EP3860878A1 - Method for controlling modules for projecting pixelated light beams for a vehicle - Google Patents
Method for controlling modules for projecting pixelated light beams for a vehicleInfo
- Publication number
- EP3860878A1 EP3860878A1 EP19782969.0A EP19782969A EP3860878A1 EP 3860878 A1 EP3860878 A1 EP 3860878A1 EP 19782969 A EP19782969 A EP 19782969A EP 3860878 A1 EP3860878 A1 EP 3860878A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- projection
- controlling
- control device
- data
- road
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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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
-
- 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
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
-
- 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
- B60Q1/0017—Devices integrating an element dedicated to another function
- B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/11—Pitch movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/029—Steering assistants using warnings or proposing actions to the driver without influencing the steering system
- B62D15/0295—Steering assistants using warnings or proposing actions to the driver without influencing the steering system by overlaying a vehicle path based on present steering angle over an image without processing that image
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- 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
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/13—Attitude of the vehicle body
- B60Q2300/136—Roll
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/16—Pitch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/20—Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
Definitions
- the present invention relates to a method for controlling modules for projecting beams of pixelated light for a vehicle. It finds a particular application in the control of these projection modules so as to allow assistance in driving a vehicle.
- a motor vehicle generally comprises a set of light beam projection modules, in general on the left and on the right, limited to the basic functionalities of more or less intelligent lighting and / or signaling means. , when driving at night or with reduced visibility, and / or in the context of unfavorable weather conditions.
- a light beam projection module can be associated with one or more functions such as the so-called “main beam” function intended to illuminate the road or its surroundings with high intensity, and / or the so-called “function”. dipped beam “intended to illuminate the road or its surroundings at a shorter range without dazzling other users arriving in the opposite direction.
- a first aspect of the invention relates to a method for controlling pixelated light beam projection modules of a host vehicle, comprising
- the steering device is able, as a function of the data collected, to determine a polynomial function modeling the profile of the edge and of the center of the road;
- control device determines a starting point Pd and an arrival point Pa of a pattern projection area
- control device determines a distance De between an axis of the data / image acquisition means and the patterns, respectively for a right projection area and a left projection area;
- control device determines the width Lm of the pattern.
- the data / image acquisition means capable of collecting the necessary data in order to model the route profile is a camera, and / or a radar, and / or a lidar;
- the image / data acquisition means when the image / data acquisition means detects an obstacle, it transmits the data relating to the obstacle in order to define a safety margin so as to avoid patterns being projected onto the obstacle;
- the distance De can be configured as a function of the type of pattern
- the control device controls the projection modules so that the patterns of the right and left projection areas are superimposed, in one and the same central projection area;
- the patterns capable of being projected into the projection area can be circles, or squares, or triangles, or rectangles, or chevrons, or arrows, or more complex shapes, or numbers such as the display of a speedometer, or continuous or broken lines;
- control device is able to dynamically increase the width Lm of the most distant patterns projected onto the road in order to correct the perspective effect
- control device is associated with a set of sensors capable of determining the pitch of the host vehicle configured so as to compensate for the mechanical and / or digital calibration of the projection modules; In one embodiment, the control device is capable of compensating for the light intensity as a function of the projection distance of the patterns and of the “Fiat Beam” base beam;
- control device associated with the data / image acquisition means is configured so as to determine whether the size of the host vehicle is able to pass between two obstacles by projecting said size between the two obstacles;
- the orientation of the projection of the template of the host vehicle is dynamically relative to the angle of the steering system of said host vehicle;
- the control device associated with the data / image acquisition means is capable of projecting an obstacle avoidance strategy;
- control device associated with the data / image acquisition means is capable of projecting a set of patterns configured so as to establish a trajectory for the host vehicle at the time of lane narrowing in the work zone ;
- piloting device associated with the navigation system of the “GPS” vehicle is capable of projecting a change of trajectory, in the form of road markings, for the host vehicle;
- Another aspect of the invention relates to a light device for a motor vehicle intended to be controlled by a piloting device capable of implementing the method of piloting pixel beam light projection modules according to any one of the characteristics. previous;
- an information fusion device is able to determine the relevance of each data item coming from the various sensors associated with the host vehicle, in order to transmit reliable decision-making data to the piloting device.
- FIG. 1 illustrates a system according to an embodiment of the invention
- FIG. 2 is a diagram illustrating the steps of a method according to the invention.
- FIG. 3 illustrates the implementation of the method according to the invention in a first driving situation
- FIG. 4 illustrates the implementation of the method according to the invention in a second driving situation
- FIG. 5 illustrates the implementation of the method according to the invention in a third driving situation
- Figure 1 shows a motor vehicle 100 comprising a system 1 10 comprising a sensor assembly 120, at least one control device 130 of projection modules 140 of light beams, said control device 130 being connected to the control unit 150 of vehicle 100.
