DE102013219097A1 - Method for controlling a lane illumination - Google Patents

Abstract

The invention relates to a method for controlling an illumination of a lane by means of at least one headlamp, wherein the at least one headlamp has at least one luminous element, wherein the at least one luminous element is individually controllable to generate an individual luminous flux, which emitted by the at least one luminous element Light has a light distribution, characterized in that the light distribution is varied as an adapted light distribution on the basis of a vertical course of the lane relative to the headlight as a function of the distance.

Description

Technical area

The invention relates to a method for controlling an illumination of a traffic lane by means of at least one headlamp.

State of the art

Today used headlights have a few well-defined, alternately usable light distributions, such as low beam, high beam, motorway light, which are fixed by the available lighting elements.

Current headlamps can turn the bulb by means of stepper motors to produce a cornering light. Other types of headlamps produce the total light distribution as a superimposition and / or juxtaposition of a plurality of individual partial light distributions whose parameters overall intensity and / or main direction of the directed radiation can be varied.

This meets today's requirements for the illumination of the lane ahead of the vehicle lane or road no longer, in particular, the vertical deviation from the standard case of a straight road with a straight standing vehicle is not considered.

Presentation of the invention, object, solution, advantages

It is the object of the invention to provide a method for controlling an illumination of a lane by means of at least one headlamp, which allows improved illumination of the road even with a vertically varying lane course.

The total light distribution, hereinafter referred to as light distribution, arises from the superimposition of the individual light distributions of the individual light elements.

The object with regard to the method is achieved with the features of claim 1.

An embodiment of the invention relates to a method for controlling an illumination of a lane by means of at least one headlamp, wherein the at least one headlamp has at least one luminous element which is individually controllable to generate an individual luminous flux, wherein the light emitted by the at least one luminous element a Having light distribution, wherein an adapted light distribution is generated based on a vertical course of the lane relative to the headlight as a function of the distance. As a result, an adaptation is advantageously carried out with variation of the vertical course of the lane in order to adapt the light distribution thereto. The vertical course is understood to be a deviation of the lane in the vertical direction as a function of the distance in the direction of travel in the coordinate system of the vehicle. It can also be understood as a change in the height position of the headlamp, since the height of the arrangement of the headlamp and the light distribution depends on the lane. Furthermore, this can also be understood as meaning the changed inclination of the vehicle relative to the lane, which leads to a change in the light distribution on the lane. Furthermore, this can also be understood as meaning a non-planar course of the roadway when driving through a dome or sink.

Furthermore, it is advantageous according to the invention if the light distribution is varied relative to the headlight as a function of the distance caused thereby in the emission direction of the at least one luminous element and / or by the return beam properties of an illuminated object.

It is also advantageous if the light distribution is varied as a function of a height of an arrangement of the headlamp to the traffic lane.

Furthermore, it is advantageous if the adapted light distribution is adapted on the basis of a basic distribution of the light distribution.

In a further embodiment, it may be advantageous if a model of the three-dimensional environment is used to determine the light distribution and the basic light distribution is adapted in this regard.

It is particularly advantageous if the physical radiation laws continue to be used to determine the light distribution. Thereby, the resulting light distribution can be advantageously determined due to a changed environment, and then an adaptation can be performed to obtain an intended light distribution.

• – die quadratische Abnahme der Intensität als Funktion der Entfernung, insbesondere einer lokalen Intensität in Betrachtung mittels eines Auges des Fahrers oder eines Betrachters oder einer Kamera,
• – die Rückstreuung als Funktion des Winkels der Flächennormale und/oder des Winkels der Beleuchtungsrichtung und/oder der Eigenschaften der Fläche bezüglich ihrer Rückstrahlung und/oder -streuung, insbesondere einer lokalen Intensität in Betrachtung mittels eines Auges des Fahrers oder eines Betrachters oder einer Kamera, und/oder
• – die Parallaxe zwischen Scheinwerfer und Auge des Fahrers oder Betrachters oder einer Kamera.

