DE102014003585A1 - Method and device for automatic adjustment of a front headlight - Google Patents

Method and device for automatic adjustment of a front headlight Download PDF

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Publication number
DE102014003585A1
DE102014003585A1 DE102014003585.9A DE102014003585A DE102014003585A1 DE 102014003585 A1 DE102014003585 A1 DE 102014003585A1 DE 102014003585 A DE102014003585 A DE 102014003585A DE 102014003585 A1 DE102014003585 A1 DE 102014003585A1
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Germany
Prior art keywords
headlight
image data
pattern
projection
vehicle
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DE102014003585.9A
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German (de)
Inventor
Frank LANGKABEL
Thomas Feid
Ingolf Schneider
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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Priority to DE102014003585.9A priority Critical patent/DE102014003585A1/en
Publication of DE102014003585A1 publication Critical patent/DE102014003585A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/02Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415Dimming circuits
    • B60Q1/1423Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/02Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle
    • B60Q1/08Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically
    • B60Q1/085Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00Arrangements or adaptations of optical signalling or lighting devices
    • B60Q1/02Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle
    • B60Q1/08Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically
    • B60Q1/10Arrangements or adaptations of optical signalling or lighting devices the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2200/00Special features or arrangements of vehicle headlamps
    • B60Q2200/30Special arrangements for adjusting headlamps, e.g. means for transmitting the movements for adjusting the lamps
    • B60Q2200/38Automatic calibration of motor-driven means for adjusting headlamps, i.e. when switching on the headlamps, not during mounting at factories
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/10Indexing codes relating to particular vehicle conditions
    • B60Q2300/11Linear movements of the vehicle
    • B60Q2300/112Vehicle speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30Indexing codes relating to the vehicle environment
    • B60Q2300/32Road surface or travel path
    • B60Q2300/324Road inclination, e.g. uphill or downhill
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60QARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40Indexing codes relating to other road users or special conditions
    • B60Q2300/41Indexing codes relating to other road users or special conditions preceding vehicle

Abstract

The invention relates to a method for setting, in particular for adjusting headlight range, a first headlight (15) of a vehicle (10) located on a roadway, comprising the following steps: - detecting first image data in which an environment ahead of the vehicle (10) is imaged On the basis of the first image data, determining whether the lane ahead of the vehicle 10 is level and, if so, determining a substantially vertically oriented projection surface 40 present in an environment ahead of the vehicle 10 • generating a pattern (55) with a sharp light-dark boundary (60) by means of the first headlight (15) on the vertically oriented projection surface (40), • acquiring second image data of the environment ahead of the vehicle (10) the pattern generated on the projection surface (40a); in the second image data, determining the horizon (50); in the second image data n determining a vertical distance (85) between the horizon (50) and the light-dark boundary (60) of the pattern (55), and • adjusting the first headlight (15) depending on the determined vertical distance (85). Level lanes can be determined, for example, via lane markings (45b, c) or posts (70a) which also deliver straight lines (75a, b, c), via whose vanishing point (80) the horizon (50) can be determined.

Description

  • The invention relates to a method for the automatic adjustment of headlamps, in particular a headlamp leveling, a corresponding device, and a vehicle in which such a method is performed or such a device is present.
  • Devices for the automatic vertical adjustment of headlamps, which in particular provide the basis for a headlamp leveling, are known. Such devices are used for example in vehicles to illuminate a maximum or optimal field on the road ahead of the vehicles, or to avoid glare of oncoming traffic by lowering the light beam generating a light field. The term "light field" in this case refers to the area of an environment that is illuminated by the light beam of the headlight. The term "light distribution" is equally used in the literature. These devices usually require expensive position sensors to detect vehicle inclinations, especially around the transverse and / or longitudinal axis, and to tune the adjustment of the headlights accordingly. Corresponding sensors are expensive.
  • So suggests the disclosure DE 10 2008 011 699 A1 a method and a corresponding device, in which at least one headlight of a motor vehicle on a road used by the motor vehicle, a pattern is generated, which is detected by an image capture device, wherein the headlight is adjusted in dependence on the detected pattern. However, the results of this method depend on the nature and condition of the road surface and may be affected by, for example, a wet, snowy or soiled roadway.
  • In principle, it is conceivable to regulate the vertical adjustment of a headlight as a function of the light field generated by this headlight by detecting the light field from a camera and tracking the headlight so that the optimum vertical headlight setting is achieved. In practice, however, the light distribution at the edges of a conventional light field generated is blurred, so that an accurate detection of the boundaries of the light field is not possible. On the other hand, a sharp limitation of the light field, for example comparable to the light field of a searchlight, would be perceived as rather unpleasant.
  • The object of the invention is to provide alternative methods and devices for vertical adjustment of headlamps.
  • According to a first aspect, a method for adjusting, in particular for headlamp leveling, a first headlight of a vehicle on a roadway is proposed, the method comprising the steps of: acquiring first image data in which an environment ahead of the vehicle is imaged; Furthermore, on the basis of the first image data, a determination is made as to whether the lane ahead of the vehicle is level, and if so: generating a pattern with a sharp cut-off by means of the first headlamp on a substantially vertically oriented projection surface which is in a Vehicle lying ahead environment, detecting a second image data of the vehicle ahead environment with the pattern generated on the projection surface, in the second image data determining the horizon, in the second image data, a determination of a vertical distance between the horizon and the light Dark boundary of the pattern, and adjusting the first headlight depending on the determined vertical distance.
