DE102018207160A1 - Headlamp system of a motor vehicle with adjustable headlamps - Google Patents

Abstract

In the headlamp system with at least one adjustable headlamp, with a lane marking device comprising at least one imaging sensor (22) and a steering path calculation (30) in which a polygon representing the center of the lane in front of the vehicle is calculated, with a headlight control module (38) receiving an input from the steering path calculation (30), further receiving an input of status data of the motor vehicle, a first swivel angle of the headlight system based on the polynomial, a second swivel angle based on the status data, and a quality signal of the polynomial calculated and the output side is connected to adjusting means of the adjustable headlamp, the headlamp control module (38) on an arbitration (42) at which the signals of the two swivel angle, the quality signal and the signal of the polynomial applied to the input side and in the based on the quality i It is determined whether the first, as the fallback position, the second or a mixture of the first and second pivoting angles is preferably forwarded to the adjusting means.

Description

Prior art dynamic headlamp systems for motor vehicles use the steering angle and / or the yaw rate to turn the light cone of the headlamps into a curve. The data thus obtained are referred to as being based on the data of the vehicle. Improved sensors, which are provided in motor vehicles according to the prior art, can detect additional data on the course of the road ahead of the motor vehicle, here reference is made to front-facing cameras, GPS, electronic horizon and so on. However, these sensors do not consistently provide sufficiently usable signals. Thus, the view of the camera may be limited, for example, by heavy rain, fog, dirt. A GPS signal may be currently inaccessible, and the electronic horizon may not be up to date. It is therefore not possible to rely solely on the signals from these sensors.

When a vehicle is approaching a bend, due to the lane marking, the camera recognizes the curve before the vehicle itself is turned into the curve by changing the steering. By means of the camera, therefore, an anticipatory swiveling in of the light system is possible. In this case, a polynomial called "center lane polynomial" for determining the cornering of a preceding curve is determined and used to preemptively turn a headlamp into a curve before a signal obtained by the vehicle itself, for example a steering angle signal, turns the vehicle into a curve signaled. During cornering, the vehicle-based swivel angle approaches the pre-engaging set swivel angle. At the end of the curve, the pivoting of the light system based on the signal from the camera takes place earlier. Only gradually does the vehicle-based swivel angle approach. On a straight line, there is no difference between the effects of the two signals, ie camera or based on the data of the vehicle.

US 2003/010 78 98 A1 describes a structure and a method for operating a direction control system for vehicle headlamps that is capable of changing the directional target angles of the headlamps to accommodate changes in the operating conditions of the vehicle. One or more sensors may be provided which generate signals representative of a condition of the vehicle, such as a vehicle. Road speed, steering angle, pitch, suspension height, rate of change of the road speed, rate of change of the steering angle, rate of change of the slope and the rate of change of the suspension height of the vehicle. A controller responds to the sensor signal to produce an output signal. An actuator operates the headlamp in accordance with the output signal. The controller may include a table that relates values of the sensed operating condition to values of the output signal. The controller responds to the sensor signal to look up the output signal in the table.

A headlamp system after the EP 1 914 115 A2 has an adjustable headlight and a device for detecting the course of the road, for example a camera. This device has an imaging sensor with an image processing device and a control unit and passes the data flow determined via the imaging sensor after processing in the image processing device and in the control unit as signals to actuators of the adjustable headlight. In order for the change in the direction of the light to take place even before a change of direction of the vehicle, the image processing device generates from the data flow determined by the imaging sensor a signal which makes it possible to predict the course of the road and is fed to the light control device. It sends to the control elements signals for the anticipatory change of direction of the light beams of the vehicle.

From the US 2013/025 72 73 A1 For example, a method and an apparatus for adjusting the headlamp light of a vehicle are known, the adaptation takes place as a function of the visibility conditions in a curve. This detects a curve to which the vehicle is approaching. If an oncoming vehicle is detected, the headlights are adjusted so that it is not dazzled.

Out WO 2013/026596 A1 A method for adjusting the headlight range of a headlamp of a vehicle is known in which a pitch angle of the vehicle is detected and the change in the headlamp range of the headlamp is adjusted accordingly. On the further state of the art is on FR 2 927 857 B2 directed.

