CN102721533B - 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

Based on vehicle headlamp irradiation angle detection method, the Apparatus and system of facade

Technical field

The present invention relates to vehicle head lamp detection field, particularly one realizes vehicle headlamp irradiation angle detection method, Apparatus and system.

Background technology

The effect of vehicle head lamp is under night or other blind situation, for vehicle driver provides illumination, and prevents from headlamp from causing driver and passerby dazzling the eyes.For reaching above-mentioned requirements, vehicle head lamp arranges dipped beam and distance light two kinds of working methods, uses far lighting, use lower beam illumination when vehicle intersection or when trailing other vehicle in front without when sending a car or do not trail other vehicle.In daily driving process, owing to being subject to effect of vibration, make headlamp depart from original installation site, thus change direction of illumination.Vehicle headlight beam direction of illumination is improper, has become one of main hidden danger affecting Vehicular night safety traffic.Therefore, ensure correct headlamp direction of illumination, driver can be made to see road ahead clearly thus the generation avoided traffic accident.

The irradiating angle detection method of existing headlight beam direction of illumination mainly contains: 1) based on the head lamp artificial radiation angle detecting method of screen.Project to by headlight beam on the screen pre-set, whether the position of this light beam on screen that then detect by an unaided eye meets standard-required, can survey dipped beam and distance light.The feature of this method is that equipment is simple, and do not need software processing system, but efficiency is lower, and the degree of the subjective judgement relying on people is larger, irradiating angle testing result error is large.Therefore, on the detection line of large discharge, seldom this irradiating angle detection method is used.2) the irradiating angle detection method of camera and special detector equipment is adopted.Image is irradiated by two frames of vapour upper beam light beam on detector screen board of twice different measuring position before and after camera shooting, machine identification as calculated, find out the locus of turning point of the unique point in two images, Guang Xing center or dipped beam light and shade boundary line, determine the principle of a straight line according to 2 positions, record headlight beam and irradiate position angle.The method possesses intellectuality, Automatic Measurement Technique level, but needs special detector screen version auxiliary equipment, and then increases detection of headlight cost.

Summary of the invention

Increase severely for current number of vehicles, existing method needs a large amount of costs of labor, is confined to specific environment, checkout equipment, be difficult to the demand meeting increasing vehicle head lamp detection, the present invention proposes a kind of vehicle headlamp irradiation angle detection method, Apparatus and system based on facade, to reduce the requirement of testing process to environment and personnel.

The invention provides a kind of vehicle headlamp irradiation angle detection method based on facade, the method specifically comprises:

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

Utilize image processing algorithm, detect headlight beam feature and irradiating the position in image, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image;

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

The direction vector of the luminous point be radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction.

Realize the device that vehicle headlamp irradiation angle detects, this device specifically comprises:

Acquiring unit: for obtaining the irradiation image of vehicle head lamp on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, and described irradiation image is sent to detecting unit;

Detecting unit: for utilizing image processing algorithm, detects headlight beam feature and is irradiating the position in image, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image, described testing result is sent to computing unit;

Computing unit: for utilizing described testing result, calculates according to video camera imaging principle initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature; The direction vector of the luminous point be radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction.

Realize the system that vehicle headlamp irradiation angle detects, this system specifically comprises:

Visual angle, vehicle-mounted front camera: for irradiating the image of vehicle head lamp on facade, be sent to vehicle headlamp irradiation angle pick-up unit;

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

Visible the present invention has following beneficial effect:

The present invention utilizes visual angle, vehicle-mounted front camera, when stopping from car, obtain the irradiation image of vehicle head lamp on facade, pass through image processing algorithm, headlamp feature in detected image obtains and comprises headlight beam feature in the testing result of irradiating the coordinate on image, calculates according to video camera imaging principle initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature; The direction vector of the luminous point be radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction, automatically completes the detection of headlamp irradiating angle.Compared with the conventional method, this method is not limited to the specific environment of vehicle inspection station and equipment requirement, detection of headlight cost can be saved, and, the present invention is based on image information and carry out the detection of headlamp direction of illumination, do not rely on the subjective judgement of people, accuracy is high, saves great amount of cost simultaneously, reaches intelligent, automatization level, the demand that increasing vehicle head lamp detects can be met, improve the accuracy that vehicle head lamp detects.

Accompanying drawing explanation

Fig. 1 is a kind of vehicle headlamp irradiation 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. 3-1 is the Detection results legend that headlight beam of the present invention is characterized as photocentre type;

Fig. 3-2 is Detection results legends that headlight beam of the present invention is characterized as flex point type;

Fig. 3-3 is Detection results legends that headlight beam of the present invention is characterized as bright dark border line style;

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

Fig. 4-1 is headlight beam direction level of the present invention and vertical deflection angle Pictorial examples;

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

Fig. 5-1 is headlight beam direction level of the present invention and vertical deflection angle Pictorial examples;

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

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

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

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

Figure 10 be facade of the present invention and ground out of plumb time, headlight beam feature is in the projection legend of two coordinate systems;

Figure 11 is a kind of composition of the vehicle headlamp irradiation angle pick-up unit based on facade of the present invention legend;

Figure 12 is a kind of composition of the vehicle headlamp irradiation angle detection system based on facade of the present invention legend.

Embodiment

For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, are described in further detail the embodiment of the present invention below in conjunction with the drawings and specific embodiments.

The invention provides a kind of vehicle headlamp irradiation angle detection method based on facade, utilizing visual angle, vehicle-mounted front camera, when stopping from car, automatically completing the detection of headlamp.The method performing step, see Fig. 1, is specially:

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

12, utilize image processing algorithm, detect headlight beam feature and irradiating the position in image, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image;

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

The direction vector of the luminous point 14, be radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction.