  • The acquisition of the first image data takes place via suitable sensor means for imaging or scanning the vehicle ahead environment. According to one embodiment, the sensor means comprises an optical camera or a radar sensor or a LIDAR sensor or an ultrasound sensor. The sensor means may also provide the image data acquired therewith for other driver assistance systems of the vehicle (for example Lane Keeping Assist). In one embodiment, two or more of the aforementioned sensors are combined in the sensor means. In a further embodiment, the sensor means comprises only the optical camera.
  • On the basis of the first image data, a determination is then made as to whether the lane ahead of the vehicle is flat, ie has a substantially planar surface profile which has no unevenness, such as bumps, potholes or objects such as stones, which lead to pitching movements and / or Rolling movements of the vehicle lead and would let the light field of the first headlight wander. In addition, it is determined on the basis of the first image data, whether the road ahead lying straight, d. H. not curvy runs. The term "roadway lying ahead" advantageously relates to the roadway area of the vehicle up to 1,000 m or 750 m or 500 m or 250 m or 150 m or 100 m, or 50 m in front of the vehicle.
  • In order to determine the flatness or the straight course of the preceding roadway, the first image data are evaluated by means of image analysis. A flat and straight, ahead lying roadway is assumed in particular when road markings and / or roadway boundaries are straight and run together at infinity to a point. If such a point can be determined without contradiction in the first image data for all lane boundaries, then it is assumed that the lane is ahead of the road ahead.
  • In the event that a flat and straight leading roadway is determined, a pattern with a sharp cut-off line is generated by means of the first front headlamp on a substantially vertically oriented projection surface in the vehicle ahead environment. A corresponding projection surface can be determined by means of image analysis before generating the pattern in the first image data. This has the advantage that the projection of the pattern and thus the further method are only executed if a suitable projection surface is recognized in the first image data. Alternatively, the projection of the pattern at predetermined or statistical time intervals can also be carried out according to the "trial and error" principle, but with the disadvantage that in most cases no suitable projection surface is available, and thus no pattern is projected.
  • After acquiring second image data of the environment ahead of the vehicle with the pattern generated on a suitable vertically oriented projection surface, the horizon is determined in the second image data by means of image data analysis. In one embodiment, this is determined in the second image data, as already in the first image data, on the basis of lane markings and / or lane boundaries, whether these each run straight and converge at infinity in a vanishing point. If the vanishing point is determined in the second image data, a horizontal line defined by this vanishing point forms the current horizon in the second image data.
  • The vertical distance between the determined horizon and the bright-dark boundary of the pattern can now be determined in the second image data since the light-dark boundary is sharply imaged in the second image data and can therefore be localized sufficiently accurately within the framework of a corresponding image evaluation process. On the basis of the determined vertical distance the actual headlight range adjustment of the first front headlight is determined.
  • Since the position of the horizon has been determined and an ideal alignment of the first headlight with respect to the horizon is known, that is, a desired value for the vertical distance, in a further step, the first front headlight is adjusted depending on the determined vertical distance.
  • The method advantageously allows adjustment and, in particular, headlight range adjustment of a first front headlight, without the need for position sensors which are on the one hand expensive and, on the other hand, susceptible to interference. Rather, use is made of systems for acquiring image data, which are often installed in the vehicle in the context of driver assistance systems anyway, such as radar sensors, LIDAR sensors or in particular optical sensors such as a camera system, which are suitable for capturing first image data, and optical sensors suitable for capturing second image data. In comparison with methods which set front headlights only on the basis of a light field generated by the respective headlight and detected by a sensor, advantageously higher accuracies can be achieved since no blur fields, which are typically blurred in the edge region, are used, but patterns with sharp light -dark-limits. If both the first and the second image data are detected by optical sensors, for example a camera, then the method is advantageously based on a single sensor means, which is often already installed in a vehicle in the context of driver assistance systems. Furthermore, as projection surfaces for the patterns substantially vertically oriented surfaces are used, which lead to better reflection and thus detectability of the pattern and to higher accuracy of measurement in comparison with horizontal surfaces such as road surfaces. In the present case, a "substantially vertically oriented projection surface" is understood in particular to mean a projection surface which is inclined more than 45 or 60 or 75 or 80 or 85 degrees relative to the horizontal.
  • According to a development, it is proposed that a warning be issued to the driver of the vehicle if the method can not or can not be performed with the desired accuracy, for example because no substantially vertically oriented projection surface can be determined, and / or because no horizon can be determined ,
  • According to one development, it is proposed that information be output to the driver of the vehicle if, according to the proposed method, an adjustment of the first headlight has been carried out successfully.