In the EP 869 031 B1 For example, a method is proposed for controlling the light distribution and for adjusting the headlights in the event that the camera does not provide a usable information signal.

The object of the invention is to develop a dynamic headlamp system to the effect that a dynamic pivoting of the headlights is maintained as far as possible in a curve, regardless of how good the signals supplied by an imaging sensor, so at least in case of insufficient signals of the imaging sensor a swinging of the Headlight is determined based on the status data of the vehicle is reached.

• - mit mindestens einem verstellbaren Scheinwerfer,
• - mit einer Vorrichtung zur Erfassung von Fahrbahnmarkierungen, die wenigstens einen bildgebenden Sensor mit einer Bildbearbeitungsvorrichtung und eine Lenkungspfadberechnung aufweist, in welcher ein Polygon berechnet wird, das die Mitte der Fahrspur vor dem Fahrzeug repräsentiert und als Polynom vorliegt,
• - mit einem Scheinwerfer-Kontrollmodul, das einen Input von der Lenkungspfadberechnung erhält, weiterhin einen Input von Statusdaten des Kraftfahrzeugs erhält, das einen ersten Schwenkwinkel des Scheinwerfersystems auf der Basis des Polynoms, einen zweiten Schwenkwinkel auf der Basis der Statusdaten und ein Qualitätssignal des Polynoms errechnet und ausgangsseitig mit den Aktoren verbunden ist,

wobei das Scheinwerfer-Kontrollmodul eine Arbitrierung aufweist, an der das Signal der beiden Schwenkwinkel, das Qualitätssignal und das Signal des Polynoms eingangsseitig anliegen und in der auf der Basis des Qualitätssignals bestimmt wird, ob vorzugsweise der erste, als Rückfallposition der zweite oder eine Mischung aus erstem und zweitem Schwenkwinkel an die Aktoren weitergegeben wird. Sie wird weiterhin gelöst durch ein Verfahren mit den Merkmalen des Anspruchs 10.This object is achieved by a headlamp system of a motor vehicle,

• - with at least one adjustable headlamp,
• with a lane mark detection device having at least one imaging sensor with an image processing device and a steering path calculation in which a polygon is calculated that represents the center of the lane in front of the vehicle and is present as a polynomial,
• with a headlamp control module receiving an input from the steering path calculation, further receiving an input of status data of the motor vehicle which calculates a first swivel angle of the headlight system based on the polynomial, a second swivel angle based on the status data and a quality signal of the polynomial and the output side is connected to the actuators,

wherein the headlamp control module has an arbitration, at which the signal of the two swivel angle, the quality signal and the signal of the polynomial applied input side and is determined in the basis of the quality signal, preferably the first, as a fallback position, the second or a mixture of first and second pivot angle is passed to the actuators. It is further solved by a method having the features of claim 10.

The aim of the invention is that a pivoting of the headlights when cornering is achieved in any case, so that a driver who has become accustomed to this function, is not irritated in case of failure of the signal of the imaging sensor. This is achieved by assessing the quality of the predictive signal provided by the imaging sensor or devices, and only using that signal to adjust the headlamps if it is of sufficient quality. As a fallback position, the second swing angle is used, which is always available, since it is obtained via vehicle-based data. If the first swivel angle is not used to control the headlights due to poor signal quality, the second swivel angle will be used. Priority thus has the use of the first pivoting angle. The second swing angle is passed to the headlights only in case the first swing angle can not be determined with sufficient reliability.

The decision as to whether the first swivel angle can be qualitatively sufficiently well determined and thus also used, or whether the second swivel angle must be used as a fallback position for the adjustment, is made in the arbitration. In this case, it is currently determined on the basis of the quality signal via the polygon whether the polygon determined by the imaging sensor is sufficiently long, that is to say the course of the road is sufficiently well known. Only if this is not the case, the second swing angle is used.

If the road ahead of the vehicle can be detected sufficiently well via the optical sensor and thus a polygon of sufficient length in front of the vehicle can be calculated, the first pivoting angle is used for the adjustment of the headlights. Only if the quality of the polygon is not sufficient, the second tilt angle is used.

