WO2022017965A1 - Automotive lighting device - Google Patents
Automotive lighting device Download PDFInfo
- Publication number
- WO2022017965A1 WO2022017965A1 PCT/EP2021/069911 EP2021069911W WO2022017965A1 WO 2022017965 A1 WO2022017965 A1 WO 2022017965A1 EP 2021069911 W EP2021069911 W EP 2021069911W WO 2022017965 A1 WO2022017965 A1 WO 2022017965A1
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- WO
- WIPO (PCT)
- Prior art keywords
- lighting device
- distance
- actual distance
- control unit
- reference portion
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor 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
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor 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
- B60Q1/10—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
Definitions
- This invention is related to the field of automotive lighting devices, and more particularly, to the improvement of luminous efficiency in these devices.
- Automotive lighting market can be considered as one of the most competitive ones and new lighting functionalities are constantly required.
- Some lighting modules are required to provide more than one different functionality. To achieve this aim, there are many options in the market which combine the low beam and the high beam functionalities.
- the invention provides an alternative solution for this problem by a method for achieving a correct aiming of an automotive lighting device, the method comprising the steps of
- - providing a predetermined light pattern comprising a reference portion, wherein the reference portion is designed to be located at a reference distance from the automotive lighting device when the lighting device is correctly aimed;
- the reference portion is a portion of a high beam light pattern, or a portion of a low beam light pattern, or a portion of a spot light pattern, or a portion of a pictogram.
- the step of measuring the actual distance is performed more than once, and a processed actual distance is used in the step of comparing the actual distance with the reference distance.
- a single measurement is enough when the car is stopped and the road is flat, so the measurement is not influenced by the body tilt or by the road inclination. However, when the vehicle is in motion, different measurements may be performed to ensure a correct actual distance to be compared with the reference distance.
- the steps of measuring the actual distance are performed with different time intervals between each other.
- the processed actual distance is obtained by selecting the values which are closer to the reference distance and obtaining the average value of the selected values.
- Distance values may vary if the road is ascending or descending, thus providing values which are very far from the reference ones. Provided the deviation from the correct aiming is low, the closest values may be chosen to perform the correction.
- the step of selecting the values comprises choosing the mode of the set of values and choosing all the values within a threshold over and below said mode.
- the actual distance values are considered with only one digit in the fractional part.
- the step of identifying the position of the reference portion in the acquired image is carried out by a control unit which is
- This way of training the control unit is useful since provides the control unit with the ability to identify the position of a reference portion in an improved way.
- the step of comparing the actual distance with the reference distance is carried out by a control unit which is
- This way of training the control unit is useful since provides the control unit with the ability to compare distances in an improved way.
- the step of training the control unit comprises the use of a machine learning algorithm.
- This machine learning algorithm may be used both in the identification of the position of a reference portion and/or in the distance comparison. Each one of the two options follows its own machine learning algorithm. Once the corresponding results are validated, the values of the control unit are used to the corresponding steps of the method of the invention.
- the invention provides a data processing element comprising means for carrying out the steps of a method according to the first inventive aspect and a computer program comprising instructions which, when the program is executed by a control unit, cause the control unit to carry out the steps of a method according to the first inventive aspect.
- the invention provides an automotive lighting device comprising:
- - a camera configured to acquire external images
- control unit for performing the steps of the method according to the first inventive aspect.
- the light source arrangement is a matrix arrangement comprising at least 2000 solid-state light sources.
- solid state refers to light emitted by solid-state electroluminescence, which uses semiconductors to convert electricity into light. Compared to incandescent lighting, solid state lighting creates visible light with reduced heat generation and less energy dissipation.
- the typically small mass of a solid-state electronic lighting device provides for greater resistance to shock and vibration compared to brittle glass tubes/bulbs and long, thin filament wires. They also eliminate filament evaporation, potentially increasing the lifespan of the illumination device.
- Some examples of these types of lighting comprise semiconductor light- emitting diodes (LEDs), organic light-emitting diodes (OLED), or polymer light-emitting diodes (PLED) as sources of illumination rather than electrical filaments, plasma or gas.
- Fig 1 shows a general perspective view of an automotive lighting device according to the invention.
- Fig 2 shows some steps of the operation of this lighting device.
- Fig 3a and Fig 3b show an example of a beam which is not correctly aimed and a beam which is correctly aimed.
- Fig 1 shows a general perspective view of an automotive lighting device according to the invention.
