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CN110281837B - A method and system for active preventive control of high beams during vehicle driving - Google Patents

️Tue Sep 01 2020

一种车辆行驶过程中远光灯主动预防控制方法和系统A method and system for active preventive control of high beams during vehicle driving

技术领域technical field

本发明实施例涉及车辆安全行驶技术领域，具体涉及一种车辆行驶过程中远光灯主动预防控制方法和系统。Embodiments of the present invention relate to the technical field of safe driving of vehicles, in particular to a method and system for active prevention and control of high beam lights during vehicle driving.

背景技术Background technique

近年来，以人为本的交通已成为交通发展的趋势，其原因在于运输设施除满足机动性以及可行性外，更应满足人身安全的需要。远光灯是一项汽车照明设施，其光线平行射出，集中且亮度较大。在高速、郊外或照明条件较差的路段夜间行车时，为了给自己带来更好的视线以及更安全的心理感受，司机往往会长时间开启远光灯。但若在不适合的情况下随意开启远光灯，将会导致对向的驾驶人或行人瞬间致盲，使他们对周围环境的观察能力下降，无法看清路况。In recent years, people-oriented transportation has become the trend of transportation development. The reason is that in addition to meeting the mobility and feasibility, transportation facilities should also meet the needs of personal safety. The high beam is an automotive lighting facility, and its light is emitted in parallel, concentrated and bright. When driving at night on high-speed, suburban or road sections with poor lighting conditions, drivers often turn on their high beams for a long time in order to bring themselves a better line of sight and a safer psychological feeling. However, if the high beams are turned on at will under unsuitable conditions, it will cause the oncoming drivers or pedestrians to be blinded instantly, which will reduce their ability to observe the surrounding environment and make them unable to see the road conditions clearly.

我国道路交通安全法实施条例规定，机动车夜间会车须距对面来车150m外互闭远光灯，改用近光灯。但滥用远光灯在中国式驾驶陋习中，常排第一位。据交通部门的统计，每年夜间行车事故当中，约3成事故与滥用远光灯有关，且呈不断上升趋势。The implementation regulations of my country's Road Traffic Safety Law stipulate that motor vehicles must turn off their high beams at a distance of 150m from the oncoming vehicle at night, and use low beams instead. However, the abuse of high beams is often ranked first in the bad habits of Chinese-style driving. According to the statistics of the traffic department, about 30% of the traffic accidents at night are related to the abuse of high beams, and the trend is on the rise.

目前国内多利用光传感器进行前方车辆探测。如图1中所示，A车后视镜上安装有光传感器，光传感器可探测来自B车的光照强度，进而判断B车是否会在一定距离内与本车发生会车行为。若是，A车将开启语音提醒并自动切换远光灯为近光灯。但光敏电阻易受到外界光源的干扰，若对面的车辆因故没有开车灯或者车灯亮度较低，则在安全距离以外及时准确的发现对方车辆较为困难，无法准确地实现远近灯的自动转换，实际使用效果不理想。另有在车顶端安装激光发射器与接收器的方法。该方法需要每辆车配备激光发射器与接收器，如图2中所示。B车探测由A车发射的激光信号并将其反馈至控制电路，由控制电路完成远、近光灯的转化。由于该技术需要双方车辆均具备信号发射与接收器，若存在车辆未安装该设备，将无法被其他车辆探测，形成探测漏洞。且该系统无法针对车辆所在车道确定合适的激光发射范围，易造成光源浪费或探测范围不足。At present, domestic light sensors are mostly used to detect vehicles ahead. As shown in Figure 1, a light sensor is installed on the rear-view mirror of car A. The light sensor can detect the light intensity from car B, and then judge whether car B will meet the car within a certain distance. If so, car A will turn on the voice reminder and automatically switch from high beam to low beam. However, the photoresistor is easily interfered by the external light source. If the opposite vehicle has no driving lights or the brightness of the lights is low for some reason, it is difficult to detect the other vehicle in a timely and accurate manner outside the safe distance, and it is impossible to accurately realize the automatic conversion of far and near lights. The actual use effect is not ideal. There is also a method for installing the laser transmitter and receiver on the top of the car. This method requires each vehicle to be equipped with a laser transmitter and receiver, as shown in Figure 2. Car B detects the laser signal emitted by car A and feeds it back to the control circuit, which completes the conversion of the far and low beams. Since this technology requires both vehicles to have signal transmitters and receivers, if there is a vehicle without this equipment, it will not be detected by other vehicles, forming a detection loophole. Moreover, the system cannot determine the appropriate laser emission range for the lane where the vehicle is located, which may easily lead to waste of light sources or insufficient detection range.

一些汽车公司也进行了远光灯的自动辅助控制系统试验。现有红外夜视系统，利用目标物与周围环境之间由于温度或发射率的差异所产生的热对比度进行成像，能够看清前方150-300m内可辐射热能物体。但红外夜视系统只能作为远光辅助，不能完全解决远光危害问题，且其价格昂贵，不具有推广性。除此以外，还研制有智能变光汽车前照灯，该前照灯利用传感装置感测前方光源，当迎面来车时会自动降低前照灯的光照度，当会车毕又恢复强光。但如遇前方车流突增的情况，车辆在转弯行驶时光照度亦会立刻减弱，且仍存在成本高的问题。Some car companies have also experimented with automatic assist control systems for high beams. The existing infrared night vision system uses the thermal contrast between the target and the surrounding environment due to the difference in temperature or emissivity for imaging, and can clearly see objects that can radiate thermal energy within 150-300m ahead. However, the infrared night vision system can only be used as a high-beam assistant, and cannot completely solve the problem of high-beam hazards, and it is expensive and not popular. In addition, intelligent dimming car headlights have also been developed. The headlights use a sensor device to sense the light source in front, and automatically reduce the illumination of the headlights when an oncoming vehicle is oncoming. However, in the event of a sudden increase in the traffic flow ahead, the illumination of the vehicle will be immediately reduced when the vehicle is turning, and there is still a problem of high cost.

