CN110979161A - Control method and system of vehicle lamp and vehicle - Google Patents

Control method and system of vehicle lamp and vehicle Download PDF

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Publication number
CN110979161A
CN110979161A CN201911397602.4A CN201911397602A CN110979161A CN 110979161 A CN110979161 A CN 110979161A CN 201911397602 A CN201911397602 A CN 201911397602A CN 110979161 A CN110979161 A CN 110979161A
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azimuth angle
target
light
reflective target
right boundary
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班平宝
吴厚计
冯坤
石刚
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Beijing Hainachuan Automotive Parts Co Ltd
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Beijing Hainachuan Automotive Parts Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/085—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/05—Special features for controlling or switching of the light beam
    • B60Q2300/056—Special anti-blinding beams, e.g. a standard beam is chopped or moved in order not to blind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/20—Multi-color single source or LED matrix, e.g. yellow blinker and red brake lamp generated by single lamp

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

The application provides a control method and system of a vehicle lamp and a vehicle. Wherein the vehicle light comprises a vehicle light array consisting of a plurality of light sources, the method comprising: detecting position information and light reflection intensity of a light reflection target object; obtaining a left boundary azimuth angle and a right boundary azimuth angle according to the position information of the reflective target object; obtaining a corresponding target high beam area according to the left boundary azimuth angle and the right boundary azimuth angle; and determining a brightness limit value according to the reflection intensity, and limiting the brightness of the light source corresponding to the target high beam area in the plurality of light sources. The application discloses control method of car light, when the far-reaching headlamp of vehicle shines on the object, can effectively avoid the reverberation on the object to cause dazzling to the driver of vehicle, and then, effectively promote driving safety.

Description

Control method and system of vehicle lamp and vehicle
Technical Field
The present application relates to the field of automotive technologies, and in particular, to a method and a system for controlling a vehicle lamp, and a vehicle.
Background
When the far-reaching headlamp shines reflection of light object, for example road traffic sign, the light of reflection back can produce dazzling to the driver of this side, brings great hidden danger for this driver's safe driving. For example: in many scenes, the high beam light reflected by some targets with reflection characteristics usually brings strong dazzling interference to the driver, affects the safe driving of the driver, and is easy to cause accidents.
Disclosure of Invention
The present application is directed to solving at least one of the above problems.
To this end, an object of the present application is to propose a control method of a vehicle lamp. The method can effectively avoid dazzling of the reflected light on the object to the driver of the vehicle, and further effectively improve the driving safety.
A second object of the present application is to provide a control system for a vehicle lamp.
A third object of the present application is to propose a vehicle.
In order to achieve the above object, a first aspect of the present application discloses a control method of a vehicular lamp including a vehicular lamp array composed of a plurality of light sources, the method including: detecting position information and light reflection intensity of a light reflection target object; obtaining a left boundary azimuth angle and a right boundary azimuth angle according to the position information of the reflective target object; obtaining a corresponding target high beam area according to the left boundary azimuth angle and the right boundary azimuth angle; and determining a brightness limit value according to the reflection intensity, and limiting the brightness of the light source corresponding to the target high beam area in the plurality of light sources.
According to the control method of the car lamp, when the high beam of the car irradiates to the object, the reflected light on the object can be effectively avoided from dazzling the driver of the car, and then the driving safety is effectively improved.
In some examples, the position information of the retro-reflective target includes an azimuth α of the retro-reflective target, a relative distance L of the retro-reflective target, and a width d of the retro-reflective target, and the obtaining of the left boundary azimuth and the right boundary azimuth from the position information of the retro-reflective target includes obtaining a longitudinal distance L1, a left boundary lateral distance L2, and a right boundary lateral distance L3 of the retro-reflective target from the azimuth α of the retro-reflective target and the relative distance L of the retro-reflective target, and obtaining a left boundary lateral distance L2 and a right boundary lateral distance L3 from the longitudinal distance L1 of the retro-reflective targetThe left boundary azimuth αLAnd right boundary azimuth angle αR。
In some examples, further comprising determining a left boundary azimuth compensation value and a right boundary azimuth compensation value based on the response delay time, and determining the left boundary azimuth α based on the left boundary azimuth compensation value and the right boundary azimuth compensation valueLAnd right boundary azimuth angle αRCompensation is performed.