It is also advantageous if one or more of the following properties are used as physical radiation laws:

• The quadratic decrease of the intensity as a function of the distance, in particular of a local intensity as viewed by means of an eye of the driver or a viewer or a camera,
• - The backscatter as a function of the angle of the surface normal and / or the angle of the illumination direction and / or the properties the surface in terms of its reflection and / or scattering, in particular a local intensity as viewed by means of an eye of the driver or a viewer or a camera, and / or
• - the parallax between the headlamp and the eye of the driver or observer or a camera.

It is particularly advantageous if the basic distribution is assigned a set of parameters which are adapted to adapt the light distribution to the lane course of the lane, in particular the vertical lane course.

It is also advantageous if the vertical track course of the lane is determined by means of a camera.

It is also advantageous if the vertical track course of the lane is determined by means of a laser scanner.

Furthermore, it is advantageous if at least one parameter or a plurality of parameters of the vertical course of the traffic lane is / are determined from vehicle dynamics data.

It is also advantageous if the vertical lane course of the traffic lane is determined from a combination of map data and position data of the own vehicle.

According to the invention, it is advantageous if the adapted light distribution effects a predefined target brightness or intensity at predefined illumination locations or at predefined distances of the traffic lane.

Further advantageous embodiments are described by the following description of the figures and by the subclaims.

Brief description of the drawings

The invention will be explained in more detail on the basis of at least one embodiment with reference to the drawings. Show it:

1 a schematic view of a motor vehicle with a headlight for illuminating the lane,

2 a representation of a block diagram for explaining the method,

3 a representation of a vehicle on a road in normal operating condition,

4 a representation of a vehicle on a road with increased attachment of the headlamp,

5 a representation of a vehicle on a road with a due to the loading of the vehicle rear lowered body,

6 a representation of a vehicle on a rising road,

7 a normal light distribution, and

8th an adapted light distribution with increased arrangement of the headlight.

Preferred embodiment of the invention

The 1 shows a motor vehicle 1 on a road or on a lane 2 the road, being the motor vehicle 1 at least one headlight 3 has, for illuminating the lane 2 , The headlight serves to generate a light distribution 4 , by means of which the lane 2 and, where appropriate, in the relevant environment.

In this case, the headlight is preferably a headlight with a light source and / or with a plurality of light sources and / or with a diaphragm and / or with a plurality of diaphragm elements, in particular a headlight with a matrix 5 of luminous elements and / or with a matrix of diaphragm elements, wherein the luminous elements and / or the diaphragm elements can be controlled individually in order to drive an individual luminous flux of a luminous element.

In this case, the three-dimensional light distribution of the headlamp is defined by means of a predefined basic distribution, wherein due to environmental conditions or other influencing conditions, the actual light distribution is generated by adaptation from the basic light distribution. For this purpose, an adapted light distribution is varied on the basis of the basic distribution on the basis of selected parameters.

In the process, the lighting elements become 5 in particular matrix 6 the lighting elements by means of a control unit 7 The control unit determines or knows the basic light distribution on the basis of a relevant parameter set and determines the adapted light distribution on the basis of modified parameters from the basic light distribution. In this case, the luminous elements are then controlled in such a way that the adapted light distribution results.

To determine the present conditions, the control unit 7 Data or signals from sensors 10 and / or other devices 8th or control units 9 receive. For example, from a built-in camera 8th Data or signals are received to determine the environmental conditions.

The 2 shows a block diagram 20 for explaining the method according to the invention.

In this case, the method relates to a method for controlling a light distribution of a headlamp, wherein the headlamp has at least one luminous element or a plurality of luminous elements, preferably a matrix of luminous elements, which are individually controllable. As a result, an individual controllable luminous flux is generated by an adaptable light distribution in front of the motor vehicle 1 to be able to produce.

According to the invention, the light distribution is defined by means of a predefined three-dimensional basic distribution on the basis of parameters. In block 21 On the basis of a parameter set of parameters, a three-dimensional illumination model is generated, wherein by means of a design-3D basic light distribution according to block 22 based on the lighting model according to block 21 a three-dimensional basic light distribution with the relevant parameters according to block 23 is defined.