发明内容SUMMARY OF THE INVENTION

为此，本发明实施例提供一种车辆行驶过程中远光灯主动预防控制方法和系统，以解决现有技术中如遇前方车流突增的情况，车辆在转弯行驶时光照度亦会立刻减弱，且仍存在成本高的问题。To this end, the embodiments of the present invention provide a method and system for active prevention and control of high beam lights during vehicle driving, so as to solve the situation in the prior art that in the case of a sudden increase in traffic flow ahead, the illuminance of the vehicle will also decrease immediately when the vehicle is turning, and There is still the problem of high cost.

为了实现上述目的，本发明实施例提供如下技术方案：In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

根据本发明实施例的第一方面，提供一种车辆行驶过程中远光灯主动预防控制方法，包括：According to a first aspect of the embodiments of the present invention, there is provided a method for active prevention and control of high beam lights during vehicle driving, including:

获取当前车辆行驶过程中车辆两侧的车道宽度，基于当前车辆两侧的车道宽度和预设探测角度确定车头的探测范围；Obtain the lane widths on both sides of the vehicle while the current vehicle is driving, and determine the detection range of the front of the vehicle based on the lane widths on both sides of the current vehicle and the preset detection angle;

在所述探测范围内发射目标光阵，基于所述目标光阵的边缘光线获取探测范围内各目标物的轮廓和状态，若判断获知所述目标物为运动车辆，则控制当前车辆切换为近光灯。The target light array is emitted in the detection range, and the outline and state of each target within the detection range are obtained based on the edge light of the target light array. If it is determined that the target object is a moving vehicle, the current vehicle is controlled to switch to a close light.

进一步地，获取当前车辆行驶过程中车辆两侧的车道宽度，具体包括：Further, obtaining the lane widths on both sides of the vehicle during the current vehicle driving process, specifically including:

在当前车辆车后设置红外传感器，基于所述红外传感器向当前车辆两侧发射路沿光阵，并基于人行道与车道的高度差获取当前车辆两侧的车道边界，以得到当前车辆两侧的车道宽度；所述路沿光阵中的激光阵平面为竖直平面。An infrared sensor is set behind the current vehicle, based on the infrared sensor, a roadside light array is emitted to both sides of the current vehicle, and the lane boundaries on both sides of the current vehicle are obtained based on the height difference between the sidewalk and the lane, so as to obtain the lanes on both sides of the current vehicle. Width; the laser array plane in the path along the optical array is a vertical plane.

进一步地，基于当前车辆两侧的车道宽度和预设探测角度确定车头的探测范围，具体包括：Further, the detection range of the front of the vehicle is determined based on the lane width on both sides of the current vehicle and the preset detection angle, which specifically includes:

基于预设红外光线长度和预设探测角度，以当前车辆两侧的车道宽度为边界在当前车辆前方的车道上设置探测范围。Based on the preset infrared light length and the preset detection angle, the detection range is set on the lane in front of the current vehicle with the lane width on both sides of the current vehicle as the boundary.

进一步地，在所述探测范围内发射目标光阵，具体包括：Further, transmitting the target light array within the detection range specifically includes:

在所述探测范围内发射等夹角的若干根目标光线，以形成目标光阵；每根目标光线的辐射距离为150～250m，辐射宽度为10～18m；所述目标光阵的发射周期为30～60ms。A number of target rays of equal included angle are emitted within the detection range to form a target light array; the radiation distance of each target light is 150-250m, and the radiation width is 10-18m; the emission period of the target light array is 30～60ms.

进一步地，基于所述目标光阵的边缘光线获取探测范围内各目标物的轮廓和状态，具体包括：Further, obtain the outline and state of each target within the detection range based on the edge light of the target light array, specifically including:

获取所述目标光阵中的临界光束，所述临界光束为目标光阵的光线簇中测量距离最小且没有打在目标物侧面的光线；Obtaining the critical beam in the target light array, the critical beam is the light with the smallest measurement distance and not hitting the side of the target in the light cluster of the target light array;

基于所述临界光束对目标物的轮廓进行刻画，若判断获知所述目标物为车辆，则控制当前车辆切换为近光灯。The outline of the target object is described based on the critical beam, and if it is determined that the target object is a vehicle, the current vehicle is controlled to switch to the low beam.

进一步地，获取所述目标光阵中的临界光束，具体包括：Further, acquiring the critical beam in the target light array specifically includes:

获取探测范围内每根光线在无目标物情况下的既定距离，以及有目标物时的实测距离，若判断获知所述既定距离与所述实测距离相等，则将对应的光线划分为受阻挡光线；Obtain the predetermined distance of each ray in the detection range without a target object, and the measured distance when there is a target object. If it is judged that the predetermined distance is equal to the measured distance, the corresponding light ray is divided into blocked rays ;

获取所述目标光阵中的过渡节点，以将所述目标光阵分为多个光阵子区间，所述过渡节点为光线从受阻挡状态变为非阻挡状态的光线节点；acquiring a transition node in the target optical array to divide the target optical array into a plurality of optical array sub-intervals, and the transition node is a ray node where the light changes from a blocked state to an unblocked state;

将多个所述光阵子区间中沿当前车辆行驶方向分量相等的光线作为临界光束。The light rays with equal components along the current vehicle traveling direction in the plurality of the optical array subsections are used as critical beams.

进一步地，若判断获知所述目标物为车辆后，还包括：Further, if it is determined that the target object is a vehicle, the method further includes:

基于不同时刻所述临界光束测得的距离与当前车辆的行驶速度判断车辆是否为运动车辆，若获知所述车辆为运动车辆，则控制当前车辆切换为近光灯。Whether the vehicle is a moving vehicle is determined based on the distance measured by the critical beam at different times and the current speed of the vehicle, and if it is known that the vehicle is a moving vehicle, the current vehicle is controlled to switch to low beam.