In some examples, the determining a brightness limit according to the reflection intensity, limiting the brightness of the light source corresponding to the target high beam region from the plurality of light sources, includes: looking up a table according to the reflection intensity and the relative distance L of the reflection target object to obtain a corresponding brightness limit value; limiting the brightness of a light source of the plurality of light sources corresponding to the target high beam region.
In some examples, further comprising: and after the reflective target disappears, controlling the light sources corresponding to the target high beam area in the plurality of light sources to gradually recover to the brightness before limitation.
A second aspect of the present application discloses a control system of a vehicular lamp including a vehicular lamp array composed of a plurality of light sources, the system including: the detection module is used for detecting the position information and the light reflection intensity of the light reflection target object; the mapping module is used for obtaining a left boundary azimuth angle and a right boundary azimuth angle according to the position information of the reflective target object and obtaining a corresponding target high beam area according to the left boundary azimuth angle and the right boundary azimuth angle; and the control module is used for determining a brightness limit value according to the reflection intensity and limiting the brightness of the light source corresponding to the target high beam area in the plurality of light sources.
According to the control system of car light of this application, when the far-reaching headlamp of vehicle shines on the object, can effectively avoid the reverberation on the object to cause dazzling to the driver of vehicle, and then, effectively promote driving safety.
In some examples, the position information of the retro-reflective targets includes an azimuth α of the retro-reflective targets, a relative distance L of the retro-reflective targets, and a width d of the retro-reflective targets, and the mapping module is configured to map the position information based on the retro-reflective targetsThe azimuth angle α of the light target and the relative distance L of the light reflecting target are used for obtaining the longitudinal distance L1, the left boundary transverse distance L2 and the right boundary transverse distance L3 of the light reflecting target, and the left boundary azimuth angle α is obtained according to the longitudinal distance L1, the left boundary transverse distance L2 and the right boundary transverse distance L3 of the light reflecting targetLAnd right boundary azimuth angle αR。
In some examples, the mapping module is further configured to determine a left boundary azimuth compensation value and a right boundary azimuth compensation value according to the response delay time, and to determine the left boundary azimuth α according to the left boundary azimuth compensation value and the right boundary azimuth compensation valueLAnd right boundary azimuth angle αRCompensation is performed.
In some examples, the control module is configured to look up a table according to the reflection intensity and the relative distance L of the reflection target to obtain a corresponding brightness limit value, and limit the brightness of the light source corresponding to the target high beam region among the plurality of light sources.
A third aspect of the present application discloses a vehicle comprising: the control system for a vehicle lamp according to the second aspect described above. When the high beam lamp of this vehicle shines on the object, can effectively avoid the reverberation on the object to cause dazzling to the driver of vehicle, and then, effectively promote driving safety.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of controlling a vehicle lamp according to one embodiment of the present application;
fig. 2 is a flowchart of a control method of a vehicular lamp according to another embodiment of the present application;
FIG. 3 is a schematic view of a high beam sub-zone in a control method for a vehicular lamp according to an embodiment of the present application;
FIG. 4 is a schematic view showing a plurality of light source arrangements of a vehicular lamp in a control method of the vehicular lamp according to an embodiment of the present application;
FIG. 5 is a schematic view illustrating calculation of a reflecting target object azimuth angle in the control method of the vehicular lamp according to the embodiment of the present application;
FIG. 6 is a schematic diagram illustrating a positional relationship between a high beam sub-area object and a high beam sub-area object in a control method for a vehicle lamp according to an embodiment of the present application;
fig. 7 is a block diagram of a control system for a vehicle lamp according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
A control method and a control system for a vehicle lamp and a vehicle according to an embodiment of the application are described below with reference to the accompanying drawings.
The vehicle lamp comprises a vehicle lamp array consisting of a plurality of light sources, wherein the light sources are LED light sources, each LED light source can be independently controlled to be turned on and turned off, or the plurality of light sources are divided into a left headlamp module and a right headlamp module, the light sources in each module can be independently controlled, or can be further divided into a plurality of groups, and each group can be independently controlled to be turned on and turned off. After the plurality of light sources are turned on, the whole illumination area is formed.
Fig. 1 is a flowchart of a control method of a vehicle lamp according to an embodiment of the present application. As shown in fig. 1, a control method for a vehicle lamp according to an embodiment of the present application includes the steps of:
s101: and detecting the position information and the light reflection intensity of the light reflection target object.
Specifically, as shown in FIG. 2, and in conjunction with FIG. 3, the simulation and test acquisition method may be used to pre-segment the high beam regions from left to right, determine the left and right boundary angles β for each regionL，βRAs shown in table 1.
