DE102013201850A1 - Device for adjusting range of headlight of vehicle, is provided with adjustment of headlamps that is carried out for driving vehicle, based on determined topography and evaluation unit to analyze data generated by imaging device - Google Patents

Abstract

The device (1) has an imaging device (2) to generate data of an environmental situation arising in front of a vehicle. An evaluation unit (3) analyzes the data generated by the imaging device. The topography of the environmental situation arising in front of the vehicle is determined, based on the data analyzed by the evaluation unit. An adjustment of the headlamps (5) is carried out for driving the vehicle, based on the determined topography of the environmental situation, so that the range adjustment of the headlight is carried out in a function of the determined topography. An independent claim is included for a method for adjusting range of a headlight of a vehicle.

Description

Technical area

The invention relates to a device and a method for headlamp leveling, in particular according to the preamble of claim 1 or of claim 7.

State of the art

Headlamp leveling in vehicles is important because with wrongly adjusted headlamps the oncoming traffic could be dazzled, which can be at least unpleasant. However, a dazzling effect can also result in a critical traffic situation, which is why it should be avoided as far as possible by means of a corresponding headlight range control.

Devices for headlamp leveling are known in the art. Thus, in vehicles for a long time, a mechanical manually adjusting headlamp leveling is known, in which by means of screws or levers adjustment of the headlights of a vehicle before driving can be manually adjusted. However, this has the disadvantage that no change in the setting can be made while driving.

There is also known a headlamp leveling device which detects the inclination of the vehicle and adjusts the inclination of the headlamps based on the determined inclination of the vehicle. However, this has the disadvantage that the adjustment of the headlight range is made only when the vehicle has already tilted.

In a driving situation in which the vehicle springs in such a way that the headlight range is prolonged and the oncoming traffic could be dazzled, the headlight range is adjusted only after the inclination of the vehicle. In order nevertheless to avoid dazzling oncoming traffic, the headlamp range is set lower than the theoretically possible headlamp range would allow, because the tilt-dependent headlamp leveling is provided with a time delay.

Presentation of the invention, object, solution, advantages

Therefore, it is the object of the present invention to provide an apparatus for and a method for headlamp leveling, by means of which or by means of which an improved headlamp leveling is possible.

The object of the present invention in terms of the device for headlamp leveling is achieved by a device for headlamp leveling with the features of claim 1.

An embodiment of the invention relates to a device for headlamp leveling with an image-generating device for generating data occurring in front of a vehicle environment situation and with an evaluation unit for evaluating the data of the image-forming device, wherein based on the data of the image-forming device of the evaluation unit, a topography of before Vehicle occurring ambient situation is determined and based on this determined topography, a control of an adjustment of the headlights of the vehicle is carried out so that a headlight range adjustment takes place in dependence of the determined topography. By determining the topography in front of the vehicle, a setting of the headlights can thus be made while the vehicle is moving, before the corresponding location of the specific topography of the vehicle has been reached. So it can be made a predictive headlamp leveling. A topography also includes a profile of a road on a short distance or a short distance, so that even small bumps can be recognized and taken into account. Due to the high adjustment speed of the headlights they can follow the small bumps, so that an optimal illumination behavior on the road can be achieved.

In this case, the setting of the headlight range limit can be set depending on the road surface topography. In a rather smooth or quietly modulated roadway, a narrow limit can be drawn from the set headlight range to that of the maximum headlight range, whereby in the case of restless topography, a more limit of the set topography than distance from the maximum headlight range is adjustable.

In doing so, a quiet topography is chosen as a topography that is essentially smooth, ie has no or only a few discontinuities or gradients. A concrete or paved road with continuous pavement is an example of a smooth or quiet topography. A roadway with a variety of bumps or potholes o. Ä. Represents contrast, a topography is defined as restless.

The pitch / roll motion is expressed in degrees / second. For the pitch angle, short-term values of approx. 6 ° / s up to approx. 20 ° / s are achievable in rough driving, ie uneven topography, and values in the range of approx. 1 ° / s when driving smoothly. The amplitudes of the pitch angle would then be + 1 ° compared to a normal orientation on a quiet ride or in a quiet topography or up to +/- 10 ° in a rough ride or in a restless topography. For roll angles, the rates of change are similar. The amplitudes are limited at about +/- 5 °. The vibrations are in a car in a range of 1-2 Hz.

It is also advantageous if a filtering of the topography signal or of a vehicle movement signal that can be determined from it and / or of the headlamp setting signal takes place, so that the basis for the adjustment of the headlamp or the headlamp leveling is a filtered signal. As a result, a better illumination can be achieved with nevertheless high setting speed.