根据本发明实施例的第二方面，提供一种车辆行驶过程中远光灯主动预防控制系统，包括：According to a second aspect of the embodiments of the present invention, there is provided an active prevention control system for high beam lights during vehicle driving, including:

第一模块，用于获取当前车辆行驶过程中车辆两侧的车道宽度，基于当前车辆两侧的车道宽度和预设探测角度确定车头的探测范围；The first module is used to obtain the lane widths on both sides of the vehicle during the current vehicle driving process, and determine the detection range of the front of the vehicle based on the lane widths on both sides of the current vehicle and a preset detection angle;

第二模块，用于在所述探测范围内发射目标光阵，基于所述目标光阵的边缘光线获取探测范围内各目标物的轮廓和状态，若判断获知所述目标物为运动车辆，则控制当前车辆切换为近光灯。The second module is used to emit a target light array within the detection range, and obtain the outline and state of each target within the detection range based on the edge light of the target light array. If it is determined that the target is a moving vehicle, then Control the current vehicle to switch to low beam.

根据本发明实施例的第三方面，提供一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如本发明第一方面实施例所述方法的步骤。According to a third aspect of the embodiments of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the present invention when the processor executes the program The steps of the method described in the embodiment of the first aspect.

根据本发明实施例的第四方面，提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现如本发明第一方面实施例所述方法的步骤。According to a fourth aspect of the embodiments of the present invention, a non-transitory computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, implements the method according to the embodiment of the first aspect of the present invention. step.

本发明实施例提供一种车辆行驶过程中远光灯主动预防控制方法和系统，通过在车尾设置一组红外测距激光，通过在竖直平面上发射的激光实现道路宽度测定；其次，在车头引擎盖中上方设置第二组红外测距激光，朝车辆前方水平发射激光束进行前方目标测距，并结合第一组激光装置实现前方目标探测范围界定；然后，基于模糊识别原理设计了前方目标轮廓检测算法，并根据前方目标与试验车第二组激光束的相对位移实现前方目标的自动识别(即车辆/非车辆，运动车辆/静止车辆)；最后，根据前方车辆运动状态及与试验车的相对距离，进行夜间会车安全性评估，实现试验车远光灯主动预防控制。Embodiments of the present invention provide a method and system for active prevention and control of high beams during vehicle driving. By arranging a group of infrared ranging lasers at the rear of the vehicle, the road width is measured by lasers emitted on a vertical plane; secondly, at the front of the vehicle A second group of infrared ranging lasers is arranged in the upper part of the hood, and the laser beam is horizontally emitted in front of the vehicle to measure the distance of the front target, and combined with the first group of laser devices to realize the detection range of the front target; then, the front target is designed based on the principle of fuzzy recognition. Contour detection algorithm, and realize automatic identification of the front target (ie vehicle/non-vehicle, moving vehicle/stationary vehicle) according to the relative displacement of the front target and the second group of laser beams of the test vehicle; The relative distance of the test vehicle is evaluated, and the safety assessment of the vehicle at night is carried out to realize the active preventive control of the high beam of the test vehicle.

附图说明Description of drawings

为了更清楚地说明本发明的实施方式或现有技术中的技术方案，下面将对实施方式或现有技术描述中所需要使用的附图作简单地介绍。显而易见地，下面描述中的附图仅仅是示例性的，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图引伸获得其它的实施附图。In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can also be obtained according to the extension of the drawings provided without creative efforts.

本说明书所绘示的结构、比例、大小等，均仅用以配合说明书所揭示的内容，以供熟悉此技术的人士了解与阅读，并非用以限定本发明可实施的限定条件，故不具技术上的实质意义，任何结构的修饰、比例关系的改变或大小的调整，在不影响本发明所能产生的功效及所能达成的目的下，均应仍落在本发明所揭示的技术内容得能涵盖的范围内。The structures, proportions, sizes, etc. shown in this specification are only used to cooperate with the contents disclosed in the specification, so as to be understood and read by those who are familiar with the technology, and are not used to limit the conditions for the implementation of the present invention, so there is no technical The substantive meaning above, any modification of the structure, the change of the proportional relationship or the adjustment of the size should still fall within the technical content disclosed in the present invention without affecting the effect and the purpose that the present invention can produce. within the range that can be covered.

图1为现有技术中前照灯自动切换装置控制示意图；Fig. 1 is the control schematic diagram of the headlamp automatic switching device in the prior art;

图2为现有技术中远近灯光智能切换系统示意图；2 is a schematic diagram of an intelligent switching system for far and near lights in the prior art;

图3为本发明实施例的车辆行驶过程中远光灯主动预防控制方法示意图；3 is a schematic diagram of an active prevention control method for high beam lights during vehicle driving according to an embodiment of the present invention;

图4为本发明实施例的路沿光阵示意图；4 is a schematic diagram of a roadside optical array according to an embodiment of the present invention;

图5为本发明实施例的远光灯主动预防控制示意图；5 is a schematic diagram of active prevention control of high beams according to an embodiment of the present invention;

图6为本发明实施例的路沿激光监测平面示意图；6 is a schematic plan view of a roadside laser monitoring according to an embodiment of the present invention;

图7为本发明实施例的路沿激光监测平面参数示意图；FIG. 7 is a schematic diagram of plane parameters of roadside laser monitoring according to an embodiment of the present invention;

图8为本发明实施例的目标光阵的检测范围示意图；8 is a schematic diagram of a detection range of a target optical array according to an embodiment of the present invention;

图9为本发明实施例的不同时刻目标物运动变化示意图；FIG. 9 is a schematic diagram of a motion change of a target object at different times according to an embodiment of the present invention;

图10为本发明实施例的对向车辆行驶于目标光阵中示意图；10 is a schematic diagram of an opposite vehicle driving in a target light array according to an embodiment of the present invention;

图11为本发明实施例的车辆行驶过程中远光灯主动预防控制的控制方案示意图；FIG. 11 is a schematic diagram of a control scheme for active preventive control of high beam lights during vehicle driving according to an embodiment of the present invention;

图12为本发明实施例的电子设备的实体结构示意图。FIG. 12 is a schematic diagram of a physical structure of an electronic device according to an embodiment of the present invention.