- Said control device 130 comprises at least one microcontroller associated with one or more memories as well as a graphics processing unit.
- the motor vehicle 100 comprising such a system 110 will be considered subsequently as a host vehicle 100.
- the projection module 140 is a high resolution module, in other words having a resolution greater than 1000 pixels. However, there are no restrictions attached to the technology used to produce the 140 projection modules.
- a projection module 140 may for example include a monolithic source.
- a monolithic source is called a matrix of monolithic electroluminescent elements (in English "monolithic array") arranged in at least two columns by at least two lines.
- the electroluminescent elements can be grown from a common substrate and can be electrically connected so as to be selectively activatable, individually or by subset of electroluminescent elements.
- the substrate can be predominantly made of semiconductor material.
- the substrate may include one or more other materials, for example non-semiconductors (metals and insulators).
- each electroluminescent element or group of electroluminescent elements can form a light pixel and can emit light when its or their material is supplied with electricity.
- the configuration of such a monolithic matrix allows the arrangement of selectively activatable pixels very close to each other, compared to conventional light-emitting diodes intended to be soldered on printed circuit boards.
- the monolithic matrix may include electroluminescent elements of which a main elongation dimension, namely the height, is substantially perpendicular to a common substrate, this height being equal to a micrometer.
- the monolithic matrix or matrices capable of emitting light rays can be coupled to the control device 130 so as to control the generation and / or projection of a pixelated light beam by the projection module 140.
- the control device 130 is thus able to individually control the light emission of each pixel of a matrix.
- the projection module 140 may include a light source coupled to a matrix of mirrors.
- the pixelated light source can be formed by the set of at least at least one light source formed by at least one light emitting diode emitting light and an array of optoelectronic elements, for example an array of micro-mirrors, also known by the acronym DMD, for "Digital Micro-mirror Device” in English, which directs the light rays coming from the light source by reflection towards an optical projection element.
- DMD Digital Micro-mirror Device
- an optical collection element can make it possible to collect the rays of at least one light source in order to concentrate them and direct them towards the surface of the matrix of micro-mirrors.
- Each micro-mirror can pivot between two fixed positions, a first position in which the light rays are reflected towards the optical projection element, and a second position in which the light rays are reflected in a direction different from the projection optical element.
- the two fixed positions are oriented in the same way for all the micro-mirrors and form with respect to a support reference plane of the matrix of micro-mirrors an angle characteristic of the matrix of micro-mirrors, defined in its specifications. Such an angle is generally less than 20 °, and can usually be about 12 °.
- each micro-mirror reflecting part of the light rays incident on the matrix of micro-mirrors forms an elementary emitter of the pixelated light source, the actuation and the control of the change of position of the mirrors making it possible to selectively activate this elementary emitter to emit or not an elementary light beam.
- the light beam projection module can be formed by a laser scanning system in which a laser source emits a laser beam towards scanning means configured so as to scan the surface d with the laser beam. a wavelength converter element, surface which is imaged by the optical projection element. The scanning of the beam can be accomplished by the scanning means at a sufficiently high speed so that the human eye does not perceive its movement in the projected image.
- the synchronized piloting of the ignition of the laser source and of the beam scanning movement makes it possible to generate a matrix of elementary emitters which can be selectively activated at the surface of the wavelength converter element.
- the scanning means can be a mobile micro-mirror for scanning the surface of the wavelength converter element by reflection of the laser beam.
- the micro-mirrors mentioned as a scanning means are for example of the MEMS type, for “Micro-Electro-Mechanical Systems” in English or electromechanical microsystem.
- the invention is not limited to such a scanning means and can use other kinds of scanning means, such as a series of mirrors arranged on a rotating element, the rotation of the element causing a scanning of the surface of transmission by the laser beam.
- the light source can be a matrix and include at least one segment of light elements, such as light-emitting diodes or part of the surface of a monolithic light source.
- FIG. 2 illustrates the steps of a process implemented by the sensor (s) and by the control device 130.
- the method begins, for example when starting the host vehicle or when the route or crossing function is activated.
- the set of sensors 120 of the host vehicle is able to collect a set of data.
- at least one of the sensors is configured so as to collect the necessary data in order to model the profile of the road.
- the data collected and the accuracy of this data depend on the nature of the sensor (s), whether it is a camera, a radar, or a lidar.
- FIGS. 3 to 6 A totally different location of the camera and / or of the other means of acquiring data and / or images relating to route 160 extending in front of the host vehicle can also be envisaged. However, it seems obvious that a different localization of these so-called means will require it is up to the person skilled in the art to determine the various parameters and constants which will be described subsequently according to this new standard.