  • According to a development, the pattern is generated on the projection surface only for a time Δt where Δt ≥ 1 ms and Δt ≤ 1 s or Δt ≤ 500 ms or Δt ≤ 250 ms or Δt ≤ 100 ms or Δt ≤ 50 ms or Δt ≤ 10 ms. Such small times Δt advantageously ensures that the driver of the vehicle or other road users do not consciously perceive the pattern itself and therefore do not focus their attention on it. In the context of the method, however, these times Δt are sufficient to detect the light-dark boundary of the pattern by the sensor means and, based on the determined horizon and the position of the cut-off line, the vertical distance required for the adjustment of the first front headlight to investigate.
  • According to a further development, the projection surface in the first image data is selected according to predetermined criteria before the pattern is generated on the projection surface. Examples of corresponding criteria are the most accurate possible vertical alignment of the projection surface (for example in the range of ± 10 degrees to the vertical), a sufficient minimum size of the projection surface, the highest possible uniformity of the projection surface, which should have as little disturbing points as possible sufficient reflectivity for visibility of the pattern to be generated, and / or suitable orientation with respect to the vehicle, for example parallelism to the vehicle front. Further criteria can be readily defined by the person skilled in the art with the knowledge of the disclosure made herein and implemented within the scope of the method. In the context of this embodiment, within the framework of an analysis of the first image data, a selection of the projection surface among possible candidates advantageously takes place in order to ensure that the pattern can be generated as optimally as possible on the projection surface.
  • According to a further development, at least one azimuth angle of the first front headlight and / or an associated beam shaping means to the projection surface is determined in the first image data, and the first front headlight and / or the associated beam shaping means are driven in such a way that the pattern is triggered as a function of the determined azimuth angle the projection surface is selected, which is selected in the first image data.
  • According to a further development, the additional beam shaping means is present together with the first front headlight or in spatial proximity to it, the exact spatial position relative to one another and the spatial relationship of the light bundles emanating from the first front headlight and from the additional beam shaping means being known within the scope of the method , Accordingly, a pattern having a sharp cut-off line originating from an additional beam-shaping means is also suitable for calibrating the position of the light field generated by the light beam of the first headlamp, such as a pattern generated by the light beam of the first headlamp itself would.
  • According to one embodiment, in the first image data as the projection surface, a vehicle rear side, in particular a rear side of a truck (truck), a traffic sign, a wall, a building or a bridge is selected, wherein for the identification of projection surfaces of this kind in the first image data per se known methods of image recognition can be used.
  • In special developments, within the first image data among the possible projection surfaces, in particular under the above-mentioned projection surfaces, optimal partial surfaces are selected for a projection of the pattern. For example, optimal partial areas on the back of passenger cars detect areas of the tailgate that lie to the right or left of the license plate, or areas on traffic signs those on which a uniform color prevails, so for example, no label is applied. In the context of this embodiment, projection surfaces are advantageously used which are frequently to be expected in the environment ahead of the vehicle and are particularly suitable for the reproduction of a generated pattern.
  • The method is suitable for adjusting a first headlight, but can of course be used in parallel to adjust one or more other front headlights of the vehicle analog. According to a particular embodiment, the method extends to at least two front headlights, which represent the main light sources in conventional vehicles. The method is particularly suitable for the adjustment of a low beam and / or a high beam.
  • In order to avoid a disturbance by superposition of a pattern generated on a projection surface for the adjustment of a first headlight by a light beam emanating from a second front headlight of the vehicle, according to one embodiment, a light beam emanating from a second headlight of the vehicle during the generation the pattern on the projection surface modified such that the light beam has at least with the pattern on the projection surface no overlap.
  • According to a development, this is done by briefly switching off the second headlight for a period that is short enough not to be noticed by road users, whereas within this period the Detection of second image data by a corresponding sensor means, in particular a camera, is possible. Concretely, by switching off for the time Δt, where: Δt ≥ 1 ms and Δt ≤ 1 s or Δt ≤ 500 ms or Δt ≤ 250 ms or Δt ≤ 100 ms or Δt ≤ 50 ms or Δt ≤ 10 ms. According to a further development, this takes place by at least that region of the light beam of the second headlight which overlaps with the part of the light beam of the first headlight which projects the pattern and therefore worsens its light-dark boundary, for a short period of time (Δt, where: Δt ≥ 1 ms and Δt ≦ 100 ms, see above), in which the second image data are detected, is turned off. This can be done by targeted control of LED matrix elements in the case of LED matrix headlights or activating a diaphragm. Advantageously can thus be prevented in parallel running processes, which are each directed to the setting of the first, the second and possibly further front headlights, interference between the setting of the respective front headlights are caused by patterns, their chiaroscuro Limits are degraded by the light beams of the or the other front headlights in their quality.
  • According to one embodiment, the first and optionally the second or further front headlight are those with conventional incandescent-based light sources, for example halogen headlights or gas-discharge bases, for example xenon headlamps. In this case, there is preferably for each front headlamp an associated beam shaping means for generating the pattern on the projection surface, or a common beam shaping means is temporarily assigned to a front headlight for the production of a specific pattern for its setting and then another front headlight. Alternatively, the pattern is created by a shutter. According to a particular embodiment, the first front headlight is an LED matrix headlight, the pattern having a sharp cut-off line being produced by targeted actuation of one or more LED matrix elements. Advantageously, this makes it possible to generate the pattern within a region of the illuminated field generated by the LED matrix headlight, without impairing the general illumination function of this LED matrix headlight. According to a further development, the pattern is also produced in an LED matrix headlight by bringing a diaphragm into the light beam emanating from the first or possibly further front headlight. The additional beam shaping means, like the first front headlight, may be a conventional light source or an LED matrix light source. If there is a conventional light source, it radiates according to a development of highly focused light, since no general lighting function is to be met, but only the pattern with the sharp cut-off line must be created.
