CN101767550B - Headlight steering system and steering control method thereof - Google Patents

The invention provides a head lamp steering system and a steering control method thereof, which are characterized in that at least one lane line and a first pre-view point are identified by reading a road image in front of a vehicle, a second pre-view point falling on the lane line after continuous time is set is calculated, the angle between the first pre-view point and the second pre-view point is calculated, the direction of a head lamp is changed, the first pre-view point moves and coincides with the second pre-view point, and the first pre-view point changes along with the lane line; the equivalent head lamp will change the irradiation direction along with the road curvature, and will increase the visual range when the driver is bent over.

头灯转向系统及其转向控制方法Headlight steering system and steering control method thereof

技术领域 technical field

本发明涉及车辆的照明装置，特别涉及一种具有适路性的头灯转向系统及其转向控制方法。The invention relates to a lighting device for a vehicle, in particular to a road-suitable headlight steering system and a steering control method thereof.

背景技术 Background technique

日常可见的车辆都装备有道路照明用的头灯，用以在光线不明或夜间时，提供足够的可视光给驾驶人辨识道路状况；就安全性考量，头灯的设计为了能清楚辨别地面状况，通常都是固定往前照射，且光束是受约束的，也就是说，光线略为偏下而集中于地面固定区域，形成所谓的光型，车辆前方地面也因此而具有明显的明区与暗区；此外，头灯除了提供驾驶人安全距离内有效光线以外，设计时，头灯投射出的光型分布理应有所不同，以欧规左驾靠右行的车辆为例，车辆头灯的光型会在地面明区与暗区之间形成一条左平右斜15度的明暗截止线，代表着所述车辆头灯所投射的右侧光型具有较远投射光型及可视距离，也可以帮助所述车辆辨识右侧道路标示牌的告示，而头灯所投射的左侧光型较短，则是为了避免光线映射到对向车道驾驶的眼睛，造成对方驾驶者眼睛炫光的问题。如述，可以了解车辆发展至今，为保障驾驶人夜间行车安全，其头灯的设计已经在安全性与实用性上设有多重考量。Daily visible vehicles are equipped with headlights for road lighting to provide enough visible light for drivers to identify road conditions when the light is unclear or at night; in terms of safety, the design of the headlights is to clearly distinguish the ground The situation is usually fixed forward, and the beam is restricted, that is to say, the light is slightly lower and concentrated on a fixed area on the ground, forming a so-called light pattern, so the ground in front of the vehicle has obvious bright areas and Dark areas; In addition, in addition to providing effective light within the safe distance of the driver, the headlights should have different light distributions during design. Taking European standard left-hand driving vehicles as an example, vehicle headlights The light pattern will form a cut-off line of 15 degrees left flat and right slanted between the bright area and the dark area on the ground, which means that the right light pattern projected by the vehicle headlight has a far projected light pattern and visual distance , can also help the vehicle to recognize the notices of the road signs on the right, and the left light pattern projected by the headlights is relatively short, in order to prevent the light from being reflected on the eyes of the driver in the opposite lane, causing glare to the eyes of the other driver The problem. As mentioned above, it can be understood that since the development of vehicles, in order to ensure the safety of drivers driving at night, the design of the headlights has taken multiple considerations in terms of safety and practicality.

但是，道路是因应地面状况改变，有弯有直，并非一成不变，纵然车辆的头灯已经有了如此多重安全设计，但如图1所示，车辆行经弯道时，其往前直射的光型却无法反应弯道状况；之后，为了改善车辆过弯的照明问题，相对有车厂提供不同解决方案，如中国台湾省专利号I294843号、I296979号以及I294373号等所述，是利用角度检知器取得方向盘或车轮转向传回的角度，再驱动对应的转向机构驱转头灯组偏转，由以在车辆过弯时提供适当地照明。However, the road changes in response to changes in ground conditions. There are curves and straight roads, and it is not static. Even though the headlights of the vehicle have so many safety designs, as shown in Figure 1, when the vehicle passes through the curve, the light pattern that is directed forward However, it cannot reflect the state of the curve; later, in order to improve the lighting problem of the vehicle when cornering, there are relative car manufacturers to provide different solutions, as described in Taiwan Province of China Patent Nos. Obtain the angle returned by the steering wheel or wheel steering, and then drive the corresponding steering mechanism to drive the headlight group to deflect, so as to provide proper illumination when the vehicle is cornering.