When the present invention specifically implements, the method can perform repeatedly when meeting the irradiating angle testing conditions pre-set, to obtain level and/or the vertical deflection angle in many group headlight beam directions, the irradiating angle testing conditions that it pre-sets specifically can comprise: on schedule, predetermined mileage, the mode such as predetermined period and/or pre-determined number, and, statistical treatment can also be carried out to the level in described many group headlight beam directions and/or vertical deflection angle, calculate level and the vertical deflection angle intermediate value in headlight beam direction, obtain average level and the vertical deflection angle in headlight beam direction, obtain reliable angle calculation scope, the average headlamp angle testing result that final acquisition is stable.

It should be noted that, detect the vehicle headlamp irradiation angle that headlight beam feature is carried out in the present invention, need to set up camera coordinates system at camera position, set up world coordinate system in headlamp position, establishment of coordinate system method, see Fig. 2, is specially:

Camera coordinates system is set up, such as O at camera position _camera-xyz, wherein, y-axis points to ground, and z-axis is horizontal forward to be overlapped with camera primary optical axis, is the horizontal ordinate of camera coordinates system;

World coordinate system is set up, such as O in headlamp position _{the world}-XYZ, wherein, Y-axis vertically points to ground, and Z axis along vehicle body level longitudinally forward, is the horizontal ordinate of headlamp world coordinate system;

And the coordinate axis of camera coordinates system and the coordinate axis of world coordinate system parallel, when the coordinate axis of camera coordinates system and the coordinate axis of world coordinate system not parallel time, prior art can be utilized to carry out image rectification, make the coordinate axis of camera coordinates system parallel with the coordinate axis of world coordinate system, therefore, wherein step 11, the irradiation image of described acquisition vehicle head lamp on facade, the shooting direction of described irradiation image, i.e. camera coordinates system z-axis direction and vehicle head lamp direction of illumination, namely headlamp world coordinate system Z-direction is consistent, this step can also comprise one and judge the determining step whether shooting direction of the irradiation image obtained is consistent with vehicle head lamp direction of illumination, if direction is inconsistent, then to irradiation correct image, make it consistent.

It should be noted that, the present invention carries out the detection of headlamp irradiating angle based on the irradiation image of acquisition vehicle head lamp on facade, and facade is divided into perpendicular to the ground or out of plumb two kinds of situations, for the situation that facade is perpendicular to the ground, headlamp irradiating angle can be calculated according to the distance between vehicle and facade, also can calculate headlamp irradiating angle according to vehicle head lamp adjusting angle.For facade and ground off plumb situation, headlamp irradiating angle can be calculated according to the complementary angle angle of the angle on the distance between vehicle and facade and facade and ground, also can calculate headlamp irradiating angle according to vehicle head lamp adjusting angle.

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

The irradiation image of dissimilar headlamp has different shape, therefore can according to pre-set from car headlamp characteristic type, select corresponding image processing algorithm to carry out detecting to obtain headlight beam feature and irradiating the such testing result in the position in image, be specially:

(1) headlamp characteristic type is: photocentre type

The unique point of high beam light beam is the geometric center of irradiating image light clear zone, for photocentre type, Detection results figure is see Fig. 3-1, and this photocentre type image processing algorithm detects the position of headlight beam feature in irradiation image and is specially: adopt finite neighborhood maximum value process determination headlight beam feature photocentre position in irradiation image;

Correspondingly,

Headlamp beam of light feature is irradiating the coordinate on image: be specially headlight beam feature photocentre and irradiating the coordinate on image, is irradiating the acquisition of the position in image especially by photocentre;

Described luminous point: be specially headlight beam feature and be radiated at photocentre on the facade of headlamp world coordinate system, for example, see A point in Fig. 4.

(2) headlamp characteristic type is: flex point type

The feature of dipped headlights light beam irradiates image usually to have corner feature, is flex point type, and Detection results figure is see Fig. 3-2, and this flex point type image processing algorithm detects the position of headlight beam feature in irradiation image and is specially:

The marginal point of light beam irradiation image is obtained by edge detection operator;

Least square fitting is carried out to these marginal points, draws two boundary lines;

Ask two boundary line intersection point determination corner position.

Correspondingly,

Headlight beam feature is irradiating the coordinate on image: specifically headlight beam feature corners is irradiating the coordinate on image, is irradiating the acquisition of the position in image especially by this flex point;

Described luminous point is specially: headlight beam feature is radiated at the flex point on the facade of headlamp world coordinate system, for example, see A point in Fig. 4.

(3) headlamp characteristic type is: bright dark border line style

Sometimes, the corner feature of dipped headlights light beam is also not obvious, need the bright dark side boundary line detecting irradiation image as headlamp feature, for bright dark border line style, Detection results figure is see Fig. 3-3, and this bright dark border line style image processing algorithm detects the position of headlight beam feature in irradiation image and is specially:

To the previously selected region with bright dark side boundary line with not containing the region in bright dark side boundary line, carry out neural network learning, obtain bright dark side boundary line sorter;

Irradiate image by the sorter analysis of bright dark side boundary line, obtain the position in the bright dark side boundary line irradiating image.

Correspondingly,

Headlight beam feature is irradiating the coordinate on image: being specially takes up an official post from the bright dark side boundary line of headlamp beam characteristics, and two points chosen of anticipating are irradiating the coordinate image, specifically obtain according to the straight-line equation that position on image is being irradiated in bright dark side boundary line;

Described luminous point: be specially described two points chosen from the bright dark side boundary line of headlamp beam characteristics and be radiated at two luminous points on the facade of headlamp world coordinate system, for example, see B, C 2 point in Fig. 5.