The invention makes it necessary that occasionally the headlamps must be adjusted between the first and the second pivoting angle. So that it does not cause dithering movements, irritations or other movements of the headlights that disturb the driver, the transition from the first swivel angle to the second swivel angle and back is carried out gently, ie with a certain time constant. Short-term interruptions of the signal of the optical sensors do not lead to a complete adjustment of the headlights in the direction of the second pivoting angle. If suddenly there is again an optical signal of sufficient quality, the transition does not proceed directly from the first swivel angle to the second swivel angle, but this takes place in a smooth manner, with a smooth movement. Preferably, it takes at least 1 second, in particular at least 2 seconds, until the headlights are adjusted from the first swivel angle to the second swivel angle and vice versa.

Used are known from the prior art headlights. The headlight can be adjusted for example by means of a mechanical actuator. It may have a plurality of switchable light sources, for example, be designed as a matrix or pixel spotlight, with an adjustment by switching on or off of individual matrix or pixel elements. The headlight is adjusted by an electrical signal. Preferably, the headlight control module has a filter for filtering and smoothing the polynomial whose output is connected to an input of the arbitration. The output of this filter is the signal of the polynomial.

Preferably, a quality signal of the polynomial is calculated in the filter, wherein in particular the length of the polygon is used as a criterion for the quality. A sufficient length of the polygon is preferably at least the length that the vehicle travels within the next 3 seconds, in particular at least the next 5 seconds.

Preferably, the headlight control module comprises a fusion module having a light mode manager and a fusion stage and followed by arbitration.

The fusion module preferably receives at least the status data of the vehicle as input, it has access to a database via light functions. Preferably, the headlamp system is connected to a CAN bus, via which it receives the status data of the vehicle as input. Preferably, the headlamp control module has a calculation module for the first swivel angle based on the polynomial for the middle of the lane, the output of which is connected to the input of the arbitration.

Preferably, in the calculation module, a vector is calculated, which rests in front of the vehicle center, the length of this vector depending on the speed of the vehicle and the cornering of the road in front of the vehicle varies and the vector is placed according to its length on the polygon, the Point of the vector always points to the polygon, and the resulting angle between vehicle axis and vector gives the first tilt angle.

• 1 zeigt ein prinzipielles Blockschaltbild des Eingangsteils des Scheinwerfersystems und
• 2 zeigt ein prinzipielles Blockschaltbild des sich an das Eingangsteil gemäß 1 anschließenden Ausgangsteils, die Verbindungen mit dem Schaltbild gemäß 1 erfolgen an den Punkten A, B, C und D.

Further advantages and features of the invention will become apparent from the embodiment explained in more detail below, which is explained in more detail with reference to the drawing. The embodiment is not intended to be limiting. The figures in the drawing show the following:

• 1 shows a schematic block diagram of the input part of the headlamp system and
• 2 shows a schematic block diagram of the according to the input part according to 1 subsequent output part, the connections with the diagram according to 1 take place at the points A . B . C and D ,

On a motor vehicle, not shown here are front a front radar 20 and an optical sensor 22 which inter alia recognizes a lane marking arranged. Both are aligned in the direction of travel. The signals of both become a camera module 24 as input. The front radar 20 is with a module object recognition 26 and connected to the output of a first module curvature 28 the latter gives its output as an input to a steering path calculation 30 from. In this way, an object is detected, which is located in the guideway of the motor vehicle. The spotlights can be aligned with this object.

The optical sensor 22 is at a lane marker recognition 32 connected, whose output with a second module curvature 34 whose output is also connected to the steering path calculation 30 connected. At the exit of the steering path calculation 30 a signal is obtained about a polygon representing the center of the lane in front of the vehicle. It is shown as a polynomial.

Via a CAN bus 36 are status data of the motor vehicle, this includes the vehicle speed, the yaw rate and the steering angle. This data is the camera module 24 and further modules to be discussed. The data is used to assess the functionality of the cornering light.

That at the exit of the steering path calculation 30 present signal is used as input to a headlight control module 38 fed. This has a filter 40 in which a filtering and smoothing of the polynomial takes place. The output of the filter 40 is on the one hand with an arbitration 42 and on the other hand with a swivel angle calculation 44 connected. In the swivel angle calculation 44 If a first tilt angle is calculated for the headlights, the calculation is based on the polynomial.