然而，上述都在车辆过弯的同时，才偏转头灯反应道路状况，但依照一般驾驶人的开车习惯而言，视觉焦点多集中在一定距离的远处，如此在获知前方道路有状况时才能预留更多反应时间应变，因此，利用方向盘或车轮转向来改变照明位置的方式仍有其美中不足之处。有鉴于此，本发明提出一种头灯转向系统及其转向控制方法，以有效改善前述问题。However, all of the above are only deflecting the headlights to reflect the road conditions when the vehicle is cornering. However, according to the driving habits of ordinary drivers, the visual focus is mostly concentrated at a certain distance. Only in order to reserve more reaction time strain, therefore, the mode that utilizes steering wheel or wheel steering to change lighting position still has its fly in the ointment. In view of this, the present invention proposes a headlight steering system and its steering control method to effectively improve the aforementioned problems.

发明内容 Contents of the invention

本发明的主要目的是提供一种头灯转向系统及其转向控制方法，其是具有适路性，完全顺应车道曲度提供照明，更符合驾驶人预视前方状况的行车习惯。The main purpose of the present invention is to provide a headlight steering system and its steering control method, which is roadworthy, provides lighting in full compliance with the curvature of the lane, and is more in line with the driver's driving habit of foreseeing the situation ahead.

本发明的次一目的是提供一种头灯转向系统及其转向控制方法，其与头灯自动启闭搭配，可以提供全自动的照明控制。The second object of the present invention is to provide a headlight steering system and its steering control method, which can provide fully automatic lighting control in combination with the automatic opening and closing of the headlights.

本发明的又一目的是提供一种头灯转向系统及其转向控制方法，是通过影像辨识车道线以估算出车道曲度，并控制头灯自动随车道曲度进行转向。Another object of the present invention is to provide a headlight steering system and a steering control method thereof, which estimate the curvature of the lane through image recognition of lane lines, and control the headlights to automatically steer according to the curvature of the lane.

本发明的再一目的是提供一种头灯转向系统及其转向控制方法，是通过影像辨识取得至少一车道线、依一第一预视点以及连续时间后落于所述车道线的一第二预视点，并通过计算第一、第二预视点间的角度，以改变头灯方向。Another object of the present invention is to provide a headlight steering system and its steering control method, which is to obtain at least one lane line through image recognition, and a second point that falls on the lane line after a first preview point and a continuous time. The preview point, and by calculating the angle between the first and second preview point, to change the direction of the headlight.

为达到上述目的，本发明的头灯转向系统及其转向控制方法，是先以一影像读取装置采得一车辆前方道路影像；经由一电性连接此影像读取装置的影像处理单元来分析此道路影像，由此影像处理单元依据所分析的道路影像辨识出至少一车道线特征点；将所述这些车道线特征点送入一电性连接此影像处理单元的数据处理单元，由数据处理单元建立起一沿着道路延伸的车道线，一第一预视点，以及一在连续时间后位于车道线上的第二预视点，并计算第一、第二预视点间的夹角；之后，传送此夹角到一电性连接此数据处理单元的转向控制装置，由于此转向控制装置是连接车辆的头灯，并可依据夹角分配头灯进行转向，使得第一预视点得以重合于第二预视点，而依循所述车道线的变化。其中所述第一、第二预视点为目前及连续时间后车辆头灯所投射出的光型截止线肘部折点，或者光型的光轴中心点。In order to achieve the above object, the headlight steering system and the steering control method thereof of the present invention first acquire an image of the road ahead of the vehicle with an image reading device; analyze it through an image processing unit electrically connected to the image reading device. For the road image, the image processing unit recognizes at least one lane line feature point based on the analyzed road image; these lane line feature points are sent to a data processing unit electrically connected to the image processing unit for data processing The unit establishes a lane line extending along the road, a first preview point, and a second preview point located on the lane line after continuous time, and calculates the angle between the first and second preview points; after that, Send the included angle to a steering control device electrically connected to the data processing unit. Since the steering control device is connected to the headlights of the vehicle, and can distribute the headlights according to the included angle for steering, the first preview point can be overlapped with the second Two preview points, while following the change of the lane line. Wherein, the first and second preview points are the elbow inflection points of the cut-off line of the light pattern projected by the headlights of the vehicle at present and after a continuous time, or the center point of the optical axis of the light pattern.

