_2-Y_1}{\sqrt{{(X_2-X_1)}^2+{(Y_2-Y_1)}^2+{(Z_2-Z_1)}^2}}\\ Z=Z_1+\mathrm{\&lambda;}\frac{Z_2-Z_1}{\sqrt{{(X_2-X_1)}^2+{(Y_2-Y_1)}^2+{(Z_2-Z_1)}^2}}\end{array}\right.$

Equation two: said headlamp primary optical axis direction vector O _{The world}A is vertical with the intersection l on two planes; Said two planes are the plane that bright dark side boundary line and the headlamp world coordinate system initial point on headlamp world coordinate system surface level, the facade constitutes; So headlamp primary optical axis direction vector; The direction vector of intersection l, it is following to form its dot product result and be zero equation:

$\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)\&CenterDot;(\left(\begin{array}{c}0\\ 1\\ 0\end{array}\right)\&times;(\left(\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right)\&times;\left(\begin{array}{c}{X}_2\\ Y_2\\ Z_2\end{array}\right)))=0$

Wherein,

$\left(\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right)\&times;\left(\begin{array}{c}{X}_2\\ Y_2\\ Z_2\end{array}\right)$ Be plane O _wThe normal vector of BC;

$\left(\begin{array}{c}0\\ 1\\ 0\end{array}\right)\&times;(\left(\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right)\&times;\left(\begin{array}{c}{X}_2\\ Y_2\\ Z_2\end{array}\right))$ Be plane O _wBC and surface level O _wThe direction vector of the intersection l of XZ.

According to above equation one or two, can try to achieve parameter lambda, obtain the coordinate A that the A of said definite headlamp primary optical axis direction vector orders (X, Y, Z), through headlamp primary optical axis direction vector O _{The world}(X, Y Z) calculate headlight beam direction level and vertical deflection angle to A.

Embodiment for the adjustable headlamp of irradiating angle; No matter whether facade is perpendicular to the ground; All can take to calculate the level and/or the vertical deflection angle of headlight beam direction according to video camera imaging principle and vehicle head lamp adjusting angle; Wherein said vehicle head lamp adjusting angle specifically is to take headlamp respectively when vertical direction is regulated forward and backward twice irradiation image on facade, and the adjusting angle that is obtained is specific as follows:

Wherein, The irradiation image of the said acquisition vehicle head lamp of step 11 on facade; The shooting direction of said irradiation image is identical with said vehicle head lamp direction of illumination, and this step is specially and obtains the preceding irradiation image one on facade of vehicle head lamp adjusting, and the shooting direction of said irradiation image one is identical with the vehicle head lamp direction of illumination; Also obtain vehicle head lamp and regulate the irradiation image two of back on facade, the shooting direction of said irradiation image two is identical with the vehicle head lamp direction of illumination;

Wherein, The said image processing algorithm that utilizes of step 12; Detect the position of headlight beam characteristic in the irradiation image, obtain to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image, this step is specially utilizes image processing algorithm; Detect the position of headlight beam characteristic in irradiation image one and irradiation image two, obtain to comprise the headlight beam characteristic in irradiation image one and the testing result of shining the coordinate on the image two;

Wherein, Step 13 is said utilizes said testing result; Calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle; This step is specially utilizes said testing result; Adjusting angle according to video camera imaging principle and said vehicle head lamp calculates in the headlamp world coordinate system; Initial point is to the direction vector of first kind luminous point and/or the direction vector of initial point to the second type luminous point, and said first kind luminous point is that beam characteristics was radiated at the luminous point on the facade of headlamp world coordinate system before headlamp was regulated, and said second type of luminous point is that headlamp is regulated the luminous point on the facade that the back beam characteristics is radiated at the headlamp world coordinate system.

For example, referring to Fig. 8, the adjusting angle of said vehicle head lamp is O _{The world}A and O _{The world}Angle between the B both direction vector is assumed to be θ, and said first kind luminous point is the A point, and said second type of luminous point is the B point.