TABLE 1
Figure BDA0002346725410000051
Figure BDA0002346725410000061
As shown in fig. 4, the intelligent headlamp system is divided into a left high beam module and a right high beam module, and each module includes a plurality of linearly arranged LED light sources. Labeling (LED) of single LED light source of left and right high beam modulesL、LedR) And determining the LED light source corresponding to each high beam subarea according to the subarea result in the table 1, as shown in the table 2:
TABLE 2
Figure BDA0002346725410000062
Figure BDA0002346725410000071
Then, according to the working mode of the intelligent headlampAnd judging whether the far-light reflection anti-dazzling function is enabled or not by the switch and the conditions of the vehicle speed and the ambient brightness. Specifically, when the working mode of the intelligent headlamp is in AUTO automatic mode, the ambient brightness is less than the high beam turn-on threshold value LthdThe speed of the vehicle is greater than the high beam opening threshold VthdEnabling a far-light reflection anti-glare function, wherein the ambient brightness threshold value LthdAnd a vehicle speed threshold value VthdThe setting can be made according to practical situations, and is not limited specifically here.
The position information of the reflective target object can be acquired by the camera, and the position information of the reflective target object includes, but is not limited to, the azimuth α of the reflective target object, the relative distance L of the reflective target object, and the width d of the reflective target object.
S102: and obtaining the left boundary azimuth angle and the right boundary azimuth angle according to the position information of the reflective target object.
For example, the longitudinal distance L1, the left boundary transverse distance L2 and the right boundary transverse distance L3 of the reflective target object are obtained according to the azimuth angle α of the reflective target object and the relative distance L of the reflective target object, and the left boundary azimuth angle α is obtained according to the longitudinal distance L1, the left boundary transverse distance L2 and the right boundary transverse distance L3 of the reflective target objectLAnd right boundary azimuth angle αR。
Further, a left boundary azimuth angle compensation value and a right boundary azimuth angle compensation value may be determined according to the response delay time, and the left boundary azimuth angle α may be determined according to the left boundary azimuth angle compensation value and the right boundary azimuth angle compensation valueLAnd right boundary azimuth angle αRCompensation is performed.
As a specific example, the information related to the reflective target fed back by the camera is collected, and includes reflective intensity (for example, three intensities of high, medium and low), azimuth α (deg), relative distance L (m) and target width d (m).
Converting the position information of the reflective target into a rectangular coordinate system (for example, left negative and right positive), as shown in fig. 5, calculating a longitudinal distance L1, a left boundary transverse distance L2, and a right boundary transverse distance L3 of the target, and the specific algorithm is as follows:
L1＝L·cos(α)，
L2＝L·sin(α)－d/2，
L3＝L·sin(α)+d/2。
calculating its left boundary azimuth angle α from the target longitudinal distance L1, left boundary lateral distance L2 and right boundary lateral distance L3LAnd right boundary azimuth angle αR. The specific algorithm is as follows:
αL＝arctan(L2/L1)，
αR＝arctan(L3/L1)。
furthermore, in order to increase the robustness of function control and prevent control deviation caused by system delay, the left and right azimuth angles of the reflective target object need to be compensated, and the compensation values are respectively sigmaLAnd σRThe method comprises the following steps:
αLcor＝αL－σL，
αRcor＝αL+σR。
wherein the left and right boundary compensation value sigmaLAnd σRThe specific size may be set according to actual conditions, and is not particularly limited herein.
S103: and obtaining a corresponding target high beam area according to the left boundary azimuth angle and the right boundary azimuth angle.
As shown in fig. 6, comparing the azimuth of the left and right boundaries of the target object with the left and right boundary angles of the high beam sub-zone, when the target object and the high beam sub-zone satisfy the following positional relationship, it is determined that this zone is the high beam zone where the target object is located:
1. the target portion is in the selected high beam region:
(αLcor<＝βRandαRcor>＝βR)or(αLcor<＝βLandαRcor>＝βL)。
2. the target is completely within the selected high beam region:
(αLcor>＝βL)and(αRcor<＝βR)。
3. target spanning selected high beam area:
(αLcor<＝βL)and(αRcor>＝βR)。
the determined high beam area is mapped to a specific LED light source according to table 2.
