Adaptive forward lighting system for vehicle

• US 8,162,518 B2
• Filed: 06/30/2011
• Issued: 04/24/2012
• Est. Priority Date: 08/11/2006
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Donnelly Corporation (Magna International Incorporated)
• Inventors: Schofield, Kenneth
• Primary Examiner(s): BRUCE, DAVID VERNON
• Application Number:
  US13/173,039
• Publication Number:
  US 20110292668A1
• Time in Patent Office: 299 Days
• Field of Search: 362/465, 362/466
• US Class Current: 362/466
• CPC Class Codes: B60K 31/00 Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator fittings acting on two or more sub-units B60W30/14; speedometers G01P; systems or devices for controlling speed in general G05D13/00 ; in traffic anti-collision system for road vehicles G08G1/16
• CPC Class Codes: B60Q 1/1423 Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
• CPC Class Codes: B60Q 2300/056 Special anti-blinding beams, e.g. a standard beam is chopped or moved in order not to blind
• CPC Class Codes: B60Q 2300/112 Vehicle speed
• CPC Class Codes: B60Q 2300/122 Steering angle
• CPC Class Codes: B60Q 2300/126 Hysteresis behavior based on steering
• CPC Class Codes: B60Q 2300/322 Road curvature
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: F21S 41/60 characterised by a variable light distribution
• CPC Class Codes: G06V 10/147 Details of sensors, e.g. sensor lenses fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: H04N 25/76 Addressed sensors, e.g. MOS or CMOS sensors

Abstract

An adaptive forward lighting system for a vehicle includes an imaging sensor and a control. The imaging sensor includes a two-dimensional array of light sensing photosensor elements, and monitors a scene forward of the direction of travel of the vehicle. The control processes image data from the imaging sensor. Adjustment between a first beam pattern and a second beam pattern of a headlamp of the vehicle is responsive, at least in part, to the processing of the image data. The control may receive vehicle data via a vehicle communication bus, and may adjust between a first beam pattern and a second beam pattern of a headlamp of the vehicle responsive, at least in part, to the vehicle data. The control may process image data to determine, at least in part, a presence, location or characteristic of an object of interest in the forward field of view of the imaging sensor.

Claims

1. An adaptive forward lighting system for a vehicle, said adaptive forward lighting system comprising:

an imaging sensor, said imaging sensor comprising a two-dimensional array of light sensing photosensor elements, said imaging sensor monitoring a scene forward of the direction of travel of the controlled vehicle;

a control, said control processing image data from said imaging sensor;

wherein adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle is responsive, at least in part, to said processing of said image data; and

wherein said control receives trajectory data indicative of a vehicle trajectory of the controlled vehicle via a vehicle communication bus, and wherein said control adjusts between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle responsive, at least in part, to said trajectory data.

2. The adaptive forward lighting system of claim 1, wherein said control adjusts between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle responsive to said trajectory data being indicative of a radius of curvature of the vehicle trajectory.

3. The adaptive forward lighting system of claim 2, wherein said control adjusts between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle during a period when said radius of curvature of the vehicle trajectory is below a threshold value.

4. The adaptive forward lighting system of claim 3, wherein said threshold value is adjusted based at least in part on whether the controlled vehicle is traveling around a left hand curve or a right hand curve.

5. The adaptive forward lighting system of claim 1, wherein adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle is determined responsive to a detection of an object of interest.

6. The adaptive forward lighting system of claim 1, wherein said control adjusts between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle when said trajectory data is indicative of the radius of curvature of the vehicle trajectory being below a threshold value and responsive to receipt at said control of a speed signal that is indicative of the speed of the controlled vehicle.

7. The adaptive forward lighting system of claim 6, wherein said control adjusts between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle when said speed signal is indicative of the speed of the controlled vehicle being above a threshold speed level.

8. The adaptive forward lighting system of claim 1, wherein said trajectory data comprises data indicative of a steering wheel angular position.

9. The adaptive forward lighting system of claim 8, including hysteresis in angular values for steering wheel angular positions.

10. The adaptive forward lighting system of claim 1, wherein adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle is limited when said trajectory data generally oscillates as the controlled vehicle travels along a curve.