Wherein, Utilize said testing result, calculate in the headlamp world coordinate system according to the adjusting angle of video camera imaging principle and said vehicle head lamp, initial point is to the direction vector of first kind luminous point and/or the direction vector of initial point to the second type luminous point; Its computation process specifically comprises referring to Fig. 9:

901, utilize said testing result to obtain the coordinate figure of headlight beam characteristic at said irradiation image one and said irradiation image two;

902, utilize the second type of subpoint coordinate components on the plane of delineation=(the headlight beam characteristic is at this coordinate axis component-this coordinate axis component of adjusting front irradiation image center on the irradiation image one) * each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system; Obtain said second type of subpoint coordinate figure on the plane of delineation before camera coordinates system; Said second type of subpoint is the intersection point that beam characteristics was radiated at the luminous point plane of delineation before the light that camera sent is on the headlamp world coordinate system facade before headlamp was regulated with camera coordinates; For example; Referring to Fig. 8, A ' is second type of subpoint;

903, utilize the 3rd type of subpoint coordinate components on the plane of delineation=(the headlight beam characteristic is at this coordinate axis component on the irradiation image two-this coordinate axis component of adjusting back irradiation image center) * each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system; Obtain said the 3rd type of subpoint coordinate figure on the plane of delineation before camera coordinates system; Said the 3rd type of subpoint is that headlamp is regulated the intersection point that the back beam characteristics is radiated at the luminous point plane of delineation before the light that camera sent is on the headlamp world coordinate system facade with camera coordinates; For example; Referring to Fig. 8, B ' is the 3rd a type of subpoint;

904, utilize camera focus, changing said second type of subpoint and the 3rd type of subpoint coordinate on the plane of delineation before camera coordinates system is that camera coordinates is homogeneous coordinates, for example:

Second type of subpoint A ' in the homogeneous coordinates of camera coordinates system does $\left\{\begin{array}{c}{x}_1=\frac{(u_1-u_0)\&CenterDot;\mathrm{Dx}}{f}\\ y_1=\frac{(v_1-v_0)\&CenterDot;\mathrm{Dy}}{f}\\ z=1\end{array}\right.$

The 3rd type of subpoint B ' in the homogeneous coordinates of camera coordinates system does $\left\{\begin{array}{c}{x}_2=\frac{(u_2-u_0)\&CenterDot;\mathrm{Dx}}{f}\\ y_2=\frac{(v_2-v_0)\&CenterDot;\mathrm{Dy}}{f}\\ z_2=1\end{array}\right.$

905, by the homogeneous coordinates of said second type of subpoint in camera coordinates system; The coordinate of headlamp world coordinate system initial point in camera coordinates system; Calculate acquisition by first kind luminous point, camera coordinates is the normal vector on second type of plane of initial point and headlamp world coordinate system initial point formation, for example:

Plane O _{The world}O _CameraA is second type of plane, and the computing formula of the normal vector on this second type of plane is following:

O _{The world}O _CameraThe normal vector of A $\left(\begin{array}{c}{A}_1\\ B_1\\ C_1\end{array}\right)=\left(\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right)\&times;\left(\begin{array}{c}{x}_0\\ y_0\\ {\mathrm{<figure-callout\; id="0"\; label="z"\; filenames="2012102062037100003DEST\_PATH\_IMAGE003.png,HDA00001791417100042.png"\; state="\{\{state\}\}">z</figure-callout>}}_0\end{array}\right)$

906, by the homogeneous coordinates of said the 3rd type of subpoint in camera coordinates system; The coordinate of headlamp world coordinate system initial point in camera coordinates system; Calculate acquisition by second type of luminous point, camera coordinates is the normal vector on the 3rd type of plane of initial point and headlamp world coordinate system initial point formation, for example:

Plane O _{The world}O _CameraB is the 3rd type of plane, and the computing formula of the normal vector on the 3rd type of plane is following:

O _{The world}O _CameraThe normal vector of B $\left(\begin{array}{c}{A}_2\\ B_2\\ C_2\end{array}\right)=\left(\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right)\&times;\left(\begin{array}{c}{x}_0\\ y_0\\ {\mathrm{<figure-callout\; id="0"\; label="z"\; filenames="2012102062037100003DEST\_PATH\_IMAGE003.png,HDA00001791417100042.png"\; state="\{\{state\}\}">z</figure-callout>}}_0\end{array}\right)$

907, by said first kind luminous point; Second type of luminous point and headlamp world coordinate system initial point constitute the 4th type of plane, and the normal vector on the 4th type of plane for example is expressed as

:

Plane O _{The world}AB is the 4th type of plane, and the normal vector on the 4th type of plane is expressed as: $\left(\begin{array}{c}1\\ 0\\ k\end{array}\right);$