再者，本发明更可以与头灯自动启闭作进一步的结合，依照环境状况(如白天/晚上)自动决定头灯的启闭，并在头灯开启时自动判断道路状况，再由系统随着道路状况来改变头灯偏转角度，除了免除驾驶者夜间忘记开启头灯的状况发生外，也提供更完善的车辆自动照明控制。Furthermore, the present invention can be further combined with the automatic opening and closing of the headlights, automatically determines the opening and closing of the headlights according to the environmental conditions (such as daytime/night), and automatically judges the road conditions when the headlights are turned on, and then the system follows It can change the deflection angle of the headlights according to the road conditions. In addition to avoiding the situation where the driver forgets to turn on the headlights at night, it also provides a more complete vehicle automatic lighting control.

本发明的有益效果在于：以更贴近驾驶人开车习惯的方式，模拟路面状况进行夜间照明，提供适路性头灯，有效提高驾驶安全性，且也考虑到头灯偏转后对向车道驾驶的视觉炫光问题，保持头灯设计应有的特性。The beneficial effects of the present invention are: in a way that is closer to the driver's driving habits, simulate the road conditions for night lighting, provide road-worthy headlights, effectively improve driving safety, and also consider the vision of driving in the opposite lane after the headlights are deflected. The problem of glare is maintained, and the characteristics of the headlight design should be maintained.

下面通过具体实施例配合所附的图式详加说明，当更容易了解本发明的目的、技术内容、特点及其所达成的功效。In the following, detailed descriptions will be given through specific embodiments in conjunction with the accompanying drawings, so that it will be easier to understand the purpose, technical content, features and effects of the present invention.

附图说明 Description of drawings

图1是现有车辆过弯的照明状况示意图；Fig. 1 is a schematic diagram of lighting conditions of an existing vehicle when cornering;

图2是本发明的头灯转向系统结构方块图；Fig. 2 is a structural block diagram of the headlight steering system of the present invention;

图3是本发明的头灯转向控制流程图；Fig. 3 is a flow chart of headlight steering control of the present invention;

图4(a)是本发明的影像处理单元夜间判断画面示意图；Fig. 4 (a) is a schematic diagram of night judgment screen of the image processing unit of the present invention;

图4(b)是本发明的影像处理单元车道线辨识画面示意图；Fig. 4(b) is a schematic diagram of the image processing unit lane line recognition screen of the present invention;

图5是本发明的影像处理单元流程图；Fig. 5 is a flowchart of the image processing unit of the present invention;

图6是本发明的行进路线斜率及道路曲率变化示意图；Fig. 6 is a schematic diagram of the slope of the traveling route and the variation of the road curvature of the present invention;

图7是本发明一实施例行经弯道车辆前后照明状况示意图；Fig. 7 is a schematic diagram of front and rear lighting conditions of a vehicle passing through a curve according to an embodiment of the present invention;

图8是本发明头灯到第一预视点间距离的示意图；Fig. 8 is a schematic diagram of the distance between the headlight of the present invention and the first preview point;

图9是本发明另一实施例光型变化前后的示意图。Fig. 9 is a schematic diagram of another embodiment of the present invention before and after changing the light pattern.