Thus, plant different headlight beam features for above (one), (two), (three), carry out vehicle headlamp irradiation angle detection.

Wherein, utilize described testing result described in step 13, calculate according to video camera imaging principle initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature, its computation process, see Fig. 6, specifically comprises:

601, utilize described testing result to obtain headlight beam feature and irradiate the coordinate figure on image;

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

In another embodiment of the present invention, headlight beam is characterized as bright dark border line style, see Fig. 5, described headlight beam feature is specially meaning of taking up an official post from the bright dark side boundary line of headlamp beam characteristics and chooses two points and irradiating the coordinate figure image irradiating the coordinate figure on image, and described two points obtain according to the straight-line equation that position on image is being irradiated in bright dark side boundary line irradiating the coordinate figure on image.

602, utilize the coordinate components of described first kind subpoint before camera coordinates system on the plane of delineation=(headlight beam feature is irradiating this this coordinate axis component of coordinate axis component-irradiation image center on image) × each pixel physical size before camera coordinates system on this change in coordinate axis direction of the plane of delineation, obtain the coordinate figure of described first kind subpoint before camera coordinates system on the plane of delineation, described first kind subpoint is radiated at the intersection point of the plane of delineation before the light and camera coordinates system that luminous point on headlamp world coordinate system facade sends to camera for headlight beam feature:

It should be noted that, the described front plane of delineation is a virtual plane of delineation, this front plane of delineation and realistic objective are positioned at the same side of camera photocentre, distance to camera photocentre is camera focus f, as shown in Figure 5, and the imaging of object in camera becomes an image stood upside down in photosensitive imaging plane, be positioned at the side of camera photocentre, because the target imaging on the front plane of delineation is consistent with realistic objective direction, in the present invention, for convenience of description and understand, adopt before the plane of delineation carry out coordinate calculating;

In one embodiment of the invention, suppose that headlight beam is characterized as photocentre type or flex point type, see Fig. 4, headlight beam feature photocentre or the flex point luminous point be radiated on the facade of headlamp world coordinate system is A point, intersection point before the light that A point sends to camera and camera coordinates system on the plane of delineation is A ', A ' is first kind subpoint, according to video camera imaging principle, headlight beam feature photocentre or the coordinate figure of flex point A ' on irradiation image only represent the position in irradiation image, instead of the coordinate of physical unit in camera coordinates system, so needs are the coordinate of the physical unit of camera coordinates system the coordinate conversion of irradiating in image, the coordinate of described physical unit is usually in units of millimeter, the coordinate figure of so described first kind subpoint A ' before camera coordinates system on the plane of delineation calculates especially by following:

Suppose, headlight beam feature photocentre or flex point A ' are (u, v) irradiating the coordinate in image, and this coordinate, when the present invention specifically implements, is the concrete coordinate figure obtained by image processing algorithm;

Suppose, irradiate certain point (u0 in image, v0) be the initial point (0 of the plane of delineation before camera coordinates system, 0), when the present invention specifically implements, the central point irradiating image is exactly the initial point of the front plane of delineation of camera coordinates system, and the central point irradiating image is available concrete coordinate figure;

Further, according to video camera imaging principle, irradiate image coordinate axle parallel with the coordinate axis of the front plane of delineation of camera coordinates system, and direction is identical, see Fig. 7;

Suppose, the physical size on the x direction of each pixel plane of delineation before camera coordinates system is dx, and physical size is in y-direction dy, and this physical size is when the present invention specifically implements, and being determined by concrete camera attribute, is available concrete size;

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

$\left\{\begin{array}{c}u=\frac{x^{\′}}{\mathrm{dx}}+u_0\\ v=\frac{y^{\′}}{\mathrm{dy}}+v_0\end{array}\right.$

According to above formula transformational relation, obtaining the coordinate of described first kind subpoint A ' (x ', y ') before camera coordinates system on the plane of delineation is:

In another embodiment of the present invention, suppose that headlight beam is characterized as bright dark border line style, see Fig. 5, two points that the bright dark side boundary line of headlight beam feature is chosen, two luminous points be radiated on the facade of headlamp world coordinate system are B, C 2 point, before the light that B, C 2 sends to camera and camera coordinates system, the intersection point of the plane of delineation is B ', C ' two point, then B ', C ' 2 are first kind subpoint, in like manner, B ', the C ' coordinate before camera coordinates system on the plane of delineation can be obtained, do not repeat them here.

603: utilize camera focus, change the coordinate of described first kind subpoint before camera coordinates system on the plane of delineation into camera coordinates system homogeneous coordinates;

Such as, in one embodiment of the invention, headlight beam is characterized as photocentre type or flex point type, see Fig. 4, first kind subpoint A ' is corresponded in the three-dimensional system of coordinate of camera coordinates system from the plane of delineation before camera coordinates system: the three-dimensional coordinate of first kind subpoint A ' on the front plane of delineation for (x ', y ', f), wherein, suppose that f is camera focus, being converted to homogeneous coordinates is:

$(x,y,1)=(\frac{x^{\′}}{f},\frac{y^{\′}}{f},1)$

Derive through above formula, in camera coordinates system, headlight beam Projection Character point A ' in the three-dimensional homogeneous coordinates of the front plane of delineation is:

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

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

Such as, in one embodiment of the invention, suppose that headlight beam is characterized as photocentre type or flex point type, see Fig. 4, suppose that D is the distance between the camera that arrives of actual measurement and facade, when the present invention specifically implements, this distance D can obtain in actual measurement, and first kind subpoint A ' is multiplied by D+z in the three-dimensional homogeneous coordinates of the front plane of delineation ₀doubly, the three-dimensional coordinate of described luminous point in camera coordinates system is obtained:

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

605: by the coordinate of described 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 described luminous point at headlamp world coordinate system.