具体实施方式Detailed ways

以下由特定的具体实施例说明本发明的实施方式，熟悉此技术的人士可由本说明书所揭露的内容轻易地了解本发明的其他优点及功效，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The embodiments of the present invention are described below by specific specific embodiments. Those who are familiar with the technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

因此，本发明实施例通过在车尾设置一组红外测距激光，通过在竖直平面上发射的激光实现道路宽度测定；其次，在车头引擎盖中上方设置第二组红外测距激光，朝车辆前方水平发射激光束进行前方目标测距，并结合第一组激光装置实现前方目标探测范围界定；然后，基于模糊识别原理设计了前方目标轮廓检测算法，并根据前方目标与试验车第二组激光束的相对位移实现前方目标的自动识别(即车辆/非车辆，运动车辆/静止车辆)；最后，根据前方车辆运动状态及与试验车的相对距离，进行夜间会车安全性评估，实现试验车远光灯主动预防控制。以下将通过多个实施例进行展开说明和介绍。Therefore, in the embodiment of the present invention, a group of infrared ranging lasers are arranged at the rear of the vehicle, and the road width is measured by lasers emitted on a vertical plane; A laser beam is emitted horizontally in front of the vehicle to measure the distance of the front target, and the detection range of the front target is defined in combination with the first group of laser devices; then, based on the principle of fuzzy recognition, the front target contour detection algorithm is designed, and according to the front target and the second group of the test vehicle The relative displacement of the laser beam realizes the automatic identification of the front target (ie vehicle/non-vehicle, moving vehicle/stationary vehicle); finally, according to the motion state of the vehicle ahead and the relative distance from the test vehicle, the safety assessment of the vehicle at night is carried out to realize the test Active preventive control of high beam headlights. The following will expand the description and introduction through multiple embodiments.

图3为根据本发明实施例的一种车辆行驶过程中远光灯主动预防控制方法，包括：3 is a method for active prevention and control of high beam lights during vehicle driving according to an embodiment of the present invention, including:

S1、获取当前车辆行驶过程中车辆两侧的车道宽度，基于当前车辆两侧的车道宽度和预设探测角度确定车头的探测范围；S1. Acquire the lane widths on both sides of the vehicle while the current vehicle is driving, and determine the detection range of the front of the vehicle based on the lane widths on both sides of the current vehicle and a preset detection angle;

S2、在所述探测范围内发射目标光阵，基于所述目标光阵的边缘光线获取探测范围内各目标物的轮廓和状态，若判断获知所述目标物为运动车辆，则控制当前车辆切换为近光灯。S2. Launch a target light array within the detection range, obtain the outline and state of each target within the detection range based on the edge light of the target light array, and control the current vehicle to switch if it is determined that the target is a moving vehicle for low beam.

在本实施例中，通过在车尾设置一组红外测距激光，通过在竖直平面上发射的激光实现道路宽度测定；其次，在车头引擎盖中上方设置第二组红外测距激光，以发射形成目标光阵，朝车辆前方水平发射激光束进行前方目标测距，并结合第一组激光装置实现前方目标探测范围界定；然后，基于模糊识别原理设计了前方目标轮廓检测算法，并根据前方目标与试验车第二组激光束的相对位移实现前方目标的自动识别(即车辆/非车辆，运动车辆/静止车辆)；最后，根据前方车辆运动状态及与试验车的相对距离，进行夜间会车安全性评估，实现试验车远光灯主动预防控制。In this embodiment, a set of infrared ranging lasers is arranged at the rear of the vehicle, and the road width is measured by lasers emitted on a vertical plane; The target light array is formed by emission, and the laser beam is horizontally emitted in front of the vehicle to measure the distance of the front target, and the detection range of the front target is defined by combining with the first group of laser devices; The relative displacement of the second group of laser beams between the target and the test vehicle realizes automatic identification of the front target (ie, vehicle/non-vehicle, moving vehicle/stationary vehicle); finally, according to the motion state of the vehicle ahead and the relative distance from the test vehicle, a night meeting is conducted. Vehicle safety assessment to realize active preventive control of test vehicle high beam.

由于人行道与车道之间存在高度差，路沿光阵中的光线发射至人行道与发射至车道将产生不同的效果。基于该特点，根据车道宽度设置路沿光阵的光线偏转角，根据红外设备测出的光线，利用几何关系推算邻近车道数，经计算得出车辆两侧的道路宽度进而确定车头目标光阵的探测范围。如图4中所示，O为光源向左和向右发出激光束，形成路沿光阵，且激光阵平面为竖直平面。Due to the height difference between the sidewalk and the driveway, the light from the curb light array will have different effects on the sidewalk than on the driveway. Based on this feature, the light deflection angle of the roadside optical array is set according to the width of the lane, and the number of adjacent lanes is calculated according to the light measured by the infrared device, and the number of adjacent lanes is calculated by using the geometric relationship. detection range. As shown in FIG. 4 , O is the light source emitting laser beams to the left and right to form a light array along the way, and the plane of the laser array is a vertical plane.

将位于目标光阵中的车辆模糊化为具有车辆轮廓且随测量周期持续运动的点，随着光阵中车辆的运动，光阵中将有部分光线被遮挡，且具有一定的规律。为判断目标是否为车辆，定义在目标光线簇中激光测量距离最小且没有打在目标物侧面的光线为边缘光线。利用目标光阵中的边缘光线对目标物的轮廓进行刻画，最终判断目标物是否为车辆。若为车辆，系统将做出切换远光灯为近光灯的判断。The vehicle located in the target light array is blurred into a point with a vehicle outline and continues to move with the measurement period. With the movement of the vehicle in the light array, part of the light in the light array will be blocked, and there is a certain law. In order to judge whether the target is a vehicle or not, the ray with the smallest laser measurement distance in the target ray cluster and not hitting the side of the target is defined as the edge ray. Use the edge light in the target light array to describe the outline of the target, and finally determine whether the target is a vehicle. If it is a vehicle, the system will make a judgment to switch from high beam to low beam.

如图5中所示，当对向车辆B₁或同向车辆B₂驶入当前车辆A车头中间光源o发出的红外光阵(目标光阵)中时，在R为150-250米范围内系统将判断B₁或B₂是否为车辆。若为车辆，则当前车辆A会提醒驾驶员切换为近光灯或自主切换为近光灯。As shown in FIG. 5 , when the opposite vehicle B ₁ or the same-direction vehicle B ₂ drives into the infrared light array (target light array) emitted by the middle light source o at the front of the current vehicle A, R is within the range of 150-250 meters. The system will determine whether B ₁ or B ₂ is a vehicle. If it is a vehicle, the current vehicle A will remind the driver to switch to low beam or switch to low beam autonomously.