  • According to one embodiment, the method is based on light generated in the visible wavelength range by the first front headlamp and optionally further front headlamps and / or additional or alternative beam-shaping means.
  • According to another embodiment, the pattern is generated by an infrared light source contained in the first front headlamp. Advantageously, this additionally ensures that the generated pattern (s) is / are not detected by the driver, but only by a sensor element that is sensitive in the infrared region, whereby the term "cut-off" is to be understood in a figurative sense.
  • According to a further development, it is provided that at least one pattern is generated in the visible wavelength range and, in addition, at least one pattern in the infrared range is generated and used for setting the same front headlight. By using different wavelength ranges, redundancy is generated, which advantageously reduces error variations in the setting.
  • The pattern created on the screen can be of any type. The cut-off may be within the pattern or at the boundary between the pattern and the light field of the corresponding headlight. In one embodiment, the pattern has a simple geometric shape, for example a rectangular, triangular or circular shape. By appropriate simple geometric shapes of the effort in the detection of the pattern on the projection surface is advantageously reduced.
  • According to one embodiment, it is provided that determining the horizon comprises determining an optical vanishing point in the second image data. For example, to horizontal edges of buildings or objects such as crash barriers in the front of the vehicle environment used in an image analysis and extended by these edges extending lines to infinity to determine a vanishing point. The horizon can be determined accordingly, as a horizontally extending through the vanishing point. By means of this embodiment, features which are present within the second image data can advantageously be used to determine the horizon.
  • According to one embodiment, the determination of whether the road ahead of the vehicle is level is based on the course of road markings and / or an arrangement of posts, such as roadway guide posts or warning beacons, which are usually temporarily placed in construction areas. In the context of this embodiment, features are advantageously used which are usually found in the region of a roadway on which the vehicle is located. As part of an image analysis is thereby determined whether the road markings and / or mutually corresponding, simulated by image analysis interconnected points of Fahrleitleitpfosten, for example, the upper ends of the Fahrleitleitpfosten, essentially follow a straight line or a simple curve. If this is true, it can be assumed that the road is flat and straight or curved, otherwise it must be assumed that a wavy or otherwise irregularly running road.
  • According to a further development, it is proposed that a plurality of edges or lane markings is used for determining a horizon or for determining whether the lane lying ahead is level, so that individual edges or lane markings, compared to a plurality of others Edges or lane markings lead to different results, as outliers can be detected and are not taken into account.
  • The method may be performed once or at irregular intervals, for example, triggered by a visible change in the general environment in which the vehicle is located, such as the change from a cross-country drive to a city drive. According to a particular embodiment, the method is carried out repeatedly at predeterminable time intervals. Accordingly, there is a periodic check of the setting of the first and possibly further front headlights and, if necessary, a corresponding setting. The predefinable time intervals can be set by default, for example, or depend on external conditions. An example of an external condition is the traffic density, wherein a high traffic density determined in the first or in the second image data preferably leads to lower time intervals than a determined low traffic density. Another example is the speed of the vehicle, which preferably selects shorter time intervals at high speed than low speed because at high speeds the vehicle passes significantly more potential projection surfaces that can be used to adjust the headlamp than at low speeds. Therefore, at high speeds, the time intervals may be lower.
  • Non-limiting examples of periodic time intervals range steplessly from methods performed ten times per second to methods performed once every 10 seconds or more rarely, for example once per minute or once per hour. The repeated implementation of the method at periodic intervals can be advantageous to realize a quasi-continuous monitoring and optionally setting the first and possibly further front headlights.
  • According to a second aspect, an apparatus for controlling an adjustment, in particular a headlight range adjustment, of a first headlight of a vehicle on a roadway is proposed, which is also suitable for carrying out a method as described above. In this case, the first front headlight is embodied and configured in such a way that a pattern with a sharp cut-off line can be produced on a substantially vertically oriented projection surface which is present in a surrounding area ahead of the vehicle. Alternatively or additionally, a beam-shaping means assigned to the first headlight is designed and set up for the production of such a pattern on the projection surface. The device comprises a sensor means, in special developments an optical sensor means, for example one or more cameras for recording image data, in which the environment ahead of the vehicle is shown. It further comprises an image data evaluation means for determining whether the road surface imaged in the image data and lying ahead of the vehicle is level, for determining a horizon in the image data, and for determining a vertical distance between the determined horizon and the light-dark boundary of in the image data imaged pattern on the projection surface, and further comprises a control means for generating the pattern on the projection surface by the first headlight and / or the associated beam shaping means, the recording of image data by the sensor means, such as the camera Image data evaluation means and the setting of the first front headlight is controllable. The device advantageously provides a means for carrying out the method and makes it possible to check a first and possibly further front headlight and, if necessary, to control its settings.