Such as, in one embodiment of the invention, suppose that headlight beam is characterized as photocentre type or flex point type, see Fig. 4, suppose that the position of headlamp world coordinate system initial point in camera coordinates system is for (x ₀, y ₀, z ₀), when the present invention specifically implements, this position coordinates can be obtained relative to the concrete actual measurement in the position of camera by headlamp;

Therefore, the luminous point coordinate A (X, Y, Z) that headlight beam feature is radiated on the facade of headlamp world coordinate system obtains by following formula:

$\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)=(D+z_0)\left(\begin{array}{c}x\\ y\\ z\end{array}\right)-\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)$

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

606: obtain by the coordinate of described luminous point in headlamp world coordinate system initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature;

Such as: 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 border line style, 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 direction vector of the luminous point be radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system described in step 14 calculates level and/or the vertical deflection angle in headlight beam direction, calculates the level and/or the vertical deflection angle that calculate headlight beam direction especially by following steps analysis meter described in it:

Such as, in one embodiment of the invention, suppose that headlight beam is characterized as photocentre type or flex point type, see Fig. 4:

Headlight beam direction is: from headlamp world coordinate system initial point to described luminous point A point line direction, i.e. light beam O _{the world}a;

Horizontal deflection angle, headlight beam direction is: see Fig. 4-1, described headlamp world coordinate system initial point and described luminous point line projection line O in the horizontal plane _{the world}angle β between P and the horizontal axis of ordinates Z axis of headlamp world coordinate system;

Vertical deflection angle, headlight beam direction is: see Fig. 4-1, described headlamp world coordinate system initial point and described luminous point line O _{the world}a and described line projection line O in the horizontal plane _{the world}angle of cut α between P;

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

$\left\{\begin{array}{c}\mathrm{\α}=\arctan \frac{b}{\sqrt{a^2+c^2}}\\ \mathrm{\β}=\arctan \frac{a}{\sqrt{b^2+c^2}}\end{array}\right.$

Such as, in another embodiment of the present invention, suppose that headlight beam is characterized as bright dark border line style, see Fig. 5:

Headlight beam direction is: headlamp primary optical axis direction, i.e. light beam O _{the world}a, described headlamp primary optical axis O _{the world}a is from world coordinate system initial point, and crossing with the bright dark side boundary line, place of described luminous point B, C 2, its intersection point A is the point determining headlamp primary optical axis direction vector;

Horizontal deflection angle, headlight beam direction is: described headlamp primary optical axis projection line O in the horizontal plane _{the world}angle β between P and the horizontal axis of ordinates Z axis of headlamp world coordinate system;

Vertical deflection angle, headlight beam direction is: described headlamp primary optical axis projection line O in the horizontal plane _{the world}p and described headlamp primary optical axis O _{the world}angle of cut α between A;

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

$\left\{\begin{array}{c}\mathrm{\α}=\arctan \frac{Y}{\sqrt{X^2+Z^2}}\\ \mathrm{\β}=\arctan \frac{X}{\sqrt{Y^2+Z^2}}\end{array}\right.$

Wherein, described headlamp primary optical axis direction vector O _{the world}a (X, Y, Z) is obtained by following equation:

Equation one: described determine headlamp primary optical axis direction vector some A and described B, C two luminous point on the same line, therefore, describedly determine that the coordinate of the A point of headlamp primary optical axis direction vector equals described B, C two equation containing parametric variable λ of coordinate composition of luminous point, wherein said B, C two the coordinate of luminous point to be calculated to the direction vector that headlight beam feature is radiated at the luminous point on facade by initial point in headlamp world coordinate system and obtain, wherein λ ∈ (-∞, + ∞), as follows:

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

Equation two: described headlamp primary optical axis direction vector O _{the world}a is vertical with the intersection l of two planes, described two planes are the plane that bright dark side boundary line on headlamp world coordinate system surface level, facade and headlamp world coordinate system initial point are formed, therefore headlamp primary optical axis direction vector, the direction vector of intersection l, form its dot product result be zero equation as follows:

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

Wherein,

$\left(\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right)\×\left(\begin{array}{c}{X}_2\\ Y_2\\ Z_2\end{array}\right)$ For plane O _wthe normal vector of BC;

$\left(\begin{array}{c}0\\ 1\\ 0\end{array}\right)\×(\left(\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right)\×\left(\begin{array}{c}{X}_2\\ Y_2\\ Z_2\end{array}\right))$ For plane O _wbC and surface level O _wthe direction vector of the intersection l of XZ.

According to above equation one or two, can parameter lambda be tried to achieve, obtain the described coordinate A (X, Y, Z) determining the A point of headlamp primary optical axis direction vector, by headlamp primary optical axis direction vector O _{the world}a (X, Y, Z) calculates headlight beam direction level and vertical deflection angle.