- This headlamp 1 is installed in an automotive vehicle 100 and comprises
- control unit 3 to perform a control of the operation of the LEDs 2;
- a camera 4 intended to acquire external images of a light pattern projected by the LEDs 2.
- This matrix configuration is a high-resolution module, having a resolution greater than 2000 pixels. However, no restriction is attached to the technology used for producing the projection modules.
- control unit previously to its installation in the automotive headlamp, has undergone two training processes.
- Both training processes comprise some machine learning steps, where the control unit is trained with training data provided by the plurality of sensors.
- the first training process is concerning the identification of the position of a reference portion. This first training process comprises
- the second training process is concerning the distance comparison.
- This second training process comprises - training the control unit to compare an actual distance with a reference distance in training acquired images;
- control unit 16 In this case, different measurements are provided and the control unit is trained to calculate the correct biasing value.
- control unit is installed in an automotive vehicle 100 of Fig 2, to perform the luminous control of the headlamp 1 .
- these training and testing processes could also be performed during the operation of the control unit, instead of previously to their installation.
- Fig 2 shows the operation of this lighting device.
- a predetermined light pattern is provided by the lighting device, according to the lighting functionality selected by the vehicle user.
- This predetermined light pattern comprises a reference portion, which in this case is a particular pictogram.
- This pictogram 5 is designed to be projected at a reference distance from the lighting device. When the vehicle is stopped, a single measurement is carried out to measure which is the distance between the reference portion of the pictogram with respect to the lighting device.
- This biasing value will indicate if the beam is too high (and therefore, it should be lowered) or is too low (and therefore, it should be raised).
- these measurements are obtained.
- An example of this algorithm would be to obtain the mode value of all the set values and then choose all the values within a predetermined threshold (for example, 10% above and over this mode value. Then, the average value is obtained for the selected value, and this is taken as the actual distance, to be compared with the reference distance.
- the mode value will be 5.5. Values within a range from -10% to +10% of 5.5 are selected: 5.4, 5.5, 5.7, 5.5, 5.6, 5.5, 5.8. The average value is then calculated: 5.57. If the reference distance is, for example, 5.2, the beam needs to be aimed to reduce the distance of the reference portion in 0.37 m.
- Fig 3a and Fig 3b shows an example of a beam which is not correctly aimed and a beam which is correctly aimed.
- the tunnel function will not work properly if the beam is not correctly aimed, thus glaring the driver of the opposite vehicle.
Abstract
The invention provides a method for achieving a correct aiming of an automotive lighting device (10), comprising the steps of providing a predetermined light pattern comprising a reference portion, acquiring an image of the predetermined light pattern comprising the reference portion and identifying the position of the reference portion in the acquired image. The reference portion is designed to be located at a reference distance from the automotive lighting device when the lighting device is correctly aimed. Then, an actual distance between the position of the automotive lighting device and the position of the reference portion is measured, then comparing the actual distance with the reference distance thus resulting a biasing value. Finally, the position of the automotive lighting device is corrected depending on the biasing value.
Description
Description
Title: Automotive lighting device
This invention is related to the field of automotive lighting devices, and more particularly, to the improvement of luminous efficiency in these devices.
Automotive lighting market can be considered as one of the most competitive ones and new lighting functionalities are constantly required.
Some lighting modules are required to provide more than one different functionality. To achieve this aim, there are many options in the market which combine the low beam and the high beam functionalities.
Current devices need to provide levelling and aiming features so that the beam is well adjusted and glaring is prevented. Further, a good adjustment of the beam is also required for a good operation of smart functionalities.
Current solutions involve mechanical sensors to sense the inclination of the vehicle and then adjust the inclination of the lighting device to compensate it.
The invention provides an alternative solution for this problem by a method for achieving a correct aiming of an automotive lighting device, the method comprising the steps of
- providing a predetermined light pattern comprising a reference portion, wherein the reference portion is designed to be located at a reference distance from the automotive lighting device when the lighting device is correctly aimed;
- acquiring an image of the predetermined light pattern comprising the reference portion by some image acquisition means;
- identifying the position of the reference portion in the acquired image;
- measuring an actual distance between the position of the automotive lighting device and the position of the reference portion in the acquired image;
- comparing the actual distance with the reference distance thus resulting a biasing value; and
correcting the position of the automotive lighting device depending on the biasing value.
In some particular embodiments, the reference portion is a portion of a high beam light pattern, or a portion of a low beam light pattern, or a portion of a spot light pattern, or a portion of a pictogram.
These type of projections have zones which may be easily considered as reference zones, and therefore easily measured by image acquisition means.