在上述实施例的基础上，获取当前车辆行驶过程中车辆两侧的车道宽度，具体包括：On the basis of the above embodiment, acquiring the lane widths on both sides of the vehicle during the current vehicle driving process specifically includes:

在本实施例中，由于人行道与车道之间存在高度差，为探测车辆两侧的邻近车道数并确定监测范围，在车辆尾端中间设置分别向左和向右各4束激光形成路沿光阵来判断车辆的邻近车道数，由于本文着重研究直道会车情况，进而可确定道路宽度。In this embodiment, due to the height difference between the sidewalk and the lane, in order to detect the number of adjacent lanes on both sides of the vehicle and determine the monitoring range, four laser beams to the left and right are respectively set in the middle of the rear end of the vehicle to form the road edge light. The number of adjacent lanes of the vehicle can be judged by using the array. Since this paper focuses on the situation of passing vehicles on the straight road, the road width can be determined.

路沿光阵中的光线为从车辆尾端的光源点发射，可为多束光线，在本实施例中，为4束。由于人行道与车道之间存在高度差，故激光打人行道和打到车道上的不同。在光线竖直偏向角一定的情况下，可通过激光实测数据和几何关系推测邻近车道数。The light rays in the light array along the road are emitted from the light source point at the rear end of the vehicle, which can be multiple beams of light, and in this embodiment, there are 4 beams. Due to the height difference between the sidewalk and the driveway, the difference between laser hitting the sidewalk and hitting the driveway is different. In the case of a certain vertical deflection angle of the light, the number of adjacent lanes can be estimated through the laser measured data and geometric relationship.

如图6中，o点为车尾光阵发射起点，S₁、S₂、S₃、S₄为传感设备发散出的四条光线。As shown in Figure 6, point o is the emission starting point of the rear light array, and S ₁ , S ₂ , S ₃ , and S ₄ are the four rays emitted by the sensing device.

设车尾红外设备的初始高度(距地面的距离)为a₀。在未打到人行道的光线中，相邻光线投射地面的间隔距离分别为A、B、C。在任意一个光阵发散周期中，需严格控制光线的偏转角度。若竖直偏转角过大，则不能检测邻近车道，若竖直偏转角过小，则多束激光可能集中在一个车道。设各光线之间的夹角分别为α，β，γ，如图7所示。Let the initial height (distance from the ground) of the infrared device at the rear of the vehicle be a ₀ . Among the rays that do not hit the sidewalk, the distances between adjacent rays projecting the ground are A, B, and C, respectively. In any light array divergence period, the deflection angle of the light needs to be strictly controlled. If the vertical deflection angle is too large, adjacent lanes cannot be detected, and if the vertical deflection angle is too small, multiple laser beams may be concentrated in one lane. Let the included angles between the rays be α, β, and γ, respectively, as shown in Figure 7.

在本实施例中，如将传感设备安装在车辆尾部距地面1米处，即a₀＝1。且根据道路规范，车道宽度多为3.5米，故车辆中心线距旁边车道中间线的距离均为3.5米，即A＝B＝C＝3.5m。利用三角函数关系调整各光线的竖直偏转角如下，以此使每束激光最大限度的投射在邻近道路中央。In this embodiment, if the sensing device is installed at the rear of the vehicle at a distance of 1 meter from the ground, that is, a ₀ =1. And according to the road specification, the width of the lane is mostly 3.5 meters, so the distance between the center line of the vehicle and the center line of the side lane is 3.5 meters, that is, A=B=C=3.5m. Use the trigonometric function to adjust the vertical deflection angle of each light as follows, so that each laser can be projected on the center of the adjacent road to the maximum extent.

路沿光阵的斜向距离矩阵为M＝(b₀ c₀ d₀)，与M对应的斜向角度矩阵为：The oblique distance matrix of the light array along the road is M=(b ₀ c ₀ d ₀ ), and the oblique angle matrix corresponding to M is:

竖向矩阵Q＝(a₀ a₀ a₀)，则判断矩阵P＝M×N-Q。若P在一定范围内，则判定有效。The vertical matrix Q=(a ₀ a ₀ a ₀ ), then the judgment matrix P=M×NQ. If P is within a certain range, it is determined to be valid.

由于本实施例中为直道会车，通过确定试验车辆的邻近车道数，可确定车辆两侧的道路宽度。Since vehicles meet on straight roads in this embodiment, by determining the number of adjacent lanes of the test vehicle, the width of the road on both sides of the vehicle can be determined.

在上述各实施例的基础上，基于当前车辆两侧的车道宽度和预设探测角度确定车头的探测范围，具体包括：On the basis of the above embodiments, the detection range of the front of the vehicle is determined based on the lane width on both sides of the current vehicle and the preset detection angle, which specifically includes:

在本实施例中，需判断150-250米距离内目标物是否为运动的车辆，因此将前方车辆简化为对具有特定轮廓特征物体的探测，从而使得利用有限根单束激光构成的光阵探测运动车辆成为了可能。In this embodiment, it is necessary to determine whether the target object within a distance of 150-250 meters is a moving vehicle. Therefore, the vehicle ahead is simplified as the detection of objects with specific contour characteristics, so that the detection of an optical array composed of a limited number of single-beam lasers is possible. Sports vehicles become possible.

根据本发明上述各实施例所得的车辆两侧的车道宽度，通过计算可得目标光阵的检测范围，示意图如8所示。According to the lane widths on both sides of the vehicle obtained by the above embodiments of the present invention, the detection range of the target light array can be obtained by calculation, as shown in Fig. 8.

a，b分别为车辆两侧的道路宽度，θ₁，θ₂为预先设置的光线偏角(预设探测角度)。由三角函数可求得光阵边缘光线实际长度OA和OD，进而确定出两个探测范围边界点。由于本文研究直道会车情况，另根据道路安全法规定的远光灯使用最短距离，加之，预设红外光线长度为250米。光线由车头一点发射在车道上形成探测区域，附加A，D两点的约束，最终可得目标光阵的检测范围为图8中的不规则多边形OABCD。a and b are the road widths on both sides of the vehicle, respectively, and θ ₁ and θ ₂ are preset light deflection angles (preset detection angles). The actual lengths OA and OD of the light at the edge of the optical array can be obtained from the trigonometric function, and then two boundary points of the detection range can be determined. Since this paper studies the situation of passing vehicles on a straight road, the shortest distance for high beams is required by the Road Safety Law. In addition, the preset infrared light length is 250 meters. The light is emitted from a point at the front of the vehicle to form a detection area on the lane, and the constraints of two points A and D are added. Finally, the detection range of the target light array can be obtained as the irregular polygon OABCD in Figure 8.