  • According to one embodiment of the device, the vehicle has a second front headlamp, which is controlled by the control means, wherein the control means the second Front headlight controls such that an outgoing light beam is modified during the generation of the pattern on the projection surface such that the light beam has at least with the pattern on the projection surface no overlap. Advantageously, thus, the settings of both the commonly available two front headlights of a vehicle control without a pattern that is intended for the adjustment of a front headlight, superimposed by the light field of the other front headlight and thus reduced in its quality ,
  • It will be apparent to those skilled in the art that disclosures made in the process may include implied features of the device and, conversely, disclosures made within the scope of the device may include implied features of the method. Such implicit features are also referred to. Accordingly, in one embodiment, an apparatus is disclosed in which the pattern on the projection surface is generated only for a time Δt, where Δt ≥ 1 ms and Δt ≤ 1 s or Δt ≤ 500 ms or Δt ≤ 250 ms or Δt ≤ 100 ms or Δt ≤ 50 ms or Δt ≤ 10 ms. Also disclosed in a further embodiment is a device in which the projection surface is selected in the image data according to predetermined criteria before generating the pattern on the projection surface, reference being made to the criteria mentioned in the context of the method, inter alia. In a further embodiment disclosed is a device in which at least one azimuth angle is determined by the first front headlight and / or an associated beam shaping means to the projection surface in the first image data, and in which the first front headlight and / or the associated beam shaping means dependent are controlled by the determined azimuth angle such that the pattern is generated on the selected in the first image data projection surface.
  • According to a further embodiment, a vehicle rear side, in particular a rear side of the truck, a traffic sign, a wall, a building or a bridge, is selected by the device from its image data evaluation means as the projection surface.
  • According to a further embodiment, a light beam emanating from a second front headlight of the vehicle can be modified by the control means during the generation of the pattern on the projection surface in such a way that the light beam has no overlap at least with the pattern on the projection surface.
  • According to a further embodiment, the device controls the adjustment of a first front headlamp, which is an LED matrix headlamp, each comprising a plurality of LED matrix elements, wherein the pattern on the projection through a corresponding activation of at least one of the LED matrix elements is generated. A further development provides for the presence of at least one further front headlamp, for example a second front headlamp, which is also an LED matrix headlamp whose setting is also controlled by the device.
  • According to a further embodiment, the device comprises a beam shaping means which is assigned to the first front headlight and which generates the pattern on the projection surface in the infrared range. Further developments provide that the same beam shaping means or additional beam shaping means are assigned to further front headlamps.
  • Further embodiments provide that the pattern that can be generated by the device has a simple geometric shape, for example a rectangular shape, a triangular shape or a circular shape, and / or that the determination of the horizon by the device comprises determining an optical vanishing point in the second image data, and / or that the determination by the device determines whether the lane ahead of the vehicle is flat, based on the course of lane markings and / or an arrangement of posts, in particular lane guide posts.
  • According to one embodiment, the method is performed by the device at predeterminable time intervals. The method can provide a continuous evaluation of the image data of the environment, so that, for example, each frame of the camera image data is evaluated. If a suitable projection area is detected, the current camera frame is used as the "first image data". This then starts, for example, the o. G. Sequence of detection and adjustment
  • According to a third aspect, a vehicle is proposed which comprises one of the aforementioned devices or in which one of the aforementioned methods is carried out.
  • It is obvious to the person skilled in the art that the described embodiments and developments or individual features thereof can be combined with one another with knowledge of the disclosure made here. Further advantages, features and details will become apparent from the following description in which - where appropriate, with reference to the drawings - at least one embodiment described in detail is. The same, similar and / or functionally identical parts are provided with the same reference numerals.
  • Show it:
  • 1 a schematic representation of the method
  • 2 a schematic view of a device having a vehicle in a traffic situation
  • 3 a schematic spatial view of a traffic situation
  • 4 a schematic view of illuminated fields with patterns.
  • 1 shows a schematic representation of the method. This is done in one step 100 Capturing first image data in which a vehicle ( 10 ) lying ahead environment is shown. In one step 200 On the basis of the first image data, a determination is made as to whether the vehicle 10 lying ahead lane is flat. If this is true, it takes place in one step 300 determining a substantially vertically oriented projection surface 40 in a vehicle 10 existing environment is present. If that does not apply, then the step again 100 executed. According to a development come for distance measuring sensor means 20 , such as radar sensors and or LIDAR sensors used, according to another embodiment, the determination is based on an image analysis of the first image data, the optical sensor means 20 For example, cameras were captured. Is a vertically oriented projection screen 40 determined, so takes place in one step 400 generating a pattern 55 with a sharp light-dark border 60 by means of a first front headlight 15 of the vehicle 10 on the substantially vertically oriented projection surface ( 40 ). In one step 500 followed by a capture of second image data of the vehicle 10 lying ahead with the on the projection screen 40 generated patterns 55 , Within this second image data takes place in one step 600 a determination of the horizon 50 and in one step 700 a determination of a vertical distance 85 between the horizon 50 and the cut-off line 60 of the pattern 55 , In one step 800 the headlamp setting is made to the setpoint if the evaluation shows in advance that the headlamp (s) are not set correctly.