908, by following equation, through calculating direction vector and/or headlamp world coordinate system initial point and second type of direction vector that luminous point constitutes of waiting to ask parameter k acquisition headlamp world coordinate system initial point and first kind luminous point formation:

The apposition of the normal vector on the normal vector on said second type of plane and said the 4th type of plane equals the equation of the direction vector of headlamp world coordinate system initial point and first kind luminous point formation, for example

O _{The world}Direction vector (the kB of A ₁C ₁-kA ₁-B ₁)=(A ₁B ₁C ₁) * (1 0 k);

The apposition of the normal vector on the normal vector on said the 3rd type of plane and said the 4th type of plane equals the equation of the direction vector of headlamp world coordinate system initial point and second type of luminous point formation, for example

O _{The world}Direction vector (the kB of B ₂C ₂-kA ₂-B ₂)=(A ₂B ₂C ₂) * (1 0 k);

The dot product inner product of the vector that headlamp world coordinate system initial point and first kind luminous point constitute and the direction vector of headlamp world coordinate system initial point and second type of luminous point formation equals the equation of product of cosine of adjusting angle of mould and the said vehicle head lamp of these two vectors, for example

(kB ₁?C ₁-kA ₁?-B ₁)·(kB ₂?C ₂-kA ₂?-B ₂)＝|kB ₁?C ₁-kA ₁?-B ₁||KB ₁?C ₁-KA ₁?-B ₁|cosθ

Through above equation, try to achieve direction vector and/or headlamp world coordinate system initial point and second type of direction vector that luminous point constitutes that headlamp world coordinate system initial point and first kind luminous point constitute.

Wherein step 14, the direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculate the level and/or the vertical deflection angle of headlight beam direction; For the adjustable embodiment of this headlamp, concrete calculating as follows:

Calculate headlight beam direction level and/or vertical deflection angle by initial point in the headlamp world coordinate system to the direction vector that the headlight beam characteristic is radiated at the first kind luminous point A on the facade:

The vectorial O that headlamp world coordinate system initial point and first kind luminous point constitute _{The world}The direction of A is exactly the headlight beam direction, according to Pythagorean theorem and right-angle triangle corner relation, calculates headlight beam direction level and/or vertical deflection angle;

Perhaps, calculate headlight beam direction level and/or vertical deflection angle by initial point in the headlamp world coordinate system to the direction vector that the headlight beam characteristic is radiated at second type of luminous point B on the facade:

The direction vector O that headlamp world coordinate system initial point and first kind luminous point constitute _{The world}A is exactly the headlight beam direction; Direction vector by type luminous point B of initial point to the second in the headlamp world coordinate system concerns according to Pythagorean theorem and right-angle triangle corner; Calculate headlamp and regulate back beam direction level and/or vertical deflection angle; It is exactly headlight beam direction X deflection angle that headlamp is regulated back beam direction X deflection angle; Calculate headlamp again and regulate the difference of back vertical deflection angle and headlamp adjusting angle θ, obtain headlight beam direction vertical deflection angle.

For facade and ground off plumb situation,, suppose that facade and upright position angle do referring to Figure 10 Facade in camera coordinates system, cross (0, H, D+z ₀) point, wherein H is a camera heights, D is the camera photocentre subpoint on the ground that the measures distance to facade and ground intersection, z ₀Be the horizontal ordinate of headlamp world coordinate system initial point in camera coordinates system, the equation of facade in camera coordinates system can be write as

Wherein,

Wherein, step 13 is said utilizes said testing result, calculates initial point in the headlamp world coordinate system according to the video camera imaging principle and is radiated at the direction vector of the luminous point on the facade to the headlight beam characteristic, and its computation process specifically comprises:

Utilize said testing result to obtain the coordinate figure of headlight beam characteristic on the irradiation image;

Utilize the said first kind subpoint coordinate components on the plane of delineation=(the headlight beam characteristic is at this this coordinate axis component of coordinate axis component-irradiation image center on the irradiation image) * each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system; Obtain said first kind subpoint coordinate figure on the plane of delineation before camera coordinates system, said first kind subpoint is radiated at the intersection point of the luminous point plane of delineation before light that camera sent and camera coordinates are on the headlamp world coordinate system facade for the headlight beam characteristic;

Utilize camera focus, changing said first kind subpoint coordinate on the plane of delineation before camera coordinates system is that camera coordinates is homogeneous coordinates;

