Vehicle headlamp

Abstract

A vehicle headlamp (10) for an illumination light distribution and for detecting an obstacle in front of the vehicle headlamp (10) in a main direction (X), the vehicle headlamp (10) comprising: - a housing (100) and a cover lens (200); - an obstacle detection device comprising a camera (300) for capturing an image (310); - a camera calibration system for automatically calibrating a spatial orientation of the camera (300), wherein the camera calibration system comprises: an adjustment device for adjusting the spatial orientation of the camera (300) within the housing (100); a reference marker (400) arranged in the housing (100); a control device connected to the camera (300) and to the adjustment device.

Description

TECHNICAL FIELD

[0001] The invention relates to a vehicle headlamp for illuminating a light distribution and for detecting an obstacle in front of the vehicle headlamp in a main direction.

[0002] The invention also relates to a vehicle headlamp system comprising two vehicle headlamps according to the invention for detecting an obstacle in front of the vehicle headlamp system.

[0003] The invention also relates to a vehicle comprising at least one vehicle headlamp according to the invention and / or at least one vehicle headlamp system according to the invention. BACKGROUND

[0004] In the prior art, the calibration of a camera inside a vehicle headlamp can drift due to vibrations, component tolerances or algorithms. The calibration is usually performed by algorithms and / or by reference to a known pattern in front of the system.

[0005] But since no fixed reference point is provided during operation, the calibration tends to drift. Using software algorithms helps to reduce the performance loss, however, the drift has to be compensated within an acceptable area. SUMMARY

[0006] It is an object of the invention to provide an enhanced vehicle headlamp.

[0007] To achieve this object, the vehicle headlamp comprises:

[0008] - a housing having a front opening pointing in a main direction and a cover lens closing the opening of the housing,

[0009] - an obstacle detection device comprising a camera for capturing images of an environment in front of the camera in the main direction in order to detect an obstacle in front of the vehicle headlamp, wherein the camera is arranged inside the housing,

[0010] - a camera calibration system for automatically calibrating a spatial orientation of the camera, wherein the camera calibration system is configured to hold the camera in a predetermined target position, wherein the camera calibration system comprises:

[0011] - an adjustment device for adjusting the spatial orientation of the camera inside the housing,

[0012] - a reference marker being immovable relative to the housing and arranged in the housing in an image generating field of view of the camera such that the reference marker is visible in an image by the camera, wherein each image has a constant predetermined reference marker position section, and wherein the camera is in the target position when the reference marker is arranged within the predetermined reference marker position section of the image,

[0013] - a control device connected to the camera and to the adjustment device, wherein the control device is configured to receive the image captured by the camera, wherein the control device controls the adjustment device when the reference mark is located outside a predetermined reference mark position section of the image in the non-target position,

[0014] in order to eliminate the deviation of the camera from the target position.

[0015] Advantageously, the reference mark is arranged on the cover lens, preferably is part of the cover lens.

[0016] Advantageously, the vehicle headlamp comprises a lens or lens system arranged between the reference mark and the camera in order to produce a sharp image of the reference mark.

[0017] Advantageously, the lens or lens system is part of the cover lens, preferably is an integral part of the cover lens.

[0018] Advantageously, the reference mark is realized as a black material on the cover lens via a two-component molding process of the cover lens.

[0019] Advantageously, the reference mark is constructed as a cross comprising a horizontal line and a vertical line in order to be able to align the horizontal line in the x direction and the vertical line in the y direction - as seen in the correctly installed state of the vehicle headlamp in the vehicle.

[0020] Advantageously, the reference mark is arranged on an additional bezel in the housing.

[0021] The object can also be achieved by a vehicle headlamp system comprising two vehicle headlamps according to the invention for detecting obstacles in front of the vehicle headlamp system, wherein the vehicle headlamp system comprises a further control device connected to the cameras, the control devices and the adjustment devices of the vehicle headlamps, wherein the further control device is configured to receive the captured images of the two vehicle headlamps and wherein the further control device is configured to align the cameras relative to each other via the adjustment devices such that the images substantially overlap relative to the horizon and / or the road edge in the images when the images captured simultaneously by the cameras are overlaid by the program, wherein in the case of the further control device aligning the cameras such that the cameras are in the non-target position, the camera calibration system of each vehicle headlamp brings the camera to the target position.