附图标记说明：2-影像读取装置；4-影像处理单元；6-数据处理单元；8-转向控制器；10-头灯；11-远场光型；12-近场光型；13-光轴；14-明暗截止线；20-左侧车道线；30-右侧车道线；P-实际车道线；A-第一预视点；B-第二预视点。Description of reference signs: 2-image reading device; 4-image processing unit; 6-data processing unit; 8-steering controller; 10-headlight; 11-far-field light type; 12-near-field light type; 13 - optical axis; 14 - cut-off line; 20 - left lane line; 30 - right lane line; P - actual lane line; A - first preview point; B - second preview point.

具体实施方式 Detailed ways

本发明揭示的头灯转向系统及其转向控制方法，是在头灯启动时，通过影像读取装置读取道路画面，经由影像处理单元侦测此画面，以辨识出至少一车道线特征点，再由数据处理单元以车道数学模式建立至少一车道线、一第一预视点以及连续时间后与车道线重合的一第二预视点，计算第一、第二预视点间的角度，最后由转向控制器分配头灯应所述偏转的角度，使第一预视点追踪第二预视点移动并重合于车道线上，因而提供适路性的照明；其中上述的预视点一般定义为驾驶人视力可及的最远点，也即为头灯光型所应达到的照明点；而第一预视点及第二预视点是分别为目前及连续时间后，从车辆头灯所投射至前方车道的光型照明点。The headlight steering system and its steering control method disclosed in the present invention read the road picture through the image reading device when the headlight is turned on, and detect the picture through the image processing unit to identify at least one lane line feature point, Then the data processing unit establishes at least one lane line, a first preview point, and a second preview point that coincides with the lane line after a continuous time in the lane mathematics mode, calculates the angle between the first and second preview points, and finally turns to The controller assigns the deflection angle of the headlights, so that the first preview point tracks the second preview point and moves and coincides with the lane line, thus providing road-appropriate lighting; the above-mentioned preview point is generally defined as the driver's visual acuity The farthest point reached, that is, the lighting point that the headlight type should reach; and the first preview point and the second preview point are the light patterns projected from the headlights of the vehicle to the lane ahead, respectively, at present and after continuous time lighting point.

此外，所述第一预视点或所述第二预视点可设定为头灯光型的截止线肘部折点，是等同于光型明暗截止线与远场光型的交会点。In addition, the first preview point or the second preview point can be set as the elbow breakpoint of the cut-off line of the headlight type, which is equivalent to the intersection point of the cut-off line of the light type and the far-field light type.

另外，其中所述第一预视点或所述第二预视点也可设定为车头灯光轴中心点。In addition, the first preview point or the second preview point may also be set as the center point of the headlight axis.

且，所述第二预视点是预设调整为落于车道线上。Moreover, the second preview point is preset and adjusted to fall on the lane line.

因此，如图2的头灯转向系统结构方块图所示，本发明的头灯转向系统包括有依序电性连接的一影像读取装置2、一影像处理单元4、一数据处理单元6以及一转向控制器8，且转向控制器8更结合车辆的头灯10，用以控制头灯10水平偏摆；其中所述车辆的头灯数量依车型的不同可能为一或多个，其数量并非用以限制本发明的范围。Therefore, as shown in the structural block diagram of the headlight steering system of FIG. 2, the headlight steering system of the present invention includes an image reading device 2, an image processing unit 4, a data processing unit 6 and A steering controller 8, and the steering controller 8 is further combined with the headlights 10 of the vehicle to control the horizontal deflection of the headlights 10; wherein the number of the headlights of the vehicle may be one or more depending on the model, and the number It is not intended to limit the scope of the invention.