S104: and determining a brightness limit value according to the reflection intensity, and limiting the brightness of the light source corresponding to the target high beam area in the plurality of light sources. For example: looking up a table according to the reflection intensity and the relative distance L of the reflection target object to obtain a corresponding brightness limit value; limiting the brightness of a light source of the plurality of light sources corresponding to the target high beam region.
As shown in tables 3, 4, and 5, the corresponding LED light source brightness limit query unit is determined according to the reflection intensity of the reflective target fed back by the camera, and the current brightness limit is determined according to the relative distance lookup table. Wherein, table 3 is the high beam brightness limit of the low reflection intensity target, table 4 is the high beam brightness limit of the medium reflection intensity target, and table 5 is the high reflection intensity target.
TABLE 3
Figure BDA0002346725410000091
TABLE 4
Figure BDA0002346725410000101
TABLE 5
Figure BDA0002346725410000102
It should be noted that when a plurality of reflective targets are present, there may be a plurality of reflective targets simultaneously performing different brightness limits on the same LED light source, and at this time, the brightness of the LED needs to be arbitrated, for example, an arbitration policy is to determine the minimum value of the brightness limits of the different reflective targets.
Further, still include: and after the reflective target disappears, controlling the light sources corresponding to the target high beam area in the plurality of light sources to gradually recover to the brightness before limitation. Namely: when the brightness limitation of the LED light source is removed, the brightness needs to be buffered and recovered to the initial brightness request, and sudden change of the brightness caused by sudden loss of the target object is prevented.
According to the control method of the car lamp, when the high beam of the car irradiates to the object, the reflected light on the object can be effectively avoided from dazzling the driver of the car, and therefore the driving safety is effectively improved.
Fig. 7 is a block diagram of a control system for a vehicle lamp according to an embodiment of the present application. As shown in fig. 7, a control system 10 for a vehicle lamp according to an embodiment of the present application includes: a detection module 100, a mapping module 200, and a control module 300.
The detection module 100 is configured to detect position information and reflection intensity of a reflection target object; the mapping module 200 is configured to obtain a left boundary azimuth angle and a right boundary azimuth angle according to the position information of the reflective target object, and obtain a corresponding target high beam region according to the left boundary azimuth angle and the right boundary azimuth angle; the control module 300 is configured to determine a brightness limit according to the reflection intensity, and limit the brightness of the light source corresponding to the target high beam region in the plurality of light sources.
In an embodiment of the application, the position information of the retro-reflective target includes an azimuth α of the retro-reflective target, a relative distance L of the retro-reflective target, and a width d of the retro-reflective target, and the mapping module 200 is configured to obtain a longitudinal distance L1, a left boundary lateral distance L2, and a right boundary lateral distance L3 of the retro-reflective target according to the azimuth α of the retro-reflective target and the relative distance L of the retro-reflective target, and obtain the left boundary azimuth α according to the longitudinal distance L1, the left boundary lateral distance L2, and the right boundary lateral distance L3 of the retro-reflective targetLAnd right boundary azimuth angle αR。
In an embodiment of the present application, the mapping module 200 is further configured to determine a left boundary azimuth compensation value and a right boundary azimuth compensation value according to the response delay time, and determine the left boundary azimuth compensation value according to the left boundary azimuth compensation valueAnd a right boundary azimuth compensation value to the left boundary azimuth αLAnd right boundary azimuth angle αRCompensation is performed.
In an embodiment of the present application, the control module 300 is configured to look up a table according to the reflection intensity and the relative distance L of the reflection target to obtain a corresponding brightness limit value, and limit the brightness of the light source corresponding to the target high beam region in the plurality of light sources.
According to the control system of car light of this application embodiment, when the far-reaching headlamp of vehicle shines on the object, can effectively avoid the reverberation on the object to cause dazzling to the driver of vehicle, and then, effectively promote driving safety.
It should be noted that the specific implementation manner of the control system of the vehicle lamp in the embodiment of the present application is similar to the specific implementation manner of the control method of the vehicle lamp in the embodiment of the present application, and please refer to the description of the method part specifically, which is not described herein again.
Further, an embodiment of the present application discloses a vehicle, including: a control system for a vehicle lamp according to any one of the embodiments described above. When the high beam lamp of this vehicle shines on the object, can effectively avoid the reverberation on the object to cause dazzling to the driver of vehicle, and then, effectively promote driving safety.