The headlight beam characteristic is radiated at the coordinate of luminous point A on the facade (X ', Y ', Z ') in camera coordinates system and can be written as and contains the expression formula that remains to be asked parameter k: A (X ', Y ', Z ')=k (x ₁, y ₁, z ₁), wherein k is a parameter, k＞0, (x ₁, y ₁, z ₁) be the homogeneous coordinates of first kind subpoint A ' in camera coordinates system, because some A meets the facade equation on facade, therefore,

Can obtain k

And then obtain the headlight beam characteristic and be radiated at the coordinate of luminous point A on the facade (X ', Y ', Z ') in camera coordinates system;

The coordinate of luminous point A in the headlamp world coordinate system (X, Y Z) can be drawn by following formula:

$\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)=\left(\begin{array}{c}{X}^{\&prime;}\\ Y^{\&prime;}\\ Z^{\&prime;}\end{array}\right)-\left(\begin{array}{c}{x}_0\\ y_0\\ {\mathrm{<figure-callout\; id="0"\; label="z"\; filenames="2012102062037100003DEST\_PATH\_IMAGE003.png,HDA00001791417100042.png"\; state="\{\{state\}\}">z</figure-callout>}}_0\end{array}\right)$

(X, Y Z) calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector by the coordinate of luminous point A in the headlamp world coordinate system.

Wherein, Wherein to calculate the level and/or the vertical deflection angle of headlight beam direction identical with above other embodiment for step 14, the direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system, repeats no more at this.

The invention provides a kind of vehicle head lamp irradiating angle pick-up unit based on facade, utilize visual angle, vehicle-mounted the place ahead camera, the irradiating angle of accomplishing headlamp automatically detects, and this device is formed referring to Figure 11, specifically comprises:

Acquiring unit: be used to obtain the irradiation image of vehicle head lamp on facade, the shooting direction of said irradiation image is identical with said vehicle head lamp direction of illumination, and said irradiation image is sent to detecting unit;

Detecting unit: be used to utilize image processing algorithm, detect the position of headlight beam characteristic in the irradiation image, obtain to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image, said testing result is sent to computing unit;

Computing unit: be used to utilize said testing result, calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle; The direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction.

The present invention provides a kind of vehicle head lamp irradiating angle detection system based on facade, and this system forms referring to Figure 12, specifically comprises:

Visual angle, vehicle-mounted the place ahead camera: be used to shine the image of vehicle head lamp on facade, be sent to vehicle head lamp irradiating angle pick-up unit;

Vehicle head lamp irradiating angle pick-up unit: be used to obtain the irradiation image of vehicle head lamp on facade; The shooting direction of said irradiation image is identical with the vehicle head lamp direction of illumination; Utilize image processing algorithm; Detect the position of headlight beam characteristic in the irradiation image, obtain to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image; Utilize said testing result, calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle; The direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction.

Need to prove; In this article; Relational terms such as first and second grades only is used for an entity or operation are made a distinction with another entity or operation, and not necessarily requires or hint relation or the order that has any this reality between these entities or the operation.And; Term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability; Thereby make and comprise that process, method, article or the equipment of a series of key elements not only comprise those key elements; But also comprise other key elements of clearly not listing, or also be included as this process, method, article or equipment intrinsic key element.Under the situation that do not having much more more restrictions, the key element that limits by statement " comprising ... ", and be not precluded within process, method, article or the equipment that comprises said key element and also have other identical element.

The above is merely preferred embodiment of the present invention, is not to be used to limit protection scope of the present invention.All any modifications of within spirit of the present invention and principle, being done, be equal to replacement, improvement etc., all be included in protection scope of the present invention.

Claims (12)

1. vehicle head lamp irradiating angle detection method based on facade is characterized in that this method specifically comprises:

Obtain the irradiation image of vehicle head lamp on facade, the shooting direction of said irradiation image is identical with said vehicle head lamp direction of illumination;

Utilize image processing algorithm, detect the position of headlight beam characteristic in the irradiation image, obtain to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image;

Utilize said testing result, calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle;

The direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction.

2. method according to claim 1 is characterized in that, said method is carried out when satisfying the irradiating angle testing conditions that is provided with in advance repeatedly to obtain organizing the level and/or the vertical deflection angles of headlight beam directions, and also comprise more:

Level and/or vertical deflection angle to said many group headlight beam directions are carried out statistical treatment, obtain the level and/or the vertical deflection angle of final headlight beam direction.