当检测目标进入试验车的目标光阵范围内，其运动变化如图9中所示。When the detection target enters the range of the target light array of the test vehicle, its motion change is shown in Figure 9.

由图可得，在t时刻，y₁＝y₂＝y₃＝y₄＝D₀且y₅＞D₀；在t′时刻，y′₂＝y′₃＝y′₄＝y′₅＝D₀′且y′₁＞D₀′。From the figure, at time t, y ₁ =y ₂ =y ₃ =y ₄ =D ₀ and y ₅ >D ₀ ; at time t', y' ₂ =y' ₃ =y' ₄ =y' ₅ =D ₀ ′ and y′ ₁ >D ₀ ′.

设当前车辆的车速为v，若v(t′-t)＝D₀-D′₀，说明目标为静止物体，否则为运动物体。当目标为运动物体，且临界光束存在相应变化规律时，可判断目标为运动车辆，随后对当前车辆作出远光灯切换提醒并进行自主切换。Let the current speed of the vehicle be v, if v(t'-t)=D ₀ -D' ₀ , it means that the target is a stationary object, otherwise it is a moving object. When the target is a moving object and the critical beam has a corresponding change rule, it can be judged that the target is a moving vehicle, and then the current vehicle will be reminded to switch high beams and automatically switched.

在上述各实施例的基础上，在所述探测范围内发射目标光阵，具体包括：On the basis of the above embodiments, the target optical array is emitted within the detection range, which specifically includes:

为判断目标物是否是运动车辆，设置目标光阵于车辆前方，在本实施例中，目标光阵中光线数量为40，具体的为p₁、p₂...p₄₀。共40根蓝色光线组成目标光阵，每条光线之间的夹角为0.1°。光束最远辐射距离为250米，辐射宽度为14m，光阵发射周期为50ms，根据大量实验得知，光阵在此周期内可完成数据的收集、处理与输出。To determine whether the target object is a moving vehicle, the target light array is set in front of the vehicle. In this embodiment, the number of rays in the target light array is 40, specifically p ₁ , p ₂ . . . p ₄₀ . A total of 40 blue rays form the target light array, and the included angle between each rays is 0.1°. The maximum radiation distance of the beam is 250 meters, the radiation width is 14m, and the emission period of the optical array is 50ms. According to a large number of experiments, the optical array can complete the data collection, processing and output within this period.

在上述各实施例的基础上，基于所述目标光阵的边缘光线获取探测范围内各目标物的轮廓和状态，具体包括：On the basis of the above embodiments, the outline and state of each target within the detection range are acquired based on the edge light of the target light array, which specifically includes:

在本实施例中，两车在直道相会时，试验车辆车身发射目标光阵，对向车辆将进入此光阵中，如图10中所示。根据上述各实施例中所得的车辆所在车道与确定边界范围，车辆前方的部分目标光线将被目标物阻挡。为判断目标物的类别，定义临界光束为在目标光线簇中激光测量距离最小且没有打在目标物侧面的光线。利用目标光阵中的临界光束对目标物的轮廓进行刻画，进而判断此目标物是否为车辆。若为车辆，且位于距离试验车150-200米的范围内，系统将做出切换远光灯为近光灯的判断。In this embodiment, when two vehicles meet on a straight road, the body of the test vehicle emits a target light array, and the opposite vehicle will enter this light array, as shown in FIG. 10 . According to the lane where the vehicle is located and the determined boundary range obtained in the above embodiments, part of the target light in front of the vehicle will be blocked by the target. In order to judge the type of the target, the critical beam is defined as the light with the smallest laser measurement distance and not hitting the side of the target in the target light cluster. Use the critical beam in the target light array to describe the contour of the target, and then judge whether the target is a vehicle. If it is a vehicle and it is within a range of 150-200 meters from the test vehicle, the system will make a judgment to switch from high beam to low beam.

目标光阵中一旦有车辆进入，就会有多条光线受阻，随着车辆不断靠近，部分受阻光线将不受阻。通过追踪目标光束中的临界光束，对目标物进行分类。Once a vehicle enters the target light array, multiple rays will be blocked. As the vehicle continues to approach, some of the blocked rays will not be blocked. Classify objects by tracking critical beams in the target beam.

临界光束为p_临界，p₁～p₄₀(除去p_临界)为目标光阵，对象车辆经历的与边缘阻碍光线相交、相切、相离的过程。由于激光发射周期为50ms，按照两车相对速度为最大值计算，即240km/h，则在单个周期内，两车的相对运动距离为2×0.05×120/3.6＝3.33m，故边缘阻碍光线可以捕捉到侧面长度大于等于3.33m的目标物。The critical beam is p- _critical , and p ₁ ~ p ₄₀ (excluding p- _critical ) are the target light array, and the process of intersection, tangent, and separation of the object vehicle and the edge-obstructing light. Since the laser emission period is 50ms, and the relative speed of the two vehicles is the maximum value, that is, 240km/h, in a single cycle, the relative movement distance of the two vehicles is 2×0.05×120/3.6=3.33m, so the edge blocks the light. It can capture objects with a side length greater than or equal to 3.33m.

在上述各实施例的基础上，获取所述目标光阵中的临界光束，具体包括：On the basis of the above embodiments, acquiring the critical beam in the target optical array specifically includes:

在本实施例中，目标物会阻碍多条连续的光线，根据描述的各条光线目标状态，可找出目标光线簇。In this embodiment, the target object will block a plurality of continuous rays, and according to the described target states of each ray, the target ray cluster can be found.

