Method for controlling a motor vehicle lighting system

Abstract

A method for controlling a lighting system (3) of a main motor vehicle (1), the lighting system comprising a plurality of selectively controllable basic light sources (32) i,j Each basic light source is capable of emitting a basic beam (HD) with a vertical angle of less than 1°. i,j The method includes the following steps: (E1) detecting a target object (5) by means of the sensor system (2) of the main vehicle; (E2, E2') determining the relative distance (Xhc) between a given point (21) of the sensor system of the main vehicle and the detected point of the target object, and determining the slope (S) of the road where the target object is located; (E6) determining, from the relative distance and the slope, the lower angle (Vinf) and upper angle (Vsup) between the given point (31) of the main vehicle lighting system and the upper and lower cutoff points of the target object, respectively, which are intended to be perpendicularly defined together; (E7) controlling the basic light sources of the main vehicle lighting system to emit a pixelated beam (HD) of the far beam type, wherein some of the basic light sources are controlled according to the upper and lower angles to produce a dark area (ZS) in the beam that extends substantially between the upper and lower cutoff points.

Description

[0001] This invention relates to the field of motor vehicle lighting. More specifically, this invention relates to a method for controlling a motor vehicle lighting system to produce a pixelated high beam that does not cause uncomfortable glare.

[0002] The known practice is to equip motor vehicles with sensor systems to detect target objects on the road that should not cause uncomfortable glare, and to equip them with lighting systems to emit light beams that will not cause uncomfortable glare, depending on the location of the object.

[0003] For this purpose, these lighting systems are capable of emitting horizontally segmented road lighting beams and are equipped with a control unit that can turn on and / or off and / or modify the light intensity of each basic beam forming that beam segment. Therefore, it is known to control this type of lighting system to turn off the light segment that extends vertically across the entire lighting beam centered on the target object. This lighting system is thus able to illuminate the road more brightly than conventional near-field lighting beams without causing unpleasant glare to other road users.

[0004] However, recent lighting system technologies have enabled the emission of horizontally and vertically pixelated beams with exceptionally high vertical resolution. This type of technology advantageously allows lighting systems to be controlled to produce pixelated road lighting beams that present a dark area similar to the target object, while leaving light above and below that dark area. Specifically, unlike beams controlled in a segmented manner, such pixelated lighting beams will enable drivers to perceive gantry traffic signs or objects on the road or near-field road markings, or in effect, prevent drivers from being distracted by the movement of dark areas within the lighting beam, allowing them to track the target object as it moves.

[0005] Therefore, a method is needed that allows for the controlled generation of such dark areas within a pixelated beam, such that the dark areas have upper and lower cutoff points defining a target object, while leaving light above and below the target object. This invention aims to meet this need.

[0006] For this purpose, one aspect of the present invention is a method for controlling a lighting system for a main motor vehicle, the lighting system comprising a plurality of selectively controllable basic light sources, each basic light source capable of emitting a basic beam with a vertical divergence angle of less than 1°, the method comprising the following steps:

[0007] a. Detect the target object using the main vehicle's sensor system;

[0008] b. Determine the relative distance between the given point of the main vehicle's sensor system and the detected point of the target object, and determine the slope of the road where the target object is located;

[0009] c. Based on the relative distance and the slope, determine the lower and upper angles of the given points of the main vehicle's lighting system between the upper and lower cutoff points that are intended to define the target object vertically together;

[0010] d. Controlling the primary light sources of the main vehicle's lighting system to emit pixelated high beams, depending on the lower and upper corners, controlling some of these primary light sources to create a dark area in the beam that extends substantially between the upper and lower cutoff points.

[0011] It will be understood that, with the present invention, certain pixels in a pixelated beam emitted by the lighting system of a main vehicle can be turned off to form a dark area, the upper and lower cutoff points of which frame or define a target object, the positions of which are defined based on information relating to the slope of the road on which the target object and the main vehicle are located.

[0012] Advantageously, the step of detecting a target object can be performed using a device such as a laser scanner or a LIDAR (LIDAR stands for light detection and ranging), which is equipped with a light emitter / receiver and a computer capable of measuring the time of flight of the emitted light received after reflection from the object to detect the object's presence. Where appropriate, the relative distance can be determined by the computer using the measured time of flight.

[0013] Advantageously, information related to the slope can be obtained by combining the relative distance with the main vehicle's navigation system.