3. method according to claim 1 is characterized in that, said headlight beam characteristic is specially: the photocentre type;

The said image processing algorithm that utilizes, detecting the position of headlight beam characteristic in the irradiation image specifically is to adopt limited neighborhood maximums method to confirm the position of photocentre in the irradiation image;

Said headlight beam characteristic specifically is the coordinate of headlight beam characteristic photocentre on the irradiation image at the coordinate on the irradiation image, specifically obtains through the position of said photocentre in the irradiation image;

Said luminous point specifically is that the headlight beam characteristic is radiated at the photocentre on the facade of headlamp world coordinate system.

4. method according to claim 1 is characterized in that, said headlight beam characteristic is specially: the flex point type;

The said image processing algorithm that utilizes, detecting the position of headlight beam characteristic in the irradiation image specifically is to obtain light beam irradiates edge of image point through edge detection operator; These marginal points are carried out least square fitting, draw two boundary lines; Ask two boundary line intersection points to confirm the position of flex point in the irradiation image;

Said headlight beam characteristic specifically is the coordinate of headlight beam feature corners on the irradiation image at the coordinate on the irradiation image, specifically obtains through the position of said flex point in the irradiation image;

Said luminous point specifically is that the headlight beam characteristic is radiated at the flex point on the facade of headlamp world coordinate system.

5. method according to claim 1 is characterized in that, said headlight beam characteristic is specially: bright dark side boundary line type;

The said image processing algorithm that utilizes, detecting the position of headlight beam characteristic in the irradiation image specifically is the zone that has the zone in bright dark side boundary line and do not contain bright dark side boundary line previously selected, carries out neural network learning, obtains bright dark side boundary line sorter; Through bright dark side boundary line sorter analysis irradiation image, obtain the straight-line equation of the position of the bright dark side of headlight beam characteristic boundary line in the irradiation image;

Said headlight beam characteristic specifically is the coordinate of two points on the irradiation image of choosing arbitrarily on the bright dark side of the headlight beam characteristic boundary line at the coordinate on the irradiation image, and specifically the straight-line equation through position in the irradiation image, bright dark side boundary line obtains;

Said luminous point specifically is that two points choosing arbitrarily on the bright dark side of the said headlight beam characteristic boundary line are radiated at two luminous points on the facade of headlamp world coordinate system.

6. method according to claim 1; It is characterized in that; Saidly utilize said testing result, calculate initial point in the headlamp world coordinate system according to the video camera imaging principle and be radiated at the direction vector of the luminous point on the facade to the headlight beam characteristic, it calculates detailed process and comprises;

Utilize said testing result to obtain the coordinate figure of headlight beam characteristic on the irradiation image;

Utilize the said first kind subpoint coordinate components on the plane of delineation=(the headlight beam characteristic is at this this coordinate axis component of coordinate axis component-irradiation image center on the irradiation image) * each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system; Obtain said first kind subpoint coordinate figure on the plane of delineation before camera coordinates system, said first kind subpoint is radiated at the intersection point of the luminous point plane of delineation before light that camera sent and camera coordinates are on the headlamp world coordinate system facade for the headlight beam characteristic:

Utilize camera focus, changing said first kind subpoint coordinate on the plane of delineation before camera coordinates system is that camera coordinates is homogeneous coordinates;

Said first kind subpoint multiply by multiple in the homogeneous coordinates that camera coordinates is obtain the coordinate of said luminous point in camera coordinates system, said multiple is distance and the horizontal longitudinal axis coordinate sum of world coordinate system initial point in camera coordinates system between camera and the facade;

By the coordinate of said luminous point in camera coordinates system and the difference of the coordinate of headlamp world coordinate system initial point in camera coordinates system, calculate the coordinate of said luminous point in the headlamp world coordinate system;

Be radiated at the direction vector of the luminous point on the facade to the headlight beam characteristic by initial point in the coordinate acquisition headlamp world coordinate system of said luminous point in the headlamp world coordinate system.