11. The adaptive forward lighting system of claim 1, wherein a principal beam direction of at least one of a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle is adjustable responsive, at least in part, to said trajectory data.

12. The adaptive forward lighting system of claim 11, wherein said control is operable to adjust the principal beam direction to be directed at least partially sidewardly towards a sideward area.

13. The adaptive forward lighting system of claim 12, wherein said control is operable to adjust the principal beam direction to be directed at least partially sidewardly towards a sideward area when an object of interest is detected within the at least partially sidewardly area.

14. The adaptive forward lighting system of claim 1, wherein said vehicle communication bus comprises a CAN vehicle communication bus.

15. The adaptive forward lighting system of claim 1, including a time-based filter to limit adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle when said trajectory data generally oscillates as the controlled vehicle travels along a curve.

16. The adaptive forward lighting system of claim 1, including dynamic segmentation of the monitored scene.

17. The adaptive forward lighting system of claim 16, wherein the region monitored ahead of the controlled vehicle is extended in accordance with the trajectory of the controlled vehicle.

18. The adaptive forward lighting system of claim 17, wherein the region monitored ahead of the controlled vehicle is extended in accordance with the radius of curvature of the trajectory of the controlled vehicle.

19. The adaptive forward lighting system of claim 18, wherein the region monitored ahead of the controlled vehicle is extended in accordance with the radius of curvature of the trajectory of the controlled vehicle as determined by a steering wheel angle of the controlled vehicle.

20. The adaptive forward lighting system of claim 1, wherein the forward field of view of said imaging sensor encompasses a portion of the vehicle windshield that is swept by a windshield wiper of the controlled vehicle.

21. The adaptive forward lighting system of claim 1, wherein said imaging sensor comprises a CMOS imaging sensor.

22. The adaptive forward lighting system of claim 1, wherein said control processes said image data to detect an object of interest in the forward field of view of said imaging sensor.

23. The adaptive forward lighting system of claim 22, wherein said control processes said image data to obtain information regarding at least one of the location of a detected object of interest and the movement of a detected object of interest.

24. The adaptive forward lighting system of claim 23, wherein said control, responsive to said processing of said image data, is operable to provide, at least in part, at least one of (a) traffic lane detection, (b) lane departure warning, (c) traffic sign recognition, (d) traffic light status detection, (e) fog detection, (f) rain sensing, (g) adaptive cruise control, (h) pre-crash sensing, (i) pedestrian detection and (j) a supplement or complement to the use of other sensors of the controlled vehicle.

25. The adaptive forward lighting system of claim 1, wherein said control processes said image data to determine, at least in part, at least one of (i) the presence of an object of interest in the forward field of view of said imaging sensor, (ii) the location of an object of interest in the forward field of view of said imaging sensor, and (iii) a characteristic of an object of interest in the forward field of view of said imaging sensor.

26. The adaptive forward lighting system of claim 1, wherein said control processes said image data to determine at least one characteristic of the monitored scene.

27. The adaptive forward lighting system of claim 26, wherein said control processes said image data to determine at least one of (a) a general illumination level, (b) a road condition ahead of the controlled vehicle and (c) an incline of the road ahead of the controlled vehicle.

28. The adaptive forward lighting system of claim 1, wherein said control processes said image data to determine a general illumination level in the forward field of view of said imaging sensor and, responsive to said processing of said image data, said control is operable to determine the presence of other road users in the region of influence of a vehicle headlamp of the controlled vehicle, and wherein said control is operable to inhibit adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle if other road users are detected within the region of influence of the vehicle headlamp of the controlled vehicle.

29. The adaptive forward lighting system of claim 1, wherein said adaptive forward lighting system automatically compensates for misalignment of said imaging sensor.

30. The adaptive forward lighting system of claim 1, wherein said control is responsive to a speed signal indicative of a vehicle speed of the controlled vehicle, and wherein said control adjusts between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle when said speed signal is indicative of the vehicle speed being below a threshold speed level.

31. The adaptive forward lighting system of claim 1, wherein adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle comprises selection between a high beam state and a low beam state of a vehicle headlamp of the controlled vehicle.