[0014] Preferably, the method includes an intermediate step of comparing the slope with a lower threshold and an upper threshold, wherein the step of determining the lower and upper corners is performed conditioned on the slope being between the lower and upper thresholds. For example, the lower threshold could be a slope greater than -15%, specifically equal to -13%. For example, the upper threshold would be a slope less than +15%, specifically equal to +13%. The reason behind this comparison step is that the adaptive road lighting function can only be activated when the host vehicle is traveling at a sufficiently high speed. Therefore, it has been observed that, considering the road slope at which motor vehicles may travel at high speeds, it is unnecessary to generate dark areas in the pixelated beam when the road slope is not within the range of the lower and upper thresholds, because in this case the host vehicle cannot travel at a speed sufficient to allow the activation of the adaptive road lighting function.

[0015] Advantageously, the method includes the step of: determining, based on the relative distance and the slope, the relative height between the given point of the main vehicle's lighting system and the given point of the target object on which the lower cutoff point must be positioned, wherein the lower and upper angles are determined based on the relative distance, the slope, and the relative height. Where appropriate, the method may include the step of determining the relative height, which is further determined by the distance to the starting point of the slope. This distance can be obtained, in particular, by the main vehicle's navigation system. If desired, the method includes the step of determining the height of the target object's light source (such as the target vehicle's taillights or headlights), which is determined by the relative height. As a variant, the height of the target object's light source can be predetermined. For example, the relative height can be obtained by the following equation:

[0016] [Formula 1]

[0017]

[0018] Among them, Z C The relative height H between the main vehicle and the target object HL S is the height of the light source of the target object, S is the slope of the road where the target object is located, and X is the height of the light source of the target object. HC The distance between the main vehicle and the target object, X S H is the distance between the starting point of the ramp on the road where the main vehicle and the target object are located, and H H It refers to the height of the main vehicle's sensor system.

[0019] Advantageously, the step of determining the relative height is a step of determining the relative height between the given point of the main vehicle's lighting system at a given time and the given point of the target object on which the lower cutoff point must be positioned, and the method includes a step of predicting the value of the relative height at a future time relative to the given time. For example, the given time may correspond to the time when the sensor system detects the target object, and the lower and upper corners can be determined based on the predicted value of the relative height. This feature allows for compensation for delays in the sensor and lighting systems of the motor vehicle. Specifically, between the given time when the sensor system detects the target object and the time when a dark area is generated in the beam emitted by the lighting system, the target object may have moved, causing the dark area to no longer substantially surround the target object, and thus the beam may cause uncomfortable glare. Therefore, predicting the value of the relative height at a future time allows the upper and lower cutoff points of the dark area to be positioned around the location of the target object at that future time.

[0020] Where appropriate, the prediction step may include determining the vertical velocity of the target object, where the value of the relative height at future time is predicted using the target object's vertical velocity. For example, the vertical velocity can be determined by differentiating the determined value of the relative height with respect to time.

[0021] In one embodiment of the invention, the value of the lower corner is determined by the relative height and the relative distance. For example, the value of the lower corner can be obtained by the following equation:

[0022] [Formula 2]

[0023]

[0024] Among them, V inf It's the bottom corner, Z C It is the relative height between the main vehicle and the target object, and X HC It is the distance between the main vehicle and the target object.

[0025] Advantageously, the method includes the step of determining the height of the target object, wherein the value of the upper corner is determined by the value of the lower corner and the determined height.

[0026] Advantageously, the step of detecting a target object includes classifying the target object type from a set of predetermined types, and the height of the target object is determined based on the classified target object type. For example, the object type can be obtained by a method implemented by a computer of the sensor system for processing signals acquired by the receiver of the sensor system. Where appropriate, the set of predetermined types of target objects may in particular include pedestrians, bicycles, cars, or trucks, with each predetermined type of target object associated with a predetermined target object height.

[0027] As a variant, the height of the target object can be obtained through a method for processing images acquired by cameras of the sensor system of the main vehicle, implemented by the computer of the sensor system.

[0028] For example, the value of the top corner can be determined using the following equation:

[0029] [Formula 3]

[0030]

[0031] Among them, V sup It's the top corner, H. HL X is the height of the light source of the target object. HC H is the distance between the main vehicle and the target object. c It is the height of the target object, and V inf It is the value in the lower right corner.