7. according to claim 3 or 4 described methods; It is characterized in that; The said direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction, and its said calculating specifically comprises:

Confirm that the headlight beam direction specifically is from headlamp world coordinate system initial point to said luminous point line direction;

Confirm headlight beam direction horizontal deflection angle and/or definite headlight beam direction vertical deflection angle, said headlight beam direction horizontal deflection angle specifically is said headlamp world coordinate system initial point and the angle of said luminous point line between projection line on the surface level and the horizontal axis of ordinates of headlamp world coordinate system; Said headlight beam direction vertical deflection angle specifically is that said headlamp world coordinate system initial point and said luminous point line and said line are at the angle of cut between the projection line on the surface level;

According to Pythagorean theorem and right-angle triangle corner relation, calculate headlight beam direction level and/or vertical deflection angle to the direction vector that the headlight beam characteristic is radiated at the luminous point on the facade by said headlamp world coordinate system initial point.

8. method according to claim 5; It is characterized in that; The said direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction, and its said calculating detailed process comprises:

Confirm that the headlight beam direction specifically is a headlamp primary optical axis direction, said headlamp primary optical axis belongs to bright dark side boundary line with said two luminous points and intersects from the world coordinate system initial point, and its intersection point is for confirming the point of headlamp primary optical axis direction vector;

Confirm headlight beam direction horizontal deflection angle and/or definite headlight beam direction vertical deflection angle, said headlight beam direction horizontal deflection angle is specially the angle of said headlamp primary optical axis between projection line on the surface level and the horizontal axis of ordinates of headlamp world coordinate system; Said headlight beam direction vertical deflection angle is specially the angle of said headlamp primary optical axis between projection line on the surface level and said headlamp primary optical axis;

According to Pythagorean theorem and right-angle triangle corner relation, calculate headlight beam direction level and/or vertical deflection angle by said headlamp primary optical axis direction vector;

Wherein, said headlamp primary optical axis direction vector obtains through following two equations:

The coordinate of the point of said definite headlamp primary optical axis direction vector equals the equation that contains parametric variable that the coordinate of said two luminous points in the headlamp world coordinate system formed, and the coordinate of said two luminous points in the headlamp world coordinate system obtained to the direction vector that the headlight beam characteristic is radiated at the luminous point on the facade by initial point in the headlamp world coordinate system;

Said headlamp primary optical axis direction vector, forming the dot product result with the direction vector of two plane intersection lines is zero equation; Wherein, said two planes are respectively the plane that headlamp world coordinate system surface level, headlamp world coordinate system initial point and said two luminous points constitute.

9. method according to claim 1 is characterized in that,

The irradiation image of said acquisition vehicle head lamp on facade; The shooting direction of said irradiation image is identical with said vehicle head lamp direction of illumination; This step is specially and obtains the preceding irradiation image one on facade of vehicle head lamp adjusting; The shooting direction of said irradiation image one is identical with the vehicle head lamp direction of illumination; Also obtain vehicle head lamp and regulate the irradiation image two of back on facade, the shooting direction of said irradiation image two is identical with the vehicle head lamp direction of illumination;

The said image processing algorithm that utilizes; Detect the position of headlight beam feature in the irradiation image; Acquisition comprises the testing result of the coordinate of headlight beam feature on the irradiation image; This step is specially utilizes image processing algorithm; Detect the position of headlight beam feature in irradiation image one and irradiation image two, obtain to comprise the headlight beam feature in irradiation image one and the testing result of shining the coordinate on the image two;

Saidly utilize said testing result; Calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle; This step is specially utilizes said testing result; Adjusting angle according to video camera imaging principle and said vehicle head lamp calculates in the headlamp world coordinate system; Initial point is to the direction vector of first kind luminous point and/or the direction vector of initial point to the second type luminous point; Said first kind luminous point is that beam characteristics was radiated at the luminous point on the facade of headlamp world coordinate system before headlamp was regulated, and said second type of luminous point is that headlamp is regulated the luminous point on the facade that the back beam characteristics is radiated at the headlamp world coordinate system.