In some particular embodiments, the step of measuring the actual distance is performed more than once, and a processed actual distance is used in the step of comparing the actual distance with the reference distance.
A single measurement is enough when the car is stopped and the road is flat, so the measurement is not influenced by the body tilt or by the road inclination. However, when the vehicle is in motion, different measurements may be performed to ensure a correct actual distance to be compared with the reference distance.
In some particular embodiments, the steps of measuring the actual distance are performed with different time intervals between each other.
Hence, a kind of “random effect” is achieved, improving the aim of the measurements.
In some particular embodiments, the processed actual distance is obtained by selecting the values which are closer to the reference distance and obtaining the average value of the selected values.
Distance values may vary if the road is ascending or descending, thus providing values which are very far from the reference ones. Provided the deviation from the correct aiming is low, the closest values may be chosen to perform the correction.
In some particular embodiments, the step of selecting the values comprises choosing the mode of the set of values and choosing all the values within a threshold over and below said mode.
This particular way of choosing the values considers that most of the time, the vehicle is on a flat road, so the mode (the most repeated value) will correspond to
the values on flat road. Choosing a threshold over and below and obtaining the average value will improve the accuracy of the method.
In some particular embodiments, the actual distance values are considered with only one digit in the fractional part.
Choosing just one digit in the fractional part will make it easier to obtain repeated values, so that the mode may be easily found.
In some particular embodiments, the step of identifying the position of the reference portion in the acquired image is carried out by a control unit which is
- trained to identify the position of a reference portion in training acquired images; and
- tested by comparing the identified positions with the real positions.
This way of training the control unit is useful since provides the control unit with the ability to identify the position of a reference portion in an improved way.
In some particular embodiments, the step of comparing the actual distance with the reference distance is carried out by a control unit which is
- trained to compare an actual distance with a reference distance in training acquired images; and
- tested by comparing the obtained results with real results.
This way of training the control unit is useful since provides the control unit with the ability to compare distances in an improved way.
In some particular embodiments, the step of training the control unit comprises the use of a machine learning algorithm.
This machine learning algorithm may be used both in the identification of the position of a reference portion and/or in the distance comparison. Each one of the two options follows its own machine learning algorithm. Once the corresponding results are validated, the values of the control unit are used to the corresponding steps of the method of the invention.
In a further inventive aspect, the invention provides a data processing element comprising means for carrying out the steps of a method according to the first
inventive aspect and a computer program comprising instructions which, when the program is executed by a control unit, cause the control unit to carry out the steps of a method according to the first inventive aspect.
In a further inventive aspect, the invention provides an automotive lighting device comprising:
- an arrangement of light sources;
- a camera configured to acquire external images; and
- a control unit for performing the steps of the method according to the first inventive aspect.
In some particular embodiments, the light source arrangement is a matrix arrangement comprising at least 2000 solid-state light sources.
The term "solid state" refers to light emitted by solid-state electroluminescence, which uses semiconductors to convert electricity into light. Compared to incandescent lighting, solid state lighting creates visible light with reduced heat generation and less energy dissipation. The typically small mass of a solid-state electronic lighting device provides for greater resistance to shock and vibration compared to brittle glass tubes/bulbs and long, thin filament wires. They also eliminate filament evaporation, potentially increasing the lifespan of the illumination device. Some examples of these types of lighting comprise semiconductor light- emitting diodes (LEDs), organic light-emitting diodes (OLED), or polymer light-emitting diodes (PLED) as sources of illumination rather than electrical filaments, plasma or gas.
Unless otherwise defined, all terms (including technical and scientific terms) used herein are to be interpreted as is customary in the art. It will be further understood that terms in common usage should also be interpreted as is customary in the relevant art and not in an idealised or overly formal sense unless expressly so defined herein.
In this text, the term “comprises” and its derivations (such as “comprising”, etc.) should not be understood in an excluding sense, that is, these terms should not be interpreted as excluding the possibility that what is described and defined may include further elements, steps, etc.
To complete the description and in order to provide for a better understanding of the invention, a set of drawings is provided. Said drawings form an integral part of the description and illustrate an embodiment of the invention, which should not be interpreted as restricting the scope of the invention, but just as an example of how the invention can be carried out. The drawings comprise the following figures:
Fig 1 shows a general perspective view of an automotive lighting device according to the invention.
Fig 2 shows some steps of the operation of this lighting device.
Fig 3a and Fig 3b show an example of a beam which is not correctly aimed and a beam which is correctly aimed.