An adapted light distribution is inventively based on the basic distribution according to block 23 is varied by means of selected modified parameters.

To determine the basic light distribution, a three-dimensional illumination model is used to illuminate the bypass to be illuminated, see block 21 , where the parameters of the basic light distribution are determined by the requirements for the illumination of the environment.

• – der definierte Verlauf der longitudinalen Ausleuchtung vor dem Scheinwerfer bis zu einem vordefinierten Entfernung,
• – der definierte Verlauf der lateralen Ausleuchtung vor dem Scheinwerfer, laterales und/oder longitudinales Beleuchtungsmodell im Vorfeld, wie insbesondere im Nahbereich des Fahrzeugs,
• – die Definition eines Fernlichtspots,
• – Richtung und Charakteristik von Fernlichtspots, Abhängigkeit davon vom Spurverlauf und dessen diesbezügliche Positionsänderung und Verformung,
• – Verlauf der zu beleuchtenden Spur unter Berücksichtigung des Straßenverlaufs, wie insbesondere des vertikalen und/oder des lateralen Verlaufs und des Verlaufs der Trajektorie des eigenen Fahrzeugs und/oder eine Kombination der Verläufe des Straßenverlaufs und/oder der Trajektorie,
• – stetige Parametrierung des Übergangsbereichs zwischen Fernlichtspot und Vorfeld als Funktion des Raumwinkels,
• – Definition eines Übergangsbereichs zwischen Ausleuchtung der Fahrbahn und dem Fernlichtspot, und/oder
• – einzelne oder multiple Entblendungsbereiche und -formen zur Reduktion der Intensität des Lichts als Funktion der Raumwinkel, der Objektentfernung und der lokalen Scheinwerferintensität.

At least one or more of the following parameters are used as parameters of the basic distribution:

• The defined course of the longitudinal illumination in front of the headlight up to a predefined distance,
• The defined course of the lateral illumination in front of the headlight, lateral and / or longitudinal illumination model in advance, in particular in the vicinity of the vehicle,
• - the definition of a high beam spot,
• Direction and characteristics of high-beam spots, depending on the course of the track and its related positional change and deformation,
• The course of the track to be illuminated taking into account the course of the road, in particular the vertical and / or the lateral course and the course of the trajectory of the own vehicle and / or a combination of the courses of the course of the road and / or the trajectory,
• - continuous parameterization of the transition range between the high beam spot and the apron as a function of the solid angle,
• - Definition of a transitional area between lane illumination and the high beam spot, and / or
• - single or multiple glare ranges and shapes to reduce the intensity of light as a function of solid angles, object distance and local spotlight intensity.

The environment to be illuminated is described by means of a predefined environment model. This environment model is in block 24 described on the basis of a relevant parameter set corresponding parameters. The input data for the environment model is obtained from the model of sensors, control units or other devices, see the blocks 25 . 26 , Block represents 25 as a sensor module, for example, sensors and control units and the block 26 as communication module control units and other devices, such as camera, navigation device, radar device etc. The data and / or signals of the blocks 25 . 26 will block the environment model 24 fed.

• – die 3D-Oberflächen im umgebenden Raum, wie lateraler und vertikaler Verlauf der Fahrbahn bzw. der prädizierten Trajektorie des eigenen Fahrzeugs, Straßenrand, Randbebauung oder -bewuchs,
• – Anteil der Reflexion des ausgestrahlten Lichts zurück in Richtung des Fahrerauges, insbesondere unter Berücksichtigung der Parallaxe zwischen Beleuchtungs- und Blickwinkel und der Winkeldifferenz zwischen Flächennormale und Beleuchtungswinkel, insbesondere in Abhängigkeit von Material, Farbe, evtl. Beschlag,
• – die Position und Dynamik von Objekten, die zu entblenden wären, und/oder
• – die Position und Dynamik von Retroreflektoren.