[0032] Advantageously, the steps of controlling the basic light sources of the main vehicle's lighting system include shutting off some basic light sources, each capable of emitting a basic beam of light between an upper and lower cutoff point. For example, each basic light source is capable of emitting a beam of light with a given emission cone defined by its given angle and emission direction, and the control steps may include selecting a basic light source whose emission cone is at least partially perpendicular to the interval defined by the lower and upper angles. Where appropriate, the steps of controlling the basic light sources may include shutting off some basic light sources, each capable of emitting a basic beam of light between the upper and lower cutoff points and between lateral cutoff points defining the target object. For example, the two lateral angles between the given point of the lighting system and the left and right lateral cutoff points intended to laterally define the target object may be determined based on the lateral angle between the given point of the sensor system and the detected point of the target object.

[0033] The present invention also relates to a motor vehicle comprising a sensor system, a lighting system, and a controller, the controller being arranged to implement the method according to any one of the preceding claims.

[0034] Advantageously, the lighting system includes multiple selectively controllable basic light sources, each capable of emitting a basic beam with a vertical angle of less than 1°. Where appropriate, all basic light sources can emit pixelated beams extending vertically within a range of -1° to +5° above and below the horizontal line.

[0035] Advantageously, the primary light sources are arranged such that the vertical angle of the primary beams emitted by these primary light sources decreases with distance from the top of the pixelated beam. If desired, the lighting system may include:

[0036] a. A plurality of selectively controllable first basic light sources, each of which is capable of emitting a basic beam with a vertical angle of approximately 0.25°, and all of the plurality of first basic light sources are capable of emitting a first pixelated sub-beam extending vertically in the range of -1° to +1°.

[0037] b. Multiple selectively controllable second basic light sources, each of which is capable of emitting a basic beam with a vertical angle of approximately 0.3°, and all of the multiple second basic light sources are capable of emitting second pixelated sub-beams that extend vertically in the range of +1° to +2°.

[0038] c. Multiple selectively controllable third basic light sources, each of which is capable of emitting a basic beam with a vertical divergence angle of approximately 0.35°, and all of these multiple third basic light sources are capable of emitting third pixelated sub-beams that extend vertically within the range of +2° to +3°.

[0039] d. Multiple selectively controllable fourth basic light sources, each capable of emitting a basic beam with a vertical angle of approximately 0.4°, and all of these multiple fourth basic light sources capable of emitting fourth pixelated sub-beams extending vertically within the range of +3° to +5°.

[0040] In one embodiment of the invention, the lighting system includes: a light-emitting module comprising: a pixelated light source including a plurality of basic emitters arranged in a matrix array, each basic emitter forming a basic light source and capable of being selectively activated to emit a basic beam of light; and projection optics associated with the pixelated light source for projecting each of the basic beams onto a road. For example, the pixelated light source includes at least one matrix array of electroluminescent elements, and particularly at least one monolithic matrix array of electroluminescent elements (monolithic array).

[0041] As a variation, the light-emitting module may include, for example, a light source formed by at least one light-emitting diode and a matrix array of photoelectric elements and, for example, digital micromirror devices (DMDs), which guide the light emitted from the at least one light source to a projection optical element by reflection.

[0042] The invention will now be described by way of examples which are merely illustrative and in no way limiting of the scope of the invention, and with reference to the accompanying drawings, in which:

[0043] [ Figure 1 [A motor vehicle according to an embodiment of the present invention is illustrated schematically and in part;]

[0044] [ Figure 2 ] shows the result of [ Figure 1 A method implemented by a motor vehicle according to an embodiment of the present invention;

[0045] [ Figure 3 ] shows that in [ Figure 1 The vehicles implemented [ Figure 2 The method includes a side view of the road scene during the process; and

[0046] [ Figure 4 ] shows that in [ Figure 1 The vehicles implemented [ Figure 2 The method is the front view of the road scene during the process.

[0047] In the following description, unless otherwise stated, elements that are identical in structure or function and appear in the various figures are labeled with the same reference numerals.

[0048] [ Figure 1A partial view of a main vehicle 1 according to an embodiment of the present invention is shown. The main vehicle 1 includes a sensor system 2, which includes a device 21, here a laser scanner. In the described example, the laser scanner 21 is located in an illumination system 3 employing the form of headlights of the vehicle 1 and includes a transceiver arranged to emit light through an outer lens of the headlight 3 and receive the reflected light. The sensor system 2 further includes a computer 22 arranged to implement various methods for processing signals received by the transceiver of the laser scanner 21. The illumination system 3 of the main vehicle 1 includes a light-emitting module 31. The light-emitting module 31 specifically includes pixelated light sources 32 associated with a lens 33. In the described example, the pixelated light sources 32 are monolithic pixelated light-emitting diodes, each of which forms a basic light source 32. i,j The basic light source can be selectively activated and controlled by an integrated controller to emit light onto lens 33, which thus controls the intensity of its basic beam HD. i,j Projected onto the road. Each basic beam HD i,j The beam is projected by a lens into a given emission cone defined by a given emission direction and a given angular projection. Therefore, in the described example, all fundamental beams HD i,j This results in a pixelated beam HD comprising 25 columns and 20 rows of 500 pixels, which extend vertically within a vertical angle range of -1° to +5°, and each pixel is composed of these basic beams HD. i,j One of them was formed.