For the embodiment of the adjustable headlamp of irradiating angle, no matter whether facade is perpendicular to the ground, all can take the level and/or the vertical deflection angle that calculate headlight beam direction according to video camera imaging principle and vehicle head lamp adjusting angle, wherein said vehicle head lamp adjusting angle specifically take respectively headlamp regulate forward and backward twice irradiation image on facade in the vertical direction time, the adjusting angle obtained, specific as follows:

Wherein, the irradiation image of vehicle head lamp on facade is obtained described in step 11, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, this step is specially and obtains the front irradiation image one on facade of vehicle head lamp adjustment, the shooting direction of described irradiation image one is identical with vehicle head lamp direction of illumination, irradiation image two also after the adjustment of acquisition vehicle head lamp on facade, the shooting direction of described irradiation image two is identical with vehicle head lamp direction of illumination;

Wherein, image processing algorithm is utilized described in step 12, detect headlight beam feature and irradiate the position in image, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image, this step is specially and utilizes image processing algorithm, detect headlight beam feature and irradiating image one and the position irradiated in image two, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image one and irradiation image two;

Wherein, described testing result is utilized described in step 13, initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature is calculated according to video camera imaging principle, this step is specially and utilizes described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, described first kind luminous point is that before headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, described Equations of The Second Kind luminous point is that after headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system.

Such as, see Fig. 8, the adjusting angle of described vehicle head lamp is O _{the world}a and O _{the world}angle between B both direction vector, is assumed to be θ, and described first kind luminous point is A point, and described Equations of The Second Kind luminous point is B point.

Wherein, utilize described testing result, the adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, and initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, its computation process, see Fig. 9, specifically comprises:

901, described testing result is utilized to obtain the headlight beam feature coordinate figure at described irradiation image one and described irradiation image two;

902, utilize the coordinate components of Equations of The Second Kind subpoint before camera coordinates system on the plane of delineation=(headlight beam feature is irradiating this coordinate axis component-this coordinate axis component of adjustment front irradiation image center on image one) × each pixel physical size before camera coordinates system on this change in coordinate axis direction of the plane of delineation, obtain the coordinate figure of described Equations of The Second Kind subpoint before camera coordinates system on the plane of delineation, described Equations of The Second Kind subpoint for headlamp regulate before beam characteristics be radiated at the intersection point of the plane of delineation before the light and camera coordinates system that luminous point on headlamp world coordinate system facade sends to camera, such as, see Fig. 8, A ' is Equations of The Second Kind subpoint,

903, utilize the coordinate components of the 3rd class subpoint before camera coordinates system on the plane of delineation=(headlight beam feature irradiates this coordinate axis component of image center after irradiating this coordinate axis component-adjustment on image two) × each pixel physical size before camera coordinates system on this change in coordinate axis direction of the plane of delineation, obtain the coordinate figure of described 3rd class subpoint before camera coordinates system on the plane of delineation, described 3rd class subpoint for headlamp regulate after beam characteristics be radiated at the intersection point of the plane of delineation before the light and camera coordinates system that luminous point on headlamp world coordinate system facade sends to camera, such as, see Fig. 8, B ' is the 3rd class subpoint,

904, utilize camera focus, change described Equations of The Second Kind subpoint and the coordinate of the 3rd class subpoint before camera coordinates system on the plane of delineation is camera coordinates system homogeneous coordinates, such as:

Equations of The Second Kind subpoint A ' in the homogeneous coordinates of camera coordinates system is $\left\{\begin{array}{c}{x}_1=\frac{(u_1-u_0)\·\mathrm{dx}}{f}\\ y_1=\frac{(v_1-v_0)\·\mathrm{dy}}{f}\\ z=1\end{array}\right.$

3rd class subpoint B ' in the homogeneous coordinates of camera coordinates system is $\left\{\begin{array}{c}{x}_2=\frac{(u_2-u_0)\·\mathrm{dx}}{f}\\ y_2=\frac{(v_2-v_0)\·\mathrm{dy}}{f}\\ z_2=1\end{array}\right.$

905, by the homogeneous coordinates of described Equations of The Second Kind subpoint in camera coordinates system, the coordinate of headlamp world coordinate system initial point in camera coordinates system, calculate and obtain by first kind luminous point, the normal vector of the Equations of The Second Kind plane that camera coordinates system initial point and headlamp world coordinate system initial point are formed, such as:

Plane O _{the world}o _cameraa is Equations of The Second Kind plane, and the computing formula of the normal vector of this Equations of The Second Kind plane is as follows:

O _{the world}o _camerathe normal vector of A $\left(\begin{array}{c}{A}_1\\ B_1\\ C_1\end{array}\right)=\left(\begin{array}{c}{x}_1\\ y_1\\ z_1\end{array}\right)\×\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)$

906, by the homogeneous coordinates of described 3rd class subpoint in camera coordinates system, the coordinate of headlamp world coordinate system initial point in camera coordinates system, calculate and obtain by Equations of The Second Kind luminous point, the normal vector of the 3rd class plane that camera coordinates system initial point and headlamp world coordinate system initial point are formed, such as:

Plane O _{the world}o _camerab is the 3rd class plane, and the computing formula of the normal vector of the 3rd class plane is as follows:

O _{the world}o _camerathe normal vector of B $\left(\begin{array}{c}{A}_2\\ B_2\\ C_2\end{array}\right)=\left(\begin{array}{c}{x}_2\\ y_2\\ z_2\end{array}\right)\×\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)$

907, by described first kind luminous point, Equations of The Second Kind luminous point and headlamp world coordinate system initial point form the 4th class plane, and the normal vector of the 4th class plane is expressed as such as:

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

908, by following equation, direction vector and/or headlamp world coordinate system initial point that headlamp world coordinate system initial point and first kind luminous point form and the direction vector that Equations of The Second Kind luminous point is formed is obtained by calculating parameter k to be asked:

The apposition of the normal vector of described Equations of The Second Kind plane and the normal vector of described 4th class plane equals the equation of the direction vector that headlamp world coordinate system initial point and first kind luminous point are formed, such as

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 of described 3rd class plane and the normal vector of described 4th class plane equals the equation of the direction vector that headlamp world coordinate system initial point and Equations of The Second Kind luminous point are formed, such as

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 direction vector that the vector that headlamp world coordinate system initial point and first kind luminous point are formed and headlamp world coordinate system initial point and Equations of The Second Kind luminous point are formed equals the equation of the product of the cosine of the adjusting angle of these two vector field homoemorphism and described vehicle head lamp, such as

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

By above equation, try to achieve direction vector and/or headlamp world coordinate system initial point that headlamp world coordinate system initial point and first kind luminous point form and the direction vector that Equations of The Second Kind luminous point is formed.