32. An adaptive forward lighting system for a vehicle, said adaptive forward lighting system comprising:

an imaging sensor, said imaging sensor comprising a two-dimensional array of light sensing photosensor elements, said imaging sensor monitoring a scene forward of the direction of travel of the controlled vehicle;

wherein said imaging sensor comprises a CMOS imaging sensor and wherein the forward field of view of said imaging sensor encompasses a portion of the vehicle windshield that is swept by a windshield wiper of the controlled vehicle;

a control, said control processing image data from said imaging sensor;

wherein said control processes said image data to determine, at least in part, at least one of (i) the presence of an object of interest in the forward field of view of said imaging sensor, (ii) the location of an object of interest in the forward field of view of said imaging sensor, and (iii) a characteristic of an object of interest in the forward field of view of said imaging sensor;

wherein adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle is responsive, at least in part, to said processing of said image data;

wherein said control receives vehicle data via a vehicle communication bus; and

wherein said control, responsive to said processing of said image data, is operable to provide, at least in part, at least one of (a) traffic lane detection, (b) lane departure warning, (c) traffic sign recognition, (d) traffic light status detection, (e) fog detection, (f) rain sensing, (g) adaptive cruise control, (h) pre-crash sensing, (i) pedestrian detection and (j) a supplement or complement to the use of other sensors of the controlled vehicle.

33. The adaptive forward lighting system of claim 32, wherein said control adjusts between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle responsive to said vehicle data.

34. The adaptive forward lighting system of claim 33, wherein said vehicle data comprises at least one of (i) vehicle speed data, (ii) vehicle trajectory data, (iii) vehicle pitch data, (iv) vehicle tilt data, (v) vehicle yaw data and (vi) vehicle GPS data.

35. An adaptive forward lighting system for a vehicle, said adaptive forward lighting system comprising:

an imaging sensor, said imaging sensor comprising a two-dimensional array of light sensing photosensor elements, said imaging sensor monitoring a scene forward of the direction of travel of the controlled vehicle;

a control, said control processing image data from said imaging sensor;

wherein said control processes said image data to obtain, at least in part, information regarding at least one of the location of a detected object of interest and the movement of a detected object of interest;

wherein adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle is responsive, at least in part, to said processing of said image data;

wherein said control receives vehicle data via a vehicle communication bus; and

wherein said control, responsive to said processing of said image data, is operable to provide, at least in part, at least one of (a) traffic lane detection, (b) lane departure warning, (c) traffic sign recognition, (d) traffic light status detection, (e) fog detection, (f) rain sensing, (g) adaptive cruise control, (h) pre-crash sensing, (i) pedestrian detection and (j) a supplement or complement to the use of other sensors of the controlled vehicle.

36. The adaptive forward lighting system of claim 35, wherein said control adjusts between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle responsive, at least in part, to said vehicle data.

37. The adaptive forward lighting system of claim 36, wherein said vehicle data comprises at least one of (i) vehicle speed data, (ii) vehicle trajectory data, (iii) vehicle pitch data, (iv) vehicle tilt data, (v) vehicle yaw data and (vi) vehicle GPS data.

38. An adaptive forward lighting system for a vehicle, said adaptive forward lighting system comprising:

an imaging sensor, said imaging sensor comprising a two-dimensional array of light sensing photosensor elements, said imaging sensor monitoring a scene forward of the direction of travel of the controlled vehicle;

a control, said control processing image data from said imaging sensor;

wherein said control processes said image data to determine, at least in part, at least one of (i) the presence of an object of interest in the forward field of view of said imaging sensor, (ii) the location of an object of interest in the forward field of view of said imaging sensor, and (iii) a characteristic of an object of interest in the forward field of view of said imaging sensor;

wherein adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle is responsive, at least in part, to said processing of said image data; and

wherein said control receives vehicle data via a vehicle communication bus.

39. The adaptive forward lighting system of claim 38, wherein said control adjusts between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle responsive, at least in part, to said vehicle data.

40. The adaptive forward lighting system of claim 39, wherein said vehicle data comprises at least one of (i) vehicle speed data, (ii) vehicle trajectory data, (iii) vehicle pitch data, (iv) vehicle tilt data, (v) vehicle yaw data and (vi) vehicle GPS data.