[0022] The object can also be achieved by a vehicle comprising at least one vehicle headlamp according to the invention and / or at least one vehicle headlamp system according to the invention. BRIEF DESCRIPTION OF DRAWINGS

[0023] In the following, for further illustrating the present application, illustrative and non-limiting embodiments are discussed as shown in the accompanying drawings, which show as:

[0024] Figure 1 is a schematic cross-sectional view of an exemplary vehicle headlamp comprising a housing having a front opening and a cover lens closing the opening of the housing, wherein the vehicle headlamp comprises a camera and a camera calibration system, wherein the camera calibration system comprises a reference marker arranged on the cover lens, and wherein the camera calibration system is configured to automatically adjust the camera to be in a target position, wherein the reference marker is in the target position in a reference marker position section of the captured image,

[0025] Figure 2 is Figure 1 a schematic cross-sectional view of the vehicle headlamp of

[0026] Figure 3 is a detailed side view of a part of the cover lens having the reference marker and the corresponding lens,

[0027] Figure 4 is a captured image of the camera, wherein the reference marker is in the reference marker position section, so the camera is in the target position,

[0028] Figure 5 is a captured image of the camera, wherein the reference marker is not completely in the reference marker position section, so the camera is in a non-target position, and

[0029] Figure 6 is a schematic overview of a vehicle comprising a vehicle headlamp system consisting of a vehicle headlamp according to Figure 1 or Figure 2 an embodiment of DETAILED DESCRIPTION

[0030] Figure 1 An example of a vehicle headlamp 10 for illuminating a light distribution and for detecting an obstacle in front of the vehicle headlamp 10 in a main direction X is shown, wherein the vehicle headlamp 10 comprises a housing 100 having a front opening 110 pointing in the main direction X and a cover lens 200 closing the opening 110 of the housing 100.

[0031] Further, the vehicle headlamp 10 comprises an obstacle detection device comprising a camera 300 for capturing an image 310 of an environment in front of the camera 300 in the main direction X in order to detect an obstacle in front of the vehicle headlamp 10, wherein the camera 300 is arranged inside the housing 100.

[0032] The vehicle headlamp 10 further comprises a camera calibration system for automatically calibrating the spatial orientation of the camera 300, wherein the camera calibration system is configured to hold the camera 300 in a predetermined target position P1.

[0033] The camera calibration system comprises an adjusting device for adjusting the spatial orientation of the camera 300 within the housing 100 and a reference marker 400, which is not movable relative to the housing 100 and is arranged in the housing 100 in the image generating field of view of the camera 300, such that the reference marker 400 is visible in the images 310 captured by the camera 300, wherein each image 310 has a constant predetermined reference marker position section 310a and wherein the camera 300 is in the target position P1 when the reference marker 400 is arranged within the predetermined reference marker position section 310a of the image 310, for example in Figure 4 .

[0034] In the embodiment of the vehicle headlamp 10 according to the application, the camera calibration system comprises a reference marker 400, which is not movable relative to the housing 100 and is arranged in the housing 100 in the image generating field of view of the camera 300, such that the reference marker 400 is visible in the images 310 captured by the camera 300, wherein each image 310 has a constant predetermined reference marker position section 310a and wherein the camera 300 is in the target position P1 when the reference marker 400 is arranged within the predetermined reference marker position section 310a of the image 310, for example in Figure 1 . Figure 2 In the embodiment of the vehicle headlamp 10 according to the application, the camera calibration system comprises a reference marker 400, which is not movable relative to the housing 100 and is arranged in the housing 100 in the image generating field of view of the camera 300, such that the reference marker 400 is visible in the images 310 captured by the camera 300, wherein each image 310 has a constant predetermined reference marker position section 310a and wherein the camera 300 is in the target position P1 when the reference marker 400 is arranged within the predetermined reference marker position section 310a of the image 310, for example in .