Wherein step 14, the direction vector of luminous point that is radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculate level and/or the vertical deflection angle in headlight beam direction, for the adjustable embodiment of this headlamp, be specifically calculated as follows:

The direction vector being radiated at the first kind luminous point A on facade to headlight beam feature by initial point in headlamp world coordinate system calculates headlight beam direction level and/or vertical deflection angle:

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

Or the direction vector being radiated at the Equations of The Second Kind luminous point B on facade to headlight beam feature by initial point in headlamp world coordinate system calculates headlight beam direction level and/or vertical deflection angle:

The direction vector O that headlamp world coordinate system initial point and first kind luminous point are formed _{the world}a is exactly headlight beam direction, by initial point in headlamp world coordinate system to the direction vector of Equations of The Second Kind luminous point B according to Pythagorean theorem and right-angle triangle corner relation, calculate headlamp and regulate rear beam direction level and/or vertical deflection angle, after headlamp regulates, beam direction X deflection angle is exactly headlight beam direction X deflection angle, calculate the difference that headlamp regulates rear vertical deflection angle and headlamp adjusting angle θ again, obtain headlight beam direction vertical deflection angle.

For facade and ground off plumb situation, see Figure 10, suppose that facade and upright position angle are facade crosses (0, H, D+z in camera coordinates system ₀) point, wherein H is camera heights, and D measures the distance of the camera photocentre that obtains subpoint on the ground to facade and ground intersection, z ₀for 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, utilize described testing result described in step 13, calculate according to video camera imaging principle initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature, its computation process specifically comprises:

Utilize described testing result to obtain headlight beam feature and irradiate the coordinate figure on image;

Utilize the coordinate components of described first kind subpoint before camera coordinates system on the plane of delineation=(headlight beam feature is irradiating this this coordinate axis component of coordinate axis component-irradiation image center on image) × each pixel physical size before camera coordinates system on this change in coordinate axis direction of the plane of delineation, obtain the coordinate figure of described first kind subpoint before camera coordinates system on the plane of delineation, described first kind subpoint is radiated at the intersection point of the plane of delineation before the light and camera coordinates system that luminous point on headlamp world coordinate system facade sends to camera for headlight beam feature,

Utilize camera focus, change the coordinate of described first kind subpoint before camera coordinates system on the plane of delineation into camera coordinates system homogeneous coordinates;

Headlight beam feature is radiated at the coordinate of luminous point A on facade (X ', Y ', Z ') in camera coordinates system can be written as expression formula containing needing to be asked parameter k: and A (X ', Y ', Z ')=k (x ₁, y ₁, z ₁), wherein k is parameter, k > 0, (x ₁, y ₁, z ₁) be the homogeneous coordinates of first kind subpoint A ' in camera coordinates system, because an A is on facade, meet facade equation, therefore,

K can be obtained

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

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

$\left(\begin{array}{c}X\\ Y\\ Z\end{array}\right)=\left(\begin{array}{c}{X}^{\′}\\ Y^{\′}\\ Z^{\′}\end{array}\right)-\left(\begin{array}{c}{x}_0\\ y_0\\ z_0\end{array}\right)$

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

Wherein, wherein step 14, the direction vector of luminous point that is radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculate the level in headlight beam direction and/or vertical deflection angle identical with other embodiments above, do not repeat them here.

The invention provides a kind of vehicle headlamp irradiation angle pick-up unit based on facade, utilize visual angle, vehicle-mounted front camera, the irradiating angle automatically completing headlamp detects, and this device composition, see Figure 11, specifically comprises:

Acquiring unit: for obtaining the irradiation image of vehicle head lamp on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, and described irradiation image is sent to detecting unit;

Detecting unit: for utilizing image processing algorithm, detects headlight beam feature and is irradiating the position in image, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image, described testing result is sent to computing unit;

Computing unit: for utilizing described testing result, calculates according to video camera imaging principle initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature; The direction vector of the luminous point be radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction.

The invention provides a kind of vehicle headlamp irradiation angle detection system based on facade, this system composition, see Figure 12, specifically comprises:

Visual angle, vehicle-mounted front camera: for irradiating the image of vehicle head lamp on facade, be sent to vehicle headlamp irradiation angle pick-up unit;

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

It should be noted that, in this article, the such as relational terms of first and second grades and so on is only used for an entity or operation to separate with another entity or operational zone, and not necessarily requires or imply the relation that there is any this reality between these entities or operation or sequentially.And, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or equipment and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or equipment.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the equipment comprising described key element and also there is other identical element.

The foregoing is only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.All any amendments done within the spirit and principles in the present invention, equivalent replacement, improvement etc., be all included in protection scope of the present invention.