接续，参照图3的本发明控制流程图，如步骤S11，以设置在车辆前方的影像读取装置2取得道路影像。接着，由影像处理单元4以此道路影像进行辨识工作，如图4(a)以及图4(b)的影像画面示意图，其包括有道路影像上半部的夜间判断以及影像下半部的车道线辨识流程二步骤。首先，在步骤S12中先取得影像上半部画面，并将所述道路影像分隔为若干区间进行明暗判断，其判断的公式是如式(1)及式(2)所示：Next, referring to the control flow chart of the present invention shown in FIG. 3 , as in step S11 , the image reading device 2 disposed in front of the vehicle acquires road images. Next, the image processing unit 4 performs recognition work on this road image, as shown in Figure 4(a) and Figure 4(b) schematic diagrams of image screens, which include nighttime judgment in the upper half of the road image and lanes in the lower half of the image The second step of the line identification process. First of all, in step S12, the upper half of the image is obtained, and the road image is divided into several intervals for light and dark judgment. The judgment formula is as shown in formula (1) and formula (2):

&Sigma;&Sigma; xx &Sigma;&Sigma; ythe y graygray << tt hh darkdark &Sigma;&Sigma; xx &Sigma;&Sigma; ythe y 11 >> TT Hh nightnight &DoubleRightArrow;&DoubleRightArrow; NightNight -- -- -- (( 11 ))

&Sigma;&Sigma; xx &Sigma;&Sigma; ythe y graygray << tt hh darkdark &Sigma;&Sigma; xx &Sigma;&Sigma; ythe y 11 << THTH Dayday &DoubleRightArrow;&DoubleRightArrow; Dayday -- -- -- (( 22 ))

其中gray为每个影像像素(Pixel)的灰阶亮度值，th_dark为暗的亮度的阀值，Th_night为判定夜间亮度的阀值；TH_Day为判定白天亮度的阀值；影像处理单元利用取得明暗值作比对，当暗点所占数量大于Th_night即判定为夜间，反的则为白天。当数据流表示为夜间时，系统开启车辆左右头灯10并进入下一步骤，读取并更新影像中的车道线。其中，步骤S13是针对道路影像的下半部作车道线特征辨识以决定至少一车道线特征点，配合参考图5的影像处理单元流程图所示，此特征辨识流程S13是利用道路设有标线的特性，经过步骤S21的高灰阶值辨识，步骤S22的标线边缘特性辨识，以及步骤S23的车道宽度辨识，三种辨识方式取得位在车辆二侧至少一车道线特征点(图未示)，并配合ROI方式将道路影像下半部由下而上等分成多区域扫描，时时修正更新车道线特征点(图未示)最新位置。此更新车道线流程包括：步骤S31进行车道线预测模型建立，之后，在步骤S32中进行起始点搜寻，并在步骤S33针对新数值对车道线预测模型更新，最后再步骤S34中进行消失点侦测，经由重复循环步骤S31～步骤S34侦测找出最趋近于道路实际标线的模型，且侦测过程中若有无法侦测到车道线特征点时，也设有补偿动作，当左边有搜寻到点右边无时，则将左边的点加上影像标准车道宽度，其位置即为右边预测车道线特征点应补点的位置，以补偿车道线特征点以更新车道线预测模型，由此可辨识出车道线20、30。Wherein gray is the gray-scale brightness value of each image pixel (Pixel), th _dark is the threshold value of dark brightness, Th _night is the threshold value for judging nighttime brightness; TH _Day is the threshold value for judging daytime brightness; the image processing unit utilizes Obtain light and dark values for comparison. When the number of dark points is greater than Th _night , it is judged as night, otherwise it is daytime. When the data stream indicates nighttime, the system turns on the left and right headlights 10 of the vehicle and proceeds to the next step of reading and updating the lane lines in the image. Among them, step S13 is to perform lane line feature recognition on the lower half of the road image to determine at least one lane line feature point, as shown in the flow chart of the image processing unit with reference to FIG. The characteristics of the line, after the identification of the high grayscale value in step S21, the identification of the marking edge characteristics in step S22, and the identification of the lane width in step S23, the three identification methods obtain at least one lane line feature point located on both sides of the vehicle (not shown in the figure) shown), and cooperate with the ROI method to divide the lower half of the road image into multi-region scanning from bottom to top, and constantly correct and update the latest position of the lane line feature points (not shown). The process of updating the lane line includes: step S31 to establish the lane line prediction model, then search for the starting point in step S32, update the lane line prediction model according to the new value in step S33, and finally perform vanishing point detection in step S34 Through repeated looping of steps S31 to S34, the model that is closest to the actual road marking is found, and if the feature point of the lane line cannot be detected during the detection process, a compensation action is also set. When the left side If there is no point on the right side of the search, then the left point is added to the image standard lane width, and its position is the position where the predicted lane line feature point on the right should be supplemented to compensate for the lane line feature point to update the lane line prediction model. This makes it possible to identify the lane markings 20 , 30 .