  • 2 shows in plan view a schematic view of a vehicle 10 in a traffic situation. On with a control of a setting of a first headlight 15 equipped vehicle 10 has such a first front headlight 15 and a second front headlight 35 on. A trained as a camera sensor means 20 captures the front of the vehicle 10 lying environment. Via an image data evaluation means 25 the resulting image data, which in particular correspond to the first image data of the method, are evaluated. Based on the course of road markings 45 , for example, two lane boundaries 45a and 45b as well as guidelines 45c are shown, a flat course of the vehicle 10 traffic lane detected. Based on the road markings 45a . 45b and 45c becomes a vanishing point 80 determined on the basis of in 2 selected plan view is not displayed, which in turn also not in 2 not representable horizon 50 can be determined. Furthermore, the image data evaluation means determines 25 two essentially vertical projection surfaces 40a and 40b , where it is the projection surface 40a around the back wall of a truck and at the projection screen 40b is a road sign. The first front headlight 15 and the second front headlight 35 are each designed as LED matrix headlights.
  • According to a scenario described by way of example, the respective front headlights produce 15 . 35 through targeted, via a tax means 30 Controlled control of LED matrix elements on the projection screen 40a or 40b a pattern symbolized by a dotted line 55a respectively. 55b each with a horizontal sharp cut-off line 60 , The light-dark boundaries 60 can not be displayed due to the selected top view The targeted control is in 2 symbolized by solid arrows. From the sensor means 20 Image data is still being captured, showing the patterns 55a respectively. 55b and in particular correspond to the second image data of the method. Between the determined horizon 50 and the chiaroscuro borders 60 the pattern 55a respectively. 55b are now the image data evaluation 25 vertical spacing 85 determined. Subsequently, a setting of the respective front headlight 15 respectively. 35 if the determined vertical distance does not coincide with one in the control means 30 stored nominal distance coincides. For this purpose, the image data evaluation means transmits 25 the respective determined vertical distance 85 to the control means 30 , which shows the LED matrix elements of the relevant front headlight 15 respectively. 35 controls so that the desired distance is maintained. The one from the first front headlight 15 and the second front headlight 35 generated patterns 55a respectively. 55b are generated according to a further development at different times, according to another development with simultaneous production at different locations, not in one of the first front headlights 15 and the second front headlight 35 at the same time illuminated, thus overlapping illuminated field fall. Accordingly, the light beam of the first front headlight 15 not that of the second front headlight 35 generated patterns 55b irradiate and thus reduced in its quality, and vice versa, that of the first front headlights 15 generated patterns 55a not from the light beam of the second front headlight 35 irradiated. According to another development, the patterns 55a and 55b generated in areas that overlap in an illuminated field of the first front headlight 15 and the second front headlight 35 but this will be the first front headlight 15 during the generation of the pattern 55b through the second front headlight 35 from the control means 30 so controlled that, at least in the area of the light field, the pattern 55b is covered, no light from the first front headlight 15 incident, for example, by a targeted shutdown of the LED matrix unit or LED matrix units, which is responsible for the irradiation of this area / are. Analog becomes during the generation of the pattern 55a through the first front headlight 15 the second front headlight 35 by the control means 30 so controlled that, at least in the area of the light field, the pattern 55a is covered, no light of the second front headlight 35 incident.
  • According to another example scenario described by the control means 30 the laterally offset traffic sign as a projection surface 40b selected. On the basis of an azimuth angle determined from the image data, the projection surface is displayed 40b from a jet forming agent 65 a pattern 55c projected. The beam forming agent 65 generates according to a development a pattern 55b in the infrared range.
  • 3 shows a schematic spatial view of a traffic situation from the perspective of a device for controlling an adjustment of a first front headlight, not shown 15 and possibly other front headlights. In first image data in which one in front of the vehicle 10 lying environment is first determined whether the front of the vehicle 10 lying roadway is flat. This is done via image analysis of the first image data, in which a lane boundary 45b as well as guidelines 45c be recognized, through which straights can be laid, which in turn indicates a flat roadway. Also right on the roadside erected posts 70 , which are, for example, guide posts or warning beacons, can be connected via a straight line. The corresponding straight lines 75a . 75b and 75c continue to intersect in an extrapolatable in the context of the process, symbolized by a black circle vanishing point 80 through which a horizontal line can be laid, covering the horizon 50 describes.
  • In the first image data is the back of the front of the vehicle 10 moving truck as a substantially vertical projection surface 40a determines a traffic sign that is based on 1 another vertical projection surface 40b is not shown for the sake of clarity. On the vertical projection surface 40a will now be on the first front headlights 15 a complex pattern 55 with a sharp cut-off line 60 projected within the pattern 55 lies. Between the cut-off line 60 and the horizon 50 now becomes a vertical distance 85 determined. Because the position of the pattern 55 in relation to the light field of the first front headlight 15 is known, can now be determined by the vertical distance 85 Determine if the light field is optimally aligned. If this is not the case, then the first front headlight is adjusted 15 until a desired desired distance is reached and the light field is thus optimally aligned.