In addition, other configurations and functions of the vehicle according to the embodiment of the present application are known to those skilled in the art, and are not described herein.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A method of controlling a vehicle light, the vehicle light comprising a vehicle light array comprised of a plurality of light sources, the method comprising:
detecting position information and light reflection intensity of a light reflection target object;
obtaining a left boundary azimuth angle and a right boundary azimuth angle according to the position information of the reflective target object;
obtaining a corresponding target high beam area according to the left boundary azimuth angle and the right boundary azimuth angle;
and determining a brightness limit value according to the reflection intensity, and limiting the brightness of the light source corresponding to the target high beam area in the plurality of light sources.
2. The method for controlling a vehicular lamp according to claim 1, wherein the position information of the reflective target includes an azimuth α of the reflective target, a relative distance L of the reflective target, and a width d of the reflective target, and the obtaining the left boundary azimuth and the right boundary azimuth from the position information of the reflective target includes:
obtaining a longitudinal distance L1, a left boundary transverse distance L2 and a right boundary transverse distance L3 of the reflective target according to the azimuth angle α of the reflective target and the relative distance L of the reflective target;
obtaining the left boundary azimuth angle α according to the longitudinal distance L1, the left boundary lateral distance L2 and the right boundary lateral distance L3 of the reflective targetLAnd right boundary azimuth angle αR。
3. The control method of the vehicular lamp according to claim 1 or 2, characterized by further comprising:
determining a left boundary azimuth angle compensation value and a right boundary azimuth angle compensation value according to the response delay time;
the left boundary azimuth α is determined according to the left boundary azimuth compensation value and the right boundary azimuth compensation valueLAnd right boundary azimuth angle αRCompensation is performed.
4. The control method for the vehicular lamp according to claim 1, wherein said determining a brightness limit value according to the reflection intensity, limiting the brightness of the light source corresponding to the target high beam region among the plurality of light sources, comprises:
looking up a table according to the reflection intensity and the relative distance L of the reflection target object to obtain a corresponding brightness limit value;
limiting the brightness of a light source of the plurality of light sources corresponding to the target high beam region.
5. The control method of the vehicular lamp according to claim 1, characterized by further comprising:
and after the reflective target disappears, controlling the light sources corresponding to the target high beam area in the plurality of light sources to gradually recover to the brightness before limitation.
6. A control system for a vehicle light, the vehicle light comprising a vehicle light array comprised of a plurality of light sources, the system comprising:
the detection module is used for detecting the position information and the light reflection intensity of the light reflection target object;
the mapping module is used for obtaining a left boundary azimuth angle and a right boundary azimuth angle according to the position information of the reflective target object and obtaining a corresponding target high beam area according to the left boundary azimuth angle and the right boundary azimuth angle;
and the control module is used for determining a brightness limit value according to the reflection intensity and limiting the brightness of the light source corresponding to the target high beam area in the plurality of light sources.
7. The control system of vehicular lamp according to claim 6, wherein the position information of the reflective target comprises an azimuth α of the reflective target, a relative distance L of the reflective target, and a width d of the reflective target, the mapping module is configured to obtain a longitudinal distance L1, a left boundary lateral distance L2, and a right boundary lateral distance L3 of the reflective target according to the azimuth α of the reflective target and the relative distance L of the reflective target, and obtain the left boundary azimuth α according to the longitudinal distance L1, the left boundary lateral distance L2, and the right boundary lateral distance L3 of the reflective targetLAnd right boundary azimuth angle αR。
8. The control system of vehicular lamp according to claim 6 or 7, wherein the mapping module is further configured to determine a left boundary azimuth angle compensation value and a right boundary azimuth angle compensation value according to the response delay time, and to determine the left boundary azimuth angle α according to the left boundary azimuth angle compensation value and the right boundary azimuth angle compensation valueLAnd right boundary azimuth angle αRCompensation is performed.
9. The control system of the vehicular lamp according to claim 6, wherein the control module is configured to look up a table according to the reflection intensity and the relative distance L between the reflection targets to obtain a corresponding brightness limit value, and limit the brightness of the light source corresponding to the target high beam region among the plurality of light sources.
10. A vehicle, characterized by comprising: the control system of the vehicular lamp according to any one of claims 6 to 9.
CN201911397602.4A 2019-12-30 2019-12-30 Control method and system of vehicle lamp and vehicle Pending CN110979161A (en)

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CN113207206A (en) * 2021-03-26 2021-08-03 北京海纳川汽车部件股份有限公司 Vehicle light control method and device and vehicle

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Application publication date: 20200410