[0035] Furthermore, the camera calibration system comprises a control device connected to the camera 300 and to the adjusting device, wherein the control device is configured to receive the images 310 captured by the camera 300, wherein the control device controls the adjusting device to eliminate the deviation of the camera 300 from the target position P1 when the reference marker 400 is located outside the predetermined reference marker position section 310a of the image 300 in a non-target position P2, for example in Figure 5 .

[0036] In the embodiment of the vehicle headlamp 10 according to the application, the camera calibration system comprises a reference marker 400, which is not movable relative to the housing 100 and is arranged in the housing 100 in the image generating field of view of the camera 300, such that the reference marker 400 is visible in the images 310 captured by the camera 300, wherein each image 310 has a constant predetermined reference marker position section 310a and wherein the camera 300 is in the target position P1 when the reference marker 400 is arranged within the predetermined reference marker position section 310a of the image 310, for example in Figure 1 . Figure 2 In the embodiment of the vehicle headlamp 10 according to the application, the camera calibration system comprises a reference marker 400, which is not movable relative to the housing 100 and is arranged in the housing 100 in the image generating field of view of the camera 300, such that the reference marker 400 is visible in the images 310 captured by the camera 300, wherein each image 310 has a constant predetermined reference marker position section 310a and wherein the camera 300 is in the target position P1 when the reference marker 400 is arranged within the predetermined reference marker position section 310a of the image 310, for example in .

[0037] In both embodiments, the reference marker 400 is implemented on the cover lens 200 via a two-component molding process of the cover lens 200 as a black material, wherein the reference marker 400 is constructed as a cross comprising a horizontal line and a vertical line in order to be able to align the horizontal line in the x direction and the vertical line in the y direction - seen in the correct installed state of the vehicle headlamp 10 in the vehicle (x direction corresponds to the horizontal line and y direction corresponds to the vertical line orthogonal to the horizontal line).

[0038] Figure 6A vehicle headlight system is shown, which comprises two vehicle headlamps 10 according to the invention and is used to detect obstacles in front of the vehicle headlight system, wherein the first vehicle headlamp 11 is Figure 6 the left-hand vehicle headlamp of the vehicle 20 shown in Figure 6 and the second vehicle headlamp 12 is

[0039] the right-hand vehicle headlamp of the vehicle 20 shown in

[0040] The further control device is configured to receive the captured images 311, 312 of the two vehicle headlamps 11, 12, which are spaced apart such that the cameras of the vehicle headlamps 11, 12 have a distance to each other for a distance measurement, i.e. a triangulation, of obstacles in front of the vehicle headlight system to the vehicle headlight system, wherein the further control device is configured to align the cameras 300 relative to each other via the adjustment device such that

[0041] the images 311, 312 captured simultaneously by the cameras 300 overlap when the images 311, 312 are overlaid by the program, wherein the images 311, 312 substantially overlap relative to the horizon and / or the road edge in the images 311, 312, wherein the camera calibration system of each vehicle headlamp 11, 12 brings the cameras 300 to the target position P1 in the event of an alignment of the cameras 300 by the further control device such that the cameras 300 are in the non-target position P2.

[0042]

[0043] As a reference, the image 312 of the second vehicle headlamp 12 is observed with the thick dashed line in Figure 6 .

[0044] When overlaid for the distance measurement, i.e. by triangulation, the captured images 311, 312 only overlap in an overlap region 320 of each image 311, 312, such that each image 311, 312 comprises the overlap region 320 and a non-overlap region 321, 322, wherein a reference marker position section 311a, 312a of each image 311, 312 is positioned in the non-overlap region 311a, 312a, such that the reference marker corresponding to one camera cannot be captured in the image of the other camera.