It is advantageous if the environment model considers the following factors:

• The 3D surfaces in the surrounding space, such as the lateral and vertical course of the road or the predicted trajectory of the own vehicle, roadside, edge development or vegetation,
• Proportion of the reflection of the emitted light back in the direction of the driver's eye, in particular taking into account the parallax between illumination and viewing angle and the angular difference between surface normal and illumination angle, in particular depending on material, color, possibly fitting,
• The position and dynamics of objects that would be revealed and / or
• - the position and dynamics of retroreflectors.

Accordingly, when determining the adapted light distribution, environmental parameters are taken into account as parameters for describing the environment to be illuminated.

According to the invention, the environment model describes the environment by parameters that can be determined by means of sensor input data and / or communication input data, see the blocks 25 . 26 , In this case, environmental parameters, vehicle parameters and / or glare parameters are used as parameters.

• – Vorhandensein eines Straßentyps (Autobahn, Straße innerorts, Straße außerorts),
• – Straßenverlauf (relativ zum Fahrzeug, lateral und/oder vertikal),
• – prädizierte Fahrzeugtrajektorie,
• – Fahrdynamik des Fahrzeugs,
• – Verkehrssituation,
• – Gefahren,
• – Witterungsbedingungen,
• – Sichtbedingungen,
• – Fremdbeleuchtung,
• – Kontrast,
• – Tageslicht, und/oder
• – Umgebungshelligkeit.

To determine the environment using the environment model in block 24 are usable as environment parameters:

• - presence of one type of road (motorway, in-town road, out-of-town road),
• Road course (relative to the vehicle, lateral and / or vertical),
• - predicated vehicle trajectory,
• Driving dynamics of the vehicle,
• - traffic situation,
• - Hazards,
• - weather conditions,
• - visibility conditions,
• - external lighting,
• - contrast,
• - Daylight, and / or
• - Ambient brightness.

• – Fahrzeugposition,
• – Fahrzeugorientierung,
• – Geschwindigkeit,
• – eingestellte Fahrparameter
• – Fahrerprofil, und/oder
• – Fahrzeugtrajektorie.

As vehicle parameters are usable:

• - vehicle position,
• - vehicle orientation,
• - speed,
• - set driving parameters
• Driver profile, and / or
• - Vehicle trajectory.

In block 27 is determined on the basis of the glare model, how the light distribution should be blinding, because, for example, other road users o. Ä. Have been determined that are not to be blinded. It is in block 27 determined a three-dimensional glare model, which is based on a parameter set of glare parameters. The glare model gets out of the blocks 25 and 26 Data and / or signals, as well as the environment model.

• – Position von Fremdfahrzeugen,
• – Position von Fremdfahrzeuggruppe,
• – Position von Verkehrsteilnehmern,
• – Position von Retroreflektoren,
• – Dynamik von Fremdfahrzeugen,
• – Dynamik von Fremdfahrzeuggruppe,
• – Dynamik von Verkehrsteilnehmern, und/oder
• – Dynamik von Retroreflektoren.

As glare parameters are usable:

• - position of foreign vehicles,
• - position of foreign vehicle group,
• - position of road users,
• - position of retroreflectors,
• - dynamics of foreign vehicles,
• - dynamics of foreign vehicle group,
• - dynamics of road users, and / or
• - Dynamics of retroreflectors.

From the glare model according to block 27 The areas to be blanked out are in block 29 Are defined. Their shape is also defined. Likewise, the defibrillation model defines the areas that are reduced in their illumination, ie, illumination reduction areas, in order to achieve reduced glare, see block 28 ,

In block 30 From the three-dimensional basic light distribution and the three-dimensional environmental model, an adapted basic light distribution is determined.

In block 31 becomes from the three-dimensional basic light distribution according to block 30 and the areas to be blinded according to block 29 and the areas of reduced lighting according to block 28 an adapted three-dimensional light distribution determined.

In order to determine an adapted light distribution, the basic light distribution is thus adapted to the surroundings to be illuminated, the glare areas and / or to the illumination reduction areas, whereby the adapted light distribution results from the basic distribution by adaptation of parameters.