配合图6，接着步骤14中，数据处理单元6内是已先建立车辆1头灯10的远场光型11以及近场光型12，且二光型11、12中间具有一光轴13，在远场光型11以及近场光型12之间更形成有一左平右斜15度的明暗截止线(欧规标准)14；又，光型、光轴以及明暗截止线为现有技术，在此不加赘述。在一实施例中，所述数据处理单元6假定车道线20即为实际车道线P，且同于道路曲度，取头灯10所投射光型中的明暗截止线14与远场光型11交会处(也称为明暗截止线肘部折点)为第一预视点A，在直线行驶状态下，第一预视点A会与实际车道线P重合，利用此特征建立连续时间后在实际车道线P上的第二预视点B，并将实际车道线P带入更新后的二次拟合曲线方程式，使其成为一偏离估算方程式，由此可以求得车道过弯时的偏移状态，也可得到一车辆目前位置，而通过所述车辆目前位置以得到所述第一预视点A，其中所述车辆目前位置是由车辆行进偏移量x_R所估算而得。Cooperate with Fig. 6, then in step 14, the far-field light pattern 11 and the near-field light pattern 12 of the headlight 10 of the vehicle 1 have been established in the data processing unit 6, and there is an optical axis 13 in the middle of the two light patterns 11 and 12, Between the far-field light type 11 and the near-field light type 12, there is a cut-off line (European standard) 14 that is flat and slanted to the right at 15 degrees; and the light type, optical axis and cut-off line are prior art. I won't go into details here. In one embodiment, the data processing unit 6 assumes that the lane line 20 is the actual lane line P, and is the same as the road curvature, and takes the cut-off line 14 and the far-field light pattern 11 in the light pattern projected by the headlight 10 The intersection point (also known as the elbow break point of the cut-off line) is the first preview point A. In the straight-line driving state, the first preview point A will coincide with the actual lane line P. Using this feature to establish continuous time in the actual lane The second preview point B on the line P, and bring the actual lane line P into the updated quadratic fitting curve equation to make it a deviation estimation equation, so that the deviation state of the lane when cornering can be obtained, A current position of the vehicle can also be obtained, and the first preview point A can be obtained through the current position of the vehicle, wherein the current position of the vehicle is estimated by the travel offset x _R of the vehicle.

其中，所述偏离估算方程式如式(3)所示：Wherein, the deviation estimation equation is shown in formula (3):

y_L＝k·x²+m·x+b    (3)y _L ＝k·x ² +m·x+b (3)

其中x、y为平面空间的纵轴及横轴；k、m、b为随时间因子改变的参数值。通过此偏离估算方程式推算出行进路线斜率以及道路曲率，如公式(4)以及公式(5)所示：Among them, x and y are the vertical and horizontal axes of the plane space; k, m and b are the parameter values that change with the time factor. The slope of the travel route and the curvature of the road are calculated through this deviation estimation equation, as shown in formula (4) and formula (5):

ε_L＝2·k·x+m    (4)ε _L ＝2·k·x+m (4)

&rho;&rho; LL == 22 &CenterDot;&Center Dot; kk (( 11 ++ (( 22 &CenterDot;&Center Dot; kk &CenterDot;&Center Dot; ythe y ++ mm )) 22 )) 33 // 22 -- -- -- (( 55 ))

