面向高精地图应用的汽车前照灯偏转控制研究  

Research on Rotation Control of Headlight for Application of High-Precision Map

作　　者：杜小芳[1,2] 张兴 杨贤诚 夏婉扬 DU Xiaofang;ZHANG Xing;YANG Xiancheng;XIA Wanyang(School of Automotive Engineering,WUT,Wuhan 430070,China;Hubei Key Laboratory of Advanced Technology for Automotive Components,Wuhan 430070,China)

机构地区：[1]武汉理工大学汽车工程学院,武汉430070 [2]现代汽车零部件技术湖北省重点实验室,武汉430070

出　　处：《重庆理工大学学报（自然科学）》2021年第11期41-48,共8页Journal of Chongqing University of Technology：Natural Science

基　　金：武汉市校企合作研发项目(20182h0229)。

摘　　要：针对现有的汽车自适应前照灯系统存在直线路段无法偏转、S弯道拐点区域路线照明距离突变、光轴不能总被约束在有效照明范围的问题,提出一种基于规划路径的智能前照灯偏转控制算法。首先采用投影法把高精地图中三维路径分成垂直和水平两个方向的路径曲线;然后在每个路径曲线上利用探测线获取汽车前方未来轨迹点,根据车灯偏转限制条件对未来轨迹点修正,汽车位置点与未来轨迹点的连线即为偏转后的光轴;接着根据汽车停车视距、横摆、俯仰运动对偏转角作了修正;最后利用Simulink搭建了多参数动态可调的步进电机PWM信号生成器,从而实现算法对步进电机执行机构的控制。提取了实际道路上1840个坐标点,将其转换为UTM坐标后作为数据输入,采用Carsim与dSPACE联合进行快速控制原型实验,并与传统自适应车灯算法作了对比。结果表明:改进算法实现了时刻把光轴贴近于道路最佳照明范围内,提高了前照灯在各种道路拐点区域的路线照明长度,为设计更加智能安全的车灯提供了一种新方法。As the decorative and functional parts of automobiles,headlights are becoming more and more important in the competition of the automotive market.Compared with traditional headlights,adaptive headlights can not only increase the safety of drivers at night,but also become a highlight and advantage in the automotive market.However,the existing adaptive headlamps have the problems that the lamp body in the straight line section cannot be deflected,the length of the illuminated route in the area near the turning point of S-shaped road becomes shorter,and the optical axis cannot always be constrained in the effective lighting range.In order to solve these problems,this paper proposed a deflection control algorithm of intelligent headlamp based on planned path.The content of research is as follows:Firstly,the requirements for deflection of the headlights were studied,including the farthest distance between the headlight axis and the point on the road curve,the maximum headlight rotation angle in the vertical direction,etc.According to the minimum width required of illumination on the outside of the winding road and the information of the future path of the car,a deflection control algorithm of headlamp based on the planned path was proposed.The algorithm uses the detectable line to obtain the point in future car’s trajectory,and then corrects the points gained according to the requirements for deflection of the headlights.The line formed by connecting the car’s position and the points gained is the last optical axis.According to the last optical axis,the rotation angle of the headlight can be calculated.In order to take advantage of the high-precision map and use three-dimensional high-precision map to control the deflection of headlights,the projection was used to divide the three-dimensional path into vertical and horizontal path,so that the algorithm can control the three-dimensional deflection of the lights by calculating the two path curves separately.Secondly,the algorithm was revised and perfected according

关 键 词：智能前照灯 偏转角 控制模型 

分 类 号：U463.651[机械工程—车辆工程]