In this case, the parameters of the environment are mapped to the parameters and / or the variable sizes of the basic light distribution in order to determine an ideal situation-adequate three-dimensional light distribution.

In block 32 Optionally, a virtual projection of the adapted three-dimensional light distribution then takes place on the measuring plane.

It should be considered in particular if different parameters, for example of the environment model, can have different effects on at least one parameter of the light distribution. In this case, for example, one parameter may require the reduction of brightness in one particular solid angle, while another parameter might require the increase in brightness. In such a case, a common parameter change is performed, taking into account the two parameters involved, for example, combined. For this purpose, an averaging of the effects or a weighting can be made or one parameter is ignored, while the other parameter is fully taken into account or the changes brought about by the various parameters can be combined nonlinearly. Also, the individual effects can be weighted individually when determining the common parameter change.

According to block 33 Each headlamp has individual attributes based on its manufacture and style. These attributes can have an influence on the light distribution to be generated because, for example, certain brightnesses or light colors are not or only limited are representable. In block 34 is caused due to the headlamp and its attributes influencing the adapted light distribution, the real light distribution due to the headlamp design, so that in block 35 the real adapted light distribution with its parameters results. Of all the light distributions which the real headlamp is capable of producing, one has to select that which comes close or closest to the adapted three-dimensional light distribution, taking into account the legal regulations.

Transitions between different adapted light distributions are different in terms of perceptibility and design, in particular the speed of the transition.

The method further has the property that the light distribution is varied as adapted light distribution on the basis of a vertical course of the lane relative to the headlight as a function of the distance. In this case, the light distribution is varied on the basis of a vertical course of the lane relative to the headlight as a function of the distance caused thereby in the emission direction of the at least one luminous element and / or by the return beam properties of an illuminated object.

It is particularly advantageous if the light distribution is varied depending on a height of an arrangement of the headlamp to the lane. Thus, with a headlamp type when integrated into different vehicle types with different arrangement over the road due to the adaptation, the same light distribution on the road can be generated.

• – die quadratische Abnahme der Intensität als Funktion der Entfernung, insbesondere einer lokalen Intensität in Betrachtung mittels eines Auges des Fahrers oder eines Betrachters oder einer Kamera
• – die Rückstreuung als Funktion des Winkels der Flächennormale und/oder des Winkels der Beleuchtungsrichtung und/oder der Eigenschaften der Fläche bezüglich ihrer Rückstrahlung und/oder -streuung, insbesondere einer lokalen Intensität in Betrachtung mittels eines Auges des Fahrers oder eines Betrachters oder einer Kamera
• – die Parallaxe zwischen Scheinwerfer und Auge des Fahrers oder Betrachters oder einer Kamera.

To determine the light distribution, the laws of physics are still used, with one or more of the following properties being used as physical laws of radiation:

• The quadratic decrease of the intensity as a function of the distance, in particular of a local intensity as viewed by means of an eye of the driver or a viewer or a camera
• - The backscatter as a function of the angle of the surface normal and / or the angle of the illumination direction and / or the properties of the surface with respect to their reflection and / or scattering, in particular a local intensity as viewed by means of an eye of the driver or a viewer or a camera
• - the parallax between the headlamp and the eye of the driver or observer or a camera.

In this case, the basic distribution is assigned a set of parameters which are adapted to adapt the light distribution to the lane course of the lane, in particular the vertical lane course.

For detecting the lane course and in particular the vertical lane course of the lane, a camera is used. Alternatively or additionally, the vertical track course of the traffic lane can also be determined by means of a laser scanner. Alternatively or additionally, at least one parameter or a plurality of parameters of the vertical course of the lane can be determined from vehicle dynamics data. Alternatively or additionally, the vertical lane course of the lane can be determined from a combination of map data and position data of the own vehicle.

According to the invention, the control of the light distribution leads to an adapted light distribution, which effects a predefined target brightness or intensity at predefined illumination locations or at predefined distances of the traffic lane.