- the present invention more specifically provides in a step 202 the determination of a polynomial function modeling the profile of the roadside.
- the modeling of the profile of the roadside in the form of a polynomial makes it possible to represent the profiles of the roadside in a more or less precise manner according to the degree of the polynomial.
- the camera 121 when the camera 121 has acquired an image of the road 160 extending in front of the host vehicle 100, said camera 121 is capable of transmitting the x and y coordinates to the control device 130 of the profile of the right edge 161, left 163 and center 162 of the road 160.
- the control device 130 determines the distance Ai between the virtual projection of the axis Ac of camera 121 on the plane Pr of route 160 and respectively the right edge 161, left 163 and the center of route 160.
- the parameters of the polynomial can vary dynamically.
- the parameters are for example updated by the camera, or the radar, or the lidar, at a given frequency or upon detection of a variation in the profile of the road.
- the invention provides for the use of a degree 3 polynomial function, thus proposing an optimized compromise between complexity and precision.
- the road profiles in a FOV field of vision of a camera 121 are generally rarely more complex than a succession of two turns, and the use of polynomial functions of a degree greater than or equal to four would induce times important calculations in the data processing unit of the control device.
- provision may be made for an adaptive selection of the degree of the polynomial function to be provided, with an adaptation in real time of the degree of the polynomial function as a function of the image considered.
- the present invention is in no way restricted to the use of a polynomial function for the estimation of the profile of the roadside. It extends to any other type of function, for example trigonometric, logarithmic, exponential, etc.
- the control device 130 determines in a step 203 a starting point Pd and an arrival point Pa d ' a projection area ZPd, ZPg, ZP of patterns 170.
- the projection distance DP is defined as being the distance between the proximal point Pd and the distal point Pa of the projection area ZPd, ZPg, ZP.
- Pd is a parameter which is predefined by default by the manufacturer of the host vehicle 100, but which can also be modifiable by the driver or the operator implementing said host vehicle.
- Pa is a parameter which reaches its maximum value when no obstacle is detected by the data / image acquisition means.
- a safety margin MS is then predefined by the control device 130 so as to avoid that patterns 170 are projected onto the obstacle 180.
- the means of acquiring data and / or images relating to route 160 extending in front of the host vehicle 100 are capable of determining the type of obstacle 180. No less than six obstacle categories 180 are referenced. Thus the 0 corresponds to an unclassified object, 1 corresponds to an unknown small object, 2 corresponds to an unknown large object, 3 corresponds to a pedestrian, 4 corresponds to a bicycle, 5 corresponds to a car, and 6 corresponds to a truck.
- the control device 130 determines in a step 204 a default distance De between the virtual projection on the plane Pr of the road of the axis Ac of the camera 121 and the projection zones ZPd, ZPg of patterns 170, respectively for a right projection area ZPd and a left projection area ZPg.
- the virtual projection on the road map Pr of the virtual axis Ac of the camera 121 appears as an axis of symmetry between the projection zones Zpd and Zpg.
- this distance De can be configured either as a function of the type of pattern 170 selected by the driver or the operator of the host vehicle 100.
- the distance De 0 so that the projection zones ZPd and ZPg of patterns 170 overlap, so as to have one and the same projection area Zp.
- the list of reasons 170 suitable for being projected into the projection area ZPd, ZPg, ZP is not exhaustive, it can be defined by the manufacturer of the host vehicle 100 and / or updated by the driver or the operator according to his needs.
- a pattern type 170 capable of being projected by the right projection module 141 and the left projection module 143 there may be the projection of a circle, square, triangle, chevron, or of a continuous or broken line.
- the control device 130 determines the width Lm of the pattern 170.
- the method according to the invention is capable of dynamically increasing the width of the most distant patterns 170 projected on the road in order to correct the perspective effect.
- the distance Dm between each projected pattern 170 is also configurable by the driver or the operator using said host vehicle 100, so as to provide better visual comfort.
- the control device 130 comprises a step 206 intended to allow a self-calibration of the projection modules 140 so that the projection of a pattern 170 by the straight projection module 141 respectively and the left projection module 143 is symmetrical with respect to the virtual axis of the camera 121 projected onto the route 160.
- This step of self-calibration of the projection modules 140 is also able to configure said modules mechanically and / or numerically. projection 140 so that the projection of a pattern 171, 173 by the right module 141 and the left module 143 respectively makes it possible to superimpose the two patterns 170 to form a single and unique pattern 172.
- the beam relating to the low beam function is broken down with the juxtaposition of a lower part called the “Fiat Beam” base beam and an upper part called “Kink” intended to illuminate the road. 160 by avoiding the glare of other users.