在同一水平面上，将光线从左至右编号为1，2，3...，40，得编号矩阵N＝(1 2 …40)。以单向3车道为例，试验车位于中间车道，邻近车道判定结果为左右各1车道，则目标光阵仅对这2两个车道之间的范围(共3个车道)进行探测。记θ_i为第i根光线的水平偏转角。On the same horizontal plane, the rays are numbered from left to right as 1, 2, 3..., 40, and the numbering matrix N=(1 2...40). Taking one-way three lanes as an example, the test vehicle is located in the middle lane, and the adjacent lanes are determined as one lane on the left and one on the left, and the target light array only detects the range between these two lanes (three lanes in total). Let θ _i be the horizontal deflection angle of the i-th ray.

每条光线的理论到达距离为F，实测距离为G，则The theoretical arrival distance of each ray is F, and the measured distance is G, then

G＝(d₁ d₂ … d_n)若

则

G=(d ₁ d ₂ … d _n ) if

but

其中：in:

即在测量范围内每根光线在无目标物情况下的暨定距离。That is, the fixed distance of each ray in the measurement range when there is no target.

水平偏转角矩阵：Horizontal deflection angle matrix:

以传感设备为原点，则光线长度的竖直分量矩阵L＝G×K。设判断矩阵T＝(λ₁ λ₂… λ_n)。Taking the sensing device as the origin, the vertical component matrix L=G×K of the ray length. Let the judgment matrix T=(λ ₁ λ ₂ ... λ _n ).

若λ_i＝1，在测量范围内该光线受到目标物阻挡；若λ_i＝0，则未受阻挡。If λ _i =1, the light is blocked by the target in the measurement range; if λ _i =0, it is not blocked.

运动车辆的目标光线簇和其他目标物的目标光线簇有所不同。若目标物为车，在它的目标光线簇中，大多数目标光线所对应的竖直分量应相等，仅有小部分光线会打在车辆侧面。The target ray cluster for moving vehicles is different from the target ray cluster for other objects. If the target is a car, in its target ray cluster, the vertical components corresponding to most of the target rays should be equal, and only a small part of the rays will hit the side of the vehicle.

为分辨临界光束，引入变量U_j＝λ_j-1+λ_j+1。若U_j＝1，则可判定该光线附近有光线从阻碍光线状态变为非阻碍光线状态，并将其定义为过渡节点。To resolve the critical beam, the variable U _j =λ _j-1 +λ _j+1 is introduced. If U _j =1, it can be determined that there is a ray near the ray that changes from an obstructing ray state to a non-obstructing ray state, and it is defined as a transition node.

过渡节点将光阵分为多个区间，筛选区间可得有效的目标物区间。假设目标物区间的光线编号为m-n，求解光线m到n之间的光线的所对应的竖直分量的众数R。临界光束的判据如下：The transition node divides the optical array into multiple sections, and the effective target section can be obtained by screening the sections. Assuming that the number of rays in the target interval is m-n, solve the mode R of the vertical components corresponding to the rays between rays m and n. The criteria for critical beams are as follows:

其中，k₀为临界光束所对应的编号。Among them, k ₀ is the number corresponding to the critical beam.

在上述各实施例的基础上，若判断获知所述目标物为车辆后，还包括：On the basis of the above embodiments, if it is determined that the target object is a vehicle, the method further includes:

在本实施例中，若光束目标光线簇的y值相同光线满足下式，则判定目标为静止物体，否则为运动物体。In this embodiment, if the rays with the same y value of the beam target ray cluster satisfy the following formula, the target is determined to be a stationary object, otherwise it is a moving object.

t时刻：y₁＝y₂＝y₃＝y₄＝D₀且y₅＞D₀；Time t: y ₁ =y ₂ =y ₃ =y ₄ =D ₀ and y ₅ >D ₀ ;

t′时刻：y′₂＝y′₃＝y′₄＝y′₅＝D₀且y′₁＞D₀ Time t': y' ₂ =y' ₃ =y' ₄ =y' ₅ =D ₀ and y' ₁ >D ₀

v(t′-t)＝D₀-D′₀，v(t'-t)=D ₀ -D' ₀ ,

然后对判断为运动物体的k₀进行追踪，若

则放弃对k₀的追踪，同时全局安全计数X的计数加1，当全局安全计数X≥2时，则判定其有远光灯安全问题，同时禁用远光灯并切换为近光灯。Then track k ₀ judged to be a moving object, if

Then the tracking of k ₀ is abandoned, and the count of the global safety count X is increased by 1. When the global safety count X ≥ 2, it is determined that there is a high beam safety problem, and the high beam is disabled and switched to low beam.

在上述各实施例的基础上，本实施例基于上述算法在C语言中建立仿真环境，输入试验车的速度、目标车的速度，设两车都是匀速运动且起始时相距1000m。利用试验车与目标的相对位置求出相对速度从而判断目标是否运动，通过临界光速和目标光束簇的变化规律判断是否具有车辆轮廓。若目标既是运动物体又具有车辆轮廓，则对试验车作出提醒并自动切换远光灯为近光灯。随机产生9组速度，试验数据如表1所示。从表1中可以看出在150-250米的范围内，本算法总能作出判断，且准确率为100％。On the basis of the above embodiments, this embodiment builds a simulation environment in C language based on the above algorithm, inputs the speed of the test car and the speed of the target car, and assumes that both cars are moving at a uniform speed and are 1000m apart at the beginning. Use the relative position of the test vehicle and the target to obtain the relative speed to judge whether the target is moving, and judge whether there is a vehicle profile by the critical light speed and the change rule of the target beam cluster. If the target is both a moving object and a vehicle outline, the test vehicle will be reminded and the high beam will be automatically switched to the low beam. Nine groups of speeds were randomly generated, and the test data are shown in Table 1. It can be seen from Table 1 that in the range of 150-250 meters, the algorithm can always make a judgment, and the accuracy rate is 100%.