[0049] The basic light source 32 of light source 32 i,j Each fundamental beam emitted by one of the HD i,j All have a vertical subtended angle of less than 1°. More specifically, the basic light source 32 of light source 32 i,j Arranged to enable these basic light sources to emit basic beams of light (HD) i,j The vertical angle decreases with distance from the top of the pixelated beam. Specifically:

[0050] a. Each basic light source whose emission cone belongs to the vertical angle range of -1° to +1° is capable of emitting a basic beam with a vertical angle of approximately 0.25°;

[0051] b. Each basic light source whose emission cone belongs to the vertical angle range of +1° to +2° is capable of emitting a basic beam with a vertical angle of approximately 0.3°;

[0052] c. Each basic light source whose emission cone belongs to the vertical angle range of +2° to +3° is capable of emitting a basic beam with a vertical angle of approximately 0.35°;

[0053] d. Each basic light source with a vertical angle ranging from +3° to +5° is capable of emitting a basic beam with a vertical angle of approximately 0.4°.

[0054] The light-emitting module 31 includes a controller 34, which is arranged as an integrated controller to control the pixelated light source 32, thereby selectively controlling each basic beam HD according to instructions received from the controller 4 of the main vehicle 1. i,j The instructions for turning the light intensity on, off, and modified are determined, in particular, based on information transmitted by the computer 22 of the sensor system 2 and the navigation system 11 of the main vehicle 1.

[0055] It should be noted that in the described example, the laser scanner 21 and the light-emitting module 31 are substantially located on the same horizontal plane.

[0056] [ Figure 2 A method for controlling the lighting system 3 of the main vehicle 1 is shown, which allows the lighting system 3 to emit a high beam of light that will not cause uncomfortable glare to the target object 5, the method being implemented by the controller 4 using the sensor system 2 and the navigation system 11. Figure 3 ]and[ Figure 4 The image shows a side view and a front view of the road scene onto which the beam is projected during the implementation of this method. It should be noted that... Figure 3 ]and[ Figure 4 Only a partial view of the beam is shown.

[0057] In the first step E1, sensor system 2 detects the presence of target object 5 (in this case, target vehicle 5) on the road. In the described example, computer 22 implements one or more methods to process the signal received by the transceiver of laser scanner 21, thereby allowing the detection of target vehicle 5. For example, this can be achieved by measuring the time of flight of emitted light after it has reflected off the road or an object on the road and then been received by the transceiver of the laser scanner, and analyzing this time of flight to detect the presence of the target vehicle.

[0058] In the second step E2, the computer 22 of the sensor system 2 calculates the distance X between the transceiver of the laser scanner 21 of the main vehicle and the target vehicle 5. HC Furthermore, computer 22 classifies the target vehicle from a set of predetermined vehicle types and determines the height H of the target vehicle 5 based on the selected type of target vehicle 5. C The height H of the taillights 51 of the target vehicle 5 HL Each of these operations can be performed by one or more algorithms implemented by computer 22 for processing signals received by the transceiver of laser scanner 21. All this information X HC H CH HL All data is transmitted from computer 22 to controller 4.

[0059] In step E2′, the navigation system 11 of the main vehicle transmits information related to the road being traveled by both the main vehicle and the target vehicle 1. Specifically, the navigation system 11 transmits information based on the known position of the main vehicle 1 and the distance X transmitted to it by the controller 4. HC The navigation system determines the road slope S at the location of target vehicle 5. It also determines the distance X between the starting point of the slope on the road that the main vehicle 1 and target vehicle 5 are traveling on. S .

[0060] In step E3, controller 4 compares the slope S value with the lower threshold S min (e.g., -13%) and the upper threshold S max (For example, +13%) for comparison. If the slope is not in S... min With S max The method stops when the slope S is between S1 and S2, because it can be inferred that the main vehicle 1 and the target vehicle 5 are traveling on a road where the slope does not allow or does not require anti-glare high beam functionality. min With S max In the case of [the specific conditions mentioned above], the method proceeds to the following steps.