In the swivel angle calculation 44 A vector is calculated, which rests at the front of the vehicle center. The length of this vector varies depending on the vehicle speed and the curvature of the road in front of the vehicle. According to the length of the vector, this is placed on the polygon. The top of the vector always points to the polygon. The resulting angle between the vehicle axle and the vector gives the first pivoting angle. Polygon is the most approximate actual course of the road center understood, the polynomial provides the mathematical formula for the description of this course.

The first swing angle thus calculated becomes the input of the arbitration 42 fed. This also receives via an input line 46 the data from the CAN bus 36 , In addition, the arbitration receives 42 a signal over a second pivot angle, which is determined from the status data of the motor vehicle, ie from the CAN bus 36 available data. The second swivel angle becomes adaptive cornering light in a module 48 determined. That of the filter 40 the arbitration 42 The signal passed over the polynomial is a quality signal. It is used for arbitration. Only if a long enough Polygon distance and thus distance is described by the polynomial, so for example, the distance that will cover the motor vehicle within the next few seconds, for example, at least 3 seconds, the quality signal is positive. It is also possible to output the quality signal in several gradations ranging from very good to very bad.

In the arbitration 42 is determined on the basis of the quality signal, preferably the first, as a fallback position, the second or a mixture of first and second pivoting angle to at least one actuator 50 is passed on. This actor 50 is connected to a headlight, not shown here and adjusts its light in the angular position, which at the exit of the Abitrierung 42 is present. If the quality signal is positive, the first sweep angle is forwarded. Only if this is not the case, the second swing angle is used and this is at the output of the arbitration 42 at. The term "actuator" is understood to mean an adjusting means for the adjustment of the headlight. It can be mechanical actuators that mechanically understand the headlight. They can be electronic actuators that switch individual light elements of the headlamp on and off. The terms actuator and actuator are understood to be equivalent.

If the quality signal is present in gradations, it is possible that intermediate positions between the first and the second swivel angle are output as the swivel angle. Depending on the quality of the polygon, the headlights can then not be turned into a curve as early as an optimal quality signal, but rather sooner than just based on the status data. It is thus even an improvement, but not in the fullest possible extent, the pre-object pivoting of the headlights achieved.

So that the actors 50 not be adjusted too quickly between the first and second pivoting angle and vice versa, so the light of the headlights makes no dithering, there is a swinging between the pivoting angles with a time constant t of a few seconds, for example at least 0.5 s and in particular at least one second. At the exit of the arbitration 42 is the valid for the headlights swivel angle. It will be in the arbitration 42 also generates intermediate states between the two pivoting angles in order to achieve the described soft transition. These are usually not stationary, but can be stationary if the quality signal is in gradations.

The output of the arbitration 42 is with a module fusion 52 connected. In this different light modes are given, for example, Abblendlichtlichtklassen V, C, E according to the ECE regulation 123 (R123). In this module Fusion 52 It also takes into account whether the main beam or dipped beam or any other is emitted. The module Fusion 52 receives the status data from the CAN bus as an input 36 ,

The headlamp system has a) at least one adjustable headlamp, b) a lane marking device comprising at least one imaging sensor 22 and a steering path calculation 30 in which a polygon representing the center of the lane in front of the vehicle is calculated, and c) with a headlight control module 38 which provides an input from the steering path calculation 30 receives, further receives an input of status data of the motor vehicle, and calculates a first pivot angle of the headlight system based on the polynomial, a second pivot angle on the basis of the status data and a quality signal of the polynomial and the output side is connected to adjusting means of the headlamp. The headlight control module 38 also has an arbitration 42 on, on which the signals of the two swivel angle, the quality signal and the signal of the polynomial present input side and is determined in the on the basis of the quality signal, preferably the first, as a fallback position of the second or a mixture of first and second pivot angle to the actuators 50 is passed on.

Terms such as substantially, preferably, and the like, and possibly inaccurate, are to be understood as meaning that a deviation of plus or minus 5%, preferably plus or minus 2%, and more preferably plus or minus one percent, of normal value is possible. The Applicant reserves the right to combine any features and also sub-features from the claims and / or any features and also sub-features from a set of the description in any manner with other features, sub-features or sub-features, even outside the features of independent claims.