其中ε_L为车辆行进路线斜率；1/ρ_L为道路曲率。关于上述车道线模型建立的方式以及偏离估算方式，可同时参照本发明人先前在台湾专利申请第96145498号的“车辆偏移的检知方法与装置”中所提及。Where ε _L is the slope of the vehicle's travel route; 1/ρ _L is the curvature of the road. Regarding the way of establishing the above-mentioned lane line model and the way of estimating the deviation, reference can also be made to the inventor's previous "Vehicle Deviation Detection Method and Device" in Taiwan Patent Application No. 96145498.

配合图7及图8所示，经过步骤S14取得上列数据后即进入步骤S15，假设第一预视点A追随第二预视点B轨迹位移，借着这种校正过程，过弯时至少一头灯10投射的光型11、12也会沿着弯曲路面改变照射方向。计算时，本实施例采用美规FMVSS108的方式先取得头灯10到第一预视点A的距离R，并以二头灯10中间为圆心，此距离R为半径画圆，求得位在实际车道线P上的第二预视点B位置，再利用第一、第二预视点A、B相对座标与距离R求得第一、第二预视点A、B间的角度β，其计算如公式(6)所示：As shown in Figure 7 and Figure 8, after obtaining the above data in step S14, enter step S15, assuming that the first preview point A follows the second preview point B track displacement, through this correction process, at least one headlight when cornering The light patterns 11 and 12 projected by 10 will also change the irradiation direction along the curved road surface. During calculation, the present embodiment adopts the American standard FMVSS108 method to first obtain the distance R from the headlight 10 to the first preview point A, and take the middle of the two headlights 10 as the center of the circle, and draw a circle with this distance R as the radius to obtain the position in the actual The position of the second preview point B on the lane line P, and then use the relative coordinates of the first and second preview points A and B and the distance R to obtain the angle β between the first and second preview points A and B. The calculation is as follows Formula (6) shows:

&beta;&beta; == (( xx -- xx 00 )) 22 ++ (( ythe y -- ythe y 00 )) 22 RR ;;

R = h 2 tan &theta; ; 以及 R = h 2 the tan &theta; ; as well as

&theta;&theta; == tanthe tan -- 11 hh 22 -- hh 11 LL ;; -- -- -- (( 66 ))

其中使用的符号β为第一、第二预视点间的角度，(x₀，y₀)为第一预视点座标A，(x，y)为第二预视点座标B，R为头灯10到第一预视点距离，θ头灯10倾斜角，h₁为明暗截止线离地高度，h₂为二头灯10离地高度，L为静态测试时明暗截止线打在墙上的距离。另外，所述角度β也可以是利用车道边缘与车辆行进方向的偏移量计算，其计算方式如公式(7)表示：The symbol β used here is the angle between the first and second preview points, (x ₀ , y ₀ ) is the coordinate A of the first preview point, (x, y) is the coordinate B of the second preview point, and R is the head The distance from the lamp 10 to the first preview point, the inclination angle of the θ headlight 10, h ₁ is the height of the cut-off line from the ground, h ₂ is the height of the two headlights 10 from the ground, and L is the distance between the cut-off line and the wall in the static test distance. In addition, the angle β can also be calculated using the offset between the edge of the lane and the direction of travel of the vehicle, and its calculation method is expressed in formula (7):

x_R＝k·R²+m+R+b；  以及x _R =k·R ² +m+R+b; and

&beta;&beta; == tanthe tan -- 11 xx RR RR -- &beta;&beta; 00 -- -- -- (( 77 ))

其中x_R为车辆行进偏移量，R为二头灯10到第一预视点间距离，β为第一、第二预视点A、B间的角度，β₀为第一预视点与光轴间的夹角。以公式(6)或公式(7)都可以取得第一、第二预视点间的角度β。Among them, x _R is the vehicle travel offset, R is the distance between the two headlights 10 and the first preview point, β is the angle between the first and second preview points A and B, and _β0 is the first preview point and the optical axis angle between. The angle β between the first and second preview points can be obtained by formula (6) or formula (7).