Claims (8)

1., based on a vehicle headlamp irradiation angle detection method for facade, it is characterized in that, the method specifically comprises:

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

Utilize image processing algorithm, detect headlight beam feature and irradiating the position in image, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image;

Utilize described testing result, calculate according to video camera imaging principle initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature, wherein, describedly utilize described testing result, the direction vector calculating the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle comprises: utilize described testing result, initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature is calculated according to video camera imaging principle and the distance between camera and facade, or, utilize described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, described first kind luminous point is that before headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, described Equations of The Second Kind luminous point is that after headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system,

The direction vector of the luminous point be radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction;

Wherein, described headlight beam feature is specially: photocentre type;

Describedly utilize image processing algorithm, detecting headlight beam feature irradiating the position in image specifically adopts finite neighborhood maximum value process determination photocentre irradiating the position in image;

Described headlight beam feature, irradiating the specifically coordinate of headlight beam feature photocentre on irradiation image of the coordinate on image, is irradiating the acquisition of the position in image especially by described photocentre;

Described luminous point specifically headlight beam feature is radiated at the photocentre on the facade of headlamp world coordinate system.

2. method according to claim 1, is characterized in that, described method performs when meeting the irradiating angle testing conditions pre-set repeatedly to obtain level and/or the vertical deflection angle in many group headlight beam directions, and also comprises:

Statistical treatment is carried out to the level in described many group headlight beam directions and/or vertical deflection angle, obtains level and/or the vertical deflection angle in final headlight beam direction.

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

Utilize described testing result to obtain headlight beam feature and irradiate the coordinate figure on image;

Utilize the coordinate components of described first kind subpoint before camera coordinates system on the plane of delineation=(headlight beam feature is irradiating this this coordinate axis component of coordinate axis component-irradiation image center on image) × each pixel physical size before camera coordinates system on this change in coordinate axis direction of the plane of delineation, obtain the coordinate figure of described first kind subpoint before camera coordinates system on the plane of delineation, described first kind subpoint is radiated at the intersection point of the plane of delineation before the light and camera coordinates system that luminous point on headlamp world coordinate system facade sends to camera for headlight beam feature:

Utilize camera focus, change the coordinate of described first kind subpoint before camera coordinates system on the plane of delineation into camera coordinates system homogeneous coordinates;

Described first kind subpoint is multiplied by multiple in the homogeneous coordinates of camera coordinates system and obtains the coordinate of described luminous point in camera coordinates system, described multiple is distance between camera and facade and the horizontal longitudinal axis coordinate sum of world coordinate system initial point in camera coordinates system;

By the coordinate of described 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 described luminous point in headlamp world coordinate system;

Initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature is obtained by the coordinate of described luminous point in headlamp world coordinate system.

4. method according to claim 1, it is characterized in that, the direction vector of the described luminous point be radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction, calculates and specifically comprise described in it:

Determine headlight beam direction specifically from headlamp world coordinate system initial point to described luminous point line direction;

Determine horizontal deflection angle, headlight beam direction and/or determine vertical deflection angle, headlight beam direction, horizontal deflection angle, described headlight beam direction is described headlamp world coordinate system initial point and the angle of described luminous point line in the horizontal plane between projection line and the horizontal axis of ordinates of headlamp world coordinate system specifically; Vertical deflection angle, described headlight beam direction is described headlamp world coordinate system initial point and described luminous point line and the angle of cut of described line in the horizontal plane between projection line specifically;

According to Pythagorean theorem and right-angle triangle corner relation, the direction vector of the luminous point be radiated on facade to headlight beam feature by described headlamp world coordinate system initial point calculates headlight beam direction level and/or vertical deflection angle.

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

The irradiation image of described acquisition vehicle head lamp on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, this step is specially and obtains the front irradiation image one on facade of vehicle head lamp adjustment, the shooting direction of described irradiation image one is identical with vehicle head lamp direction of illumination, irradiation image two also after the adjustment of acquisition vehicle head lamp on facade, the shooting direction of described irradiation image two is identical with vehicle head lamp direction of illumination;

Describedly utilize image processing algorithm, detect headlight beam feature and irradiate the position in image, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image, this step is specially and utilizes image processing algorithm, detect headlight beam feature and irradiating image one and the position irradiated in image two, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image one and irradiation image two;

Describedly utilize described testing result, initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature is calculated according to video camera imaging principle, this step is specially and utilizes described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, described first kind luminous point is that before headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, described Equations of The Second Kind luminous point is that after headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system.

6. method according to claim 5, it is characterized in that, describedly utilize described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, and it calculates detailed process and comprises:

Described testing result is utilized to obtain the headlight beam feature coordinate figure at described irradiation image one and described irradiation image two;

Utilize the coordinate components of Equations of The Second Kind subpoint before camera coordinates system on the plane of delineation=(headlight beam feature is irradiating this coordinate axis component-this coordinate axis component of adjustment front irradiation image center on image one) × each pixel physical size before camera coordinates system on this change in coordinate axis direction of the plane of delineation, obtain the coordinate figure of described Equations of The Second Kind subpoint before camera coordinates system on the plane of delineation, described Equations of The Second Kind subpoint for headlamp regulate before beam characteristics be radiated at the intersection point of the plane of delineation before the light and camera coordinates system that luminous point on headlamp world coordinate system facade sends to camera,

Utilize the coordinate components of the 3rd class subpoint before camera coordinates system on the plane of delineation=(headlight beam feature irradiates this coordinate axis component of image center after irradiating this coordinate axis component-adjustment on image two) × each pixel physical size before camera coordinates system on this change in coordinate axis direction of the plane of delineation, obtain the coordinate figure of described 3rd class subpoint before camera coordinates system on the plane of delineation, described 3rd class subpoint for headlamp regulate after beam characteristics be radiated at the intersection point of the plane of delineation before the light and camera coordinates system that luminous point on headlamp world coordinate system facade sends to camera,