It is advantageous if the adjustment of the headlights takes place prediction on the basis of the determined topography. This means that the adjustment of the headlights takes place before the inclination of the vehicle, for example, would require a change in the setting of the headlights. As a result, the headlight range can be brought closer to the optimum, because

It is also particularly advantageous if the device for generating data generates a data record and / or a data stream which can be processed by the evaluation unit. In this case, a data record is to be understood, for example, as an image which can be evaluated. A data stream is to be understood as meaning a plurality of data or images or a sequence of data or image data. The device for generating data may thus be a monocamera or the like which generates a data set or a sequence of data records.

It is expedient if the device for generating data generates at least two data sets and / or two data streams which can be processed by the evaluation unit. Thus, the data generation device may be a stereo camera or the like that generates two sets of data or two sets of data sets substantially simultaneously.

In this case, it is particularly advantageous if the topography of the environment occurring in front of the vehicle comprises at least one inclination, one inclination change and / or bumps of the surroundings, such as a road. As a result, in the case of a foreseeable change or deviation of the topography, a corresponding deviation in the headlight setting to be changed to a headlight setting to be changed can be detected before it becomes necessary, so that the deviation in the headlight setting can be adjusted to the corresponding one in the respective driving situation Headlamp adjustment available, so that an optimized beam range is present.

It is also expedient if the device for generating data has a mono camera and / or a stereo camera and / or a laser scanner and / or a radar monitoring device.

The object of the present invention in terms of the method for headlamp leveling is achieved by a method for headlamp leveling with the features of claim 7.

An embodiment of the invention relates to a method for headlamp leveling at least one headlamp of a vehicle with an image-generating device for generating data occurring in front of the vehicle environment and with an evaluation unit for evaluating the data of the image-forming device, wherein based on the data of the image-forming device of the evaluation unit a topography of the environment situation occurring in front of the vehicle is determined and, based on this determined topography, a control of an adjustment of the at least one headlight of the vehicle for headlight range adjustment is carried out.

It is also advantageous if the adjustment of the headlights is predictive on the basis of the determined topography, so that the headlight range of the at least one headlight is set to the topography in front of the vehicle. The predictive adjustment of the headlamps makes it possible to set a headlamp range that is wider than without a predictive setting because the headlamp range is less difficult to set without a predictive setting because the headlamp range following the detection of an exemplary topographical event such as a bump can be regulated. Therefore, a greater safety distance of the actual headlight range from the maximum headlight range is necessary. This effect is largely avoided in predictive headlamp leveling.

In this case, it is expedient for the device for generating data to generate a data record and / or a data stream which is processed by the evaluation unit for determining the topography in front of the vehicle occurring ambient situation.

It is also expedient if the device for generating data generates at least two data sets and / or two data streams, in particular substantially simultaneously, which are processed by the evaluation unit for determining the topography. For example, by means of a Stereo cameras can generate two data sets or data streams in parallel.

It is also expedient if the topography of the environment occurring in front of the vehicle comprises at least one inclination, one inclination change and / or bumps of the surroundings, such as a road. As a result, a topography or a topographical event can be detected, which could make a headlamp adjustment necessary.

It is also expedient if a height map of the environment in front of the vehicle is generated from the data of the device for generating data.

It is also advantageous if the height map is used to adjust the headlights for headlamp leveling.

When monitoring the lane area in front of the vehicle, depending on the available storage space and capacity, only a limited area can be monitored. Preferably, a surface area is monitored, which is located in front of the vehicle and which is wider than the vehicle itself, so that even when steering movements and the resulting vehicle movement, the initially traversed surface is evaluated. If the capacity for monitoring is reduced, the monitoring can be limited to a strip in front of the wheel or in front of the wheels. This area can either be fan-shaped aufweiet or yes aligned according to steering angle.

Advantageous developments of the present invention are described in the subclaims and the following description of the figures.

Brief description of the drawings

In the following the invention with reference to an embodiment with reference to a drawing will be explained in detail. In the drawing shows:

1 a schematic representation of a device for headlamp leveling, and

2 a schematic representation of a vehicle with a device for headlamp leveling.

Preferred embodiment of the invention

The 1 shows a device 1 for headlamp leveling, in particular for a motor vehicle.

The device 1 for headlamp leveling has at least one image-forming device 2 on, the data generated by a, especially in front of a vehicle, occurring environmental situation. These data can be, for example, individual images or else a data stream of images recorded chronologically successively, that is to say a data stream in the form of a sequence of images or of image data. The data is taken from the image-forming device 2 to an evaluation unit 3 according to the connection line 4 transfer.

The image-forming device 2 For example, you can create one record at a time or, alternatively, create two records at the same time, using an additional built-in device 2 ' can be provided which the data generated by it according to the connection line 4 ' to the evaluation unit 3 forwards.