10. method according to claim 9; It is characterized in that; Saidly utilize said testing result; Adjusting angle according to video camera imaging principle and said vehicle head lamp calculates in the headlamp world coordinate system, and initial point is to the direction vector of first kind luminous point and/or the direction vector of initial point to the second type luminous point, and it calculates detailed process and comprises:

Utilize said testing result to obtain the coordinate figure of headlight beam characteristic at said irradiation image one and said irradiation image two;

Utilize the second type of subpoint coordinate components on the plane of delineation=(the headlight beam characteristic is at this coordinate axis component-this coordinate axis component of adjusting front irradiation image center on the irradiation image one) * each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system; Obtain said second type of subpoint coordinate figure on the plane of delineation before camera coordinates system, said second type of subpoint is the intersection point that beam characteristics was radiated at the luminous point plane of delineation before light that camera sent and camera coordinates are on the headlamp world coordinate system facade before headlamp was regulated;

Utilize the 3rd type of subpoint coordinate components on the plane of delineation=(the headlight beam characteristic is at this coordinate axis component on the irradiation image two-this coordinate axis component of adjusting back irradiation image center) * each pixel physical size on this change in coordinate axis direction of the plane of delineation before camera coordinates system before camera coordinates system; Obtain said the 3rd type of subpoint coordinate figure on the plane of delineation before camera coordinates system, said the 3rd type of subpoint is that headlamp is regulated the intersection point that the back beam characteristics is radiated at the luminous point plane of delineation before light that camera sent and camera coordinates are on the headlamp world coordinate system facade;

Utilize camera focus, changing said second type of subpoint and the 3rd type of subpoint coordinate on the plane of delineation before camera coordinates system is that camera coordinates is homogeneous coordinates;

By the homogeneous coordinates of said second type of subpoint in camera coordinates system; The coordinate of headlamp world coordinate system initial point in camera coordinates system; Calculate acquisition by first kind luminous point, camera coordinates is the normal vector on second type of plane of initial point and headlamp world coordinate system initial point formation;

By the homogeneous coordinates of said the 3rd type of subpoint in camera coordinates system; The coordinate of headlamp world coordinate system initial point in camera coordinates system; Calculate acquisition by second type of luminous point, camera coordinates is the normal vector on the 3rd type of plane of initial point and headlamp world coordinate system initial point formation;

By said first kind luminous point; Second type of luminous point and headlamp world coordinate system initial point constitute the 4th type of plane, and the normal vector on the 4th type of plane is expressed as

By following equation, through calculating direction vector and/or headlamp world coordinate system initial point and second type of direction vector that luminous point constitutes of waiting to ask parameter acquisition headlamp world coordinate system initial point and first kind luminous point formation:

The apposition of the normal vector on the normal vector on said second type of plane and said the 4th type of plane equals the equation of the direction vector of headlamp world coordinate system initial point and first kind luminous point formation;

The apposition of the normal vector on the normal vector on said the 3rd type of plane and said the 4th type of plane equals the equation of the direction vector of headlamp world coordinate system initial point and second type of luminous point formation;

The dot product inner product of the direction vector that headlamp world coordinate system initial point and first kind luminous point constitute and headlamp world coordinate system initial point and the direction vector of second type of luminous point formation equals the equation of product of cosine of the adjusting angle of vectorial mould of this both direction and said vehicle head lamp.

11. the vehicle head lamp irradiating angle pick-up unit based on facade is characterized in that this device specifically comprises:

Acquiring unit: be used to obtain the irradiation image of vehicle head lamp on facade, the shooting direction of said irradiation image is identical with said vehicle head lamp direction of illumination, and said irradiation image is sent to detecting unit;

Detecting unit: be used to utilize image processing algorithm, detect the position of headlight beam characteristic in the irradiation image, obtain to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image, said testing result is sent to computing unit;

Computing unit: be used to utilize said testing result, calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle; The direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction.

12. the vehicle head lamp irradiating angle detection system based on facade is characterized in that this system specifically comprises:

Visual angle, vehicle-mounted the place ahead camera: be used to shine the image of vehicle head lamp on facade, be sent to vehicle head lamp irradiating angle pick-up unit;

Vehicle head lamp irradiating angle pick-up unit: be used to obtain the irradiation image of vehicle head lamp on facade; The shooting direction of said irradiation image is identical with said vehicle head lamp direction of illumination; Utilize image processing algorithm; Detect the position of headlight beam characteristic in the irradiation image, obtain to comprise the testing result of the coordinate of headlight beam characteristic on the irradiation image; Utilize said testing result, calculate initial point in the headlamp world coordinate system is radiated at the luminous point on the facade to the headlight beam characteristic direction vector according to the video camera imaging principle; The direction vector that is radiated at the luminous point on the facade to the headlight beam characteristic according to initial point in the said headlamp world coordinate system calculates the level and/or the vertical deflection angle of headlight beam direction.

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