[0045] List of reference signs

[0046] Vehicle headlamp 10

[0047] ​Vehicle headlamp (right side) 11

[0048] Vehicle headlamp (left side) 12

[0049] Housing 100

[0050] Front opening 110

[0051] Cover lens 200

[0052] Camera 300

[0053] Images 310, 311, 312

[0054] Reference mark position sections 310a, 311a, 312a

[0055] Image overlap region 320

[0056] Image non-overlap regions 321, 322

[0057] Reference mark 400

[0058] Lens 410

[0059] Target position P1

[0060] Non-target position P2

[0061] Main direction X

Claims

1. A vehicle headlamp system for detecting obstacles in front of the vehicle headlamp system, the vehicle headlamp system comprising: two vehicle headlamps (10) for illuminating a light distribution and for detecting obstacles in front of the vehicle headlamps (10) in a main direction (X), each vehicle headlamp (10) comprising: - a housing (100) having a front opening (110) pointing in the main direction (X) and a cover lens (200) closing the front opening (110) of the housing (100), - an obstacle detection device comprising a camera (300) for capturing images (310) of the environment in front of the camera (300) in the main direction (X) in order to detect obstacles in front of the vehicle headlamp (10), wherein the camera (300) is arranged inside the housing (100), - a camera calibration system for automatically calibrating the spatial orientation of the camera (300), wherein the camera calibration system is configured to hold the camera (300) in a predetermined target position (PI), wherein the camera calibration system comprises: - an adjustment device for adjusting the spatial orientation of the camera (300) inside the housing (100), - a reference marker (400) which is not movable relative to the housing (100) and which is arranged in the housing (100) in an image generating field of view of the camera (300) such that the reference marker (400) is visible in the images (310) by the camera (300), wherein each image (310) has a constant predetermined reference marker position section (310a) and wherein the camera (300) is in the target position (PI) when the reference marker (400) is arranged within the predetermined reference marker position section (310a) of the image (310), - a control device connected to the camera (300) and to the adjustment device, wherein the control device is configured to receive the images (310) captured by the camera (300), wherein the control device controls the adjustment device to eliminate a deviation of the camera (300) from the target position (PI) when the reference marker (400) is located outside the predetermined reference marker position section (310a) of the image (300) in a non-target position (P2), wherein the vehicle headlamp (10) comprises a lens (410) or a lens system arranged between the reference marker (400) and the camera (300) in order to produce a sharp image of the reference marker (400), and wherein the lens (410) or the lens system is part of the cover lens (200). The vehicle headlamp system further comprises a further control device connected to the cameras (300), the control device and the adjustment device of the vehicle headlamps (10), wherein the further control device is configured to receive captured images (310) of both vehicle headlamps (10), wherein the further control device is configured to align the cameras (300) relative to each other via the adjustment device such that the images (310) overlap relative to a horizon and / or a road edge in the images (310) when the images (310) captured simultaneously by the cameras (300) are overlaid by the program, wherein in case the further control device aligns the cameras (300) such that the cameras (300) are in the non-target position (P2), the camera calibration system of each vehicle headlamp (10) brings the cameras (300) to the target position (P1); and wherein both vehicle headlamps (10) are spaced apart such that the cameras of both vehicle headlamps (10) have a distance to each other for a distance measurement of obstacles in front of the vehicle headlamp system to the vehicle headlamp system, wherein for the distance measurement the images only overlap in an overlap region of each image such that each image comprises an overlap region and a non-overlap region, wherein the reference marker position section of each image is positioned in the non-overlap region.

2. The vehicle headlamp system of claim 1, wherein, The reference marker (400) is arranged on the cover lens (200).

3. The vehicle headlamp system of claim 1 or 2, wherein, The reference marker (400) is realized as a black material on the cover lens (200) via a two-component molding process of the cover lens (200).

4. The vehicle headlamp system of claim 1 or 2, wherein, The reference marker (400) is built as a cross comprising a horizontal line and a vertical line in order to be able to align the horizontal line in x-direction and the vertical line in y-direction as seen in a correct mounted state of the vehicle headlamp (10) in a vehicle.

5. The vehicle headlamp system of claim 1 or 2, wherein, The reference marker (400) is arranged on an additional bezel in the housing (200).

6. The vehicle headlamp system of claim 1, wherein, The lens (410) or the lens system is an integral part of the cover lens (200).

7. The vehicle headlamp system of claim 2, wherein, The reference marker (400) is a part of the cover lens (200).

8. A vehicle comprising at least one vehicle headlamp system according to any one of claims 1 to 7.

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