The evaluation unit 3 generated based on the obtained data of the image forming apparatus 2 . 2 ' a topography, in particular the environment occurring in front of the vehicle.

On the basis of this topography of the environmental situation, a control of a setting of headlights takes place 5 for adjusting the headlight range 5 This is an operating unit 6 provided the adjustment of the headlights 5 and which of the evaluation unit 3 Receives data or signals, according to this, the headlamp leveling of the headlamp 5 he follows.

The 2 shows a vehicle 10 with headlights 11 and a device 12 for headlamp leveling. The device 12 for headlamp leveling monitors the front of the vehicle 10 lying environment situation 13 and generates data, preferably image data or image data streams, using an image-forming device.

The topography 14 the environmental situation 13 is determined from the data, such as image data and / or image data streams, and it becomes a height map 15 which essentially produces the topography 14 in front of the vehicle 10 equivalent. From the altitude map 15 becomes a diagram 16 generates, which derivations of the bumps from the height map 15 represents, from which the angle to be set of the headlights results, so that from the height map 15 the default setting for the headlights 11 is determined.

The headlamp leveling apparatus may generate from a sequence of image data a height map in which the displacement of an equal world point in pixels in data sets obtained at different times is determined and therefrom determines 3-D information becomes. Thus, 3-D information is obtained from an image data stream, so that a height map can be generated from the obtained image data.

When using stereo cameras, 3-D information can be derived from the comparison of image objects of the two generated images of the stereo camera, so that a height map can be generated from the image data obtained.

A combination of both methods can also be used, so that in addition to the comparison of image data of two images acquired essentially simultaneously, the temporal course of image objects in images taken one after the other can also be evaluated.

For carrying out the method according to the invention, the following steps can be taken in steps.

In a first step, a method for detecting road profiles is used to determine a profile or a topography of the road. This topography or profile means the detection of the structure of the road to detect even smaller grooves, joints, depressions, potholes, elevations and / or waves. Also inclinations etc. can be recognized.

For this purpose, a mono camera, a stereo camera, a light emitting and receiving unit, a laser can be used. An illumination of the roadway can also be carried out, wherein the profile or the topography is determined by the camera with the illumination of the roadway.

In a second step, a highly dynamic prediction of the vehicle movement, in particular inclination and impulsivity, is carried out. This vehicle movement can be determined approximately on the basis of a model of the vehicle. For this it is necessary to determine the road condition or the roadway profile or their topography in front of the vehicle.

It is particularly expedient if the nature of the roadway in the vicinity is determined in order to make the further process can. Accordingly, an area in front of the vehicle is monitored and the topography of the road in this area is determined.

The smaller the monitored area should be, the more important is a prediction of the driving route, ie the area in which the vehicle is subsequently moved. For the driving behavior, the lane course, the steering angle and / or navigation data can be used.

In accordance with the uncertainty about the expected travel tube, the width of the area to be monitored can be determined to monitor an area in which the vehicle will subsequently move.

The uncertainty can vary as a function of time based on various influencing variables but also depending on the position and / or the prediction time. Since it can be assumed that the uncertainty increases with increasing distance or prediction time, for example, a cone-shaped monitoring area can result. Where the vehicle has actually moved can also be determined positively on the basis of the driving dynamics.

How deep and how fast the vehicle will tilt and lift again (impulse response) depends on the strength of the edge and its height. The gradient of the edge may also be usable for determining the vehicle inclination if it is detectable.

Further optional influencing factors are the loading of the vehicle, the setting of the shock absorbers, as well as the type of soil, such as sand, asphalt, snow etc., the direction of travel of the vehicle or the steering angle, the type and size of the tires. The more of these influencing variables are known and can be evaluated, the more accurate the model can be for the expected vehicle movement.

It is particularly advantageous if the model for the vehicle movement is optimized over time. In many cases, the proper movements of the vehicle at the time are known. This is in determining the ground conditions with a monocamera z. B. helpful and is usually determined by feature-based approaches in the camera image stream.

Other ways of detecting vehicle motion are shock absorber or tilt sensor information.

If the proper motion is thus known with good accuracy, the predicted inclination of the vehicle can be checked on the basis of these variables, and the results can be entered into a self-learning system.

Alternatively, at least the accuracy of the model can be determined and taken into account in the headlamp setting.

In a third step, the determination of a headlamp setting is made from the data obtained from the predictive vehicle movement.

In a first application with a realistic model of the impulse response of the vehicle, a vehicle movement can be determined from the data, with an adaptively or fully adaptively adjustable headlight can be quickly responded to the determined bumps in the road, so that illumination of the road to the widest possible Boundary can take place.