[0061] In step E4, the controller 4 determines the relative height Z between the lighting system 3 of the main vehicle 1 and the taillight 51 of the target vehicle 5 using the following equation. C :

[0062] [Formula 4]

[0063]

[0064] Among them, Z C The relative height between main vehicle 1 and target vehicle 5, H HL The height of the taillight 51 of target vehicle 5 is S, the slope of the road on which target vehicle 5 is traveling is S, and X is X. HC The distance between main vehicle 1 and target vehicle 5, X S H is the distance between the starting point of the slope on the road where the main vehicle 1 and the target vehicle 5 are located, and H H It is the height of the sensor system 2 of the main vehicle 1.

[0065] The relative height Z determined by controller 4 CThis is relative to the position of the target vehicle 5 at the time t when it is detected by the computer 22. However, the various methods implemented by the computer 22 of the sensor system 2 and the method steps according to the invention, which will be described below and allow the lighting system 3 to generate anti-glare high beams, all require a given execution time ΔT after which the beam is actually emitted. During this time ΔT, the target vehicle 5 may have moved, causing the relative height Z to change. C The value no longer corresponds to the actual position of the target vehicle 5 when the beam is emitted.

[0066] To compensate for this delay, in step E5, controller 4 predicts the relative height Z between the taillights 51 of the main vehicle 1 and the target vehicle 5 at a future time t+Δt relative to the time t when the computer 22 detected the target vehicle 5 in step E1. C The value of '. Therefore, controller 4 determines the vertical height Z predetermined in step E4. C The vertical velocity of target vehicle 5 is determined by differentiating various values. Therefore, the predicted value Z C It can be obtained through the following equation:

[0067] [Formula 5]

[0068]

[0069] Among them, Z C It is the value of the relative height at time t, that is, the value determined in step E4, Z. C ' is the predicted value of the relative height at a future time t+Δt. Δt is the vertical velocity of the target vehicle 5, and Δt is the delay according to the method of the present invention.

[0070] In step E6, the controller 4 determines the lower angle V between the light-emitting module 31 and the taillight 51 of the target vehicle 5 using the following equation. inf :

[0071] [Formula 6]

[0072]

[0073] Among them, V inf It's the bottom corner, Z' C It is the relative height predicted in step E5, and X HC It is the distance between the main vehicle 1 and the target vehicle, which is determined in step E2.

[0074] Furthermore, still in step E6, controller 4 uses, for example, the following equation based on the pre-obtained lower angle V inf The value and the height H of the target vehicle determined in step E2C Determine the upper V sup :

[0075] [Formula 7]

[0076]

[0077] Among them, V sup It's the top corner, H. HL It is the height of the taillight 51 of target vehicle 5, X HC H is the distance between the main vehicle 1 and the target vehicle 5. c It is the height of target vehicle 5, and V inf It is the value in the lower right corner.

[0078] At the end of step E6, controller 4 will move this pair of lower corner V inf and the V in the upper corner sup The data is transmitted to the controller 34 of the light-emitting module 31. Furthermore, in a step not described, the controller 4 determines a pair of right lateral angles V based on the position of the taillights 51 of the target vehicle 5. LD and left horizontal angle V LG And it also transmits this diagonal to the controller 34.

[0079] In step E7, controller 34 selects the light source 32 that can emit its emission cone vertically at least partially located at the lower angle V. inf With the V in the upper corner sup Between and at least partially located at the right transverse angle V LD With left horizontal angle V LG The basic beam between HD i,j Those basic light sources 32 i,j The controller 34 therefore controls the basic light source 32 selected from these sources. i,j The light-emitting module 1 shuts down while simultaneously controlling the activation of other basic light sources. Therefore, the light-emitting module 1 emits a pixelated high beam HD that forms a dark area Zc centered on the target vehicle 5, and is perpendicularly defined by its lower and upper cutoff points, each forming a perpendicular angle with respect to the light-emitting module 1, with each of these angles having a value approximately V. inf and V sup Furthermore, each horizontal angle is defined by its right and left cutoff points, which together form a horizontal angle with the light-emitting module 1, and the values ​​of these horizontal angles are approximately V. LD and V LG It should be noted that the term "basic" here should be interpreted in relation to the vertical and horizontal resolution of the pixelated beam HD.