LIST OF REFERENCE NUMBERS

20

front radar

22

optical sensor

24

camera module

26

Module object recognition

28

first module curvature

30

Steering path computation

32

Road marking recognition

34

second module curvature

36

CAN bus

38

Headlight Control Module

40

filter

42

arbitration

44

Swivel angle calculation

46

input line

48

Module Adaptive Headlights

50

actuator

52

fusion module

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

• US 2003/0107898 A1 [0003]
• EP 1914115 A2 [0004]
• US 2013/0257273 A1 [0005]
• WO 2013/026596 A1 [0006]
• FR 2927857 B2 [0006]
• EP 869031 B1 [0007]

Claims (12)

Headlight system of a motor vehicle, - with at least one adjustable headlamp, - having a device for detecting lane markings, comprising at least one imaging sensor (22) with an image processing device and a steering path calculation (30) in which a polygon is calculated, which represents the center of the lane in front of the vehicle and is present as a polynomial, with a headlight control module (38) receiving an input from the steering path calculation (30), further receiving an input of status data of the motor vehicle, the first swivel angle of the headlight system based on the polynomial, a second swivel angle based on the status data and a quality signal of the polynomial is calculated and connected on the output side to an adjusting means of the adjustable headlamp, the headlamp control module (38) having an arbitration (42) against which the signals of the two swivel angles, the quality signal and the polynomial signal are present on the input side and in which it is determined on the basis of the quality signal, whether preferably the first, as the fallback position, the second or a mixture of first and second pivoting angle is passed to the adjustable headlight. Headlight system according to Claim 1 , characterized in that the headlight has a mechanically and / or electronically adjustable actuator (50), and that preferably a mixture of first and second pivoting angle to the at least one actuator (50) is passed when the headlight control module (38) a Transition from the first pivot angle to the second pivot angle or vice versa, so that the transition between two pivot angles is gentle. Headlight system according to one of the preceding claims, characterized in that the headlight control module (38) comprises a filter for filtering (40) and smoothing the polynomial whose output is connected to an input of the arbitration (42) and at whose output the signal of Polynomial is present. Headlight system according to Claim 3 , characterized in that in the filter (40) calculates a quality signal of the polynomial, in particular the length of the polygon is used as a criterion for the quality. Headlight system according to one of the preceding claims, characterized in that the headlight control module (38) comprises a module fusion (52) having a light mode manager and a fusion stage and the arbitration (42) is connected downstream. Headlight system according to Claim 5 , characterized in that the module Fusion (52) receives as input at least the status data of the vehicle and has access to a database of light functions. Headlight system according to one of the preceding claims, characterized in that it is connected to a CAN bus (36) via which it receives the status data as input. Headlight system according to one of the preceding claims, characterized in that the headlight control module (38) has a pivot angle calculation (44) for the first pivot angle on the basis of the polynomial for the middle of the lane, whose output is connected to the input of the arbitration (42). Headlight system according to Claim 8 characterized in that the swivel angle calculation (44) calculates a vector which is centered on the motor vehicle and points forward, the length of this vector varying depending on the speed of the vehicle and the curvature of the road in front of the vehicle and the vector correspondingly its length is placed on the polygon, with the top of the vector always pointing to the polygon, and the resulting angle between vehicle axis and vector giving the first tilt angle. Method for controlling a headlamp system according to one of the preceding claims, comprising the following method steps: a) detecting the road ahead in front of the vehicle by means of an imaging sensor (22), wherein lane markings are detected, b) calculating a steering path by calculating a polygon representing the center of the traffic lane in front of the vehicle and obtained as a polynomial, c) calculating a first tilt angle for the headlamp system on the basis of the polynomial and a quality signal for the polynomial, d) calculating a second tilt angle for the headlamp system based on status data of the vehicle, which is preferably obtained via a CAN bus (36), e) Arbitrating on the basis of the quality signal, whether preferably the first, as a fallback position, the second or a mixture of first and second pivoting angle is passed to the headlight system. Method according to Claim 10 , characterized in that when switching between the first and second pivoting winding a transition between the pivoting angles is gentle, so that there is no irritating movements when pivoting the headlamp system. Method according to Claim 10 or 11 , characterized in that the quality signal is determined on the basis of the length of the polygon described by the polynomial, wherein the quality signal preferably also depends on the vehicle speed and possibly also on further status data.

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