  • 4 shows a schematic view of illuminated fields with patterns 55a . 55b , which are shown on imaginary grids for better orientation. In the left upper part of the figure 4A is the partially illuminated field of a first front headlamp, not shown, by hatching 15 with a pattern 55a and a sharp light-dark border 60a shown in the upper right part of the figure 4B also marked by hatching part light field of a second front headlight, not shown 35 with a pattern 55b and a sharp light-dark border 60b , and in the lower left part of the figure 4C that combined without further action, composed of two partial fields luminous field of both front headlights 15 and 35 , In subfigure 4C is through the dotted outline of the patterns 55a and 55b indicated that by the overexposure, the pattern 55a through the partial light field of the second front headlight 35 and the pattern 55b through the partial light field of the first front headlight 15 experience these patterns 55a . 55b or their light-dark limits 60a . 60b are deteriorated in their quality. As in the part figure 4D On the other hand, the measure shown is for the period in which the acquisition of second image data for which the pattern 55a and the cut-off line 60a important, at least that portion of the partial field of the second front headlight 35 turned off or hidden, the pattern 55a would illuminate. In this period lies the pattern 55a thus with the desired quality and bright-dark border 60a in front.
  • Although at least one exemplary embodiment has been further illustrated and explained in the foregoing description and detail by way of preferred embodiments, there is no limitation to the disclosed examples. and other variations can be derived therefrom without departing from the scope of the art. It is therefore clear that a multitude of possible variations exists. It is also to be understood that exemplified embodiments are really only examples that are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description of the figures enable one skilled in the art to practice the exemplary embodiments, and those skilled in the art having the benefit of the disclosure herein can make various changes, for example, to the function or arrangement of particular elements recited in an exemplary embodiment without to leave the scope of protection defined by the claims and their legal equivalents, such as further explanation in the description.
  • LIST OF REFERENCE NUMBERS
  • 10
    vehicle
    15
    first front headlight
    20
    sensor means
    25
    Image data evaluation means
    30
    control means
    35
    second front headlight
    40a, b
    projection
    45
    road marking
    50
    horizon
    55
    template
    60
    Light-off
    65
    Beam shaping means
    70
    post
    75a, b, c
    Just
    80
    vanishing point
    85
    vertical spacing
    100-700
    steps
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • DE 102008011699 A1 [0003]

Claims (15)

  1. Method for adjusting, in particular for headlight range adjustment, of a first headlight ( 15 ) of a vehicle on a roadway ( 10 ), comprising the following steps: acquiring first image data in which a vehicle ( 10 ), it is determined on the basis of the first image data whether the vehicle ( 10 ) and if so: • determining a substantially vertically oriented projection surface ( 40 ) in a vehicle ( 10 ) is present, • generating a pattern ( 55 ) with a sharp cut-off line ( 60 ) by means of the first headlight ( 15 ) on the vertically oriented projection surface ( 40 ), Capturing second image data of the vehicle ( 10 ) lying ahead with the on the projection surface ( 40 ) generated pattern, • in the second image data determining the horizon ( 50 ), • in the second image data, determining a vertical distance ( 85 ) between the horizon ( 50 ) and the cut-off line ( 60 ) of the pattern ( 55 ), and • Adjusting the first headlight ( 15 ) depending on the determined vertical distance ( 85 ).
  2. Method according to claim 1, in which the pattern ( 55 ) on the projection surface ( 40 ) is generated only for a time Δt, where: Δt ≥ 1 ms and Δt ≤ 1 s or Δt ≥ 1 ms and Δt ≤ 100 ms.
  3. Method according to one of Claims 1 or 2, in which the projection surface ( 40 ) before generating the pattern ( 55 ) is selected thereon in the first image data according to predetermined criteria.
  4. A method according to claim 3, wherein in the first image data at least one azimuth angle of the first headlight ( 15 ) and / or an associated beam shaping agent ( 65 ) to the projection surface ( 40 ) and in which the first headlight ( 15 ) and / or the associated beam shaping agent ( 65 ) is / are driven depending on the determined azimuth angle such that the pattern ( 55 ) on the projection surface selected in the first image data ( 40 ) is produced.
  5. Method according to one of claims 1 to 4, wherein in the first image data as a projection surface ( 40 ) a vehicle ( 10 ) existing vehicle rear side, in particular a truck rear side, a traffic sign, a wall, a building or a bridge is selected.
  6. Method according to one of claims 1 to 5, wherein one of a second headlight ( 35 ) of the vehicle ( 10 ) outgoing light beam during the generation of the pattern ( 55 ) on the projection surface ( 40 ) is modified in such a way that the light bundle at least with the pattern ( 55 ) on the projection surface ( 40 ) has no overlap.
  7. Method according to one of claims 1 to 6, wherein the first headlight ( 15 ) is an LED matrix headlight, each comprising a plurality of LED matrix elements, wherein the pattern ( 55 ) on the projection surface ( 40 ) is generated by means of a corresponding control of at least one of the LED matrix elements.
  8. Method according to one of claims 1 to 7, characterized in that a the first front headlight ( 15 ) associated beam shaping means the pattern on the projection surface ( 40 ) generated in the infrared light range.
  9. Method according to one of Claims 1 to 8, in which the pattern ( 55 ) has a rectangular shape, a triangular shape or a circular shape.
  10. Method according to one of Claims 1 to 9, in which the determination of the horizon ( 50 ) determining a visual vanishing point ( 80 ) in the second image data.