[0080] The above description clearly explains how the present invention achieves its intended objectives, particularly by providing a method for controlling the lighting system of a master vehicle, wherein the method controls the opening or closing of the basic light source of the lighting system to generate a dark area in the pixelated beam defined by an upper cutoff point and a lower cutoff point, the position of which is determined based on information output from the sensor system of the master vehicle, and particularly information relating to the vertical position of a target object on the road from which unpleasant glare should not be experienced.

[0081] In no event should this invention be considered limited to the embodiments specifically described herein, and in particular extended to any equivalent means and any technically operable combination of such means. In particular, light-emitting modules other than those described can be contemplated, especially those involving an associated light source and a digital micromirror device. Other methods are also contemplated for determining various values ​​used in equations that allow for the determination of the values ​​of the lower and upper corners, or even in equations other than those already described, and in particular, various values ​​used in equations that include vertical movement margins allowing for the positions of the upper and lower cutoff points of the dark areas in the pixelated beam.

Claims

1. A method for controlling a lighting system (3) of a main vehicle (1), said lighting system comprising a plurality of selectively controllable basic light sources (32) i,j Each basic light source is capable of emitting a basic beam (HD) with a vertical angle of less than 1°. i,j The method includes the following steps: • (E1) The target object (5) is detected by the sensor system (2) of the main vehicle; • (E2, E2') determines the relative distance (X) between the given point (21) of the sensor system of the main vehicle and the detected point of the target object. HC ), and determine the slope (S) of the road where the target object is located; (E6) Based on the relative distance and the slope, determine the given point (31) of the main vehicle's lighting system with respect to the lower angle (V) between the upper and lower cutoff points that are intended to vertically define the target object together. inf ) and the upper corner (V) sup ); (E7) Controls the primary light sources of the main vehicle's lighting system to emit pixelated high beams (HD), depending on the lower and upper corners, controlling some of these primary light sources to create a dark area (Z) in the beam that extends substantially between the upper and lower cutoff points. C ); The method includes comparing the slope (S) with a lower threshold (S). min ) and upper threshold (S max The intermediate step (E3) of the comparison determines the lower corner (V). inf ) and the upper corner (V) sup The execution of step (E6) is conditional on the slope being between the lower threshold and the upper threshold.

2. The method of claim 1, wherein the method includes basing the relative distance (X) on... HC The slope (S) determines the relative height (Z) between the given point (31) of the lighting system (3) of the main vehicle (1) and the given point (51) of the target object (5) on which the lower cutoff point must be located. C Step (E4), the lower corner (V) inf ) and the upper corner (V) sup The value is determined based on the relative distance, the slope, and the relative height.

3. The method as described in claim 2, wherein, Determine the relative height (Z) C Step (E4) is to determine the relative height between the given point (31) of the lighting system (3) of the main vehicle (1) at a given time (t) and the detected point (51) of the target object (5) where the lower cutoff point must be located. The method includes predicting the value (Z') of the relative height at a future time (t+Δt) relative to the given time. C Step (E5).

4. The method of claim 3, wherein, Step (E5) includes determining the vertical velocity of the target object (5). The steps, the value of the relative height (Z') at a future time (t+Δt). C The prediction is made using the vertical velocity of the target object.

5. The method as described in any one of claims 2 to 4, wherein, The lower corner (V) inf The value of ) is obtained through the relative height (Z). C ) and the relative distance (X) HC It is certain.

6. The method of claim 5, wherein the method includes determining the height (H) of the target object (5). C Step (E2), the upper corner (V) sup The value of ) is obtained through the lower corner (V) inf The value of ) and the determined height are determined.

7. The method of claim 6, wherein, The step (E1) of detecting the target object (5) includes classifying the type of the target object from a set of predetermined types of target objects, wherein the height (H) of the target object is... C The value depends on the type of the target object in the classification.

8. The method according to any one of claims 2-4, 6-7, wherein, The basic light source (32) of the lighting system (3) of the main vehicle (1) controls the main light source (32). i,j Step (E7) includes shutting down the ability of each to emit a fundamental beam (HD) between the upper cutoff point and the lower cutoff point. i,j Some basic light sources.

9. The method of claim 5, wherein, The basic light source (32) of the lighting system (3) of the main vehicle (1) controls the main light source (32). i,j Step (E7) includes shutting down the ability of each to emit a fundamental beam (HD) between the upper cutoff point and the lower cutoff point. i,j Some basic light sources.

10. A vehicle (1) comprising a sensor system (2), a lighting system (3), and a controller (4), said controller being configured to implement the method as described in any one of claims 1-9.

Images