Elements of the example embodiments are consistently denoted by the same reference numerals throughout the drawings and detailed description where appropriate:
1 Fleadlamp
2 LED
2 Control unit
4 Camera
5 Pictogram
6 100 Automotive vehicle
7 The example embodiments are described in sufficient detail to enable those of ordinary skill in the art to embody and implement the systems and processes herein described. It is important to understand that embodiments can be provided in many alternate forms and should not be construed as limited to the examples set forth herein.
8 Accordingly, while embodiment can be modified in various ways and take on various alternative forms, specific embodiments thereof are shown in the drawings and described in detail below as examples. There is no intent to limit to the particular forms disclosed. On the contrary, all modifications,
equivalents, and alternatives falling within the scope of the appended claims should be included. Elements of the example embodiments are consistently denoted by the same reference numerals throughout the drawings and detailed description where appropriate.
Fig 1 shows a general perspective view of an automotive lighting device according to the invention.
9 This headlamp 1 is installed in an automotive vehicle 100 and comprises
- a matrix arrangement of LEDs 2, intended to provide a light pattern;
- a control unit 3 to perform a control of the operation of the LEDs 2; and
- a camera 4 intended to acquire external images of a light pattern projected by the LEDs 2.
10 This matrix configuration is a high-resolution module, having a resolution greater than 2000 pixels. However, no restriction is attached to the technology used for producing the projection modules.
11 The control unit, previously to its installation in the automotive headlamp, has undergone two training processes.
12 Both training processes comprise some machine learning steps, where the control unit is trained with training data provided by the plurality of sensors.
13 The first training process is concerning the identification of the position of a reference portion. This first training process comprises
- training the control unit to identify the position of a reference portion in training acquired images; and
- testing the control unit comparing the identified positions with the real positions.
14 Different reference portions are provided, and the distance is calculated for each one, due to the aforementioned algorithm.
15 The second training process is concerning the distance comparison. This second training process comprises
- training the control unit to compare an actual distance with a reference distance in training acquired images; and
- testing the control unit comparing the obtained results with the real results.
16 In this case, different measurements are provided and the control unit is trained to calculate the correct biasing value.
17 Once both training processes are finished, the control unit is installed in an automotive vehicle 100 of Fig 2, to perform the luminous control of the headlamp 1 . In any event, these training and testing processes could also be performed during the operation of the control unit, instead of previously to their installation.
18 Fig 2 shows the operation of this lighting device. A predetermined light pattern is provided by the lighting device, according to the lighting functionality selected by the vehicle user. This predetermined light pattern comprises a reference portion, which in this case is a particular pictogram.
19 This pictogram 5 is designed to be projected at a reference distance from the lighting device. When the vehicle is stopped, a single measurement is carried out to measure which is the distance between the reference portion of the pictogram with respect to the lighting device.
20 This actual distance is compared to the ideal reference distance, and then a biasing value is obtained.
21 This biasing value will indicate if the beam is too high (and therefore, it should be lowered) or is too low (and therefore, it should be raised).
22 When the vehicle is in motion, a single measurement would be risky, since the vehicle is not always running on straight road. Flence, a set of measurements is taken. These measurements will comprise data when the vehicle is climbing, when the vehicle is horizontal and when the vehicle is going down. The measurements which are interesting for correcting the aim of the beam are the measurements of horizontal cruise.
23 By means of a machine learning algorithm, these measurements are obtained. An example of this algorithm would be to obtain the mode value of all the set values and then choose all the values within a predetermined threshold (for
example, 10% above and over this mode value. Then, the average value is obtained for the selected value, and this is taken as the actual distance, to be compared with the reference distance.
24 For example, if the set of measurements include these measurements: 3.3, 3.5, 5.4, 5.5, 5.7, 5.5, 5.6, 5.5, 5.8, 6.1 , 6.3, the mode value will be 5.5. Values within a range from -10% to +10% of 5.5 are selected: 5.4, 5.5, 5.7, 5.5, 5.6, 5.5, 5.8. The average value is then calculated: 5.57. If the reference distance is, for example, 5.2, the beam needs to be aimed to reduce the distance of the reference portion in 0.37 m.
25 Fig 3a and Fig 3b shows an example of a beam which is not correctly aimed and a beam which is correctly aimed. In this case, the tunnel function will not work properly if the beam is not correctly aimed, thus glaring the driver of the opposite vehicle.