- the beam relating to the "main beam” function breaks down with the superimposition of the basic beam “Fiat Beam” and a central part “Flead Beam” with a restricted and more intense base.
- the patterns 170 are intended to be projected with a beam from the low beam or the high beam.
- control device 130 associated with a set of sensors 120 intended to determine the pitch 122 of the host vehicle 100 and take into account the altitude and / or roll of the projection module 140, is configured so as to compensate for the mechanical and / or digital calibration of the projection modules 140 so that the projection of the patterns 170 remains stable and comfortable for the driver and / or the operator implementing the host vehicle 100.
- the control device is able to compensate for the light intensity as a function of the projection distance of the patterns and of the "Fiat Beam" base beam.
- the piloting device is able to determine if the size of the vehicle is able to pass between two obstacles 180.
- control device 130 associated with the data / image acquisition means is capable of projecting an obstacle avoidance strategy 180 (see FIG. 6).
- control device 130 associated with the data / image acquisition means is capable of projecting a trajectory for the host vehicle 100 when the lane narrows in the work zone.
- control device 130 associated with the vehicle navigation system "GPS" 123 is capable of projecting a change of trajectory for the host vehicle 100.
- control device associated with the data / image acquisition means and / or line crossing detector is capable of projecting assistance to the trajectory so that the host vehicle 100 does not no longer bites the road signal lines and is a stable trajectory.
- control device associated with the data / image acquisition means is capable of projecting a virtual marking on the road when they have disappeared or are not visible.
- a device 180 for merging information is able to determine the relevance of each data item coming from the various sensors associated with the host vehicle 100, in order to transmit to the control unit 150 the vehicle 100 and consequently to the control device 130 reliable data for decision support.
- the host vehicle 100 is able to be completely autonomous, so that no driver is required in order to follow a predetermined path.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Image Analysis (AREA)
- Toys (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1859087A FR3086901B1 (en) | 2018-10-01 | 2018-10-01 | PROCESS FOR DRIVING PIXELLIZED LIGHT BEAM PROJECTION MODULES FOR VEHICLES |
PCT/EP2019/076482 WO2020070078A1 (en) | 2018-10-01 | 2019-09-30 | Method for controlling modules for projecting pixelated light beams for a vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3860878A1 true EP3860878A1 (en) | 2021-08-11 |
Family
ID=67441147
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19782969.0A Pending EP3860878A1 (en) | 2018-10-01 | 2019-09-30 | Method for controlling modules for projecting pixelated light beams for a vehicle |
Country Status (7)
Country | Link |
---|---|
US (1) | US11993201B2 (en) |
EP (1) | EP3860878A1 (en) |
JP (1) | JP2022502782A (en) |
KR (1) | KR20210065116A (en) |
CN (1) | CN112805180A (en) |
FR (1) | FR3086901B1 (en) |
WO (1) | WO2020070078A1 (en) |
Families Citing this family (2)
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FR3055979B1 (en) * | 2016-09-15 | 2019-04-05 | Valeo Vision | CHARACTERISTICS OF PIXELISE LIGHT BEAM |
FR3056490B1 (en) * | 2016-09-29 | 2018-10-12 | Valeo Vision | METHOD FOR PROJECTING AN IMAGE BY A PROJECTION SYSTEM OF A MOTOR VEHICLE, AND ASSOCIATED PROJECTION SYSTEM |
FR3056680B1 (en) * | 2016-09-29 | 2018-11-09 | Valeo Vision | LIGHTING SYSTEM FOR MOTOR VEHICLE |
FR3056775B1 (en) * | 2016-09-29 | 2021-08-20 | Valeo Vision | PROCESS FOR PROJECTING IMAGES BY A PROJECTION SYSTEM OF A MOTOR VEHICLE, AND ASSOCIATED PROJECTION SYSTEM |
DE102016223650A1 (en) * | 2016-11-29 | 2018-05-30 | Continental Automotive Gmbh | Lighting system for a motor vehicle and method |
KR102406502B1 (en) * | 2016-12-14 | 2022-06-10 | 현대자동차주식회사 | Apparatus and method for controlling narrow road driving of vehicle |
FR3062217B1 (en) * | 2017-01-20 | 2021-03-19 | Valeo Vision | JOINING OF PIXELIZED LIGHT SOURCES |
DE102017203902A1 (en) * | 2017-03-09 | 2018-09-13 | Bayerische Motoren Werke Aktiengesellschaft | Motor vehicle with a lighting module for generating a symbolism |
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FR3086901A1 (en) | 2020-04-10 |
WO2020070078A1 (en) | 2020-04-09 |
US20220118901A1 (en) | 2022-04-21 |
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