  11. Method according to one of claims 1 to 10, wherein determining whether the vehicle ( 10 ) lying ahead, based on the course of lane markings ( 45 ) and / or an arrangement of roadway guide posts ( 70 ) he follows.
  12. Method according to one of claims 1 to 11, wherein the method is carried out repeatedly at predetermined time intervals.
  13. Device for controlling a setting, in particular a headlight range adjustment, of a first headlight ( 15 ) of a vehicle on a roadway ( 10 ), and for carrying out a method according to one of the preceding claims, wherein the first headlight ( 15 ) and / or an associated jet-forming agent ( 65 ) is designed and arranged such that a pattern ( 55 ) with a sharp cut-off line ( 60 ) on a substantially vertically oriented projection surface ( 40 ) in a vehicle ( 10 ) is present, is provided, comprising: - a sensor means ( 20 ), in particular a camera, for recording image data in which the vehicle ( 10 ) lying ahead environment, - an image data evaluation means ( 25 ) for determining whether the vehicle depicted in the image data ( 10 ) lying ahead is flat, for determining a horizon ( 50 ) in the image data, and for determining a vertical distance ( 85 ) between the determined horizon ( 50 ) and the cut-off line ( 60 ) of the pattern depicted in the image data ( 55 ) on the projection surface ( 40 ), and - a control means ( 30 ), with which the generation of the pattern ( 55 ) on the projection surface ( 40 ) through the first headlight ( 15 ) and / or the associated jet-forming agent ( 65 ), the acquisition of image data by the sensor means ( 20 ), the image data evaluation means ( 25 ) and the setting of the first front light ( 15 ) is controllable.
  14. Device according to Claim 13, in which the vehicle ( 10 ) a second headlight ( 35 ), which is controlled by the control means ( 30 ), wherein the control means ( 30 ) the second headlight ( 35 ) controls such that an outgoing light beam during the generation of the pattern ( 55 ) on the projection surface ( 40 ) is modified in such a way that the light bundle at least with the pattern ( 55 ) on the projection surface ( 40 ) has no overlap.
  15. Vehicle ( 10 ) with a device according to claim 13 or 14.
DE102014003585.9A 2014-03-11 2014-03-11 Method and device for automatic adjustment of a front headlight Withdrawn DE102014003585A1 (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016106649A1 (en) * 2016-04-12 2017-10-12 Hella Kgaa Hueck & Co. Lighting device for a motor vehicle
DE102017112514A1 (en) * 2017-06-07 2018-12-13 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method for automated headlight calibration
DE102017214950A1 (en) * 2017-08-28 2019-02-28 Bayerische Motoren Werke Aktiengesellschaft Method for automatic headlight calibration of a motor vehicle
DE102018204424B3 (en) 2018-03-22 2019-08-08 Audi Ag Method for calibrating a position of a matrix headlight of a motor vehicle, control device and motor vehicle
DE102019200927B3 (en) 2019-01-25 2020-07-23 Volkswagen Aktiengesellschaft Method for determining the lighting range of at least one headlight of a vehicle

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EP1437259A1 (en) * 2002-12-09 2004-07-14 Valeo Vision Elevation adjustment device for vehicle headlamp and the method thereof
DE102008011699A1 (en) 2007-03-23 2008-09-25 Volkswagen Ag Characteristics e.g. elevation of headlight, determining method for e.g. automobile, involves detecting image having patterns by image detecting device, and determining characteristics e.g. brightness and/or contrast, from patterns
DE102007049619A1 (en) * 2007-10-17 2009-04-23 Audi Ag Method for automatic adjustment of a light unit of a vehicle and lighting system for a vehicle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1437259A1 (en) * 2002-12-09 2004-07-14 Valeo Vision Elevation adjustment device for vehicle headlamp and the method thereof
DE102008011699A1 (en) 2007-03-23 2008-09-25 Volkswagen Ag Characteristics e.g. elevation of headlight, determining method for e.g. automobile, involves detecting image having patterns by image detecting device, and determining characteristics e.g. brightness and/or contrast, from patterns
DE102007049619A1 (en) * 2007-10-17 2009-04-23 Audi Ag Method for automatic adjustment of a light unit of a vehicle and lighting system for a vehicle

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016106649A1 (en) * 2016-04-12 2017-10-12 Hella Kgaa Hueck & Co. Lighting device for a motor vehicle
DE102017112514A1 (en) * 2017-06-07 2018-12-13 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method for automated headlight calibration
DE102017214950A1 (en) * 2017-08-28 2019-02-28 Bayerische Motoren Werke Aktiengesellschaft Method for automatic headlight calibration of a motor vehicle
DE102018204424B3 (en) 2018-03-22 2019-08-08 Audi Ag Method for calibrating a position of a matrix headlight of a motor vehicle, control device and motor vehicle
WO2019179753A1 (en) 2018-03-22 2019-09-26 Audi Ag Method for calibrating a position of a matrix headlamp of a motor vehicle, control device, and motor vehicle
DE102019200927B3 (en) 2019-01-25 2020-07-23 Volkswagen Aktiengesellschaft Method for determining the lighting range of at least one headlight of a vehicle

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