Utilize camera focus, change described Equations of The Second Kind subpoint and the coordinate of the 3rd class subpoint before camera coordinates system on the plane of delineation is camera coordinates system homogeneous coordinates;

By the homogeneous coordinates of described Equations of The Second Kind subpoint in camera coordinates system, the coordinate of headlamp world coordinate system initial point in camera coordinates system, calculate and obtain by first kind luminous point, the normal vector of the Equations of The Second Kind plane that camera coordinates system initial point and headlamp world coordinate system initial point are formed;

By the homogeneous coordinates of described 3rd class subpoint in camera coordinates system, the coordinate of headlamp world coordinate system initial point in camera coordinates system, calculate and obtain by Equations of The Second Kind luminous point, the normal vector of the 3rd class plane that camera coordinates system initial point and headlamp world coordinate system initial point are formed;

By described first kind luminous point, Equations of The Second Kind luminous point and headlamp world coordinate system initial point form the 4th class plane, and the normal vector of the 4th class plane is expressed as

By following equation, by calculating direction vector and/or headlamp world coordinate system initial point that gain of parameter headlamp world coordinate system initial point to be asked and first kind luminous point form and the direction vector that Equations of The Second Kind luminous point is formed:

The apposition of the normal vector of described Equations of The Second Kind plane and the normal vector of described 4th class plane equals the equation of the direction vector that headlamp world coordinate system initial point and first kind luminous point are formed;

The apposition of the normal vector of described 3rd class plane and the normal vector of described 4th class plane equals the equation of the direction vector that headlamp world coordinate system initial point and Equations of The Second Kind luminous point are formed;

The dot product inner product of the direction vector that the direction vector that headlamp world coordinate system initial point and first kind luminous point are formed and headlamp world coordinate system initial point and Equations of The Second Kind luminous point are formed equals the equation of the product of the cosine of the adjusting angle of this both direction vector field homoemorphism and described vehicle head lamp.

7. based on a vehicle headlamp irradiation angle pick-up unit for facade, it is characterized in that, this device specifically comprises:

Acquiring unit: for obtaining the irradiation image of vehicle head lamp on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, and described irradiation image is sent to detecting unit;

Detecting unit: for utilizing image processing algorithm, detects headlight beam feature and is irradiating the position in image, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image, described testing result is sent to computing unit;

Computing unit: for utilizing described testing result, calculates according to video camera imaging principle initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature, wherein, describedly utilize described testing result, the direction vector calculating the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle comprises: utilize described testing result, initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature is calculated according to video camera imaging principle and the distance between camera and facade, or, utilize described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, described first kind luminous point is that before headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, described Equations of The Second Kind luminous point is that after headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, the direction vector of the luminous point be radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction,

Wherein, described headlight beam feature is specially: photocentre type;

Describedly utilize image processing algorithm, detecting headlight beam feature irradiating the position in image specifically adopts finite neighborhood maximum value process determination photocentre irradiating the position in image;

Described headlight beam feature, irradiating the specifically coordinate of headlight beam feature photocentre on irradiation image of the coordinate on image, is irradiating the acquisition of the position in image especially by described photocentre;

Described luminous point specifically headlight beam feature is radiated at the photocentre on the facade of headlamp world coordinate system.

8. based on a vehicle headlamp irradiation angle detection system for facade, it is characterized in that, this system specifically comprises:

Visual angle, vehicle-mounted front camera: for irradiating the image of vehicle head lamp on facade, be sent to vehicle headlamp irradiation angle pick-up unit;

Vehicle headlamp irradiation angle pick-up unit: for obtaining the irradiation image of vehicle head lamp on facade, the shooting direction of described irradiation image is identical with described vehicle head lamp direction of illumination, utilize image processing algorithm, detect headlight beam feature and irradiating the position in image, obtain and comprise headlight beam feature in the testing result of irradiating the coordinate on image, utilize described testing result, calculate according to video camera imaging principle initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature, wherein, describedly utilize described testing result, the direction vector calculating the luminous point that initial point is radiated on facade to headlight beam feature in headlamp world coordinate system according to video camera imaging principle comprises: utilize described testing result, initial point in headlamp world coordinate system to be radiated at the luminous point on facade direction vector to headlight beam feature is calculated according to video camera imaging principle and the distance between camera and facade, or, utilize described testing result, adjusting angle according to video camera imaging principle and described vehicle head lamp calculates in headlamp world coordinate system, initial point is to the direction vector of first kind luminous point and/or initial point to the direction vector of Equations of The Second Kind luminous point, described first kind luminous point is that before headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, described Equations of The Second Kind luminous point is that after headlamp regulates, beam characteristics is radiated at the luminous point on the facade of headlamp world coordinate system, the direction vector of the luminous point be radiated on facade to headlight beam feature according to initial point in described headlamp world coordinate system calculates level and/or the vertical deflection angle in headlight beam direction, wherein, described headlight beam feature is specially: photocentre type, describedly utilize image processing algorithm, detecting headlight beam feature irradiating the position in image specifically adopts finite neighborhood maximum value process determination photocentre irradiating the position in image, described headlight beam feature, irradiating the specifically coordinate of headlight beam feature photocentre on irradiation image of the coordinate on image, is irradiating the acquisition of the position in image especially by described photocentre, described luminous point specifically headlight beam feature is radiated at the photocentre on the facade of headlamp world coordinate system.