The 3 to 6 show a motor vehicle 1 in different operating situations.

In 3 is the motor vehicle 1 displayed in normal position on a flat road with normal deflection. The headlight 3 illuminates the lane in front of the vehicle normally with the intended light distribution.

In 4 is the motor vehicle 1 in normal position on a flat road 2 shown at normal deflection, the vehicle is designed larger or higher and the headlight 3 therefore higher than normal. The headlight 3 illuminates the lane in front of the vehicle with an adapted light distribution.

In 5 is the motor vehicle 1 on a flat road 2 arranged, wherein the motor vehicle is backed rear, for example, due to the rear load more. The headlight 3 illuminates the lane in front of the motor vehicle with a suitably adapted light distribution.

In 5 is the motor vehicle 1 on a road that climbs in front of the motor vehicle 2 arranged. The headlight 3 illuminates the lane in front of the motor vehicle with a suitably adapted light distribution.

In 7 a light distribution is represented by a line model. Here are the lines 51 Lines of equal brightness, with the center 50 the brightest area is and outward to the areas 55 respectively. 60 the brightness decreases. In 7 a standard light distribution is shown, as it would be used for example for a low beam, high beam or motorway light. You can see a right-left symmetric light distribution, which has its maximum brightness in a defined distance in front of the vehicle.

In 8th is an adapted light distribution 70 is also illustrated by a line model, which shows an altered light distribution with respect to an increased arrangement of the headlight, so that the area of the road or the lane in front of the vehicle shows the desired illumination.

Claims (13)

Method for controlling an illumination of a lane by means of at least one headlamp, wherein the at least one headlamp has at least one luminous element, wherein the at least one luminous element is individually controllable to generate an individual luminous flux, wherein the light emitted by the at least one luminous element has a light distribution , characterized in that an adapted light distribution is generated based on a vertical course of the lane relative to the headlight as a function of the distance. A method according to claim 1, characterized in that the light distribution is varied based on a vertical course of the lane relative to the headlight in dependence of the course of the distance caused in the emission direction of the at least one luminous element and / or the return beam properties of an illuminated object. Method according to one of the preceding claims, characterized in that the light distribution is varied depending on a height of an arrangement of the headlamp to the lane. A method according to claim 1, 2 or 3, characterized in that the adapted light distribution is adjusted on the basis of a basic distribution of the light distribution. The method of claim 1, 2, 3 or 4, characterized in that for determining the light distribution, a model of the three-dimensional environment is used and the basic light distribution is adapted in this regard. Method according to one of the preceding claims 1 to 5, characterized in that the physical radiation laws continue to be used to determine the light distribution. Method according to one of the preceding claims 1 to 6, characterized in that as physical radiation laws one or more of the following properties are used: - the quadratic decrease of the intensity as a function of the distance, in particular a local intensity as viewed by means of an eye of the driver or a Viewer or a camera - the backscatter as a function of the angle of the surface normal and / or the angle of the illumination direction and / or the properties of the surface with respect to their reflection and / or scattering, in particular a local intensity as viewed by means of an eye of the driver or a viewer or a camera - the parallax between the headlamp and the eye of the driver or observer or a camera. Method according to one of the preceding claims, characterized in that the basic distribution is assigned a set of parameters which are adapted to adapt the light distribution to the lane course of the lane, in particular the vertical lane course. Method according to one of the preceding claims, characterized in that the vertical track course of the lane is determined by means of a camera. Method according to one of the preceding claims, characterized in that the vertical track course of the lane is determined by means of a laser scanner. Method according to one of the preceding claims, characterized in that at least one parameter or a plurality of parameters of the vertical course of the traffic lane is or are determined from driving dynamics data. Method according to one of the preceding claims, characterized in that the vertical lane course of the lane is determined from a combination of map data and position data of the own vehicle. Method according to one of the preceding claims, characterized in that the adapted light distribution causes a predefined target brightness or intensity at predefined lighting locations or at predefined distances of the lane.

Images