In a further application, in which the impulsivity can be predicted only with a certain accuracy or inaccuracy, when using adaptive or fully adaptively adjustable headlights nevertheless a quick reaction of the adjustment is possible. The prediction is done down to a last time range, such as the last second, and attempts to estimate the accuracy of the prediction.

Accordingly, the headlights are adjusted with a tolerance to the previously driving or oncoming vehicles.

Using headlamps with a greater required period of time for the adjustment of the headlamps, the setting of the headlamps is controlled only when the vehicle is stimulated due to unevenness, in which can still be counteracted.

In a corresponding application, a filtering of the topography signal or the vehicle motion signal is advantageous. This also makes it possible with higher dynamics of the vehicle or the topography, for example by means of low-pass filtering to achieve a control method that allows acceptable control, taking into account the effects of the highly dynamic components of the movement or topography in the tolerance of the setting of the headlights , The headlamp is lowered so far that no glare.

In another application, the model for the vehicle movement is rather inaccurate and in many cases can only make rough predictions. This usually requires a very high number of images, for the creation of which a long period of time is required. Compared with the prescribed setting of the headlights while a more offensive basic attitude is allowed to further headlights, if the measurement and road quality allows. If these requirements for the offensive basic setting with further illumination are no longer met, the headlamp can be reset to the prescribed basic setting. This can also be done continuously or stepwise, for example, depending on the measurement and road data.

LIST OF REFERENCE NUMBERS

1

Device for headlamp leveling

2

imaging device

2 '

imaging device

3

evaluation

4

connecting line

4 '

connecting line

5

headlights

6

operating unit

11

vehicle

11

headlights

12

Device for headlamp leveling

13

environmental situation

14

topography

15

height map

16

diagram

Claims (13)

Contraption ( 1 ) for headlamp leveling with an image-forming device ( 2 ) for generating data of an environment situation occurring in front of a vehicle and having an evaluation unit ( 3 ) for evaluating the data of the image-forming device ( 2 ), based on the data of the image-forming device ( 2 ) from the evaluation unit ( 3 ) a topography ( 14 ) the environmental situation occurring in front of the vehicle ( 13 ) is determined and based on this determined topography driving a setting of the headlights ( 5 ) of the vehicle takes place, so that a headlight range adjustment takes place in dependence of the determined topography. Device according to claim 1, characterized in that the adjustment of the headlights ( 5 ) predictive on the basis of the determined topography ( 14 ) he follows. Apparatus according to claim 1 or 2, characterized in that the device for generating data generates a data record and / or a data stream, which from the evaluation unit ( 3 ) is processable. Apparatus according to claim 1 or 2, characterized in that the device for generating data generates at least two data sets and / or two data streams, which from the evaluation unit ( 3 ) are processable. Device according to one of the preceding claims, characterized in that the topography ( 14 ) the environmental situation occurring in front of the vehicle ( 13 ) comprises at least one inclination, inclination changes and / or bumps of the environment, such as a road. Device according to at least one of the preceding claims, characterized that the image-forming device ( 2 ) for generating data has a mono camera and / or a stereo camera and / or a laser scanner and / or a radar monitoring device. Method for the headlamp leveling of at least one headlamp of a vehicle with an image-forming device ( 2 ) for generating data of an environment situation occurring in front of the vehicle ( 13 ) and with an evaluation unit ( 3 ) for evaluating the data of the image-forming device ( 2 ), wherein based on the data of the image-forming device from the evaluation unit, a topography ( 14 ) the environmental situation occurring in front of the vehicle ( 13 ) is determined and based on this determined topography driving a setting of the at least one headlamp ( 5 ) of the vehicle for headlamp leveling is performed. Method according to claim 7, characterized in that the adjustment of the headlights ( 5 ) is performed predictively on the basis of the determined topography, so that the headlight range of the at least one headlight is set to the topography in front of the vehicle. Method according to Claim 7 or 8, characterized in that the device for generating data generates a data record and / or a data stream which is transmitted by the evaluation unit ( 3 ) for determining the topography in front of the vehicle occurring environmental situation ( 13 ) is processed. Method according to Claim 7 or 8, characterized in that the device for generating data generates at least two data records and / or two data streams which are sent by the evaluation unit ( 3 ) for determining the topography ( 14 ) are processed. Method according to one of the preceding claims 7 to 10, characterized in that the topography ( 14 ) the environment occurring in front of the vehicle comprises at least one inclination, inclination changes and / or bumps of the environment, such as a road. Method according to at least one of the preceding claims 7 to 11, characterized in that from the data of the image-producing device ( 2 ) is generated to generate data, a height map of the environment in front of the vehicle. A method according to claim 12, characterized in that the height map for adjusting the headlights ( 5 ) is used for the headlamp leveling.

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