表1试验数据Table 1 Test data

综上，本实施例中，基于红外测距激光阵研发了夜间行车场景下的道路宽度测定及前方车辆检测方法。利用在车头和车尾设置的激光测距装置，基于激光阵对目标物的距离测定实现直线道路宽度测定；通过分析目标物与激光阵的相对位置变化，建立目标物轮廓识别方法，据此实现前方车辆检测。基于车辆运动状态及相对距离测定进行夜间会车安全性评估，并实现远光灯主动预防控制。在相对距离150-250米范围内，通过判定试验车与前方目标的相对位置关系识别目标是否为运动车辆，若满足会车条件，则启动远光灯主动预防控制系统，从根源上避免短距离会车时远光灯滥用。To sum up, in this embodiment, a method for road width measurement and front vehicle detection in a night driving scene is developed based on an infrared ranging laser array. Using the laser ranging devices installed at the front and rear of the vehicle, based on the distance measurement of the laser array to the target object, the straight-line road width measurement is realized; by analyzing the relative position change of the target object and the laser array, a method for identifying the contour of the target object is established. Vehicle detection ahead. Based on the vehicle motion state and relative distance measurement, the safety assessment of the vehicle at night is carried out, and the active prevention control of the high beam is realized. Within a relative distance of 150-250 meters, identify whether the target is a moving vehicle by judging the relative positional relationship between the test vehicle and the target in front. If the conditions for meeting vehicles are met, the active high beam prevention control system is activated to avoid short distances from the root cause. Misuse of high beams when meeting.

本发明实施例还提供了一种车辆行驶过程中远光灯主动预防控制系统，包括：The embodiment of the present invention also provides an active prevention control system for high beam lights during vehicle driving, including:

在本实施例中，基于车载单片机及红外接收器、L298N电机驱动模块、测距传感单片机、红外测距传感模块等主要部件设计了实物模型，通过激光信号采集处理、前方车辆检测、模型车辆灯光切换来模拟夜间会车远光灯预防控制。In this embodiment, a physical model is designed based on the main components such as the vehicle-mounted single-chip microcomputer, the infrared receiver, the L298N motor drive module, the distance-measuring sensor single-chip microcomputer, and the infrared distance-measuring sensor module. Vehicle light switching to simulate high beam prevention control for passing vehicles at night.

选用单片机作为演示模型的核心，把传感设备获取的数据与监控视频处理后的数据传输到单片机里，利用单片机里的相应程序对数据进行处理，具体如图11中所示。当接收到的模拟信号满足强制关闭远光灯条件的时候，可以实现主动控制，减少远光灯带来的危害。The single-chip microcomputer is selected as the core of the demonstration model, and the data obtained by the sensing equipment and the data processed by the monitoring video are transmitted to the single-chip computer, and the corresponding program in the single-chip microcomputer is used to process the data, as shown in Figure 11. When the received analog signal satisfies the condition of forcibly turning off the high beam, active control can be realized to reduce the harm caused by the high beam.

图12为本发明实施例提供的电子设备的实体结构示意图，如图12所示，该电子设备可以包括：处理器(processor)810、通信接口(Communications Interface)820、存储器(memory)830和通信总线840，其中，处理器810，通信接口820，存储器830通过通信总线840完成相互间的通信。处理器810可以调用存储在存储器830上并可在处理器810上运行的计算机程序，以执行上述各实施例提供的车辆行驶过程中远光灯主动预防控制方法，例如包括：FIG. 12 is a schematic diagram of an entity structure of an electronic device provided by an embodiment of the present invention. As shown in FIG. 12 , the electronic device may include: a processor (processor) 810, a communications interface (Communications Interface) 820, a memory (memory) 830, and a communication The bus 840, wherein the processor 810, the communication interface 820, and the memory 830 complete the communication with each other through the communication bus 840. The processor 810 may call a computer program stored in the memory 830 and run on the processor 810 to execute the method for active high beam prevention control during vehicle driving provided by the above embodiments, for example, including:

此外，上述的存储器830中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。In addition, the above-mentioned logic instructions in the memory 830 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solutions of the embodiments of the present invention are essentially, or the parts that make contributions to the prior art or the parts of the technical solutions can be embodied in the form of software products, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .

本发明实施例还提供一种非暂态计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现以执行上述各实施例提供的车辆行驶过程中远光灯主动预防控制方法，例如包括：Embodiments of the present invention further provide a non-transitory computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the computer program is implemented to execute the active high beam prevention control provided by the above embodiments during vehicle driving. methods, such as:

本发明实施例还提供本实施例公开一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，计算机能够执行如上述的车辆行驶过程中远光灯主动预防控制方法，例如包括：An embodiment of the present invention also provides a computer program product disclosed in this embodiment, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions When executed by the computer, the computer can execute the above-mentioned active prevention control method for high beams during vehicle driving, for example, including:

综上所述，本发明实施例提供一种车辆行驶过程中远光灯主动预防控制方法和系统，通过在车尾设置一组红外测距激光，通过在竖直平面上发射的激光实现道路宽度测定；其次，在车头引擎盖中上方设置第二组红外测距激光，朝车辆前方水平发射激光束进行前方目标测距，并结合第一组激光装置实现前方目标探测范围界定；然后，基于模糊识别原理设计了前方目标轮廓检测算法，并根据前方目标与试验车第二组激光束的相对位移实现前方目标的自动识别(即车辆/非车辆，运动车辆/静止车辆)；最后，根据前方车辆运动状态及与试验车的相对距离，进行夜间会车安全性评估，实现试验车远光灯主动预防控制。To sum up, the embodiments of the present invention provide a method and system for active prevention and control of high beam lights during vehicle running. By arranging a group of infrared ranging lasers at the rear of the vehicle, the road width is measured by lasers emitted on a vertical plane. ; Secondly, set up a second group of infrared ranging lasers in the upper part of the hood of the car, emit laser beams horizontally in front of the vehicle to measure the distance of the front target, and combine the first group of laser devices to realize the detection range of the front target; Then, based on fuzzy recognition In principle, the front target contour detection algorithm is designed, and the front target is automatically identified (ie vehicle/non-vehicle, moving vehicle/stationary vehicle) according to the relative displacement of the front target and the second group of laser beams of the test vehicle; finally, according to the movement of the front vehicle The state and the relative distance from the test vehicle, carry out the safety assessment of the vehicle at night, and realize the active prevention control of the high beam of the test vehicle.

以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.