步骤S16依据步骤S15求得的角度β发送到转向控制机构内的晶片组(图中未示)，由晶片组调配马达驱转左右二头灯10的转向，使得第一预视点A跟随第二预视点B位移。且行驶过程中若是连续弯道路程，数据处理单元6所计算出的最新转向角度β，会先扣除先前投射角度β，以达到快速调整头灯的效果。Step S16 is sent to the chipset (not shown) in the steering control mechanism according to the angle β obtained in step S15, and the steering of the left and right two headlights 10 is allocated by the chipset, so that the first preview point A follows the second The displacement of preview point B. And if there are continuous curves during driving, the latest steering angle β calculated by the data processing unit 6 will first subtract the previous projection angle β, so as to achieve the effect of quickly adjusting the headlights.

再者，本发明是考虑到一般驾驶人习惯把视线焦点放在远方预定处的习惯设计，通过，与道路曲率相同的实际车道线P以及第一、第二预视点A、B重合的方式，达到适路性头灯转向系统的目的。如图9所示，本发明提出另一实施例，是光轴13取头灯10高度一百倍距离作为第一预视点A位置，以第一预视点A与头灯10间的距离为半径画圆，可以求得移动后的实际车道线P上的第二预视点B位置，利用两点A、B间的距离以及第一预视点A与头灯10间的距离即可以换算二预视点A、B与头灯10间的夹角β。其公式(8)如下：Furthermore, the present invention is designed in consideration of the general driver's customary habit of putting the focus of sight on a predetermined place in the distance, and through the way that the actual lane line P that is the same as the curvature of the road and the first and second preview points A and B coincide, To achieve the purpose of road suitability headlight steering system. As shown in Figure 9, the present invention proposes another embodiment, the optical axis 13 takes the distance one hundred times the height of the headlight 10 as the position of the first preview point A, and takes the distance between the first preview point A and the headlight 10 as the radius By drawing a circle, the position of the second preview point B on the moved actual lane line P can be obtained, and the second preview point can be converted by using the distance between the two points A and B and the distance between the first preview point A and the headlight 10 The angle β between A, B and the headlight 10 . Its formula (8) is as follows:

x_L＝k·L²+mL+bx _L ＝k·L ² +mL+b

&beta;&beta; == tanthe tan -- 11 xx LL LL

其中为x_L第一预视点与第二预视点横向位移距离；L为头灯到第一预视点间距离，β为所述角度。由此，节省设定时间。如此一来，也能达到适路性偏转头灯10的目的。where x _L is the lateral displacement distance between the first preview point and the second preview point; L is the distance from the headlight to the first preview point, and β is the angle. Thus, setting time is saved. In this way, the purpose of deflecting the headlight 10 with road suitability can also be achieved.

由此，本发明以更贴近驾驶人开车习惯的方式，模拟路面状况进行夜间照明，提供适路性头灯有效提高驾驶安全性。且也考虑到头灯偏转后对向车道驾驶的视觉炫光问题，保持头灯设计应有的特性。Thus, the present invention simulates road conditions for night lighting in a manner closer to the driving habit of the driver, and provides road-suitable headlights to effectively improve driving safety. In addition, the visual glare problem of driving in the opposite lane after the headlights are deflected is also considered, and the proper characteristics of the headlight design are maintained.

以上说明对本发明而言只是说明性的，而非限制性的，本领域普通技术人员理解，在不脱离以下所附权利要求所限定的精神和范围的情况下，可做出许多修改，变化，或等效，但都将落入本发明的保护范围内。The above description is only illustrative, rather than restrictive, to the present invention. Those of ordinary skill in the art understand that many modifications and changes can be made without departing from the spirit and scope defined by the following appended claims. Or equivalent, but all will fall within the protection scope of the present invention.