Claims
1. Method for achieving a correct aiming of an automotive lighting device (10), the method comprising the steps of
- providing a predetermined light pattern comprising a reference portion (5), wherein the reference portion (5) is designed to be located at a reference distance from the automotive lighting device (10) when the lighting device is correctly aimed;
- acquiring an image of the predetermined light pattern comprising the reference portion by some image acquisition means;
- identifying the position of the reference portion (5) in the acquired image;
- measuring an actual distance between the position of the automotive lighting device (10) and the position of the reference portion in the acquired image;
- comparing the actual distance with the reference distance thus resulting a biasing value; and
- correcting the position of the automotive lighting device (10) depending on the biasing value.
2. Method according to claim 1 , wherein the reference portion is a portion of a high beam light pattern, or a portion of a low beam light pattern, or a portion of a spot light pattern, or a portion of a pictogram.
3. Method according to any of the preceding claims, wherein the step of measuring the actual distance is performed more than once, and a processed actual distance is used in the step of comparing the actual distance with the reference distance.
4. Method according to claim 3, wherein the steps of measuring the actual distance are performed with different time intervals between each other.
5. Method according to any of claims 3 or 4, wherein the processed actual distance is obtained by selecting the values which are closer to the
reference distance and obtaining the average value of the selected values.
6. Method according to claim 5, wherein the step of selecting the values comprises choosing the mode of the set of values and choosing all the values within a threshold over and below said mode.
7. Method according to any of claims 3 to 6, wherein the actual distance values are considered with only one digit in the fractional part.
8. Method according to any of the preceding claims, wherein the step of identifying the position of the reference portion in the acquired image is carried out by a control unit which is
- trained to identify the position of a reference portion in training acquired images; and
- tested to compare the identified positions with the real positions.
9. Method according to any of the preceding claims, wherein the step of comparing the actual distance with the reference distance is carried out by a control unit which is
- trained to compare an actual distance with a reference distance in training acquired images; and
- tested to compare the obtained results with the real results.
10. Method according to any of claims 8 or 9, wherein the step of training the control unit comprises the use of a machine learning algorithm.
11. Data processing element comprising means for carrying out the steps of a method according to any of the preceding claims.
12. Computer program comprising instructions which, when the program is executed by a control unit, cause the control unit to carry out the steps of a method according to any of claims 1 to 10.
13. Automotive lighting device comprising:
- an arrangement of light sources (2);
- a camera (4) configured to acquire external images; and
- a control unit (3) for performing the steps of the method according to any claims 1 to 9.
14. Automotive lighting device (1) according to claim 13, wherein the light source arrangement is a matrix arrangement comprising at least 2000 solid- state light sources (2).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR2007587 | 2020-07-20 | ||
| FR2007587 | 2020-07-20 |
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| Publication Number | Publication Date |
|---|---|
| WO2022017965A1 true WO2022017965A1 (en) | 2022-01-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/EP2021/069911 WO2022017965A1 (en) | 2020-07-20 | 2021-07-15 | Automotive lighting device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19916175A1 (en) * | 1999-04-10 | 2000-10-12 | Bosch Gmbh Robert | Setting device for headlamp light beam has processor with monitor that evaluates information content of image from sensor, prevents further processing if information insufficient |
| 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 |
| EP2050618A2 (en) * | 2007-10-17 | 2009-04-22 | Audi AG | Method for automatically adjusting a lighting unit of a vehicle and light system for a vehicle |
| DE102011109440A1 (en) * | 2010-10-16 | 2012-04-19 | Daimler Ag | Method for adjusting and / or calibrating at least one headlight of a vehicle |
| DE102017214950A1 (en) * | 2017-08-28 | 2019-02-28 | Bayerische Motoren Werke Aktiengesellschaft | Method for automatic headlight calibration of a motor vehicle |
-
2021
- 2021-07-15 WO PCT/EP2021/069911 patent/WO2022017965A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19916175A1 (en) * | 1999-04-10 | 2000-10-12 | Bosch Gmbh Robert | Setting device for headlamp light beam has processor with monitor that evaluates information content of image from sensor, prevents further processing if information insufficient |
| 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 |
| EP2050618A2 (en) * | 2007-10-17 | 2009-04-22 | Audi AG | Method for automatically adjusting a lighting unit of a vehicle and light system for a vehicle |
| DE102011109440A1 (en) * | 2010-10-16 | 2012-04-19 | Daimler Ag | Method for adjusting and / or calibrating at least one headlight of a vehicle |
| DE102017214950A1 (en) * | 2017-08-28 | 2019-02-28 | Bayerische Motoren Werke Aktiengesellschaft | Method for automatic headlight calibration of a motor vehicle |
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